In-pipe inspection robot

Abstract

The application discloses a pipeline detection robot, which comprises a signal detection and collection device, sensors and a sensor support structure, each sensor support part comprises a first connecting rod structure which can be actively expanded or contracted in the radial direction, each first connecting rod structure is connected with a sensor, and each sensor is arranged in parallel with the inner wall of the pipeline; each first connecting rod structure is connected with a first supporting wheel structure which can be passively expanded or contracted in the radial direction to be in real-time abutment with the inner wall of the pipeline; a wheel leg supporting device is symmetrically and universally connected to the axial two ends of the signal detection and collection device, and a plurality of wheel leg structures are arranged, each wheel leg structure comprises a second connecting rod structure which can be actively expanded or contracted in the radial direction, and the second connecting rod structure is connected with a second supporting wheel structure which can be passively expanded or contracted in the radial direction to be in real-time abutment with the inner wall of the pipeline. The pipeline detection robot adopts an active and passive combined variable-diameter mode, can adapt to a larger pipeline diameter change range and ensure detection precision, and the practicability of the pipeline detection robot is improved.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection technology, and in particular to a pipeline inspection robot. Background Technology

[0002] Petroleum resources occupy an important position in my country's energy strategy, and the storage and transportation of oil and gas resources are crucial to the country's overall economy. Oil and gas pipelines play a vital role as bridges and links in the production, transportation, and marketing of oil. Ensuring the safety and reliability of oil and gas pipelines is of paramount importance, especially the timely detection and prevention of pipeline damage. Pipeline inspection devices are needed during pipeline inspection.

[0003] In practical use, existing pipe specifications vary. When conducting inspections, it is necessary to select the appropriate pipe detector based on the pipe diameter; otherwise, the inspection results will be affected, and it will be impossible to identify any pipe damage.

[0004] Currently used pipe detectors are unable to adapt to a wide range of pipe diameter changes. When inspecting pipes of different diameters, it is necessary to use detectors that are compatible with them, which greatly limits their practicality. Moreover, most of them carry a single sensor, which is insufficient to detect all defects.

[0005] There is a support wheel type pipe internal inspection device and system in the prior art (publication number CN 102435669A). The inspection device is based on non-active spring to adapt to sudden changes in the inner wall of the pipe. It does not have the ability to adapt to a large range of pipe diameters. Moreover, it uses ordinary cup drive. Ordinary cup structure cannot adapt to a large range of pipe diameter changes. At the same time, the wear of the cup structure itself and the pipe is unavoidable.

[0006] The following describes the defects of the non-active spring support structure and the ordinary cup structure in terms of pipe adaptation and other aspects in the aforementioned prior art: (1) The spring support structure is a non-active variable diameter structure. The change of pipe diameter forces the change of spring compression, so that the guide wheel always contacts the inner wall of the pipe, thereby adapting to the change of pipe diameter. Its pipe diameter adaptation range is determined by the spring stroke and the support structure. When transitioning from a large pipe diameter to a small pipe diameter, the spring compression increases, which will increase the friction with the pipe wall. Maintaining a large compression for a long time will cause the structure to bear a large load, reduce the service life, and cause pipe wear. When transitioning from a small pipe diameter to a large pipe diameter, the spring compression decreases, which may cause insufficient support force of the detector in the pipe, resulting in unstable operation of the pipe detector. (2) The traditional cup drive method requires the formation of a pressure difference before and after the detector to drive the detector forward. That is, the cup needs to have sufficient interference. After the detector enters the pipe, a sealing surface is formed on its circumferential section. After the detector enters the pipe, the driving cup is compressed and deformed. The driving cup of the detector contacts the pipe wall and generates friction. The greater the clamping force, the greater the friction. If the clamping force is too small, a reliable sealing ring cannot be formed. If the detector adopts the traditional cup drive method, its applicable pipe diameter range will be greatly limited by the cup. The interference of ordinary cup is small, so the applicable pipe diameter range is small. The pipe diameter applicable range of the spring support structure will also be limited by the interference of the cup.

[0007] Pipe diameter adaptation ensures reliable operation of the detector within the pipeline. However, changes in the distance between the sensor and the pipeline must be considered when the pipe diameter changes. Sensors have an optimal working distance, and this distance changes relative to the pipeline wall. Failure to adjust the working distance may negatively impact detection performance. The aforementioned pipeline detector addresses this change by designing the sensor support device with the same pipe diameter adaptation structure as the support wheel. However, it shares the same drawbacks: The spring-loaded pipe diameter adaptation of the sensor mounting device inevitably causes friction between the sensor or mounting device and the pipe wall. During the transition from a large to a small pipe diameter, spring compression increases friction, potentially causing pipe wear and sensor damage. Conversely, during the transition from a small to a large pipe diameter, the reduced spring compression may prevent the sensor from adhering tightly to the pipeline wall at the appropriate working distance.

[0008] Therefore, based on years of experience and practice in related industries, the inventor proposes a pipeline inspection robot to overcome the shortcomings of existing technologies. Summary of the Invention

[0009] The purpose of this invention is to provide a pipeline inspection robot that overcomes the problems existing in the prior art. The structure is improved to adapt to different pipe diameters. The sensor support and wheel structure of this invention can actively change diameter, while the support wheel structure can retract inward when encountering pipe deformation or obstacles, allowing for a small range of passive diameter changes. This achieves a combination of active and passive diameter changes and enhances the robot's ability to pass through deformed or obstructed pipes. It achieves the effect of adapting to a large range of pipe diameter changes while ensuring detection accuracy, thus improving the practicality of this pipeline robot.

[0010] The objective of this invention is achieved as follows: a pipeline inspection robot, comprising:

[0011] A signal detection and collection device includes a sensor and a sensor support structure. The sensor support structure includes a first support body with two sensor support groups. Each sensor support group includes multiple sensor support parts spaced circumferentially along the first support body. The sensor support parts of one sensor support group are circumferentially staggered with the sensor support parts of the other sensor support group, and the other sensor support group can be axially spaced from or located at the same axial position as the first sensor support group. Each sensor support part includes a first connecting rod structure that can actively extend or retract radially along the first support body. Each sensor is connected to the radial top surface of each first connecting rod structure, and each sensor is arranged parallel to the inner wall of the pipe. A first support wheel structure that can passively extend and retract radially along the first support body to abut against the inner wall of the pipe in real time is connected to each first connecting rod structure.

[0012] The wheel-leg support device is symmetrically and universally connected to both ends of the signal detection and collection device along the axial direction. It includes a second support body, on which multiple wheel-leg structures are provided. Each wheel-leg structure includes a second link structure that can actively extend or retract along the radial direction of the second support body. A second support wheel structure that can passively extend and retract along the radial direction of the second support body to abut against the inner wall of the pipe in real time is connected to the second link structure.

[0013] In a preferred embodiment of the present invention, each of the first connecting rod structures is connected to a first support plate, and each of the first support plates is arranged parallel to the inner wall of the pipe; the first connecting rod structure includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, and a bottom rod, the bottom rod being connected to the first support body; the first end of the first connecting rod is hinged to the first end of the bottom rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is hinged to the first support plate; the first end of the third connecting rod is hinged to the second end of the bottom rod, the second end of the third connecting rod is hinged to the first end of the fourth connecting rod, and the second end of the fourth connecting rod is hinged to the first support plate; the third connecting rod and the second connecting rod are arranged parallel to each other, the fourth connecting rod and the first connecting rod are arranged parallel to each other, and a fifth connecting rod and a sixth connecting rod are hinged in parallel between the fourth connecting rod and the first connecting rod.

[0014] In a preferred embodiment of the present invention, a first end of an electric push rod is hinged to the first connecting rod, and a second end of the electric push rod is hinged to the first support body. The electric push rod pushes the first connecting rod structure to extend or retract radially along the first support body through the first connecting rod.

[0015] In a preferred embodiment of the present invention, two sensor support groups are defined as a first sensor support group and a second sensor support group. A slide rail is provided on the first support body along the axial direction. Each bottom rod of the first sensor support group is fixedly connected to the first support body, and each bottom rod of the second sensor support group is movably connected to the slide rail. Each sensor support part of the second sensor support group can move axially along the slide rail.

[0016] In a preferred embodiment of the present invention, a first screw is connected to the slide rail, and a first drive motor is connected to the first screw. The first drive motor drives each of the sensor support parts of the second sensor support group to move axially along the slide rail through the first screw.

[0017] In a preferred embodiment of the present invention, the first support wheel structure includes a first wheel seat disposed on the first support plate, a first end of a seventh link hinged to the first wheel seat, a second end of the seventh link hinged to a first guide wheel, a first guide sleeve hinged to the seventh link, a first guide adjustment rod hinged to the first wheel seat, and the first guide sleeve slidably sleeved on the first guide adjustment rod; a first spring is disposed inside the first guide sleeve.

[0018] In a preferred embodiment of the present invention, a sensor box is provided on the first support plate, and the sensor is provided in each of the sensor boxes.

[0019] In a preferred embodiment of the present invention, each of the second link structures is connected to a second support plate, and the second support plate is provided with a second support wheel structure; the second link structure includes two sets of parallel link groups, each link group including an eighth link, a ninth link, a tenth link, and an eleventh link, the first end of the eighth link is hinged to the first end of the second support body, the second end of the eighth link is hinged to the first end of the ninth link, and the second end of the ninth link is hinged to the second support plate; the first end of the tenth link is hinged to the second end of the second support body, the second end of the tenth link is hinged to the first end of the eleventh link, and the second end of the eleventh link is hinged to the second support plate; the tenth link and the ninth link are arranged in parallel, the eleventh link and the eighth link are arranged in parallel, and the eleventh link and the eighth link are hinged in parallel to each other by a twelfth link and a thirteenth link.

[0020] In a preferred embodiment of the present invention, a connecting crossbar is provided between the two tenth links, a fourteenth link is hinged to the connecting crossbar, a screw sleeve is hinged to the fourteenth link, the screw sleeve is connected to a second screw, the second screw is connected to a second drive motor, and the second drive motor pushes the second link structure to extend or retract radially along the second support body through the second screw, the screw sleeve, and the fourteenth link.

[0021] In a preferred embodiment of the present invention, the wheel leg support device is universally connected to both axial ends of the signal detection and collection device via a universal joint; the universal joint includes a coupling and two cross joints, the two cross joints are respectively connected to the wheel leg support device and the signal detection and collection device, and the coupling is connected between the two cross joints.

[0022] As described above, the pipeline inspection robot of the present invention has the following beneficial effects:

[0023] Compared to traditional support-type pipe inspection robots, this invention offers superior pipe adaptability. It employs a unique linkage structure, transforming the traditional spring support structure into an extendable wheel-leg structure. It also considers the changing sensor working distance as pipe diameter varies, utilizing a linkage mechanism with dimensions similar to the wheel-leg support structure to create an extendable sensor support. This unique linkage structure ensures the sensor support remains parallel to the pipe wall during movement, without affecting the sensor's detection orientation; only the distance between the sensor and the pipe wall needs adjustment. Adjusting to the optimal working distance guarantees detection accuracy while reducing friction between the sensor and the pipe wall, protecting the sensor and preventing damage. This pipe inspection robot achieves adaptability to a wide range of pipe diameter variations while maintaining detection accuracy, significantly improving its practicality.

[0024] This invention employs a symmetrical design. The symmetrical structure, in principle and function, can effectively improve the performance of the mechanical system, greatly simplify the design process, reduce the complexity of the entire control system, and avoid singular configurations. Therefore, symmetrical structures hold a very important position in mechanical systems. The pipeline inspection robot of this invention exhibits central symmetry, with the central axis of symmetry being the central axis of the pipeline, which is suitable for the operating environment. The external structure also possesses central symmetry, which improves operational stability.

[0025] The sensor support and wheel leg structure of the present invention can actively change diameter. When the support wheel structure (first support wheel structure and second support wheel structure) encounters pipe deformation or obstacles, it can retract inward, allowing a small range of passive diameter change, thereby achieving a combination of active and passive diameter change and enhancing the passage capacity at pipe deformation or obstacles.

[0026] In this invention, two sensor support groups are set up. In the small radius state, the operation of the sensors on the multiple sensor support parts of one sensor support group can basically achieve 360° full coverage. When the radius increases to a certain extent, the other sensor support group can be moved to the axial position of the first sensor support group. The operation of the sensors on the multiple sensor support parts of the two sensor support groups can achieve 360° full coverage. Moreover, since they are on the same circumference, the difficulty of subsequent data delay compensation work can be reduced.

[0027] The wheel leg support device of the present invention is universally connected to both ends of the axial direction of the signal detection and collection device, which improves the passability at bends;

[0028] The pipeline inspection robot of this invention has a simple mechanical structure and is easy to assemble, disassemble and replace. Attached Figure Description

[0029] The accompanying drawings are intended only to illustrate and explain the present invention and do not limit the scope of the invention.

[0030] in:

[0031] Figure 1 This is a schematic diagram of the overall structure of the pipeline inspection robot of the present invention.

[0032] Figure 2a : This is a schematic diagram showing the two sensor support groups of the signal detection and collection device of the present invention with axial spacing.

[0033] Figure 2b This is a schematic diagram showing the two sensor support groups of the signal detection and collection device of the present invention located at the same axial position.

[0034] Figure 3 : This is a side view of the signal detection and collection device of the present invention.

[0035] Figure 4 : This is an isometric schematic diagram of the sensor support portion of the present invention.

[0036] Figure 5 : This is a front view of the sensor support portion of the present invention.

[0037] Figure 6 : This is a schematic diagram of the first support wheel structure of the present invention.

[0038] Figure 7 : This is a schematic diagram of the first support wheel structure of the present invention without the first guide sleeve.

[0039] Figure 8 : This is a schematic diagram of the wheel leg support device of the present invention.

[0040] Figure 9 : This is a schematic diagram of the wheel leg structure of the present invention when it is radially extended.

[0041] Figure 10 : This is a schematic diagram of the wheel leg structure of the present invention when it is radially retracted.

[0042] Figure 11 : This is a schematic diagram of the universal joint of the present invention.

[0043] In the picture:

[0044] 1. Signal detection and collection device;

[0045] 11. First supporting body;

[0046] 12. Sensor support; 121. First link; 122. Second link; 123. Third link; 124. Fourth link; 125. Fifth link; 126. Sixth link; 127. Base rod;

[0047] 13. First support wheel structure; 131. First wheel seat; 132. Seventh connecting rod; 133. First guide wheel; 134. First guide sleeve; 135. First guide adjusting rod; 136. First spring;

[0048] 14. First support plate;

[0049] 15. Electric linear actuator;

[0050] 16. Sensor box;

[0051] 2. Wheel leg support device;

[0052] 21. Second supporting body;

[0053] 22. Wheel-leg structure; 221. Eighth link; 222. Ninth link; 223. Tenth link; 224. Eleventh link; 225. Twelfth link; 226. Thirteenth link; 227. Connecting crossbar;

[0054] 23. Second support wheel structure;

[0055] 24. Second support plate;

[0056] 25. Second drive motor;

[0057] 261. Fourteenth connecting rod; 262. Screw sleeve; 263. Second screw;

[0058] 3. Universal joint;

[0059] 31. Coupling; 32. Cross joint. Detailed Implementation

[0060] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0061] The specific embodiments of the present invention described herein are for illustrative purposes only and should not be construed as limiting the invention in any way. Under the teachings of this invention, those skilled in the art can conceive of any possible modifications based on the invention, all of which should be considered within the scope of the invention. It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there may be an intervening element. The terms "mounted," "connected," and "linked" should be interpreted broadly; for example, they can refer to mechanical or electrical connections, or internal communication between two elements, and can be direct or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible embodiments.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0063] like Figures 1 to 11 As shown, the present invention provides a pipeline inspection robot, comprising:

[0064] The signal detection and collection device 1 includes a sensor and a sensor support structure. The sensor support structure includes a first support body 11, on which two sensor support groups are provided. Each sensor support group includes multiple sensor support parts 12 arranged circumferentially along the first support body. The sensor support parts 12 of one sensor support group are circumferentially staggered with the sensor support parts 12 of the other sensor support group, and the other sensor support group can be axially spaced from or located in the same axial position as the first sensor support group. Each sensor support part 12 includes a first connecting rod structure that can actively extend or retract radially along the first support body 11. Each sensor is connected to the radial top surface of each first connecting rod structure, and each sensor is arranged parallel to the inner wall of the pipe. Each first connecting rod structure is connected to a first support wheel structure 13 that can passively extend and retract radially along the first support body 11 to abut against the inner wall of the pipe in real time.

[0065] The wheel leg support device 2 is symmetrically and universally connected to both ends of the signal detection and collection device 1 along the axial direction. It includes a second support body 21, on which multiple wheel leg structures 22 are provided. Each wheel leg structure 22 includes a second link structure that can actively extend or retract along the radial direction of the second support body 21. A second support wheel structure 23 that can passively extend and retract along the radial direction of the second support body 21 to abut against the inner wall of the pipe in real time is connected to the second link structure.

[0066] Today, society has an increasing demand for pipeline robots, and the functional requirements for pipeline robots are also becoming more and more demanding. There are many types of pipeline robots, and different forms have different application scenarios. The core research issues are still passability and detection accuracy. How to improve the passability in pipelines and the adaptability to different pipe diameters while ensuring the accuracy of detection is an important problem that still needs to be solved.

[0067] This invention improves the pipe diameter adaptation structure, designs a pipe diameter adaptation structure with a larger range, and also considers the adjustment of the sensor working distance, thus proposing a pipe inspection robot.

[0068] Compared to traditional supported pipe inspection robots, this invention offers superior pipe adaptability. It employs a unique linkage structure, transforming the traditional spring support structure into an extendable wheel-leg structure. It also considers the changing sensor working distance as pipe diameter varies, utilizing a linkage mechanism with dimensions similar to the wheel-leg support structure to create an extendable sensor support. The unique four-bar linkage ensures the sensor support remains parallel to the pipe wall during movement, without affecting the sensor's detection orientation; only the distance between the sensor and the pipe wall needs adjustment. Adjusting to the optimal working distance ensures detection accuracy while reducing friction between the sensor and the pipe wall, protecting the sensor and preventing damage. This pipe inspection robot achieves adaptability to a wide range of pipe diameter variations while maintaining detection accuracy, enhancing its practicality. In subsequent data processing, multi-sensor data fusion technology is used to fuse data collected by magnetic and ultrasonic sensors (or combinations of other sensors). This effectively avoids the limitations and uncertainties of single sensors, improves the reliability of the fusion system, and further enhances detection accuracy.

[0069] This invention employs a symmetrical design. The symmetrical structure, in principle and function, can effectively improve the performance of the mechanical system, greatly simplify the design process, reduce the complexity of the entire control system, and avoid singular configurations. Therefore, symmetrical structures hold a very important position in mechanical systems. The pipeline inspection robot of this invention exhibits central symmetry, with the central axis of symmetry being the central axis of the pipeline, which is suitable for the operating environment. The central symmetry of the external structure also improves operational stability.

[0070] The sensor support and wheel leg structure of the present invention can actively change diameter. When the support wheel structure (first support wheel structure and second support wheel structure) encounters pipe deformation or obstacles, it can retract inward, allowing a small range of passive diameter change, thereby achieving a combination of active and passive diameter change and enhancing the passage capacity at pipe deformation or obstacle points.

[0071] In this invention, two sensor support groups are set up. In the small radius state, the operation of multiple sensor support parts on one sensor support group can basically achieve 360° full coverage. When the radius increases to a certain extent, the other sensor support group can be moved to the axial position of the first sensor support group. The operation of multiple sensor support parts on both sensor support groups can achieve 360° full coverage. Moreover, since they are on the same circumference, the difficulty of subsequent data delay compensation work can be reduced.

[0072] The wheel leg support device of the present invention is universally connected to both ends of the axial direction of the signal detection and collection device, which improves the passability at bends.

[0073] The pipeline inspection robot of this invention has a simple mechanical structure and is easy to assemble, disassemble and replace.

[0074] Furthermore, such as Figure 2a , Figure 2b , Figure 3 , Figure 4 , Figure 5 As shown, each first link structure is connected to a first support plate 14, and each first support plate 14 is arranged parallel to the inner wall of the pipe; the first link structure includes a first link 121, a second link 122, a third link 123, a fourth link 124, and a bottom rod 127, with the bottom rod 127 connected to the first support body 11; the first end of the first link 121 is hinged to the first end of the bottom rod 127, and the second end of the first link 121 is hinged to the first end of the second link 122. The second end is hinged to the first support plate 14; the first end of the third link 123 is hinged to the second end of the bottom rod, the second end of the third link 123 is hinged to the first end of the fourth link 124, and the second end of the fourth link 124 is hinged to the first support plate 14; the third link 123 and the second link 122 are arranged in parallel, the fourth link 124 and the first link 121 are arranged in parallel, and the fifth link 125 and the sixth link 126 are hinged in parallel between the fourth link 124 and the first link 121.

[0075] Furthermore, such as Figure 4 , Figure 5As shown, the first end of the electric push rod 15 is hinged to the first link 121, and the second end of the electric push rod 15 is hinged to the first support body 11. The electric push rod 15 pushes the first link structure to extend or retract radially along the first support body through the first link 121.

[0076] The sensor support 12 is designed to adapt to the pipe diameter, and the first linkage structure is a four-bar derivative structure. The extension and retraction of the first linkage structure are controlled by an electric push rod to change the outermost diameter of the detection robot, thereby achieving the purpose of actively adapting to the pipe diameter.

[0077] Furthermore, two sensor support groups are set as the first sensor support group and the second sensor support group. A slide rail is provided on the first support body 11 along the axial direction. Each bottom rod of the first sensor support group is fixedly connected to the first support body 11, and each bottom rod 127 of the second sensor support group is movably connected to the slide rail. Each sensor support part of the second sensor support group can move along the slide rail axially.

[0078] Furthermore, a first screw is connected to the slide rail, and a first drive motor is connected to the first screw. The first drive motor drives each sensor support part of the second sensor support group to move axially along the slide rail through the first screw.

[0079] Furthermore, such as Figure 6 , Figure 7 As shown, the first support wheel structure 13 includes a first wheel seat 131 mounted on a first support plate 14. The first end of a seventh link 132 is hinged to the first wheel seat 131, and the second end of the seventh link 132 is hinged to a first guide wheel 133. A first guide sleeve 134 is hinged to the seventh link 132, and a first guide adjusting rod 135 is also hinged to the first wheel seat 131. The first guide sleeve 134 is slidably fitted onto the first guide adjusting rod 135. A first spring 136 is disposed inside the first guide sleeve 134. The first support wheel structure 13 is elastic, and the first guide wheel 133 has a spring damping structure. When the pipe deforms or encounters an obstacle, the spring is compressed, causing the first guide wheel 133 to change its diameter inward, increasing its passability.

[0080] Furthermore, such as Figure 4 , Figure 5 As shown, a sensor box 16 is provided on the first support plate 14, and a sensor is provided in each sensor box 16.

[0081] Each sensor box 16 contains two rows of sensors; each sensor is a magnetic sensor and / or an ultrasonic sensor, and the magnetic sensors and ultrasonic sensors are arranged alternately or individually in a circumferential arrangement, or they can be a combination of other sensors.

[0082] Furthermore, such as Figure 8 , Figure 9 , Figure 10As shown, each second link structure is connected to a second support plate 24, and a second support wheel structure 23 is provided on the second support plate 24. The second support wheel structure 23 and the first support wheel structure 13 can adopt the same structure. The second link structure includes two sets of parallel link groups. Each link group includes an eighth link 221, a ninth link 222, a tenth link 223, and an eleventh link 224. The first end of the eighth link 221 is hinged to the first end of the second support body 21, and the second end of the eighth link 221 is hinged to the first end of the ninth link 222. The second end of link 222 is hinged to the second support plate 24; the first end of the tenth link 223 is hinged to the second end of the second support body 21, the second end of the tenth link 223 is hinged to the first end of the eleventh link 224, and the second end of the eleventh link 224 is hinged to the second support plate 24; the tenth link 223 and the ninth link 222 are arranged in parallel, the eleventh link 224 and the eighth link 221 are arranged in parallel, and the twelfth link 225 and the thirteenth link 226 are hinged in parallel between the eleventh link 224 and the eighth link 221.

[0083] Furthermore, such as Figure 8 , Figure 9 , Figure 10 As shown, a connecting crossbar 227 is provided between the two tenth links 223. The fourteenth link 261 is hinged to the connecting crossbar 227. The fourteenth link 261 is hinged to the screw sleeve 262. The screw sleeve 262 is connected to the second screw 263. The second screw 263 is connected to the second drive motor 25. The second drive motor 25 pushes the second link structure to extend or retract radially along the second support body 21 through the second screw 263, the screw sleeve 262, and the fourteenth link 261.

[0084] The robot's extendable wheel-leg support structure is driven by the second drive motor 25 to rotate the second screw 263, which converts the rotational motion of the screw into the linear motion of the screw sleeve 262, thereby driving the four-bar linkage to extend or retract, achieving the purpose of changing the diameter.

[0085] The wheel-leg structure 22 is designed to adapt to the pipe diameter, and the second linkage structure is a four-bar derivative structure. A motor drives a screw to control the extension and retraction of the second linkage structure, thereby changing the outermost diameter of the detection robot and achieving active adaptation to the pipe diameter. In a specific embodiment of the invention, the number of extendable wheel-leg structures 22 in a circumferential array is three (evenly distributed at 120°).

[0086] Furthermore, such as Figure 11As shown, the wheel leg support device 2 is universally connected to both ends of the signal detection and collection device 1 via a universal joint 3; the universal joint 3 includes a coupling 31 and two cross joints 32, the two cross joints 32 are respectively connected to the wheel leg support device 2 and the signal detection and collection device 1, and the coupling 31 is connected between the two cross joints 32.

[0087] The electric push rod and drive motor of the pipeline inspection robot of the present invention are both powered by the power supply in the drive compartment (existing technology).

[0088] In one specific embodiment of the present invention, the sensor support structure has two sensor support groups, each with eight sensor support parts 12. The sensor support parts 12 of the two sensor support groups are staggered. The extension and retraction of the first connecting rod structure are driven by an electric push rod 15 to achieve the purpose of changing the diameter. In the small radius state, only the sensors in the eight sensor boxes 16 of the first sensor support group (single circumference) need to work to basically achieve 360° full coverage (e.g., Figure 2a As shown, when the radius increases to a certain extent, the eight sensor boxes of the first sensor support group (single circumference) cannot meet the full coverage of the detection range. The eight sensor support parts of the second sensor support group can be driven by the first drive motor to drive the first screw, causing each sensor support part of the second sensor support group to move axially along the slide rail. The first sensor support group and the second sensor support group are located at the same axial position (e.g., Figure 2b As shown, a single-circle structure of 16 sensors is formed to achieve 360° full coverage. Furthermore, the fact that they are all on the same circumference reduces the difficulty of subsequent data delay compensation.

[0089] As described above, the pipeline inspection robot of the present invention has the following beneficial effects:

[0090] Compared to traditional support-type pipe inspection robots, this invention offers superior pipe adaptability. It employs a unique linkage structure, transforming the traditional spring support structure into an extendable wheel-leg structure. It also considers the changing sensor working distance as pipe diameter varies, utilizing a linkage mechanism with dimensions similar to the wheel-leg support structure to create an extendable sensor support. This unique linkage structure ensures the sensor support remains parallel to the pipe wall during movement, without affecting the sensor's detection orientation; only the distance between the sensor and the pipe wall needs adjustment. Adjusting to the optimal working distance guarantees detection accuracy while reducing friction between the sensor and the pipe wall, protecting the sensor and preventing damage. This pipe inspection robot achieves adaptability to a wide range of pipe diameter variations while maintaining detection accuracy, significantly improving its practicality.

[0091] This invention employs a symmetrical design. The symmetrical structure, in principle and function, can effectively improve the performance of the mechanical system, greatly simplify the design process, reduce the complexity of the entire control system, and avoid singular configurations. Therefore, symmetrical structures hold a very important position in mechanical systems. The pipeline inspection robot of this invention exhibits central symmetry, with the central axis of symmetry being the central axis of the pipeline, which is suitable for the operating environment. The external structure also possesses central symmetry, which improves operational stability.

[0092] The sensor support and wheel leg structure of the present invention can actively change diameter. When the support wheel structure (first support wheel structure and second support wheel structure) encounters pipe deformation or obstacles, it can retract inward, allowing a small range of passive diameter change, thereby achieving a combination of active and passive diameter change and enhancing the passage capacity at pipe deformation or obstacles.

[0093] In this invention, two sensor support groups are set up. In the small radius state, the operation of the sensors on the multiple sensor support parts of one sensor support group can basically achieve 360° full coverage. When the radius increases to a certain extent, the other sensor support group can be moved to the axial position of the first sensor support group. The operation of the sensors on the multiple sensor support parts of the two sensor support groups can achieve 360° full coverage. Moreover, since they are on the same circumference, the difficulty of subsequent data delay compensation work can be reduced.

[0094] The wheel leg support device of the present invention is universally connected to both ends of the axial direction of the signal detection and collection device, which improves the passability at bends;

[0095] The pipeline inspection robot of this invention has a simple mechanical structure and is easy to assemble, disassemble and replace.

[0096] The above description is merely an illustrative embodiment of the present invention and is not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A pipeline inspection robot, characterized by, The utility model relates to a signal detection and collection device, a wheel leg supporting device and a pipeline inspection robot. The signal detection and collection device comprises a sensor and a sensor supporting structure, the sensor supporting structure comprises a first supporting body, two sensor supporting groups are arranged on the first supporting body, each sensor supporting group comprises a plurality of sensor supporting parts arranged along the circumference of the first supporting body, each sensor supporting part of one sensor supporting group is circumferentially staggered with each sensor supporting part of the other sensor supporting group, and the other sensor supporting group can be axially spaced apart from or located at the same axial position as the one sensor supporting group, each sensor supporting part comprises a first connecting rod structure that can be actively extended or contracted in the radial direction of the first supporting body, each sensor is connected to the radial top surface of each first connecting rod structure, and each sensor is arranged in parallel with the inner wall of the pipeline, and each first connecting rod structure is connected to a first supporting wheel structure that can be passively extended or contracted in the radial direction of the first supporting body to real-time abut against the inner wall of the pipeline. The wheel leg supporting device is symmetrically and universally connected to the axial both ends of the signal detection and collection device, and comprises a second supporting body, a plurality of wheel leg structures are arranged on the second supporting body, each wheel leg structure comprises a second connecting rod structure that can be actively extended or contracted in the radial direction of the second supporting body, and the second connecting rod structure is connected to a second supporting wheel structure that can be passively extended or contracted in the radial direction of the second supporting body to real-time abut against the inner wall of the pipeline. Each first connecting rod structure is connected to a first supporting plate, and each first supporting plate is arranged in parallel with the inner wall of the pipeline, the first connecting rod structure comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a bottom rod, the bottom rod is connected to the first supporting body, the first end of the first connecting rod is hingedly connected to the first end of the bottom rod, the second end of the first connecting rod is hingedly connected to the first end of the second connecting rod, and the second end of the second connecting rod is hingedly connected to the first supporting plate, the first end of the third connecting rod is hingedly connected to the second end of the bottom rod, the second end of the third connecting rod is hingedly connected to the first end of the fourth connecting rod, and the second end of the fourth connecting rod is hingedly connected to the first supporting plate, the third connecting rod is arranged in parallel with the second connecting rod, the fourth connecting rod is arranged in parallel with the first connecting rod, and a fifth connecting rod and a sixth connecting rod are hingedly connected in parallel between the fourth connecting rod and the first connecting rod. Second support plate is connected on each of the second connecting rod structure, and the second support wheel structure is arranged on the second support plate; the second connecting rod structure comprises two groups of parallel connecting rod groups, each of the connecting rod groups comprises an eighth connecting rod, a ninth connecting rod, a tenth connecting rod and an eleventh connecting rod, the first end of the eighth connecting rod is hingedly connected to the first end of the second support body, the second end of the eighth connecting rod is hingedly connected to the first end of the ninth connecting rod, and the second end of the ninth connecting rod is hingedly connected to the second support plate; the first end of the tenth connecting rod is hingedly connected to the second end of the second support body, the second end of the tenth connecting rod is hingedly connected to the first end of the eleventh connecting rod, and the second end of the eleventh connecting rod is hingedly connected to the second support plate; the tenth connecting rod is arranged in parallel with the ninth connecting rod, and the eleventh connecting rod is arranged in parallel with the eighth connecting rod, and a twelfth connecting rod and a thirteenth connecting rod are hingedly connected between the eleventh connecting rod and the eighth connecting rod in parallel.

2. The in-pipe robotic device of claim 1, wherein, The first end of an electric push rod is hingedly connected to the first connecting rod, and the second end of the electric push rod is hingedly connected to the first support body; the electric push rod drives the first connecting rod structure to stretch or contract along the radial direction of the first support body through the first connecting rod.

3. The in-pipe robotic device of claim 1, wherein, Two sensor support groups are set as a first sensor support group and a second sensor support group, and a sliding rail is arranged on the first support body in the axial direction; each of the bottom rods of the first sensor support group is fixedly connected to the first support body, and each of the bottom rods of the second sensor support group is movably connected to the sliding rail; and each of the sensor support parts of the second sensor support group can move in the axial direction of the sliding rail.

4. The in-pipe robotic device of claim 3, wherein, A first screw rod is connected to the sliding rail, a first driving motor is connected to the first screw rod, and the first driving motor drives each of the sensor support parts of the second sensor support group to move in the axial direction of the sliding rail through the first screw rod.

5. The in-pipe robotic device of claim 1, wherein, The first support wheel structure comprises a first wheel seat arranged on the first support plate, a first end of a seventh connecting rod is hingedly connected to the first wheel seat, a second end of the seventh connecting rod is hingedly connected to a first guide wheel, a first guide sleeve is hingedly connected to the seventh connecting rod, a first guide adjusting rod is also hingedly connected to the first wheel seat, and the first guide sleeve is slidably sleeved on the first guide adjusting rod; a first spring is arranged in the first guide sleeve.

6. The in-pipe robotic device of claim 1, wherein, Sensor boxes are arranged on the first support plate, and the sensors are arranged in each of the sensor boxes.

7. The in-pipe robotic device of claim 1, wherein, A connecting cross rod is arranged between the two tenth connecting rods, a fourteenth connecting rod is hingedly connected to the connecting cross rod, a screw sleeve is hingedly connected to the fourteenth connecting rod, the screw sleeve is connected to a second screw rod, the second screw rod is connected to a second driving motor, and the second driving motor drives the second connecting rod structure to stretch or contract along the radial direction of the second support body through the second screw rod, the screw sleeve and the fourteenth connecting rod.

8. The in-pipe robotic device of claim 1, wherein, The wheel leg support device is connected to the axial two ends of the signal detection and collection device through a universal joint; the universal joint comprises a shaft coupling and two cross joints, the two cross joints are connected to the wheel leg support device and the signal detection and collection device respectively, and the shaft coupling is connected between the two cross joints.

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