CN-224214967-U - Pipeline detection robot capable of actively turning and jumping to avoid obstacle by means of medium thrust

Abstract

The utility model discloses a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, relates to the field of pipeline robots, and aims to provide a pipeline detection robot which is low in energy consumption and convenient for the robot to move and turn. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, which comprises a robot body, wherein a steering control mechanism and a bouncing system are arranged on the robot body, the steering control mechanism is connected with an umbrella-shaped structure through a steering frame, the umbrella-shaped structure comprises a screw rod driving motor, the screw rod driving motor drives the screw rod to rotate, a middle sliding block is arranged on the screw rod, an umbrella support short rod is movably connected to the middle sliding block, an umbrella support rod is hinged to the umbrella support rod, an umbrella outer cover is arranged on the umbrella support rod, and the bouncing system comprises two push-pull electromagnets arranged at the lower part of the robot body.

Inventors

• ZHANG YUXING
• MA XUQING
• DI XIN
• WANG SHENGWEI
• QI LIRONG
• WANG YIJUN
• SHI FUHAI
• GUO CHANGZHENG
• HU YAN

Assignees

• 北京市燃气集团有限责任公司

Dates

Publication Date

20260508

Application Date

20250616

Claims (10)

1. 1. The pipeline detection robot capable of actively turning and jumping to avoid the obstacle by means of medium thrust is characterized by comprising a robot body, wherein a steering control mechanism and a bouncing system are arranged on the robot body, the steering control mechanism is connected with an umbrella-shaped structure through a steering frame, the umbrella-shaped structure comprises a screw rod driving motor, the screw rod driving motor drives the screw rod to rotate, a middle sliding block is arranged on the screw rod, an umbrella support short rod is movably connected to the middle sliding block, an umbrella support frame rod is hinged to the umbrella support frame rod, an umbrella outer cover is arranged on the umbrella support frame rod, and the bouncing system comprises two push-pull electromagnets arranged at the lower part of the robot body.
2. 2. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 1, wherein the screw rod driving motor is arranged on an umbrella structure motor mounting seat, and the umbrella structure motor mounting seat is fixedly connected with the steering frame.
3. 3. The pipeline inspection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 1, wherein the screw rod driving motor and the screw rod are driven by a group of belt pulleys.
4. 4. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 1, wherein optical axes are respectively arranged at two ends of the screw rod, pressing plates are respectively arranged in a penetrating mode on two optical axis portions, and a plurality of pull rods are fixedly connected between the two pressing plates.
5. 5. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 4, wherein the pull rod penetrates through the middle sliding block, and the middle sliding block is connected with the screw rod in a penetrating mode through threads.
6. 6. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 4 or 5 is characterized in that the periphery of the middle sliding block and the periphery of the pressing plate close to one side of the steering frame are correspondingly provided with a plurality of connecting rods, the connecting rods of the middle sliding block are sleeved with umbrella support short rods, and the connecting rods of the pressing plate are sleeved with umbrella support rods.
7. 7. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 1 is characterized in that the steering control mechanism comprises a main steering base, a first steering engine is arranged on the main steering base and drives a first bevel gear set to rotate, an output gear of the first bevel gear set rotates in a horizontal plane and is fixedly connected with an auxiliary steering base above the first bevel gear set, a second steering engine is arranged on the auxiliary steering base and drives the second bevel gear set to rotate, an output gear of the second bevel gear set rotates in a vertical plane and is fixedly connected with a steering main shaft, and a fork-shaped connecting piece is arranged on the steering main shaft and is fixedly connected with a steering frame.
8. 8. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 7, wherein a rotating shaft is arranged at the bottom of the auxiliary steering base, and the rotating shaft is correspondingly arranged with a shaft hole above an output gear of the first bevel gear set.
9. 9. The pipeline inspection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 7, wherein a thrust bearing is arranged between the output gear of the first bevel gear set and the top of the main steering base.
10. 10. The pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust according to claim 1, wherein the robot body comprises a support, and a wheel driving motor is arranged on the support and drives the driving wheel to rotate.

Description

Pipeline detection robot capable of actively turning and jumping to avoid obstacle by means of medium thrust Technical Field The utility model relates to the technical field of detection robots, in particular to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust. Background During routine maintenance of a pipeline carrying gas, workers need to perform on-line detection on the pipeline. Because the interior of the pipeline cannot be directly detected by manual work, a worker usually needs to use a pipeline robot to assist in detection. The pipeline robot is one integrated system with one or several sensors and operation machine capable of walking automatically inside or outside small pipeline and with remote control or automatic computer control. When the existing pipeline robot performs online detection, the robot walks, turns and avoids obstacles mainly by means of self power, the power source is provided with a battery or is powered by a dragging cable, the energy consumption in the operation process is high, and the manufacturing cost is high. Therefore, how to reduce the energy consumption of the pipeline robot during operation becomes an urgent problem to be solved in the enterprise production process. Disclosure of utility model The utility model aims to solve the technical problem of providing a pipeline detection robot which is low in energy consumption and convenient for the movement and the steering of the robot. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, which comprises a robot body, wherein a steering control mechanism and a bouncing system are arranged on the robot body, the steering control mechanism is connected with an umbrella-shaped structure through a steering frame, the umbrella-shaped structure comprises a screw rod driving motor, the screw rod driving motor drives the screw rod to rotate, a middle sliding block is arranged on the screw rod, an umbrella support short rod is movably connected to the middle sliding block, an umbrella support rod is hinged to the umbrella support rod, an umbrella outer cover is arranged on the umbrella support rod, and the bouncing system comprises two push-pull electromagnets arranged at the lower part of the robot body. When the screw rod drives the motor to drive the screw rod to rotate, the middle sliding block drives the umbrella support short rod and the umbrella support rod to swing, so that the umbrella-shaped structure is opened and contracted, and when the push rod of the push-pull electromagnet extends out, the robot structure can be far away from an obstacle, and a jumping function is realized by matching with a power system. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, wherein a screw rod driving motor is arranged on an umbrella structure motor mounting seat, and the umbrella structure motor mounting seat is fixedly connected with a steering frame. When the steering control mechanism controls the steering frame to move, the umbrella-shaped structure can integrally rotate. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, wherein a screw rod driving motor and a screw rod are driven by a group of belt pulleys, one belt pulley is connected with an output shaft of the screw rod driving motor, and the other belt pulley is fixedly connected with one end of the screw rod. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, wherein optical axes are respectively arranged at two ends of a screw rod, pressing plates are respectively arranged in a penetrating manner at two optical axis parts, namely the screw rod can not drive the pressing plates to rotate when rotating, a plurality of pull rods are fixedly connected between the two pressing plates, and the pull rods are connected with the pressing plates through threads. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, wherein a pull rod penetrates through a middle sliding block, and the middle sliding block is connected with a screw rod in a penetrating way through threads, namely, the middle sliding block can slide on the pull rod and simultaneously can move along with the rotation of the screw rod. The utility model relates to a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, wherein the periphery of a middle sliding block and the periphery of a pressing plate close to one side of a steering frame are correspondingly provided with a plurality of connecting rods, the connecting rods of the middle sliding block are slee