A patrol robot capable of detecting the outer wall of a pipeline

Abstract

The application provides a kind of inspection robot capable of detecting the outer wall of pipeline, comprising a robot body and an expansion mechanism, the front end of the robot body is provided with the expansion mechanism, a driving mechanism is installed on the robot body for driving the robot body to abut and displace along the inner wall of the pipeline being inspected, the expansion mechanism is pressed against the inner wall of the pipeline being inspected, the expansion mechanism is displaced in the pipeline by the driving mechanism in a manner of pressing against the inner wall of the pipeline, and whether the outer wall of the pipeline in the corresponding area is corroded and damaged is determined by the current expansion movement degree of the expansion mechanism and the deformation amount in the corresponding area of the pipeline. In the case that the inner wall of the pipeline has not been corroded, and in the case that the outer wall is severely corroded, the wall between the inner and outer walls of the pipeline is relatively thin, the expansion mechanism is displaced by pressing, the current expansion movement degree of the expansion mechanism is relatively high, the deformation amount is relatively large and is easily damaged, so it can be basically determined whether the outer wall of the pipeline is corroded and damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline inspection, in particular to a pipeline inspection robot capable of detecting the outer wall of a pipeline. BACKGROUND

[0002] After a pipeline is used for a long time, the pipeline may be aged and damaged due to various conditions. Common pipelines are generally iron pipelines and plastic pipelines. However, whether the pipeline is a plastic pipeline or an iron pipeline, the pipeline buried underground may be aged and corroded due to long-term use, and the pipeline may be damaged. When the pipeline is inspected, a pipeline robot is generally used to detect the inner wall of the pipeline. However, in some cases, the outer wall of the pipeline may be severely corroded, while the inner wall of the pipeline is not corroded. In this case, it is difficult to detect the problem by using a conventional internal pipeline detection method. In addition, the wall between the inner wall and the outer wall of the pipeline is thin and is easily damaged. Moreover, a general detection device is large in size and is not easy to carry, so it is inconvenient to detect the pipeline of a general building. SUMMARY

[0003] To solve the above problems, the present application aims to provide a pipeline inspection robot capable of detecting the outer wall of a pipeline. An expansion mechanism is arranged at the front end of the robot body. The expansion mechanism is in abutment with the inner wall of the pipeline to be inspected. The expansion mechanism is displaced in the pipeline by the driving mechanism in the manner of abutting against the inner wall of the pipeline. Even if the inner wall of the pipeline is not corroded, when the outer wall of the pipeline is severely corroded, the wall between the inner wall and the outer wall of the pipeline is thin and is easily damaged by the displacement movement of the expansion mechanism. The current expansion movement degree of the expansion mechanism is high, and the deformation amount is large, so it can be basically determined whether the outer wall of the pipeline is damaged and corroded.

[0004] To achieve the above purpose, the technical scheme of the present application is as follows:

[0005] The pipeline inspection robot capable of detecting the outer wall of a pipeline comprises a robot body and an expansion mechanism. The expansion mechanism is arranged at the front end of the robot body. A driving mechanism is installed on the robot body to abut against and displace the robot body along the inner wall of the pipeline to be inspected. The expansion mechanism is in abutment with the inner wall of the pipeline to be inspected. The expansion mechanism is displaced in the pipeline by the driving mechanism in the manner of abutting against the inner wall of the pipeline. The current expansion movement degree of the expansion mechanism and the deformation amount in the corresponding area of the pipeline are used to determine whether the outer wall of the pipeline in this area is corroded and damaged.

[0006] Further, the robot body comprises a first plate body, a second plate body and a connecting rod. The first plate body and the second plate body are fixedly connected by a plurality of connecting rods. The driving mechanism is installed between the first plate body and the second plate body to generate the contact pressure and walking force of the inner wall of the pipeline.

[0007] Further, the expansion mechanism comprises an electric push rod, a connecting ring, a support rod and a stop plate, the connecting ring is installed on the first plate body, a plurality of support rods are movably installed on the circumference of the connecting ring, the electric push rod is installed at the center of the connecting ring, the movable end of the electric push rod is fixedly connected with the stop plate, the diameter of the stop plate is larger than that of the connecting ring, and the stop plate is located between the plurality of support rods.

[0008] Further, it further comprises a rotating ring and a driving motor, the fixed end of the electric push rod is fixedly installed on the first plate body, the connecting ring and the rotating ring are sequentially and movably sleeved on the bottom of the fixed end of the electric push rod in the circumferential direction, the connecting ring is fixedly connected with the rotating ring, the rotating ring is rotatably connected with the first plate body, the driving motor is installed on the side wall of the first plate body, the motor shaft of the driving motor is fixedly installed with a grinding wheel, and the outer side wall of the grinding wheel is in contact with the outer side wall of the rotating ring.

[0009] Further, the stop plate is provided with a night vision camera, and one side of the second plate body is provided with a camera and a plurality of lamps.

[0010] Further, torsional springs are arranged at the movable connections between the support rods and the connecting ring to generate torsional force on the support rods towards the stop plate.

[0011] Further, the driving mechanism comprises a contact walking mechanism and a power mechanism, the contact walking mechanism can abut against the inner wall of the pipeline and walk along the inner wall of the pipeline through the power mechanism.

[0012] Further, the contact walking mechanism comprises eight support arms, the eight support arms are divided into four groups in pairs, and are rotatably installed on the inner walls of the first plate body and the second plate body, respectively, the ends of each group of support arms are rotatably installed with a contact wheel, and a sliding groove is formed in each group of support arms, two sliding grooves in pairs near the first plate body and the second plate body are respectively connected with a screw rod through a sliding connection block, the two screw rods are rotatably connected with L-shaped rods on both sides and are installed on the first plate body and the second plate body through the L-shaped rods, and the thread directions of the two screw rods from the ends to the middle are opposite.

[0013] Further, the power mechanism comprises eight gears, the eight gears are installed on the contact wheels and the rotating ends of each group of support arms in pairs, respectively, the two gears of each group of support arms are drivingly connected through a tooth belt, the tooth belts at the gears of the rotating ends of the two groups of support arms on the same side of the first plate body and the second plate body are respectively in contact with a driving wheel, the two driving wheels are rotatably installed with a linkage wheel through a rotating shaft, the two linkage wheels are drivingly connected through a transmission ring belt, the rotating shafts of the two driving wheels are rotatably installed with a connection block, and the connection blocks are respectively installed in the grooves in the inner side walls of the first plate body and the second plate body, and one of the driving wheels is connected with a power motor.

[0014] Further, the inner side wall of the transmission ring belt, the outer side wall of the toothed belt, the outer side wall of the linkage wheel and the outer side wall of the driving wheel are all coated with a frosted layer or a rubber layer to increase friction.

[0015] Beneficial effects: The present application sets an expansion mechanism at the front end of the robot body, and the expansion mechanism is pressed against the inner wall of the pipeline during inspection through the expansion mechanism. The expansion mechanism is displaced in the pipeline through the driving mechanism in a manner of pressing against the inner wall of the pipeline, even if the inner wall of the pipeline has not yet corroded. When the outer wall is severely corroded, the wall between the inner and outer walls of the pipeline is thin. The expansion mechanism is displaced in a pressing manner through the expansion mechanism. The current expansion movement degree of the expansion mechanism is high, the deformation amount is large, and the expansion mechanism is easily damaged. Therefore, it can be basically determined whether the outer wall of the pipeline is damaged and corroded. BRIEF DESCRIPTION OF DRAWINGS

[0016] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application, and are incorporated in and constitute a part of this application. The embodiments of the application illustrated in the drawings, and their description, are presented to explain the application and not to limit or define the application. In the drawings:

[0017] Figure 1 The overall structure schematic diagram of the pipeline outer wall detection robot according to the embodiment of the present application is shown in the figure.

[0018] Figure 2 The expansion mechanism structure schematic diagram of the pipeline outer wall detection robot according to the embodiment of the present application is shown in the figure.

[0019] Figure 3 The driving mechanism structure schematic diagram of the pipeline outer wall detection robot according to the embodiment of the present application is shown in the figure.

[0020] Figure 4 The explosion view of the driving mechanism of the pipeline outer wall detection robot according to the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0021] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0022] The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0023] Embodiment 1

[0024] Reference Figures 1-4The utility model provides a kind of inspection robot capable of detecting pipeline outer wall, including robot body 1 and expansion mechanism 2, the front end of the robot body 1 is provided with expansion mechanism 2, driving mechanism 3 is installed on the robot body 1 for driving robot body 1 to abut and displace motion along pipeline inner wall in the pipeline of inspection, expansion mechanism 2 is pressed against the inner wall of the pipeline of inspection, expansion mechanism 2 is displaced motion in the pipeline by driving mechanism 3 in the manner of pressing against the inner wall of the pipeline, whether the outer wall of the region pipeline is corroded and broken is judged by the current expansion movement degree of expansion mechanism 2 and the deformation variable in the corresponding area of pipeline.

[0025] The utility model discloses a kind of inspection robot capable of detecting pipeline outer wall, including robot body 1 and expansion mechanism 2, the front end of the robot body 1 is provided with expansion mechanism 2, driving mechanism 3 is installed on the robot body 1 for driving robot body 1 to abut and displace motion along pipeline inner wall in the pipeline of inspection, expansion mechanism 2 is pressed against the inner wall of the pipeline of inspection, expansion mechanism 2 is displaced motion in the pipeline by driving mechanism 3 in the manner of pressing against the inner wall of the pipeline, whether the outer wall of the region pipeline is corroded and broken is judged by the current expansion movement degree of expansion mechanism 2 and the deformation variable in the corresponding area of pipeline.

[0026] In a specific example, the robot body 1 includes a first plate body 10, a second plate body 11, and a connecting rod 12. The first plate body 10 and the second plate body 11 are fixedly connected by a plurality of connecting rods 12. The driving mechanism 3 is installed between the first plate body 10 and the second plate body 11 for generating contact pressure and walking force on the inner wall of the pipeline.

[0027] The driving mechanism of the utility model can fix the first plate body and the second plate body inside the pipeline of inspection, and can drive the robot body to move stably along the inner wall of the pipeline.

[0028] In a specific example, the expansion mechanism 2 includes an electric push rod 20, a connecting ring 21, a support rod 22, and a pressing plate 23. The connecting ring 21 is installed on the first plate body 10. A plurality of support rods 22 are movably installed on the circumference of the connecting ring 21. The electric push rod 20 is installed at the center of the connecting ring 21. The movable end of the electric push rod 20 is fixedly connected with the pressing plate 23. The diameter of the pressing plate 23 is larger than that of the connecting ring 21, and the pressing plate 23 is located between the plurality of support rods 22.

[0029] When the movable end of the electric push rod is retracted, the pressing plate is driven to move reversely towards the first plate body, thereby driving the support rods around the pressing plate to expand outward, and pressing against the inner wall of the pipeline. For the corroded and thin wall part, when a plurality of support rods press against the inner wall of the expanded pipeline at the same time, it is easy to cause the thin part of the pipeline to deform and break. Then, the user records the broken position for repair or replacement.

[0030] In a specific example, a rotating ring 24 and a driving motor 25 are further included, the fixed end of the electric push rod 20 is fixedly installed on the first plate body 10, the fixed end of the electric push rod 20 is circumferentially sequentially rotatably sleeved with a connecting ring 21 and the rotating ring 24, the connecting ring 21 is fixedly connected between the rotating ring 24 and the first plate body 10, the rotating ring 24 is rotatably connected with the first plate body 10, and the driving motor 25 is installed on the side wall of the first plate body 10. The motor shaft of the driving motor 25 is fixedly installed with a grinding wheel 250, and the outer side wall of the grinding wheel 250 is in contact with the outer side wall of the rotating ring 24.

[0031] In the movement of the robot, when the robot reaches the specified position, the driving motor is started, the rotating ring and the connecting ring are synchronously rotated through the grinding wheel, the position of the plurality of supporting rods on the connecting ring is changed, the plurality of supporting rods are pressed against different positions of the same section of the pipeline, and the firmness of the pipeline is detected by the user.

[0032] In addition, since the fixed end of the electric push rod is rotatably connected with the connecting ring and the rotating ring, and is fixedly installed with the first plate body, the electric push rod remains stationary and does not rotate during the rotation of the rotating ring and the connecting ring, thereby preventing the internal cable wiring of the electric push rod from being entangled.

[0033] In a specific example, the abutting plate 23 is provided with a night vision camera 230, and one side of the second plate body 11 is provided with a camera 110 and a plurality of lamp bodies 111.

[0034] When the robot of the embodiment is used for inspection, the user can use the night vision camera with night vision function to observe whether the pipeline is damaged under the pressing of the supporting rods, and the user can use the camera to cooperate with the lamp body to illuminate, so that the user can more easily observe the internal condition of the pipeline, and the overall volume is small, so that the user can carry it conveniently.

[0035] In a specific example, torsional springs are arranged at the movable connections between the supporting rods 22 and the connecting ring 21, so as to generate torsional force on the supporting rods towards the abutting plate 23.

[0036] In the embodiment, the plurality of supporting rods are provided with torsional springs, one end of each of the plurality of torsional springs is fixedly connected with the outer side wall of the connecting ring, and the other end of each of the plurality of torsional springs is fixedly connected with one end of the adjacent supporting rod, so that the plurality of supporting rods remain in the state that the other ends of the plurality of supporting rods are attached to the abutting plate when the abutting plate is not pressed, and then the electric push rod is started to drive the abutting plate to abut against the plurality of supporting rods, so that the plurality of supporting rods are pressed by the abutting plate and rotated, and the other ends of the plurality of supporting rods are away from each other, thereby abutting against the inner wall of the pipeline.

[0037] In a specific example, the driving mechanism 3 includes an abutting walking mechanism 30 and a power mechanism 31, the abutting walking mechanism 30 can abut against the inner wall of the pipeline and walk along the inner wall of the pipeline through the power mechanism 31.

[0038] The embodiment provides driving force by abutting the walking mechanism against the inner wall of the pipeline and by the power mechanism, and walks along the inner wall of the pipeline.

[0039] In a specific example, the abutting walking mechanism 30 includes eight supporting arms 300, which are divided into four groups, and are rotatably installed on the inner wall of the first plate body 10 and the second plate body 11, respectively. The ends of each group of supporting arms 300 are rotatably installed with abutting wheels 301. Slotted grooves are formed on each group of supporting arms 300. Two sliding connecting blocks 302 are connected to one screw 303 on each side of the first plate body 10 and the second plate body 11, respectively. Two L-shaped rods 304 are rotatably connected to the two sides of the screw 303, and are installed on the first plate body 10 and the second plate body 11 through the L-shaped rods 304. The threads of the two ends and the middle part of the screw 303 are opposite in rotation direction.

[0040] In the embodiment, when the screw is rotated, the two sliding connecting blocks are moved towards or away from each other due to the opposite rotation direction of the threads of the two ends and the middle part of the screw. By rotating the two screws, the supporting arms on the two plate bodies are rotated and expanded away from each other, and the abutting wheels on the ends of the supporting arms are clamped on the inner wall of the pipeline, so that the positions of the first plate body and the second plate body are kept stable.

[0041] In a specific example, the power mechanism 31 includes eight gears 310, which are installed on the abutting wheels 301 and the rotating ends of each group of supporting arms 300, respectively. The two gears 310 of each group of supporting arms 300 are drivingly connected through a toothed belt 311. The toothed belts 311 at the gears 310 on the rotating ends of the two groups of supporting arms 300 on the same side of the first plate body 10 and the second plate body 11 are respectively contacted with a driving wheel 312. The two driving wheels 312 are installed with a linkage wheel 314 through a rotating shaft 313. The two linkage wheels 314 are drivingly connected through a transmission ring belt 315. The rotating shaft 313 of each driving wheel 312 is rotatably installed with a connecting block 316, and is installed in the groove of the inner wall of the first plate body 10 and the second plate body 11 through the connecting block 316. One of the driving wheels 312 is connected with a power motor 317.

[0042] In the embodiment, the power motor provides driving force to rotate one of the driving wheels. The driving wheel drives the linkage wheel, and the linkage wheel drives the other driving wheel and the toothed belt on the other side through the transmission ring belt, so as to drive the four toothed belts contacted by the two driving wheels to rotate. In this way, the abutting wheels at the ends of the gears are rotated, and finally the robot walks along the inner wall of the pipeline.

[0043] It should be noted that, since the toothed belt at the gear on the rotating end of each group of supporting arms is in contact with the driving wheel, the gear at the rotating end of each group of supporting arms can always maintain contact with the driving wheel when the group of supporting arms is being expanded or contracted, preventing the two from disengaging.

[0044] In a specific example, the inner side wall of the transmission ring belt 315, the outer side wall of the toothed belt 311, the outer side wall of the linkage wheel 314, and the outer side wall of the driving wheel 312 are all coated with a frosted layer or a rubber layer that increases friction.

[0045] The frosted layer and the rubber layer of the present embodiment can increase transmission friction and prevent the pipe from slipping due to water inside the pipe.

[0046] Working principle: when in use, the cable is used to power the night vision camera, camera, lamp body, electric push rod, and driving motor and power motor, and to provide a data transmission channel. Controllers are arranged on the two plate bodies to control the opening and closing of the power motor, driving motor, and electric push rod.

[0047] Then, the two screw rods are rotated to drive the supporting arms on the same plate body on the inner wall to rotate away from each other, so that the abutting wheels at both ends of the same plate body are clamped inside the pipe. Then, the power motor is started to drive the adjacent rotating rod to rotate, so that the rotating rod drives the two driving wheels to rotate synchronously through the two linkage wheels and the transmission ring belt. Then, the two driving wheels rub the four toothed belts to rotate, so that the four toothed belts drive the two pairs of gears inside to rotate, thereby driving the gears to rotate and controlling the two plate bodies to move inside the pipe. When the position is reached, the electric push rod can be started to drive the abutting plate to abut against the multiple supporting rods, so that the multiple supporting rods are pressed by the abutting plate and rotate, causing the other ends of the multiple supporting rods to move away from each other and abut against the inner wall of the pipe. Then, the user can use the night vision camera with night vision function to observe whether the pipe is damaged under the abutment of the supporting rods. Then, the user can start the driving motor to drive the connecting ring to rotate, changing the position of the multiple supporting rods to abut against different positions of the same section of the pipe.

[0048] In addition, the supporting rods of the expansion mechanism can also be used to abut against the inner wall of the pipe and be driven by the power motor to move in the pipe. By abutting against and moving along the pipe, the camera can detect the deformation amount synchronously. Even if the inner wall of the pipe has not yet been corroded, when the outer wall is severely corroded, the wall between the inner and outer walls of the pipe is relatively thin. By abutting against and moving, the expansion mechanism will have a high degree of expansion and a large deformation amount, and is easy to break, thereby basically determining whether the outer wall of the pipe is damaged and corroded.

[0049] The above merely provides the preferred embodiment of the present application, and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A patrol robot capable of detecting the outer wall of a pipeline, characterized by, The utility model provides a kind of pipeline inspection robot, including robot body (1) and expansion mechanism (2), the front end of the robot body (1) is provided with expansion mechanism (2), driving mechanism (3) is installed on the robot body (1) for driving robot body (1) and the inner wall of the pipeline of inspection abuts and moves along the inner wall of the pipeline, expansion mechanism (2) is pressed against the inner wall of the pipeline of inspection, expansion mechanism (2) is displaced in the pipeline by driving mechanism (3) in the manner of pressing against the inner wall of the pipeline, the current expansion movement degree of expansion mechanism (2) and the deformation variable in the corresponding area of the pipeline judge whether the outer wall of the pipeline in this area is corroded and damaged, the robot body (1) includes first plate body (10), second plate body (11) and connecting rod (12), the first plate body (10) and the second plate body (11) are fixedly connected by multiple connecting rods (12), the driving mechanism (3) is installed between the first plate body (10) and the second plate body (11) for generating the contact pressure and walking force of the inner wall of the pipeline, the expansion mechanism (2) includes electric push rod (20), connecting ring (21), support rod (22) and abutment plate (23), the connecting ring (21) is installed on the first plate body (10), the connecting ring (21) is circumferentially movably installed with several support rods (22), the connecting ring (21) is centrally installed with electric push rod (20), the movable end of electric push rod (20) is fixedly connected with abutment plate (23), the diameter of abutment plate (23) is greater than the diameter of connecting ring (21), and abutment plate (23) is located between several support rods (22), the expansion mechanism (2) further includes swivel ring (24) and drive motor (25), the fixed end of electric push rod (20) is fixedly installed on the first plate body (10), the fixed end of electric push rod (20) is circumferentially rotatably sleeved with connecting ring (21) and swivel ring (24) in sequence, the connecting ring (21) and swivel ring (24) are fixedly connected, the swivel ring (24) is rotatably connected with the first plate body (10), the drive motor (25) is installed on the side wall of the first plate body (10), the motor shaft of drive motor (25) is fixedly installed with grinding wheel (250), the outer side wall of grinding wheel (250) is in contact with the outer side wall of swivel ring (24).

2. The inspection robot capable of detecting the outer wall of a pipeline according to claim 1, wherein, Night vision camera (230) is arranged on the abutment plate (23), and a camera (110) and a plurality of lamp bodies (111) are arranged on one side of the second plate body (11).

3. The inspection robot capable of detecting the outer wall of a pipeline according to claim 1, wherein, Torsional springs are arranged at the movable connections between the support rods (22) and the connecting ring (21) to generate torsional force towards the abutment plate (23).

4. The inspection robot capable of detecting the outer wall of a pipeline according to claim 1, wherein, The driving mechanism (3) includes abutting walking mechanism (30) and power mechanism (31), the abutting walking mechanism (30) can abut the inner wall of the pipeline and walk along the inner wall of the pipeline by the power mechanism (31).

5. The inspection robot capable of detecting the outer wall of the pipeline according to claim 4, wherein, The conflict walking mechanism (30) comprises eight supporting arms (300), which are divided into four groups, are rotatably installed on the inner walls of the first plate body (10) and the second plate body (11) on both sides, respectively, the ends of each group of supporting arms (300) are rotatably installed with a resistance wheel (301), a sliding groove is formed on each group of supporting arms (300), a screw rod (303) is connected to each pair of sliding grooves on the side of the first plate body (10) and the side of the second plate body (11) through a sliding connecting block (302), respectively, the two screw rods (303) are rotatably connected with L-shaped rods (304) on both sides and are installed on the first plate body (10) and the second plate body (11) through the L-shaped rods (304), and the screw threads of the two ends and the middle part of the two screw rods (303) are opposite.

6. The inspection robot capable of detecting the outer wall of the pipeline according to claim 5, wherein, The power mechanism (31) comprises eight gears (310), which are installed on the resistance wheels (301) and the rotating ends of each group of supporting arms (300), respectively, the two gears (310) of each group of supporting arms (300) are drivingly connected through a toothed belt (311), the toothed belts (311) at the gears (310) on the rotating ends of the two groups of supporting arms (300) on the same side of the first plate body (10) and the second plate body (11) are respectively contacted with a driving wheel (312), the two driving wheels (312) are installed with a linkage wheel (314) through a rotating shaft (313), the two linkage wheels (314) are drivingly connected through a transmission ring belt (315), the rotating shafts (313) of the two driving wheels (312) are rotatably installed with connecting blocks (316) and are installed in the grooves in the inner side walls of the first plate body (10) and the second plate body (11) through the respective connecting blocks (316), and one of the driving wheels (312) is connected with a power motor (317).

7. The inspection robot capable of detecting the outer wall of a pipeline according to claim 6, wherein, The inner side walls of the transmission ring belt (315), the outer side walls of the toothed belt (311), the outer side walls of the linkage wheel (314) and the outer side walls of the driving wheel (312) are coated with a friction-increasing frosted layer or rubber layer.

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