A pipeline inspection and deployment robot

Abstract

The invention discloses a pipeline detection deployment robot, which structure includes a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly, an aviation plug 1, an aviation plug 2, and a cable. The robot adopts a modular design, and the robot chassis, the three-degree-of-freedom mechanical arm, the detection radar, and the camera assembly are used as separate modules. The modules can be quickly disassembled and assembled by connecting screws, an aviation plug 1, and an aviation plug 2. Compared with the pipeline detection robots currently available on the market, the developed pipeline detection deployment robot has more powerful functions and can better meet the needs of society. At the same time, the structural design of the invention is reasonable and simple, so it is easy to implement and suitable for popularization and application.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a pipeline detection and deployment robot. Background Art

[0002] Urban pipelines are an important part of urban infrastructure, and they play an important role in transporting gas, heat, water supply and drainage, electricity, communications, radio and television, air conditioning / oil fume ventilation, etc. They play a key role in the sustained, stable and healthy development of the urban economy, and are called the "nerves" and "blood vessels" of the city. As pipelines are built over a long period of time, they are overloaded and in disrepair, and often have faults such as sea view on rainy days and gas and water outages. Pipelines need to be regularly inspected and maintained to ensure safe operation of pipelines.

[0003] On the one hand, the inner diameter of urban pipelines is generally small, leaving maintenance personnel with a narrow working space, making it difficult for maintenance personnel to enter the pipeline or to perform operations after entering the pipeline. On the other hand, urban pipelines may transport toxic and dangerous gases, or produce toxic and dangerous gases during long-term work. When maintenance personnel enter a toxic environment to work, it will cause great harm to the body and there are great risks. In order to solve the problems arising from pipeline inspection and maintenance, pipeline inspection robots came into being. Currently, pipeline inspection robots on the market are mainly wheeled or tracked chassis, carrying high-definition cameras or sonars to inspect pipelines.

[0004] Patent WO2016000443A1 discloses a pipeline ditch inspection robot system, including a robot, a control box, and a cable connecting the robot and the control box; the robot includes a body (1), a walking mechanism, a lifting mechanism (3), and a pan-tilt camera device (4), and each set of crawler walking mechanism includes a driving wheel (22), a guide wheel (23), two track rollers (24), multiple supporting wheels (25), and a crawler (21) sleeved on the driving wheel, guide wheel, track roller and supporting wheel. The driving wheel and guide wheel are installed at the upper ends of the body, the track roller is installed between the driving wheel and the guide wheel, and the supporting wheel is installed at the lower end of the body to carry the body and the components thereon. The structure is relatively complex, and the technical problem solved is to improve the function to some extent. WO2019100507A1 discloses a pipeline inspection robot system, in which a cable car, a remote robot and 1-N detection devices are implanted with a power carrier communication system including a power carrier core board and a control board. Therefore, the power lines can be connected through the power carrier transmission ends of the respective power carrier core boards to form a pipeline inspection robot system. Not only is the system line simple, but the system stability is also good and it is conducive to expanding multiple detection devices. The power isolation communication module isolates the pipeline inspection robot system into a two-level power supply communication system that is powered separately by a first power line and a second power line and communicates together, which is limited to improving the communication quality.

[0005] In order to solve the incomplete detection caused by a single detection method, technical personnel in this field should also solve the above problems in a timely manner. Summary of the invention

[0006] The purpose of the present invention is to overcome a series of problems caused by the incomplete detection of pipeline inspection robots in the prior art, which rely only on cameras or sonars to inspect pipelines. The pipeline inspection deployment robot of the present invention adopts wheel drive, carries a high-definition camera and a lighting lamp, and is equipped with a three-degree-of-freedom mechanical arm, which can enable the detection radar to reach any position on the inner surface of the pipeline. Through the dual detection of high-definition cameras and pipeline inspection radars, all-round inspection of pipelines can be achieved. The three-degree-of-freedom mechanical arm carried can carry 3kg of other loads. When deployment or other functions are required, the load at the end of the mechanical arm can be quickly replaced to achieve rapid changes in the robot's functions.

[0007] The present invention is realized through the following technical scheme: a pipeline detection deployment robot, the structure of which includes a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly, aviation plug one, aviation plug two, and a cable; a left lifting rod and a right lifting rod are respectively installed on both sides of the robot chassis, the front end of the three-degree-of-freedom mechanical arm is connected to the left lifting rod and the right lifting rod through a connecting end, the rear end of the three-degree-of-freedom mechanical arm is connected to the detection radar through an installation kit, and a camera assembly is installed at the bottom of the detection radar; the robot adopts a modular design, and the robot chassis, three-degree-of-freedom mechanical arm, detection radar, and camera assembly are used as separate modules, and rapid disassembly and assembly between the modules can be achieved by connecting screws, aviation plug one, and aviation plug two.

[0008] Preferably, the pipeline inspection and deployment robot has dimensions of 1017 mm × 246 mm × 215 mm (length × width × height, when the lifting mechanism is not lifted), 882 mm × 246 mm × 375 mm (length × width × height, when the lifting mechanism is not lifted), and weighs 24 kg.

[0009] Preferably, the pipeline inspection and deployment robot can inspect pipelines not less than DN300mm, and can quickly deploy other equipment to the designated location of the pipeline. The pipeline inspection and deployment robot can walk at a speed of up to 1m / s, and the speed can be adjusted steplessly. The obstacle crossing capability can easily cross obstacles with a height of up to 30mm.

[0010] Preferably, the robot operates by towing cables, and the cables provide the robot with electrical energy and optical fiber communication, thereby ensuring that the robot is not limited by battery capacity and communication distance.

[0011] Preferably, the robot chassis adopts wheel drive, and the double-sided drive motors use high-power and high-torque drive motors to drive the bevel gear transmission mechanism and the sprocket chain transmission mechanism to rotate, and further drive the wheels on both sides to rotate and walk. The motors on both sides of the robot chassis are independently controlled and differentially driven, so that the robot can turn in place.

[0012] Preferably, a tilt sensor is installed inside the robot chassis to detect the tilt angle of the robot chassis and prevent the robot from overturning.

[0013] Preferably, the robot chassis is equipped with an inflatable joint, which is filled with inert gas and combined with mechanical seals to ensure that the robot chassis reaches IP67. An air pressure detection device is installed inside the robot chassis to detect the air pressure inside the chassis in real time and maintain a good internal sealing effect.

[0014] Preferably, the three-degree-of-freedom mechanical arm mainly has three directions of movement: lifting, rotating, and swinging, and the end load capacity is 3kg. Among them, the lifting distance is 0-150mm, the rotation angle is 0-350°, the swing angle is ±90°, and the speed can be adjusted steplessly. In order to ensure the safety of the movement of the three-degree-of-freedom mechanical arm, on the one hand, the three-degree-of-freedom motors for lifting, rotating, and swinging are selected as mature motors with high power, high torque, and high reliability. On the other hand, its transmission mechanism adopts worm and worm gear transmission. Under the premise of self-locking safety, the worm and worm gear have the performance of transmitting high torque. In the worm and worm gear transmission mechanism, an absolute encoder is installed at one end of the worm, which can read the position information of the three degrees of freedom in real time to ensure that the detection radar and camera components will not collide.

[0015] Preferably, in addition to being equipped with a detection radar, the three-degree-of-freedom robotic arm end mounting kit can also be quickly replaced according to other end load structural shapes, thereby enabling simple and rapid disassembly and assembly of the end load.

[0016] Preferably, the camera assembly is composed of a high-definition network camera (20x optical zoom) and a CREE high-brightness cold light shadowless lamp. The position between the two is reasonably designed so that the light can provide sufficient illumination for the camera, allowing a clear view of the inside of the pipeline. The camera, light and main control board are quickly connected through an aviation plug, and different camera assemblies can be replaced according to different pipeline conditions.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows: the technical solution described in the present invention has a simple structure, reliable operation, and convenient maintenance. At the same time, the pipeline detection and deployment robot can detect pipelines not less than DN300mm through a high-definition camera, and the three-degree-of-freedom mechanical arm and detection radar carried by it can further detect the pipeline in detail, and can achieve all-round detection of the pipeline. And the three-degree-of-freedom mechanical arm carried by it can also carry other detection or repair equipment to detect and repair the pipeline. Compared with the pipeline detection robots currently available on the market, the pipeline detection and deployment robot developed is more powerful and can better meet the needs of society. At the same time, the structural design of the present invention is reasonable and simple, so it is easy to implement and suitable for promotion and application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is an isometric view of the pipeline inspection deployment robot of the present invention;

[0019] Figure 2 This is a front view of the pipeline detection deployment robot of the present invention;

[0020] Figure 3 is a top view of the pipeline inspection deployment robot of the present invention;

[0021] Figure 4 is a front view of the pipeline inspection and deployment robot of the present invention;

[0022] Reference numerals:

[0023] Robot chassis; 2-left lifting rod; 3-right lifting rod; 4-three-degree-of-freedom robotic arm; 5-detection radar; 6-camera assembly; 7-aviation plug 1; 8-aviation plug 2; 9-cable. DETAILED DESCRIPTION

[0024] The present invention will be described in detail below in conjunction with the accompanying drawings.

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] In a specific implementation process, the pipeline detection deployment robot is as follows: Figures 1 to 4As shown, the pipeline detection deployment robot consists of a robot chassis 1, a left lifting rod 2, a right lifting rod 3, a three-degree-of-freedom mechanical arm 4, a detection radar 5, a camera assembly 6, an aviation plug 7, an aviation plug 8, and a cable 9. The robot adopts a modular design, and the robot chassis 1, the three-degree-of-freedom mechanical arm 4, the detection radar 5, and the camera assembly 6 are used as separate modules. The modules can be quickly disassembled and assembled by connecting screws, aviation plug one 7, and aviation plug two 8.

[0027] During the specific implementation process, the dimensions of the pipeline inspection deployment robot are: 1017mm×246mm×215mm (length×width×height, when the lifting mechanism is not lifted), 882mm×246mm×375mm (length×width×height, when the lifting mechanism is not lifted), and the weight is 24kg.

[0028] During the specific implementation process, the pipeline inspection deployment robot can inspect pipelines not less than DN300mm, and can quickly deploy other equipment to the designated location of the pipeline. The pipeline inspection deployment robot can walk at a maximum speed of 1m / s, and the speed can be adjusted steplessly. The obstacle crossing capability can easily cross obstacles with a height of up to 30mm.

[0029] During the specific implementation process, the robot uses a towing cable for operation, and the cable 9 provides the robot with power and optical fiber communication, ensuring that the robot is not limited by battery capacity and communication distance.

[0030] In the specific implementation process, the robot chassis 1 adopts wheel drive, and the double-sided drive motors use high-power and high-torque drive motors to drive the bevel gear transmission mechanism and the sprocket chain transmission mechanism to rotate, and further drive the wheels on both sides to rotate and walk. The motors on both sides of the robot chassis 1 are independently controlled and differentially driven, which can realize the robot turning on the spot.

[0031] During the specific implementation process, a tilt sensor is installed inside the robot chassis 1 to detect the tilt angle of the robot chassis and prevent the robot from overturning.

[0032] In the specific implementation process, the robot chassis 1 is equipped with an inflatable joint, which is filled with inert gas and combined with mechanical seals to ensure that the robot chassis reaches the good effect of IP67. The robot chassis 1 is equipped with an air pressure detection device to detect the air pressure inside the chassis in real time and maintain a good internal sealing effect.

[0033] During the specific implementation process, the three-degree-of-freedom mechanical arm 4 mainly has three directions of movement: lifting, rotating, and swinging, and the end load capacity is 3kg. Among them, the lifting distance is 0-150mm, the rotation angle is 0-350°, the swing angle is ±90°, and the speed can be adjusted steplessly. In order to ensure the safety of the movement of the three-degree-of-freedom mechanical arm, on the one hand, the three-degree-of-freedom motors for lifting, rotating, and swinging are selected as mature motors with high power, high torque, and high reliability. On the other hand, its transmission mechanism adopts worm and worm gear transmission. Under the premise of self-locking safety, the worm and worm gear have the performance of transmitting high torque. In the worm and worm gear transmission mechanism, an absolute encoder is installed at one end of the worm, which can read the position information of the three degrees of freedom in real time to ensure that the detection radar 5 and the camera assembly 6 will not collide.

[0034] During the specific implementation process, in addition to being equipped with the detection radar 5, the end mounting kit of the three-degree-of-freedom robotic arm 4 can also be quickly replaced according to the structural shape of other end loads, thereby enabling simple and rapid disassembly and assembly of the end load.

[0035] In the specific implementation process, the camera assembly 6 is composed of a high-definition network camera (20x optical zoom) and a CREE high-brightness cold light shadowless lamp. The reasonable design of the position between the two can enable the light to provide sufficient illumination for the camera, so that the inside of the pipeline can be seen at a glance. The camera, light and main control board are quickly connected through aviation plugs, and different camera assemblies can be replaced according to different pipeline conditions.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline inspection and deployment robot, characterized in that: The structure includes a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly, aviation plug 1, aviation plug 2, and cables; a left lifting rod and a right lifting rod are respectively installed on both sides of the robot chassis, the front end of the three-degree-of-freedom mechanical arm is connected to the left lifting rod and the right lifting rod through a connecting end, the rear end of the three-degree-of-freedom mechanical arm is connected to the detection radar through an installation kit, and a camera assembly is installed at the bottom of the detection radar; the robot adopts a modular design, and the robot chassis, three-degree-of-freedom mechanical arm, detection radar, and camera assembly are separate modules, and the modules can be quickly disassembled and assembled by connecting screws, aviation plug 1, and aviation plug 2; The robot chassis adopts wheel drive, and the double-sided drive motors use high-power and high-torque drive motors to drive the bevel gear transmission mechanism and the sprocket chain transmission mechanism to rotate, and further drive the wheels on both sides to rotate and walk; the motors on both sides of the robot chassis are independently controlled and differentially driven, so that the robot can turn on the spot; The three-degree-of-freedom robotic arm mainly has three directions of movement: lifting, rotating, and swinging, and the end load capacity is 3kg; among them, the lifting distance is 0-150mm, the rotation angle is 0-350°, the swing angle is ±90°, and the speed can be adjusted steplessly; In order to ensure the safety of the three-degree-of-freedom robot arm movement, on the one hand, the three-degree-of-freedom motors for lifting, rotating and swinging are selected from mature motors with high power, high torque and high reliability. On the other hand, its transmission mechanism adopts worm and worm gear transmission. Under the premise of self-locking safety, the worm and worm gear have the performance of transmitting high torque; In the worm gear transmission mechanism, an absolute encoder is installed at one end of the worm to read the position information of the three degrees of freedom in real time; The camera assembly consists of a 20x optical zoom HD webcam and a CREE high-brightness cold light shadowless lamp. The camera, light and main control board are quickly connected via an aviation plug.

2. A pipeline detection and deployment robot according to claim 1, characterized in that: The robot chassis is equipped with an inflation joint, which is filled with inert gas and combined with a mechanical seal to ensure that the robot chassis achieves the good effect of IP67; an air pressure detection device is installed inside the robot chassis to detect the air pressure condition inside the chassis in real time and maintain a good internal sealing effect.

3. A pipeline detection and deployment robot according to claim 1, characterized in that: In addition to being equipped with a detection radar, the three-degree-of-freedom robotic arm end mounting kit can also be quickly replaced according to the structural shape of other end loads, enabling simple and quick disassembly and assembly of the end load.

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