Pipeline outer wall flexible crawling robot and pipeline detection equipment

Abstract

The application discloses a pipeline outer wall flexible crawling robot, which comprises a rack, a driving device and a detection device arranged on the rack; the rack comprises a first annular frame and a second annular frame arranged around the outer periphery of the pipeline, a branch pipe arranged between the first annular frame and the second annular frame, the driving device and the detection device are arranged on the branch pipe, the driving device comprises a driving wheel assembly and a driving assembly, the driving wheel assembly comprises a driving wheel and a driving wheel support, a sliding shaft is arranged on the driving wheel support, an adjusting piece is arranged on the sliding shaft, the driving wheel support is used for arranging the driving wheel assembly on the branch pipe, and the driving assembly is used for driving the driving wheel to rotate. The pipeline outer wall flexible crawling robot has the advantages of modular design, quick assembly and disassembly, simple and light structure and self-adaptive adjustment according to different pipeline sizes.

Description

Technical Field

[0001] This invention relates to the field of pipeline external wall inspection robot technology, specifically to a general-purpose flexible crawling robot for pipeline external walls, which can be equipped with multiple inspection devices, and pipeline inspection equipment including the flexible crawling robot for pipeline external walls. Background Technology

[0002] With the rapid development of coastal power, petrochemical, and other industries, and the increasing service life of related equipment, routine corrosion monitoring of pipelines has become an urgent problem. Currently, common methods for pipeline inspection include manual inspection and robotic inspection. Manual inspection requires workers to hold inspection equipment for extended periods to scan pipelines, which is not only inefficient and labor-intensive, but also problematic because commercially available inspection probes typically have strictly calibrated scanning speeds. Speeds that are too fast or too slow cannot yield ideal readings, leading to repeated inspections and impacting the inspection schedule. Furthermore, some chemical pipelines operate under harsh conditions, posing high safety risks such as asphyxiation, injuries from power tools, and inhalation of large amounts of organic solvents, making manual inspection unsuitable. Therefore, automated pipeline inspection devices are receiving increasing attention.

[0003] For example, patent application publication number CN102878385A discloses a fluid-driven adaptive crawler that achieves online pipeline inspection by carrying a detection device; patent application publication number CN107831117A discloses an adaptive pipe diameter pipeline crawling robot, which has good mechanical stability and can ensure continuous and stable operation; patent application publication number CN108869950A discloses a flexible pipeline crawling robot, which has a simple structure, large traction force, and can flexibly crawl and turn along the inner wall of the pipeline.

[0004] However, the aforementioned pipeline inspection devices can only perform crawling inspections of the inner wall of the pipeline. Their high manufacturing cost also affects normal pipeline transportation, and they lack the sensitivity to detect defects such as minor corrosion cracks and peeling of the outer coating. Currently available pipeline outer wall inspection robots suffer from slow crawling speeds, limited size adjustment ranges, and an inability to adapt to varying pipeline sizes on-site. For example, patent application CN111661189A discloses a pipeline crawling robot that crawls on the outer surface of the pipeline using gripping claws. This structure is only suitable for small-diameter pipelines with a narrow diameter range, and its crawling speed is slow.

[0005] For example, patent application CN103439415A discloses a crawler for automatic electromagnetic ultrasonic inspection of exposed pipelines. This invention uses the attraction between a permanent magnet and the pipe wall to climb and completes pipeline inspection through an electromagnetic ultrasonic probe. However, this device has a limited function, cannot be integrated with many commercially available inspection devices, and has a bulky structure, making it unsuitable for detecting various corrosive factors on-site. Furthermore, current pipeline external wall inspection robots also face problems such as complex structure and power, large size, heavy weight, difficulty in transportation and carrying, and difficulty in single-person operation. For instance, patent application CN111776100A discloses a flexible external pipeline crawling robot with a six-bar linkage mechanism. This invention completes the crawling action through a linkage mechanism, but this structure is complex, easily damaged, and has high maintenance costs.

[0006] Therefore, current flexible crawling robots for pipe walls primarily use magnetic attraction, negative air pressure adsorption, and fully enclosed structures for their adhesion mechanisms. Magnetic mechanisms, to increase load capacity, must sacrifice weight and increase magnet size, which inconveniences transporting and unloading the robot. Furthermore, the strong magnets of magnetic robots attract impurities during operation, requiring periodic cleaning, which also adds to the robot's cleaning inconvenience. Negative air pressure adsorption flexible crawling robots for pipe walls require compressed air at the work site, which is often unavailable in actual working conditions. The adsorption mechanism's motion structure is complex, and the actual working conditions of the pipe surface also affect the adsorption force, thus limiting its practical application. Existing enclosed flexible crawling robots for pipe walls on the market are mostly fixed structures, which have the following problems: 1. The size cannot be adjusted, failing to adapt to the needs of pipes with various sizes and bends; 2. The movement direction is singular, failing to meet the current requirements for multi-directional pipe inspection; 3. The detection function is limited, unable to accommodate multiple detection devices; 4. The fixed structure results in a large robot size, making installation and transportation inconvenient.

[0007] Therefore, there is an urgent need to design a miniaturized, lightweight, quick-assembly and disassembly robot that can carry multiple detection probes and is suitable for multiple pipe sizes. Summary of the Invention

[0008] In view of this, in order to overcome the shortcomings of the prior art and achieve the above objectives, the present invention provides an improved flexible crawling robot for pipe outer walls.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A flexible crawling robot for pipe outer walls includes a frame, a drive device and a detection device mounted on the frame. The frame includes a first annular frame and a second annular frame arranged around the outer periphery of the pipe, and a branch pipe disposed between the first and second annular frames. The drive device and the detection device are mounted on the branch pipe. The drive device includes a drive wheel assembly and a drive assembly. The drive wheel assembly includes a drive wheel and a drive wheel bracket. A sliding shaft is mounted on the drive wheel bracket, and an adjusting element (adjusting spring) is sleeved on the sliding shaft. The drive wheel bracket is used to mount the drive wheel assembly on the branch pipe. The drive assembly is used to drive the drive wheel to rotate. When the crawling robot moves axially and / or rotates circumferentially on the pipe, the adjusting element (adjusting spring) ensures that the drive wheel remains in close contact with the outer wall of the pipe.

[0011] According to some preferred embodiments of the invention, the drive assembly includes a synchronization mechanism, which includes a first synchronization wheel coaxially disposed with the drive wheel, a second synchronization wheel connected to the first synchronization wheel via a synchronization belt, and a driver for driving the second synchronization wheel to rotate.

[0012] According to some preferred embodiments of the present invention, the drive assembly includes a drive bracket, the driver is disposed on the drive bracket, the drive bracket is slidably disposed on the branch pipe, and an elastic element is disposed between the drive bracket and the drive wheel bracket.

[0013] According to some preferred embodiments of the present invention, the drive assembly includes a tensioning mechanism, the tensioning mechanism including an adjusting rod disposed on the side of the drive wheel away from the first synchronizing wheel, a rotating shaft disposed on the drive wheel, the first synchronizing wheel disposed at one end of the rotating shaft, the adjusting rod disposed at the other end of the rotating shaft, one end of the adjusting rod being rotatably connected to the rotating shaft, and the other end being connected to the drive bracket.

[0014] According to some preferred embodiments of the invention, the synchronizing mechanism and the tensioning mechanism are located on opposite sides of the drive wheel.

[0015] According to some preferred embodiments of the present invention, a driven wheel assembly is provided on the branch pipe, the driving wheel assembly and the driven wheel assembly are respectively provided on both sides of the branch pipe, and the drive assembly is provided between the driving wheel assembly and the driven wheel assembly.

[0016] According to some preferred embodiments of the present invention, the first and second annular frames include connecting rods, with a rotating head disposed between the connecting rods. Multiple connecting rods are connected to form a polygonal annular structure. Furthermore, the polygonal annular structure formed by the connection of multiple connecting rods allows the connected rods to rotate relative to each other under the action of the rotating head. Combined with multiple designed elastic elements, such as adjusting elements (adjusting springs) on the drive wheel bracket, similar springs on the driven wheel assembly, and elastic elements on the drive assembly, the drive wheel remains firmly against the outer wall of the pipe during axial movement and / or circumferential rotation of the crawling robot, achieving a flexible effect.

[0017] According to some preferred embodiments of the present invention, at least two symmetrically arranged connecting rods on the first and second annular frames are telescopic structures used to adjust the dimensions of the first and second annular frames. The telescopic structure allows the dimensions of the polygonal annular structures of the first and second annular frames to match the dimensions of the pipe to be measured. Adjustment can also be made at pipe bends to prevent the first and second annular frames from being too large or too small. Through the aforementioned rotational arrangement and multiple elastic elements, a flexible effect of conforming to the outer wall of the pipe is achieved, forming a flexible crawling robot.

[0018] According to some preferred embodiments of the present invention, the detection device includes a detection clamp disposed on the branch pipe, the detection clamp including a boundary clamp, a pressure plate and a chuck, the boundary clamp being disposed on the branch pipe, the two ends of the pressure plate being connected to the boundary clamp, the upper part of the detection assembly being disposed within the space formed by the two pressure plates and the boundary clamp, and the chuck being used to lock the boundary clamps on both sides of the detection assembly.

[0019] According to some preferred embodiments of the invention, a control system is included, which comprises a speed reducer control unit, a telescopic rod drive unit, a camera and lighting unit, a status feedback unit, a wireless transmission control unit, a data acquisition and storage unit, and a detection probe control unit.

[0020] The present invention also provides a pipeline inspection device including the flexible crawling robot on the outer wall of the pipeline as described above.

[0021] Due to the adoption of the above technical solutions, the advantages of the present invention compared with the prior art are as follows: The flexible crawling robot for the outer wall of the pipe of the present invention, through modular design, can be quickly assembled and disassembled, has a simple and lightweight structure, and can be adaptively adjusted according to different pipe sizes. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the flexible crawling robot on the outer wall of a pipe in a preferred embodiment of the present invention;

[0024] Figure 2 , Figure 3 , Figure 4 These are schematic diagrams of the flexible crawling robot for the outer wall of the pipe according to the present invention from different perspectives.

[0025] Figure 5 , Figure 6 These are exploded structural diagrams of the flexible crawling robot for the outer wall of the pipe according to the present invention from different perspectives.

[0026] Figure 7 This is a three-dimensional structural diagram of the frame in the flexible crawling robot for the outer wall of the pipe according to the present invention;

[0027] Figure 8 This is a side view of the frame structure of the flexible crawling robot for the outer wall of the pipe according to the present invention;

[0028] Figure 9 , Figure 10 These are exploded structural diagrams of the active wheel assembly and drive assembly in the flexible crawling robot on the outer wall of the pipe of the present invention from different perspectives.

[0029] Figure 11 This is an exploded structural diagram of the driven wheel assembly in the flexible crawling robot for the outer wall of the pipe of the present invention;

[0030] Figure 12 This is a three-dimensional structural diagram of the detection device in the flexible crawling robot for the outer wall of the pipe according to the present invention;

[0031] Figure 13 This is a top view of the detection gripper in the flexible crawling robot for the outer wall of the pipe according to the present invention;

[0032] Figure 14 This is a three-dimensional structural diagram of the combination of boundary clamp and pressure plate in the detection fixture of the present invention;

[0033] Figure 15 This is an exploded view of the various modules in the flexible crawling robot for the outer wall of the pipe of the present invention;

[0034] Figure 16 This is a schematic diagram of the control system assembly in this invention. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0036] The crawling device (flexible crawling robot) provided in this embodiment, suitable for pipeline external wall inspection robots, can carry multiple inspection devices, has a wide range of applications, can be quickly assembled and disassembled, has a simple and lightweight structure, and can adaptively adjust to different pipeline sizes. It mainly consists of: a) a drive assembly, a drive wheel assembly, b) a driven wheel assembly, c) a frame, d) a movable hinge (connector, connection between connecting rods), e) a quick connector (connection between connecting rod and branch pipe), f) a (electric) telescopic rod, g) a limit pin, h) an inspection fixture, i) an inspection device, j) an illumination and camera assembly (set on part of the movable hinge), and k) a control box. Figure 1-6 As shown in Figure 15.

[0037] The working principle of the flexible crawling robot for pipe outer walls is as follows: The device can bear weight and fit the outer wall of the pipe to the maximum extent through the telescopic adjustability of the electric telescopic rod f, the drive component a, the active wheel component, and the driven wheel b, as well as the steerable movement of the movable hinge d. The electric telescopic rod is equipped with a pressure sensor, which can adaptively adjust according to the set threshold to meet the needs of on-site inspection of pipes of various sizes and with multiple bends.

[0038] The device consists of a single drive assembly a, an active wheel assembly, and a driven wheel assembly b, forming a total of four drive assemblies. It can perform forward and backward linear motion, as well as spiral motion on the outer wall of the pipeline being inspected by the speed difference between the drive assemblies and the active wheels. This overcomes the technical limitation of traditional robots that can only move in one direction, thus meeting the requirements for multi-directional pipeline inspection on site.

[0039] The device is designed with four sets of lighting and camera components (j), which provide illumination and real-time video recording during operation. Even in low-light conditions, it can monitor the corrosion status of the pipe's outer surface in real time, and can autonomously identify and photograph areas with obvious corrosion for archiving. In addition, the device is equipped with inspection fixtures (h), available in various models to meet the needs of different inspection categories.

[0040] The entire device is composed of easily disassembled and assembled structural components such as the frame (c), movable hinges (d), quick connectors (e), and limit pins (g). The main frame is made of aluminum alloy tubing, which is high in strength and lightweight, allowing for single-person operation during installation. The device is modularly disassembled and assembled (modules include Module 1 (first ring frame), Module 2 (second ring frame), Module 3 (drive device), Module 4 (control box), and Module 5 (detection device)). After disassembly, it can be laid flat freely, requiring minimal space and making packaging and transportation extremely convenient. This overcomes the technical shortcomings of traditional pipeline external wall robots, which are characterized by their large size, difficult installation, operation, and transportation.

[0041] The pipeline inspection equipment of this embodiment includes a flexible crawling robot for the outer wall of a pipeline, comprising a frame, a drive device and an inspection device mounted on the frame. The frame includes a first annular frame and a second annular frame arranged around the outer periphery of the pipeline, and a branch pipe disposed between the first and second annular frames. The drive device and the inspection device are mounted on the branch pipe. The first and second annular frames include connecting rods, and rotating heads are provided between the connecting rods to connect adjacent connecting rods. Multiple connecting rods connected together form a polygonal ring structure, which is octagonal in this embodiment. At least two symmetrically arranged (opposite sides) connecting rods on the first and second annular frames are telescopic structures used to adjust the size of the first and second annular frames. The first annular frame is located on one plane, and the second annular frame is located on another plane. The branch pipe is perpendicularly connected between the first and second annular frames and parallel to the axis of the pipeline.

[0042] The drive unit includes a driving wheel assembly, a drive assembly, and a driven wheel assembly. The driving wheel assembly includes a driving wheel and a driving wheel bracket. A sliding shaft is mounted on the driving wheel bracket, and an adjusting element is fitted over the sliding shaft. The driving wheel bracket is used to mount the driving wheel assembly on the branch pipe, and the drive assembly is used to drive the driving wheel to rotate. The driving wheel assembly and the driven wheel assembly are respectively located on both sides of the branch pipe, and the drive assembly is located between the driving wheel assembly and the driven wheel assembly. In actual use, the driving wheel and the driven wheel are fixed in position along the length of the branch pipe, while the drive bracket is slidably mounted. An elastic element is installed between the drive bracket and the driving wheel bracket to ensure that the synchronous belt remains taut while the driving wheel moves up and down, and to prevent rigid collisions between the drive bracket and the driving wheel bracket during movement.

[0043] The drive assembly includes a synchronization mechanism, a drive bracket, and a tensioning mechanism. The synchronization mechanism and tensioning mechanism are located on opposite sides of the drive wheel, structurally independent yet simultaneously achieving drive and tensioning functions. The driver is mounted on the drive bracket, which is slidably mounted on a branch pipe. An elastic element is provided between the drive bracket and the drive wheel bracket. The synchronization mechanism includes a first synchronization wheel coaxially mounted with the drive wheel, a second synchronization wheel connected to the first synchronization wheel via a timing belt, and a driver for driving the second synchronization wheel to rotate. The tensioning mechanism includes an adjusting rod located on the side of the drive wheel furthest from the first synchronization wheel. A rotating shaft is mounted on the drive wheel, with the first synchronization wheel at one end and the adjusting rod at the other end. One end of the adjusting rod is rotatably connected to the rotating shaft, and the other end is connected to the drive bracket.

[0044] The detection device includes a detection clamp mounted on a branch pipe. The clamp comprises a boundary clamp, a pressure plate, and a chuck. The boundary clamp is mounted on the branch pipe, and both ends of the pressure plate are connected to the boundary clamp. The upper part of the detection assembly is positioned within the space formed by the two pressure plates and the boundary clamp. The chuck is used to lock the boundary clamps on both sides of the detection assembly. The pressure plate is located at the top of the probe for vertical upper limit positioning, and the boundary clamp is located on the side of the probe for horizontal limit positioning. The boundary clamp and pressure plate are fitted together through structural design to fix the probe.

[0045] The following is a detailed description of each component:

[0046] 1) Drive unit

[0047] A total of four drive units were designed to provide driving force for the flexible crawling robot. Each drive unit consists of: 101 axis retaining ring, 102 bearing, 103 rubber wheel cross shaft, 104 rubber wheel fixing retaining ring, 105 rubber wheel, 106 rubber wheel bracket, 107 universal ball joint rod (adjusting rod), 108 shaft end sleeve, 109 small synchronous pulley, 110 synchronous belt, 111 large synchronous pulley (with encoder), 112 Phillips head screw, 113 dual output shaft geared motor (driver), and 114 buffer. The components include: spring (elastic element), 115 motor mounting bracket (drive bracket), 116 long linear bearing, 117 upper end cover of motor tail, 118 lower end cover of motor tail, 119 end cover fixing bolt, 120 aviation plug female connector, 121 short linear bearing, 122 main sliding shaft, 123 adjusting spring (adjusting element), 124 mounting bracket, 125 bracket fixing bolt, 126 sleeve fixing screw, 127 sleeve, 128 limit pin, and 129 main sliding shaft retaining ring. See details. Figure 9-10 .

[0048] The dual-output shaft geared motor 113 is fixed to the motor mounting bracket 115 by four Phillips head screws 112. A large synchronous pulley 111 is installed on the output shaft of the geared motor. The large synchronous pulley drives the small synchronous pulley 109 through the synchronous belt 110. Since the small synchronous pulley is fixed to the rubber wheel cross shaft 103, the rubber wheel cross shaft is fixed to the rubber wheel 105, and the rubber wheel cross shaft is fixed to the rubber wheel bracket 106 through the bearing 102, the geared motor can drive the rolling of the rubber wheel.

[0049] On the other side of the rubber wheel 105, a universal ball joint 107 is installed, connecting to the rubber wheel's horizontal shaft 103 to ensure that the synchronous belt remains taut during operation. The universal ball joint is a threaded sleeve structure (telescopic structure), which can periodically adjust the distance between the synchronous pulleys, thereby preventing the synchronous belt from slipping. The shaft end 108 is fitted with a limiter for the end of the ball joint. The fixed bracket 124 is fixed to the C-frame slide bar by two bracket fixing bolts 125. The length of the compression adjustment spring 123 sliding on the main sliding shaft 122 is adjusted to allow the robot to adapt to pipes of different sizes.

[0050] The motor mounting bracket 15 slides on the slide bar of the frame c via one long linear bearing 116 and two short linear bearings 121. The buffer spring 114 mainly ensures that the motor mounting bracket is evenly stressed on both sides during sliding, preventing jamming. The power supply port of the entire drive unit is installed on the lower end cover 118 of the motor tail via an aviation plug female connector 120, and then securely connected to the upper end cover of the motor tail 117 via end cover fixing bolts 119.

[0051] Each drive unit is equipped with a set of driven wheel devices (b) to ensure the stability of the robot's movements. The main structure of each driven wheel device is the same as the front end of the drive unit; the only difference is that the 201 rubber wheel cross shaft is a short shaft and does not have a synchronous pulley. Figure 11 As shown.

[0052] By using four symmetrically arranged drive units, the robot can move smoothly outside the pipe, and can also achieve spiral motion on the outer wall of the pipe being inspected by the speed difference of the drive wheels, thus achieving all-round inspection.

[0053] 2) Frame

[0054] The entire frame consists of 24 tee socket joints 301 (for connecting long or short pipes, movable hinges, and branch pipes), 4 long pipes 302, 8 short pipes 303, 12 branch pipes 304, 16 movable hinges d, and 24 quick connectors e (for connecting rods and branch pipes). Long pipes 302 and short pipes 303 are both connecting rods. The frame fittings are thin-walled hollow aluminum alloy tubes, which are high-strength, lightweight, and low-cost to manufacture. Long pipes 302, short pipes 303, and movable hinges d are assembled into modules 1 and 2 using sockets and flat-head screws. Modules 1 and 2 are connected and assembled using an electric telescopic rod f (telescopic structure), and the dimensions of the first and second annular frames are adjusted using the electric telescopic rod f. A limiting pin g is used as a fixing pin. Figure 1-8 As shown.

[0055] 3) Inspection fixture

[0056] The testing fixture is mainly used to fix the testing probe. Users can select the appropriate testing fixture according to the testing requirements and can independently adjust the distance between the probe and the pipeline. The entire testing fixture mainly consists of four boundary clamps 401, two quick-release clamps 402, four threaded pressure rods 403, and two pressure plates 404. The four boundary clamps 401 can slide on the branch pipe 304 of the frame. The quick-release clamps 402 can quickly fix the boundary of the testing probe. After the probe is fixed, the pressure plates 404 are installed, and the pressure plates 404 and boundary clamps 401 fit together. The distance between the probe and the pipeline can be controlled by adjusting the height of the threaded rods 403. Figure 12-14 As shown.

[0057] The specific structures of pressure plate 404 and boundary clamp 401 are as follows:

[0058] The boundary clamp 401 includes a sleeve 4011 sleeved outside the branch pipe, a first extension plate 4012 extending upward from one side of the sleeve 4011, a second extension plate 4013 extending again from one side of the first extension plate 4012, and a first mounting part 4014 located at the connection between the first extension plate 4012 and the second extension plate 4013. The first extension plate 4012 and the second extension plate 4013 are arranged vertically.

[0059] The pressure plate 404 includes a first side plate 4041, a second side plate 4042, and a second mounting part 4043 corresponding to the first mounting part 4014. The first side plate 4041 and the second side plate 4042 form a mounting groove 4044 for accommodating the upper part of the second extension plate 4013. The second side plate 4042 has a slot 4045 for the first extension plate 4012 to pass through. The first extension plate 4012 and the second extension plate 4013 form hooks to hook the pressure plate 404, thereby achieving the fitting of the pressure plate 404 and the boundary clamp 401.

[0060] The first mounting part 4014 is housed within the second mounting part 4043. The height of the second mounting part 4043 is greater than the height of the first side plate 4041 and the second side plate 4042. The first mounting part 4014 and the second mounting part 4043 have mounting holes 4015 through which a threaded pressure rod 403 passes. The threaded pressure rod 403 enables the connection between the first mounting part 4014 and the second mounting part 4043 and controls the distance between the probe and the pipe.

[0061] The first extension plate 4012 and the second extension plate 4013 are located on the two sides of the upper part of the probe, and the bottom surface of the second side plate 4042 abuts against the top surface of the probe to fix the probe.

[0062] The detection fixture in this embodiment can be quickly replaced and installed, is easy to adjust, and has good stability after being fixed.

[0063] 4) Control System

[0064] The entire flexible crawling robot can be equipped with a power module according to user needs. For short-distance pipeline inspection, it can be powered by the battery within the power module; for long-distance pipeline inspection, it can be connected to an external power source via an external cable. It also features a wireless transmission module, enabling both wireless remote control and wired operation.

[0065] The flexible crawling robot control system mainly consists of a reducer control unit, a telescopic rod drive unit, a camera and lighting unit, a status feedback unit, a wireless transmission control unit, a data acquisition and storage unit, and a detection probe control unit. Before operation, the robot is assembled according to the drawings and installed on the outer surface of the pipe to be inspected. The distance between the probe and the pipe is adjusted. The pipe dimensions and the required robot speed are input in the status feedback operation interface unit. Then, the device is started. At this time, the telescopic rod will automatically retract to the specified threshold position. The compression adjustment spring 123 is compressed under the drive of the retraction rod, so that the robot is in close contact with the outer surface of the pipe.

[0066] During operation, the robot can achieve the corresponding movement states by using the forward, backward, left-rotate forward, right-rotate forward, left-rotate backward, and right-rotate backward buttons on the operating interface. At this time, the control system is in a state where the reducer control unit receives instructions and transmits them to the reducer motion encoder. The motion encoder then performs actions according to the given instructions. The robot is designed with four sets of drive devices, each of which can be controlled independently. During rotational motion, steering is achieved by controlling the rotational difference of the encoder. The robot's real-time position status, such as movement time, speed, displacement, and pipe inner and outer diameter parameters, is displayed in the status feedback unit of the operating interface through the data acquisition and storage unit.

[0067] When the robot inspects pipes in narrow spaces, the camera and lighting unit needs to be turned on. This unit can autonomously identify abnormal conditions on the outer surface of the pipe and take pictures to store for user evaluation.

[0068] The device is designed with multiple fixtures, and the data acquisition unit can be connected to data cables of various testing devices. Users can freely match various testing devices and assemble them according to the needs of actual projects.

[0069] This invention relates to a universal flexible crawling robot for pipe external walls that can be equipped with multiple inspection devices. This device effectively addresses the technical shortcomings of existing flexible crawling robots for pipe external walls on the market, thereby improving the performance indicators of pipe external wall inspection robots. Its main features are as follows:

[0070] 1. Flexible hinge structure, self-adjusting

[0071] The power design of the telescopic rod and compression spring, combined with the flexible hinge structure of the frame, allows the robot to autonomously conform to the outer surface of the pipe according to its size during movement, resulting in a stronger fit. The polygonal hinge structure design not only accommodates the placement of the power drive unit but also meets the requirements for mounting detection and control devices. At pipe bends, the length of the telescopic tube can be adaptively adjusted based on collected data, and the length of the compression spring can be adjusted to complete the robot's turning motion.

[0072] 2. Multi-directional movement to meet the requirements of complex on-site working conditions.

[0073] The device has four sets of drive units, which can achieve multi-directional rotational movement by controlling the speed difference of the encoder, thus overcoming the predicament of narrow spaces on site where manpower cannot enter.

[0074] 3. Aluminum alloy hollow tube structure, low manufacturing cost.

[0075] The device adopts a conventional aluminum alloy hollow tube structure, which has low manufacturing cost and is lighter and easier to operate compared to traditional encapsulated robots.

[0076] 4. Can be equipped with multiple detection devices

[0077] The device is equipped with multiple testing fixtures, and the data acquisition unit port is open to the outside, allowing users to match and expand it as needed, or to make secondary modifications according to actual needs.

[0078] 5. Modular assembly, convenient installation and transportation.

[0079] This device features multi-point quick-connect couplings. After initial assembly, disassembly requires only modular disassembly, which can be performed by a single person, significantly reducing labor and material costs. The modules include Module 1 (first ring frame), Module 2 (second ring frame), Module 3 (drive device), Module 4 (control box), and Module 5 (detection device), as follows... Figure 15 As shown.

[0080] The above embodiments are only for illustrating the technical concept and features of the present invention, and are intended to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A flexible crawling robot for the outer wall of a pipe, characterized in that, The device includes a frame, a drive unit and a detection unit mounted on the frame; the frame includes a first annular frame and a second annular frame arranged around the outer periphery of the pipe, and a branch pipe disposed between the first annular frame and the second annular frame; the drive unit and the detection unit are mounted on the branch pipe; the drive unit includes a drive wheel assembly and a drive assembly; the drive wheel assembly includes a drive wheel and a drive wheel bracket; the drive wheel bracket is provided with a sliding shaft; the sliding shaft is sleeved with an adjusting member; the drive wheel bracket is used to mount the drive wheel assembly on the branch pipe; and the drive assembly is used to drive the drive wheel to rotate. The drive assembly includes a synchronization mechanism, which includes a first synchronization wheel coaxially arranged with the drive wheel, a second synchronization wheel connected to the first synchronization wheel via a synchronization belt, and a driver for driving the second synchronization wheel to rotate. The drive assembly includes a drive bracket, the driver is mounted on the drive bracket, the drive bracket is slidably mounted on the branch pipe, and an elastic element is provided between the drive bracket and the drive wheel bracket; The drive assembly includes a tensioning mechanism, which includes an adjusting rod disposed on the side of the drive wheel away from the first synchronizing wheel. The drive wheel is provided with a rotating shaft, one end of which is provided with the first synchronizing wheel, and the other end of which is provided with the adjusting rod. One end of the adjusting rod is rotatably connected to the rotating shaft, and the other end is connected to the drive bracket. The synchronizing mechanism and the tensioning mechanism are respectively located on both sides of the drive wheel.

2. The flexible crawling robot for the outer wall of a pipe according to claim 1, characterized in that, A driven wheel assembly is provided on the branch pipe, and the driving wheel assembly and the driven wheel assembly are respectively provided at both ends of the branch pipe. The drive assembly is provided between the driving wheel assembly and the driven wheel assembly.

3. The flexible crawling robot for the outer wall of a pipe according to claim 1, characterized in that, The first and second ring frames include connecting rods, and the ends of the connecting rods are provided with rotating heads. Multiple connecting rods are connected by rotating heads to form a polygonal ring structure.

4. The flexible crawling robot for the outer wall of a pipe according to claim 3, characterized in that, The connecting rods, which are symmetrically arranged on the first and second annular frames, are telescopic structures used to adjust the size of the first and second annular frames.

5. The flexible crawling robot for the outer wall of a pipe according to claim 1, characterized in that, The detection device includes a detection clamp mounted on the branch pipe. The detection clamp includes a boundary clamp, a pressure plate, and a chuck. The boundary clamp is mounted on the branch pipe. The two ends of the pressure plate are connected to the boundary clamp. The upper part of the detection component is located in the space formed by the two pressure plates and the boundary clamp. The chuck is used to lock the boundary clamps on both sides of the detection component.

6. The flexible crawling robot for the outer wall of a pipe according to any one of claims 1-5, characterized in that, The system includes a control system, which comprises a speed reducer control unit, a telescopic rod drive unit, a camera and lighting unit, a status feedback unit, a wireless transmission control unit, a data acquisition and storage unit, and a detection probe control unit.

7. A pipeline inspection device, characterized in that, Including the flexible crawling robot for the outer wall of a pipe as described in any one of claims 1-6.

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