Telescopic fireproof high-speed pipeline intelligent inspection robot

Abstract

This invention is a telescopic fireproof high-speed intelligent pipeline inspection robot. Walking devices are installed at both the front and rear of the main control compartment. In use, the robot is placed inside the pipeline. Driven by a motor, the driving wheel, driven wheel, and auxiliary wheel work together to transmit power to the tracks, causing the tracks to move forward or backward, thus moving the robot as a whole. During movement, the robot can extend, retract, and turn using adjusting rods, springs, and flexible hoses. This invention uses dual drive and intelligent control, adapting to different travel paths. Compared to existing technologies, this mobile device is more efficient and adaptable, making it more suitable for movement within pipelines, especially when pipelines deform.

Description

Technical Field

[0001] This invention relates to the field of mobile device technology, and in particular to a telescopic fireproof high-speed pipeline intelligent inspection robot. Background Technology

[0002] During use, pipelines inevitably develop cracks and damage due to aging and corrosion. Therefore, regular inspections and maintenance of the pipeline interior are necessary to extend its service life. Regular testing and safety assessments are also required to prevent major safety accidents.

[0003] Due to the complex environment and limited space of pipelines, there is an urgent need for pipeline robots to perform corresponding tasks.

[0004] Currently, most pipeline robot telescopic mechanisms are controlled by pneumatic components such as cylinders, which have high control requirements. The walking drive is mostly single drive, but when the pipeline deforms (such as turning), the moving device has poor adaptability, which affects its movement in the pipeline. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the present invention is a telescopic fireproof high-speed intelligent pipeline inspection robot, the technical solution of which is as follows: It includes front and rear walking devices, which are connected to the main control compartment via flexible hoses. The front and rear walking devices have the same structure and consistent operation. An observation device is installed at the front end of the front walking device, and a wire is threaded through the end of the rear walking device and connected to the control terminal. The forward travel device consists of two fixed blocks, several guard plates installed between the two fixed blocks, an adjustment mechanism installed on the fixed blocks, and at least three sets of track motion modules. Each set of track motion modules is installed on the fixed blocks through the adjustment mechanism. Each fixed block has an inverted triangular cross-section with a notch at its apex. Each fixed block has a threaded through-hole at its center. Around the center of the threaded through-hole, three through-holes and three threaded holes are equidistantly arranged on the fixed block. Several main shafts are installed between two fixed blocks. Each main shaft has internal threaded holes at both ends. Bolts pass through the through-holes to connect and fix the fixed blocks to the main shafts. A spring and a slider are mounted on each main shaft, with the slider positioned behind the spring. Several through-holes are located at the notch of the fixed block, arranged in pairs. A shaft is installed in each pair of through-holes, and each shaft is hinged to one end of the adjusting rod mechanism. The adjustment mechanism consists of a front rod, a rear rod, and a push rod. Each set of track motion modules corresponds to two front rods and two rear rods. One end of each of the two front rods is hinged to the front end of each set of track motion modules, and one end of each of the two rear rods is hinged to the rear end of each set of track motion modules. A crossbar is installed between the two rear rods. The push rod is arranged at an angle, with one end fixed to the crossbar and the other end fixed to the slider. The push rod drives the slider to press the spring. Each tracked motion module includes a track, a drive wheel mounting frame, auxiliary wheels, a drive wheel, a driven wheel, and a motor. The drive wheel mounting frame has pulley side plates on both sides, and a connecting shaft between the two pulley side plates. An auxiliary wheel shaft is installed between the two pulley side plates, and an auxiliary wheel is installed on the auxiliary wheel shaft. The auxiliary wheel is located in a groove on the drive wheel mounting frame. A shaft is installed at each end of the two pulley side plates. The drive wheel is installed on the front shaft, and the driven wheel is installed on the rear shaft. The motor is installed in the drive wheel mounting frame, and the motor output end is connected to the drive wheel via a bevel gear. The drive wheel, driven wheel, and auxiliary wheel are connected by the track, so that all eight sets of walking wheels can be actively driven to move the walking track.

[0006] Furthermore, the guard plate is set on the periphery of each spindle, and three strip grooves are provided on the back of each fixing block. The strip grooves on the two fixing blocks are opposite each other, and the two ends of each guard plate are inserted into the strip grooves of the two fixing blocks respectively, so that the guard plate is installed on the fixing blocks; the guard plate is also provided with a space area for the push rod to move.

[0007] Furthermore, the observation device is a camera, which is installed at the center of the front fixed block.

[0008] Furthermore, an mounting block is installed on the rear fixed block of the forward traveling device. The mounting block has three threaded holes, which correspond to the threaded holes on the fixed block. Bolts pass through the threaded holes on the mounting block and the threaded holes on the fixed block in sequence, so that the fixed block and the mounting block are installed and fixed. The mounting block is installed and fixed to one end of the hose, and the other end is installed and fixed to the main control compartment through a matching fastener.

[0009] Furthermore, a mounting block is provided at the front of the rear walking device, the rear end of the main control compartment is installed with the front end of the rear hose, the end of the rear hose is connected to the mounting block at the front of the rear walking device, and a connecting wire extends through the middle of the rear fixed block of the rear walking device to connect with the control terminal.

[0010] Furthermore, the control terminal has a display, a main control board, and a power supply. The power supply is electrically connected to the Modbus RTU relay, the display, and the main control board to provide power. The fiber optic transceiver is connected to the display and the main control board for signal transmission. The main control compartment consists of a front cover, a rear cover, and a middle outer shell. The front and rear covers are installed in conjunction with the outer shell. Inside the main control compartment, a motor main control board, a Modbus RTU relay, and a fiber optic transceiver are installed. The Modbus RTU relay is electrically connected to the motor main control board, the fiber optic transceiver, and the camera, respectively. The motor main control board and the Modbus RTU relay are electrically connected to the motor, respectively. The motor main control board and the fiber optic transceiver transmit signals.

[0011] Furthermore, the camera cable passes through the main shaft and connects to the main control board inside the main control compartment.

[0012] Furthermore, the inner diameter of the pipe is larger than the outer diameter of the main control compartment, and each track can contact the inner diameter of the pipe.

[0013] Furthermore, the front and rear walking mechanisms, main control compartment, hoses, etc., are all made of ABS flame-retardant material.

[0014] Furthermore, the number of main shafts, the number of guard plates, and the number of track motion modules are all the same.

[0015] The beneficial effects of this invention are as follows: This invention is a telescopic fireproof high-speed intelligent pipeline inspection robot. Walking devices are installed at both the front and rear of the main control compartment. In use, the robot is placed inside the pipeline. Under the action of the motor, the drive wheel, driven wheel, and auxiliary wheel work together to transmit power to the tracks, driving the tracks forward or backward, thereby driving the robot's overall forward and backward movement. During travel, the robot can extend, retract, and turn under the action of adjusting rods, springs, and hoses. This invention uses dual drive and intelligent control, adapting to different travel paths. Compared with existing technologies, when pipeline deformation occurs, the moving device is more efficient, has stronger adaptability, and is more suitable for movement inside pipelines. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 for Figure 1 Left view; Figure 3 for Figure 1 Right view; Figure 4 This is a schematic diagram of a single tracked motion module. Figure 5 for Figure 4 Sectional view after removing the tracks; Figure 6 This is a schematic diagram of the mounting structure for the fixing block and spring. Figure 7 Top view of the drive wheel mounting bracket; Figure 8 for Figure 1 Schematic diagram of the overall structure after front and rear installation; Figure 9 This is a block diagram of the circuit structure of the present invention; Figure 10 This is a schematic diagram of the front and side views of the control terminal. As shown in the figure, 1 is a fixed block, 2 is a front rod, 3 is a drive wheel, 4 is an auxiliary wheel, 5 is a track, 6 is a drive wheel mounting bracket, 7 is a track motion module, 8 is a driven wheel, 9 is a rear rod, 10 is a bolt, 11 is a hose I, 12 is a main control compartment, 13 is a hose II, 14 is a push rod, 15 is a side plate, 16 is a spring, 17 is a camera, 18 is a protective plate, 19 is a threaded through hole, 20 is an auxiliary wheel axle, 21 is a crossbar, 22 is a slider, 23 is a shaft, 24 is a groove, 25 is a mounting block, 26 is the first motion component, 27 is the second motion component, 28 is the third motion component, 29 is a main shaft, 30 is an auxiliary wheel axle mounting hole, 31 is a threaded hole, 32 is a through hole, 33 is a bevel gear, 34 is a motor, 35 is a strip groove, 36 is a mounting hole, 37 is a display, 38 is a telescopic rod, 39 is a hub, 40 is a cable outlet, 41 is a power compartment, 42 is a base plate, and 43 is a caster wheel. Detailed Implementation

[0017] As shown in the figure, this invention is a telescopic fireproof high-speed intelligent pipeline inspection robot, including front and rear walking devices. The front and rear walking devices are connected to the main control compartment 12 (which is composed of front and rear covers and a middle outer shell, and are sealed together with waterproof glue to achieve waterproofing) via flexible hoses (including hose I11 and hose II13). The front and rear walking devices have the same structure and consistent operation. An observation device is installed at the front end of the front walking device, and a wire is threaded through the end of the rear walking device and connected to the control terminal.

[0018] The forward-moving device consists of two fixed blocks 1, several protective plates 18 installed between the two fixed blocks, an adjustment mechanism installed on the fixed blocks, and three sets of track motion modules. Each track motion module includes a first motion component 26, a second motion component 27, and a third motion component 28. The structures of the first motion component 26, the second motion component 27, and the third motion component 28 are all identical. Figures 2-3 As shown, the first motion component 26, the second motion component 27, and the third motion component 28 are arranged at equal intervals around the central axis of the fixed block (when viewed from the front or back, with the center of the fixed block as the center, the first motion component 26, the second motion component 27, and the third motion component 28 are arranged at 120°).

[0019] like Figure 1 , Figure 4 , Figure 5 and Figure 7 As shown, the first motion component includes a track 5, a drive wheel mounting bracket 6, an auxiliary wheel 4, a drive wheel 3, a driven wheel 8, and a motor 34. The drive wheel mounting bracket has pulley side plates 15 on both sides, and connecting shafts (auxiliary wheel shaft 20 and shaft 23, both D-shaped shafts) are located between the two pulley side plates. The drive wheel mounting bracket also has mounting holes 36 for shaft 23 and 30 for the auxiliary wheel shaft. Figure 7As shown, two auxiliary wheel axles 20 are installed between the two pulley side plates. Each auxiliary wheel axle has two auxiliary wheels 4 installed on it. The auxiliary wheels are set in the grooves 24 on the drive wheel mounting frame to avoid direct contact between the track running module and the track, which would cause friction and affect normal operation. D-shaped shafts 23 are installed at both ends of the two pulley side plates. Two drive wheels 3 are installed on the front shaft and two driven wheels 8 are installed on the rear shaft. The motor is installed in the drive wheel mounting frame. The motor output is transmitted to the track drive wheel through the built-in D-shaped shaft and two mating bevel gears 33. The driven wheels are installed on the drive wheel mounting frame 6 through the D-shaped shaft and the mating bearings. The drive wheels, driven wheels and auxiliary wheels are connected by the track, so that all eight sets of walking wheels can be actively driven to drive the walking track 5.

[0020] like Figure 6 As shown, each fixed block has an inverted equilateral triangle cross-section with an obtuse notch at its apex, the obtuse angle being 120°. Its advantage is that the force is evenly distributed in all three directions, resulting in more uniform force distribution. Each fixed block has a threaded through-hole 19 at its center. Around the center of the threaded through-hole, three through-holes 32 (arranged in an equilateral triangle) and three threaded holes 31 (arranged in an inverted equilateral triangle) are equidistantly spaced on the fixed block. Three main shafts 29 are installed between two fixed blocks. Each main shaft has threaded holes at both ends, and bolts pass through the through-holes 32 to connect and fix the fixed block to the main shaft. Each fixed block has a through-hole 32 at its obtuse notch, through which a shaft 23 passes. One end of the adjusting rod mechanism can be hinged to this shaft 23, and the other end of the adjusting mechanism is hinged to the beginning and end of each set of track movement modules.

[0021] A waterproof camera 17 (using an endoscope camera) is located at the front of the forward-moving device. The external thread at the end of the camera is fixed to the threaded through hole 19 in the middle of the fixed block 1, used to observe the actual situation inside the pipe. Three through holes 32 on the fixed block are used for the installation of the adjustment mechanism. Three protective plates 18 are installed on the periphery of each of the three main shafts to protect the internal structure such as the main shaft and the slider. Each fixed block has three strip grooves 35 on its back, with the strip grooves on two fixed blocks facing each other. Each protective plate is frame-shaped, with its two ends inserted into the strip grooves of the two opposite fixed blocks. The protective plate also has a space for the push rod to move, facilitating the forward and backward movement of the slider 22.

[0022] The adjustment mechanism consists of a front rod 2, a rear rod 9, and a push rod 14. Each set of track motion modules corresponds to two front rods 2 and two rear rods 9. The front rods are installed on the outside of the D-shaped axle of the drive wheel, and the rear rods are installed on the outside of the D-shaped axle of the driven wheel. A crossbar 21 is hinged between the two rear rods, and both ends of the crossbar 21 are fixed to the rear rods by bolts 10 (the crossbar can also be integrally formed with the rear rods). The push rod is arranged at an angle (e.g., Figure 5As shown, one end of the mechanism is fixed to the crossbar, and the other end is fixed to the slider 22. A spring 16 and a slider 22 are mounted on each main shaft. The slider is positioned behind the spring. The push rod drives the slider to press the spring 16. Under the action of the spring, the adjustment mechanism moves back and forth, causing the track movement module to extend and retract. The front rod 2 has a hollow structure, allowing for better cable management by threading the cable through the center. The track movement module and the adjustment mechanism are both mounted on the front travel device at a 120° angle.

[0023] The rear end of the forward travel device is equipped with a mounting block 25. The mounting block has three threaded holes, which correspond to the threaded holes 31 on the fixing block. Bolts pass through the threaded holes on the mounting block and the threaded holes 31 on the fixing block in sequence, so that the fixing block 1 is installed and fixed to the mounting block. The mounting block is connected to the intermediate main control compartment through the installed metal connecting hose I. The main control compartment is equipped with a motor main control board, a Modbus RTU relay (220V to 12V), and a fiber optic transceiver. The rear of the main control compartment is equipped with a rear travel device that is the same as the forward travel device.

[0024] like Figure 8 As shown, the rear walking device has the same structure as the front walking device. The difference is that the front end of the rear walking device is equipped with a mounting block 25, which is connected to the other end of the intermediate main control compartment via a flexible hose II.

[0025] The front and rear walking mechanisms, main control compartment, hoses, etc., are all made of ABS flame-retardant material, which has waterproof and fireproof properties. Figure 10 As shown, a composite cable extends from the rear of the main control compartment, passing through a pre-reserved outlet at the center of the walking device and connecting to one end of the cable. The other end of the cable connects to the control terminal. The control terminal provides the walking device with storage compartments, maintenance tools, a hub, power supply, and operation functions. (Specifically: the walking device connection cable connects to the control terminal through the outlet. A touch screen display is installed above the control terminal to control the walking device and display the control terminal's power level. Below the touch screen display is a telescopic rod 38, which can adjust the height of the display. Below that is a hub 39, used to store the cable within the workstation for easier operation. In front of the hub is an outlet 40, which controls the cable entry and exit. Behind the hub is the walking device storage box, used to store the walking device and is also the default placement location for the walking device. Below the hub is a power compartment 41, which contains a battery to power the display and the walking device. Further down is a base plate 42, used to support and move the workstation for easier transport. Below the base plate are casters 43 for easier movement.) like Figure 9As shown, the system is powered by a 220V outdoor power supply. The control terminal converts 220V to 12V to power the display 37 and the control motherboard, and uses the 220V live and neutral wires in the composite cable to achieve long-distance power transmission of over 1000 meters. At the robot end, the power is converted to 12V to power the robot's drive motors, cameras, and motor control board. The robot communicates with the control terminal via fiber optic cable. The control terminal transmits control signals to the robot by converting 485 signals to fiber optic signals and then back to 485 signals. The robot reports pipeline information by converting coaxial camera signals to fiber optic signals and then to video signals for display on the monitor.

[0026] Working process of this invention: Open the workbench, take out the trolley, and turn on the power. Connect the composite cable interface to the port at the rear of the trolley. Test run the trolley using the control levers and monitor on the console to check if it functions properly. Gently press the tracks to test the telescopic boom. Check if the monitor displays the image captured by the front camera of the trolley correctly. Check if the composite cable connected to the rear of the trolley is secure. If everything is normal, place the trolley in the pipe for normal operation. After finishing the work, disconnect the power, perform a simple cleaning of the trolley, and remove the composite cable. Check the trolley for damage. If there is no damage, place the trolley back into the workbench for storage. Then, properly wind the composite cable onto the hub in the workbench to complete the storage. Finally, take the workbench away.

[0027] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A telescopic fireproof high-speed intelligent pipeline inspection robot, characterized in that, It includes front and rear walking devices, which are connected to the main control compartment via flexible hoses. The front and rear walking devices have the same structure and consistent operation. An observation device is installed at the front end of the front walking device, and a wire is threaded through the end of the rear walking device and connected to the control terminal. The forward travel device consists of two fixed blocks, several guard plates installed between the two fixed blocks, an adjustment mechanism installed on the fixed blocks, and at least three sets of track motion modules. Each set of track motion modules is installed on the fixed blocks through the adjustment mechanism. Each fixed block (1) has an inverted triangle cross-section with a notch at its apex; each fixed block has a threaded through hole (19) at the center of its front side; three through holes (32) and three threaded holes (31) are provided at equal intervals on the fixed block with the center of the threaded through hole as the center; several main shafts (29) are installed between two fixed blocks; each main shaft has internal threaded holes at both ends; bolts pass through the through holes (32) to connect and fix the fixed block to the main shaft; each main shaft is fitted with a spring (16) and a slider (22); the slider is located behind the spring; several through holes (32) are provided at the notch of the fixed block, in pairs; a shaft (23) is installed in each pair of through holes; each shaft is hinged to one end of the adjusting rod mechanism. The adjustment mechanism consists of a front rod (2), a rear rod (9), and a push rod (14). Each set of track motion modules corresponds to two front rods and two rear rods. One end of the two front rods is hinged to the front end of each set of track motion modules, and one end of the two rear rods is hinged to the tail end of each set of track motion modules. A crossbar (21) is installed between the two rear rods. The push rod is arranged at an angle, with one end fixed to the crossbar and the other end fixed to the slider (22). The push rod drives the slider to press the spring (16). Each track motion module includes a track (5), a drive wheel mounting frame (6), an auxiliary wheel (4), a drive wheel (3), a driven wheel (8), and a motor (34). The drive wheel mounting frame has pulley side plates (15) on the left and right sides, and a connecting shaft between the two pulley side plates. An auxiliary wheel shaft (20) is installed in the middle of the two pulley side plates, and an auxiliary wheel (4) is installed on the auxiliary wheel shaft. The auxiliary wheel is located in the groove on the drive wheel mounting frame. A shaft (23) is installed at each end of the two pulley side plates. The drive wheel (3) is installed on the front shaft, and the driven wheel (8) is installed on the rear shaft. The motor is installed in the drive wheel mounting frame. The output end of the motor is meshed with the drive wheel (3) through a bevel gear. The drive wheel, driven wheel, and auxiliary wheel are connected by the track, so that all eight sets of walking wheels can be actively driven to drive the walking track (5) to move. The guard plate (18) is set on the periphery of each spindle. Each fixed block has several strip grooves (35) on its back. The strip grooves on the two fixed blocks are opposite each other. The two ends of each guard plate (18) are inserted into the strip grooves of the two fixed blocks respectively, so that the guard plate is matched and installed on the fixed blocks. The guard plate also has a space area for the push rod (14) to move. An mounting block (25) is installed on the rear fixed block of the front walking device. The mounting block has three threaded holes, which correspond to the threaded holes (31) on the fixed block. The bolt passes through the threaded holes on the mounting block and the threaded holes (31) on the fixed block in sequence, so that the fixed block (1) is installed and fixed to the mounting block. The mounting block is installed and fixed to one end of the hose, and the other end is installed and fixed to the main control compartment through a matching fastener. A mounting block (25) is provided in front of the rear walking device. The rear end of the main control compartment is installed with the front end of the rear hose. The end of the rear hose is connected to the mounting block in front of the rear walking device. A connecting line passes through the middle of the rear fixed block of the rear walking device and is connected to the control terminal. The control terminal has a display, a main control board, and a power supply. The power supply is electrically connected to the Modbus RTU relay, the display, and the main control board to provide power to them. The fiber optic transceiver is connected to the display and the main control board for signal transmission, respectively. The main control compartment consists of a front cover, a rear cover, and a middle outer shell. The front and rear covers are installed in conjunction with the outer shell. Inside the main control compartment, a motor main control board, a Modbus RTU relay, and a fiber optic transceiver are installed. The Modbus RTU relay is electrically connected to the motor main control board, the fiber optic transceiver, and the camera, respectively. The motor main control board and the Modbus RTU relay are electrically connected to the motor, respectively. The motor main control board and the fiber optic transceiver transmit signals.

2. The telescopic fireproof high-speed pipeline intelligent inspection robot as described in claim 1, characterized in that, The observation device is a camera, which is installed at the center of the front fixed block.

3. The telescopic fireproof high-speed pipeline intelligent inspection robot as described in claim 1, characterized in that, The camera cable passes through the main shaft and connects to the main control board inside the main control compartment.

4. The telescopic fireproof high-speed pipeline intelligent inspection robot as described in claim 1, characterized in that, The inner diameter of the pipe is larger than the outer diameter of the main control compartment, and each track (5) can contact the inner diameter of the pipe.

5. The telescopic fireproof high-speed pipeline intelligent inspection robot as described in claim 1, characterized in that, The front and rear walking devices, main control compartment, hoses, etc. are all made of ABS flame-retardant material.

6. The telescopic fireproof high-speed pipeline intelligent inspection robot as described in claim 1, characterized in that, The number of spindles, guard plates, and track motion modules are all the same.

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