Low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipes.

Abstract

This invention relates to a low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines, comprising a pre-screening section, an inspection section, and a battery section; these three are connected sequentially via universal joints. The pre-screening section includes a drive unit, a pre-screening device, and a pre-screening section cylinder. The drive unit includes a front drive cup and a rear drive cup mounted and fixed on the pre-screening section cylinder. The pre-screening device is mounted outside the pre-screening section cylinder between the front and rear drive cups and includes a detection wheel device, a transmission device, and a receiving device. When the detection wheel is in contact with the normal inner wall surface of the pipeline, the detection element is in a normally open state, and the microswitch of the receiving device is in a normally closed state. When the detection wheel contacts a depression or corroded area on the inner wall of the pipeline, the corresponding detection wheel moves radially outward, and through a corresponding lever-type transmission assembly, the microswitch of the receiving device is opened, and the detection element enters a closed state, thus realizing the detection of defects on the inner wall of the pipeline. This invention achieves the goal of reducing energy consumption by predicting and screening defects.

Description

Technical Field

[0001] This invention belongs to the field of pipeline inspection technology, specifically relating to a low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines. Background Technology

[0002] Pipeline transportation is one of the world's most important modes of transport. During routine pipeline operations, defects are inevitable. For example, the inner surface of the pipe may exhibit corrosion, weld defects, dents, and variations in wall thickness, while the internal pipe wall may suffer from internal corrosion and metal loss. Pipeline robots are widely used in pipeline inspection due to their high accuracy and efficiency. However, the power required for these inspections is mostly supplied by batteries. Therefore, when pipeline robots perform long-distance, long-duration inspections, insufficient battery power can occur, preventing the inspection device from detecting defects in subsequent pipeline sections. These pipeline defects can seriously affect media transmission efficiency and threaten pipeline safety.

[0003] Currently, my country's total oil and gas pipeline length reaches 165,000 kilometers, with many large single-trip oil transport pipelines exceeding 200 kilometers. Completing defect detection on pipelines of this length requires a large power supply. Current technological approaches mostly focus on increasing the number or capacity of batteries or utilizing fluid resources for self-generation to meet energy demands. However, the former increases the cost of pipeline robots, while the latter may be inefficient and unreliable. Based on the existing power supply situation of pipeline robots, another direction for improvement is to modify the energy consumption of the pipeline robot's detection device. By reducing the energy consumption of the detection portion, the pipeline robot can complete defect detection work on long-distance pipelines. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines.

[0005] The above-mentioned objective of this invention is achieved through the following technical solution:

[0006] A low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines includes a pre-screening section, an inspection section, and a battery section; the pre-screening section, inspection section, and battery section are connected sequentially front and rear via universal joints;

[0007] The pre-screening section is used to detect defects on the inner wall surface of the pipe in a timely manner during the normal operation of the robot inside the pipe, and to provide timely feedback to the detection section; the detection section is used to promptly activate the detection element to detect the surface defects on the inner wall of the pipe after the pre-screening section detects the defects; the battery section is used to provide power to the robot.

[0008] The pre-screening section includes a drive device, a pre-screening device, and a pre-screening section cylinder; the drive device includes a front drive cup and a rear drive cup that are fitted and fixed to the front and rear ends of the pre-screening section cylinder.

[0009] The pre-screening device is mounted on the outside of the pre-screening section cylinder, positioned between the front and rear drive cups. The pre-screening device includes a detection wheel assembly, a transmission device, and a receiving device. The detection wheel assembly consists of two rings of evenly distributed, radially self-adjusting detection wheels that maintain rolling contact with the inner wall of the pipe. The transmission device includes multiple lever-type transmission components and two expansion rings. The two expansion rings are respectively positioned on the outer sides of the two rings of detection wheels. The expansion ring at the front end and the inner side of each detection wheel in the front ring are driven and connected by a set of lever-type transmission components. The expansion ring at the rear end and the inner side of each detection wheel in the rear ring are also driven and connected by a set of lever-type transmission components. Multiple sets of receiving devices are driven and connected circumferentially on the outer sides of the front and rear expansion rings, each set of receiving devices including a microswitch.

[0010] When the detection wheel is in contact with the normal inner wall surface of the pipeline, the detection element of the detection section is in the normally open state, and the micro switch of the receiving device is in the normally closed state. When the detection wheel contacts a depression or corrosion part on the inner wall of the pipeline, the detection wheel at the corresponding position moves radially outward, and through the corresponding lever-type transmission assembly, the micro switch of the corresponding receiving device is opened, and the detection element of the detection section enters the closed state, thereby realizing the detection of defects in the inner wall of the pipeline.

[0011] Furthermore, the detection wheel device includes a detection wheel frame, a fixing block, a detection wheel axle, a rotating shaft, a detection wheel, a first spring, and a spring frame; the detection wheel frame is a ring frame; the middle part of the detection wheel frame is fixedly connected to the pre-screening section cylinder; the detection wheel frame is provided with two circumferentially distributed detection wheel mounting grooves, which are radial through grooves; a fixing block is provided in each detection wheel mounting groove, the fixing block is a U-shaped locking block, and coaxial shaft holes are provided on both sides of the U-shaped locking block. The U-shaped locking block is connected to one side of the corresponding detection wheel mounting groove by screws inserted into its bottom edge. The components are fixedly connected; a rotating shaft is inserted into the shaft hole of the U-shaped clamp; one end of the detection wheel shaft is provided with a clamp head, and a shaft hole is provided on the clamp head; the detection wheel shaft is rotatably inserted into the rotating shaft through the shaft hole, and a detection wheel is rotatably installed on each detection wheel shaft, with the outer side of the detection wheel extending from the outer ring of the detection wheel frame and contacting the inner wall surface of the pipe; a first spring is provided on the inner side of the clamp head of each detection wheel shaft, and the outer end of the first spring is fixedly connected to the inner side of the clamp head; the inner end of the first spring is fixedly connected to the spring frame; each spring frame fixes two adjacent first springs accordingly.

[0012] Furthermore, an annular groove is provided on the inner ring of the detection wheel frame between the two detection wheel mounting slots. The annular groove and the corresponding annular protrusion on the pre-screening section cylinder form an embedded positioning fit and are fixedly connected by screws.

[0013] Moreover, each set of lever-type transmission components includes a transmission lever, a fulcrum shaft, and a lever bracket; the inner end of the transmission lever is fixedly connected to the corresponding spring frame and the inner end of the first spring by bolts; the middle part of the transmission lever is rotatably connected to the outer end of the lever bracket through a support shaft, and the inner end of the lever bracket is fixed to the surface of the pre-screening section cylinder; the outer end of the transmission lever is pressed into contact with the inner ring of the corresponding expansion ring.

[0014] Moreover, each receiving device includes a receiving rod, a second spring, and a micro switch; one end of the receiving rod is attached to the outside of the corresponding expansion ring, and the other end is fixed to the housing of the micro switch; one end of the second spring is fixed to the receiving rod, and the other end is fixed to the contact of the micro switch; the micro switch is fixed to the surface of the pre-screening section cylinder.

[0015] The advantages and positive effects of this invention are as follows:

[0016] This invention adds a pre-screening section to the pipeline robot. During the operation of the pipeline robot, the pre-screening device in the pre-screening section can predict defects on the inner wall surface of the pipeline. If a defect is found, a signal is immediately sent to activate the detection system for detection. If the pre-screening device does not detect a defect, the subsequent detection system is shut down. By predicting and screening defects in advance, the energy consumption of the pipeline robot's detection section is reduced, enabling it to successfully complete the detection work of the entire long-distance transportation pipeline, which is of great importance to maintaining pipeline safety. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Figure 1 ;

[0018] Figure 2 This is a schematic diagram of the overall structure of the present invention. Figure 2 ;

[0019] Figure 3 This is a schematic diagram of the installation of the pre-screening device of the present invention on the pre-screening section cylinder;

[0020] Figure 4 yes Figure 3 Enlarged view of section A in the image;

[0021] Figure 5 This is a perspective view of the pre-screening device of the present invention;

[0022] Figure 6 yes Figure 5 A magnified view of section B. Detailed Implementation

[0023] The structure of the present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that these embodiments are descriptive and not limiting.

[0024] For an example of a low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines, please refer to [link / reference]. Figures 1-6 The system includes a pre-screening section 1, a detection section 2, and a battery section 3. Along the robot's travel direction within the pipe, the pre-screening section, detection section, and battery section are connected sequentially via universal joints. The pre-screening section is used to promptly detect defects on the inner wall surface of the pipe during normal robot movement and provide timely feedback to the detection section. The detection section is used to promptly activate the detection element (Hall element sensor) to detect surface defects on the inner wall of the pipe after the pre-screening section detects them. The battery section provides power to the robot.

[0025] The screening section includes a drive unit 11, a pre-screening unit 12, and a pre-screening section cylinder 13. The drive unit 11 includes a front drive cup 112, a front cup isolation sleeve 111, a rear drive cup 113, and a rear cup isolation sleeve 114. The front drive cup is bolted to the front cup isolation sleeve, which is fitted and fixed to the front end of the pre-screening section cylinder. The rear drive cup is bolted to the rear cup isolation sleeve, which is fitted and fixed to the rear end of the pre-screening section cylinder. The front and rear drive cups form a sealed contact with the inner wall of the pipe, creating a pressure difference between the front and rear drive cups to drive the robot. The robot is driven by the fluid within the pipe.

[0026] The pre-screening device is integrally sleeved outside the pre-screening section cylinder and located between the front drive cup and the rear drive cup. The pre-screening device includes a detection wheel device 121, a transmission device 122, and a receiving device 123.

[0027] The detection wheel device 121 includes a detection wheel frame 1211, a fixing block 1212, a detection wheel shaft 1213, a rotating shaft 1214, a detection wheel 1215, a first spring 1216, and a spring frame 1217. The detection wheel frame is an annular frame with two circular detection wheel mounting grooves evenly distributed along the circumference. These grooves are radial through grooves. An annular groove is located on the inner ring of the detection wheel frame between the two detection wheel mounting grooves. This groove forms an embedded positioning fit with an annular protrusion located at a corresponding position on the pre-screening section cylinder and is fixedly connected by screws, thus fixing the detection wheel frame to the pre-screening section cylinder. A fixing block is provided in each detection wheel mounting groove. The fixing block is a U-shaped locking block with coaxial shaft holes on both sides. The U-shaped locking block is fixedly connected to one side of the corresponding detection wheel mounting groove by screws passing through its bottom edge. A rotating shaft is inserted into the shaft hole of the U-shaped clamp for mounting the detection wheel shaft. One end of the detection wheel shaft has a clamp head with a shaft hole. The detection wheel shaft is rotatably mounted on the rotating shaft through the shaft hole. One detection wheel is rotatably mounted on each detection wheel shaft, with its outer side extending from the outer ring of the detection wheel frame and contacting the inner wall of the pipe. This ensures that the detection wheel contacts the inner wall of the pipe as the robot moves along it. A first spring is installed inside the clamp head of each detection wheel shaft. The outer end of the first spring is fixedly connected to the inner side of the clamp head by welding or other methods. The inner end of the first spring is fixedly connected to a spring frame. Each spring frame correspondingly fixes two adjacent first springs.

[0028] The transmission device 122 includes an array of lever-type transmission components and two expansion rings 1224. The two expansion rings are sleeved on the outside of the pre-screening section cylinder and positioned at the front and rear of the detection wheel frame, respectively. A set of lever-type transmission components is installed at the inner end of each first spring in the front ring of detection wheel mounting grooves, corresponding to the spring frame position. A set of lever-type transmission components drives the expansion ring at the rear end and the inner side of each detection wheel in the rear ring. Each set of lever-type transmission components includes a transmission lever 1221, a fulcrum shaft 1222, and a lever bracket 1223. The inner end of the transmission lever is fixedly connected to the corresponding spring frame and the inner end of the first spring by bolts. The middle part of the transmission lever is rotatably connected to the outer end of the lever bracket via a support shaft. The inner end of the lever bracket is fixed to the pre-screening section cylinder by common methods such as welding or screw connection. The outer end of the transmission lever is in press-fit contact with the inner ring of the corresponding expansion ring.

[0029] Receiving device 123: Corresponding to the front expansion ring and the rear expansion ring, multiple sets of receiving devices are provided along the circumferential direction.

[0030] Each receiving device includes a receiving rod 1231, a second spring 1232, and a micro switch 1233. The receiving rod is an elastic rod. One end of the receiving rod 1231 is attached to the outside of the corresponding expansion ring 1224, and the other end is fixed to the housing of the micro switch. One end of the second spring 1232 is fixed to the receiving rod 1231, and the other end is fixed to the contact of the micro switch 1233. The micro switch 1233 is fixed to the surface of the pre-screening section cylinder 13 by screws.

[0031] The aforementioned inspection section and battery section, referencing existing pipeline robots, have the following main structural features:

[0032] The detection section 2 includes a support device 21, a detection section cylinder 22, a detection device 23, and a mileage wheel device 24. The support device 21 is bolted to both ends of the detection section cylinder 22. The detection device 23 is bolted to the circumference of the detection section cylinder 22. The mileage wheel device 24 is bolted to the end of the detection section cylinder 22. Universal joint grooves are provided in the middle of both ends of the detection section cylinder 22, and universal joints are installed in the universal joint grooves. The support device 21 includes a support cup I 211 and a cup isolation I 212. The support cup I 211 has multiple through holes to allow fluid to pass through the pipeline. The support cup I 211 is connected to the cup isolation I 212 by bolts.

[0033] The detection device 23 includes steel brushes 231, permanent magnets 232, yokes 233, Hall element sensors 234, bases 235, and spring plates 236. Multiple bases 235 are arranged circumferentially on the detection section cylinder 22 by bolts. Multiple spring plates 236 are arranged circumferentially on the bases 235 by bolts. Multiple Hall element sensors 234 are fixed to the spring plates 236 by bolts. Multiple yokes 233 are fixed to both sides of the spring plates 236 by bolts. Multiple permanent magnets 232 are fixed to the yokes 233 by bolts. Multiple steel brushes 231 are all fixed to the permanent magnets 232 by bolts.

[0034] The odometer wheel device 24 includes a detection wheel 241, a detection wheel axle 242, a detection wheel frame 243, a spring moving block 244, a third spring 245, a rotating shaft 246, and an odometer wheel base 247. Multiple odometer wheel bases 248 are provided and are fixed to the end surface of the detection section cylinder 22 by bolts arranged in an evenly spaced circle. Multiple spring moving blocks 244 are provided and are mounted on the odometer wheel base 247 by rotating shafts 246. One end of the third spring 245 is fixed to the spring moving block 244, and the other end is fixed to the end surface of the detection section cylinder 22. Multiple detection wheels 241 are provided and are all connected to the detection wheel frame 243 by detection wheel axle 242.

[0035] The battery cell 3 includes a support cup II 31, a cup isolator II 32, a rear cup isolator 33, a battery cell body 34, a control unit 35, a battery 36, a battery cover, and a mileage wheel device. The support cup II 31 and the cup isolator II 32 are connected by bolts. The support cup II 31 has multiple through holes, allowing fluid in the pipe to pass forward, thereby driving the cup II to make the pipe robot run in the pipe. The rear cup isolator 33 is fixed to the rear end of the support cup II 31 by bolts. The battery cell body 34 is equipped with the support cup II 31 and the cup isolator II 32 at both ends. The control unit 35 is installed on the groove on the surface of the battery cell body 34, and the battery 36 is installed inside the battery cell body 34.

[0036] The working principle of this low-energy pipeline inspection robot is as follows:

[0037] When the pipeline inspection robot enters the pipeline, firstly, the Hall element sensor 234 on inspection section 2 is in the off state. As the pipeline robot moves forward, the small inspection wheel 1215, which is in close contact with the inner wall of the pipeline, moves forward accordingly. When it encounters defects such as dents or corrosion on the inner wall of the pipeline, the corresponding inspection wheel will vibrate slightly radially (outward). The first spring 1216 transmits the vibration to the lever 1221, which amplifies the vibration and transmits it to the other end. The receiving rod 1231 receives the amplified vibration and transmits it to the second spring 1232. The second spring 1232 receives the vibration and transmits it to the micro switch 1233. When the microswitch 1233 changes from its normal closed state to its open state, the control unit 23, upon receiving the signal of the microswitch being closed, will immediately activate the Hall element sensor 234 to detect pipeline defects. The mileage wheel device 24 can realize the calculation of the pipeline robot's running mileage and positioning. After receiving a vibration signal, the detection system is activated and runs a certain distance. If there is no additional defect vibration signal input, the detection system is turned off. This process is repeated to detect defects on the inner wall surface of the pipeline. This method of initial screening and defect prediction reduces the overall detection energy consumption of the pipeline robot, enabling it to successfully complete the defect detection work of long-distance transportation pipelines and ensure pipeline safety.

[0038] Although embodiments and drawings of the present invention have been disclosed for illustrative purposes, those skilled in the art will understand that various substitutions, variations and modifications are possible without departing from the spirit and scope of the present invention and the appended claims. Therefore, the scope of the present invention is not limited to the contents disclosed in the embodiments and drawings.

Claims

1. A low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines, characterized in that: It includes a pre-screening section, a testing section, and a battery section; the pre-screening section, testing section, and battery section are connected sequentially front and rear via universal joints; The pre-screening section is used to detect defects on the inner wall surface of the pipe in a timely manner during the normal operation of the robot inside the pipe, and to provide timely feedback to the detection section; the detection section is used to promptly activate the detection element to detect the surface defects on the inner wall of the pipe after the pre-screening section detects the defects; the battery section is used to provide power to the robot. The pre-screening section includes a drive device, a pre-screening device, and a pre-screening section cylinder; the drive device includes a front drive cup and a rear drive cup that are fitted and fixed to the front and rear ends of the pre-screening section cylinder. The pre-screening device is mounted on the outside of the pre-screening section cylinder, positioned between the front and rear drive cups. The pre-screening device includes a detection wheel assembly, a transmission device, and a receiving device. The detection wheel assembly consists of two rings of evenly distributed, radially self-adjusting detection wheels that maintain rolling contact with the inner wall of the pipe. The transmission device includes multiple lever-type transmission components and two expansion rings. The two expansion rings are respectively positioned on the outer sides of the two rings of detection wheels. The expansion ring at the front end and the inner side of each detection wheel in the front ring are driven and connected by a set of lever-type transmission components. The expansion ring at the rear end and the inner side of each detection wheel in the rear ring are also driven and connected by a set of lever-type transmission components. Multiple sets of receiving devices are driven and connected circumferentially on the outer sides of the front and rear expansion rings, each set of receiving devices including a microswitch. When the detection wheel is in contact with the normal inner wall surface of the pipeline, the detection element of the detection section is in the normally open state, and the micro switch of the receiving device is in the normally closed state. When the detection wheel contacts a depression or corrosion part on the inner wall of the pipeline, the detection wheel at the corresponding position moves radially outward, and through the corresponding lever-type transmission component, the micro switch of the corresponding receiving device is opened, and the detection element of the detection section enters the closed state, thereby realizing the detection of defects in the inner wall of the pipeline.

2. The low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines according to claim 1, characterized in that: The detection wheel device includes a detection wheel frame, a fixing block, a detection wheel axle, a rotating shaft, a detection wheel, a first spring, and a spring frame; the detection wheel frame is a ring frame; the middle part of the detection wheel frame is fixedly connected to the pre-screening section cylinder; the detection wheel frame is provided with two circular detection wheel mounting grooves, both evenly distributed along the circumference, and the detection wheel mounting grooves are radial through grooves; a fixing block is provided in each detection wheel mounting groove, the fixing block is a U-shaped locking block, and coaxial shaft holes are provided on both sides of the U-shaped locking block. The U-shaped locking block is connected to one side of the corresponding detection wheel mounting groove by screws passing through its bottom edge. Fixed connection; a rotating shaft is inserted into the shaft hole of the U-shaped clamp; one end of the detection wheel shaft is provided with a clamp head, and a shaft hole is provided on the clamp head; the detection wheel shaft is rotatably inserted into the rotating shaft through the shaft hole, and a detection wheel is rotatably installed on each detection wheel shaft, the outer side of the detection wheel extends from the outer ring of the detection wheel frame and forms contact with the inner wall surface of the pipe; a first spring is provided on the inner side of the clamp head of each detection wheel shaft, and the outer end of the first spring is fixedly connected to the inner side of the clamp head; the inner end of the first spring is fixedly connected to the spring frame; each spring frame fixes two adjacent first springs accordingly.

3. The low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines according to claim 2, characterized in that: An annular groove is provided on the inner ring of the detection wheel frame between the two detection wheel mounting slots. The annular groove and the corresponding annular protrusion on the pre-screening section cylinder form an embedded positioning fit and are fixedly connected by screws.

4. The low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines according to claim 2, characterized in that: Each lever-type transmission assembly includes a transmission lever, a fulcrum shaft, and a lever bracket; the inner end of the transmission lever is fixedly connected to the corresponding spring frame and the inner end of the first spring by bolts; the middle part of the transmission lever is rotatably connected to the outer end of the lever bracket through a support shaft, and the inner end of the lever bracket is fixed to the surface of the pre-screening section cylinder; the outer end of the transmission lever is pressed into contact with the inner ring of the corresponding expansion ring.

5. The low-energy pipeline inspection robot for detecting defects on the inner wall surface of pipelines according to claim 4, characterized in that: Each receiving device includes a receiving rod, a second spring, and a micro switch; one end of the receiving rod is attached to the outside of the corresponding expansion ring, and the other end is fixed to the housing of the micro switch; one end of the second spring is fixed to the receiving rod, and the other end is fixed to the contact of the micro switch; the micro switch is fixed to the surface of the pre-screening section cylinder.

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