Pipeline detection assembly and pipeline detection robot

Abstract

The pipeline detection assembly comprises a mounting base, a fixing shaft, a support, a rotary driving mechanism, a geological radar and an infrared thermal imager, the mounting base is vertically arranged, the fixing shaft is horizontally arranged in the front-back direction, the rear end of the fixing shaft is fixedly connected with the mounting base, the support is rotationally mounted on the fixing shaft, and the rotary driving mechanism is arranged on the support. The infrared thermal imager is installed at the front end of the fixing shaft, the geological radar is installed on the support, the rotation driving mechanism is installed on the installation base, the driving end of the rotation driving mechanism is in transmission connection with the support, and the rotation driving mechanism is used for driving the support to drive the geological radar to rotate around the fixing shaft. In this way, the infrared thermal imager can detect the area in front of the interior of the pipeline in a fixed posture in the pipeline, the geological radar can be driven by the rotary driving mechanism to rotate around the fixed shaft so as to detect the pipe wall of the pipeline, and therefore the infrared thermal imager and the geological radar can jointly detect the pipeline.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline robots, and in particular relates to a pipeline detection assembly and a pipeline detection robot. Background Art

[0002] Geological radar mainly detects conductive media based on the propagation characteristics of electromagnetic waves in underground materials. For example, electromagnetic waves will be reflected, refracted and transmitted at the interface of the medium. Geological radar usually receives these reflected, refracted and transmitted electromagnetic waves to understand the structure and properties of the medium, such as the distribution, thickness and shape of the geological body. In pipeline detection, geological radar can detect the surrounding of the pipe, so as to obtain the geological conditions of the pipe wall and the surrounding area of ​​the buried pipe. However, at present, geological radars are mostly installed in a vertically rotating manner on the pipeline robot. Firstly, it affects the installation of other detection equipment. Secondly, it has poor adaptability and cannot adapt to the detection of pipelines of different diameters. Summary of the invention

[0003] In order to solve the above technical problems, one of the objectives of the present invention is to provide a pipeline detection assembly with a simple structure, which can detect the pipeline together with an infrared thermal imager and a geological radar.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline detection assembly, comprising a mounting seat, a fixed shaft, a bracket, a rotary drive mechanism, a geological radar and an infrared thermal imager, wherein the mounting seat is vertically arranged, the fixed shaft is horizontally arranged along the front-to-back direction, and its rear end is fixedly connected to the mounting seat, the bracket is rotatably mounted on the fixed shaft, the infrared thermal imager is mounted on the front end of the fixed shaft, the geological radar is mounted on the bracket, the rotary drive mechanism is mounted on the mounting seat, and its driving end is transmission-connected to the bracket, and the rotary drive mechanism is used to drive the bracket to drive the geological radar to rotate around the fixed shaft.

[0005] The beneficial effect of the above technical solution is that the infrared thermal imager can detect the area in front of the pipeline in a fixed posture inside the pipeline, and the geological radar can rotate around a fixed axis driven by a rotating drive mechanism to detect the pipe wall of the pipeline. In this way, the infrared thermal imager and the geological radar can jointly detect the pipeline.

[0006] The bracket in the above technical solution includes a sleeve, a mounting plate and a telescopic frame. The sleeve is coaxially rotatable on the fixed shaft, the mounting plate is connected to the sleeve, and the geological radar is mounted on the mounting plate through the telescopic frame. The telescopic frame is telescoped to adjust the distance between the geological radar and the sleeve in the vertical plane.

[0007] The beneficial effect of the above technical solution is that its structure is simple, so that the bracket is rotatably connected to the fixed axis through the shaft sleeve, and the telescopic frame can adjust the distance between the geological radar and the fixed axis, that is, the distance between the geological radar and the pipe wall during detection is adjustable.

[0008] The telescopic frame in the above technical solution includes multiple telescopic parts, and the multiple telescopic parts are vertically installed on the mounting plate and distributed at intervals on the mounting plate. The telescopic ends of the multiple telescopic parts are connected to the geological radar.

[0009] The beneficial effects of the above technical solution are: its structure is simple and the geological radar has good stability when the height is adjusted.

[0010] In the above technical solution, the multiple telescopic members are distributed on both sides of the shaft sleeve.

[0011] The beneficial effect of the above technical solution is that by passing the shaft sleeve between the multiple telescopic members, the structure of the entire bracket is made more compact when the telescopic bracket is in the retracted state.

[0012] The telescopic member described in the above technical solution is a telescopic electric cylinder.

[0013] The beneficial effects of the above technical solution are: its structure is simple and easy to control.

[0014] The mounting seat in the above technical solution is hollow inside, the rear ends of the fixed shaft and the sleeve are extended into the mounting seat, and the rear end end of the fixed shaft is fixedly connected to the mounting seat, the sleeve is rotatably connected to the mounting seat, and the rotary drive mechanism is arranged in the mounting seat and is transmission-connected to the sleeve.

[0015] The beneficial effects of the above technical solution are: it has a simple structure and good aesthetics, and at the same time makes the structure of the entire pipeline detection assembly more compact.

[0016] The rotary drive mechanism described in the above technical solution includes a drive motor, a worm and a worm wheel. The worm wheel is coaxially rotatable on the fixed shaft and is coaxially fixedly connected to the rear end of the sleeve. The worm is rotatably installed in the mounting seat along the left and right directions and meshes with the worm wheel. The drive motor is installed in the mounting seat and is transmission-connected to the worm. The worm wheel constitutes the drive end of the rotary drive mechanism.

[0017] The beneficial effects of the above technical solution are: its structure is simple, and the worm wheel and worm also have a locking function during transmission. For example, when the driving motor stops rotating, the locking function of the worm wheel and worm can prevent the sleeve from rotating by itself under the gravity of the geological radar.

[0018] The rotary drive mechanism in the above technical solution also includes two gears, and the drive motor is arranged in the mounting seat along the left and right directions, one of the gears is coaxially fixedly mounted on the drive shaft of the drive motor, and the other gear is coaxially fixedly mounted at one end of the worm, and the two gears are meshed with each other.

[0019] The beneficial effect of the above technical solution is that the rotary drive mechanism is arranged more compactly in the mounting seat.

[0020] A second object of the present invention is to provide a pipeline detection robot with a simple structure and good detection effect.

[0021] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: a pipeline detection robot, characterized in that it includes a mobile chassis, a lifting frame and the pipeline detection assembly as described above, the lifting frame is installed at the upper end of the mobile chassis, the mounting seat is installed at the front end of the lifting end of the lifting frame, and the lifting frame is used to adjust the height of the pipeline detection assembly.

[0022] The beneficial effect of the above technical solution is that its structure is simple, so that the height of the pipeline detection assembly can be adjusted by a lifting frame, and the pipeline detection assembly uses a geological radar and an infrared thermal imager to jointly detect the pipeline.

[0023] The above technical solution also includes a long-distance communication module and a control assembly arranged on the mobile chassis. The long-distance communication module, pipeline detection assembly, mobile chassis and lifting frame are all electrically connected to the control assembly. The long-distance communication module is used to communicate with the terminal device.

[0024] The beneficial effect of the above technical solution is that: in this way, the pipeline detection robot can communicate with the terminal equipment on the ground over long distances, and its signal transmission has good stability, which is conducive to improving the quality and efficiency of pipeline detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a vertical view of the telescopic frame in the pipeline detection assembly according to Example 1 of the present invention in an extended state;

[0026] Figure 2 This is a front view of the telescopic frame in the pipeline detection assembly according to Example 1 of the present invention in an extended state;

[0027] Figure 3 This is a vertical view of the telescopic frame in the pipeline detection assembly described in Example 1 of the present invention in a retracted state;

[0028] Figure 4 This is a schematic diagram of the assembly of the fixed shaft, the mounting seat and the shaft sleeve in Example 1 of the present invention;

[0029] Figure 5 This is a schematic diagram of the assembly of the rotary drive member, the fixed shaft and the shaft sleeve in Example 1 of the present invention;

[0030] Figure 6 This is a vertical view of the pipeline inspection robot in the storage state according to the second embodiment of the present invention;

[0031] Figure 7 This is a vertical view of the pipeline detection robot in the expanded state described in Example 2 of the present invention. In the figure: 1 mounting seat; 2 fixed shaft; 3 bracket; 31 bushing; 32 mounting plate; 33 telescopic frame; 331 telescopic member; 332 telescopic rod; 34 connecting frame; 4 rotary drive mechanism; 41 drive motor; 42 worm; 43 worm wheel; 44 gear; 5 geological radar; 6 infrared thermal imager; 100 pipeline detection assembly; 200 mobile chassis; 300 lifting frame; 400 long-distance communication module; 500 control assembly. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention is described in more detail by way of example with reference to the accompanying drawings in the following paragraphs. According to the following description and claims, the advantages and features of the present invention will be more clearly described. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0033] Example 1

[0034] like Figure 1-Figure 3 As shown, this embodiment provides a pipeline detection assembly, including a mounting seat 1, a fixed shaft 2, a bracket 3, a rotation drive mechanism 4, a geological radar 5 and an infrared thermal imager 6. The mounting seat 1 is vertically arranged, the fixed shaft 2 is horizontally arranged along the front-to-back direction, and its rear end is fixedly connected to the mounting seat 1, the bracket 3 is rotatably mounted on the fixed shaft 2, the infrared thermal imager 6 is mounted at the front end of the fixed shaft 2, the geological radar 5 is mounted on the bracket 3, the rotation drive mechanism 4 is mounted on the mounting seat 1, and its driving end is transmission-connected with the bracket 3, the rotation drive mechanism 4 is used to drive the bracket 3 to drive the geological radar 5 to rotate around the fixed shaft 2, so that the infrared thermal imager can detect the area in front of the pipeline in a fixed posture in the pipeline, and the geological radar can rotate around the fixed shaft under the drive of the rotation drive mechanism to detect the pipe wall of the pipeline, so that the infrared thermal imager and the geological radar can jointly detect the pipeline.

[0035] In this embodiment, the imaging part of the infrared thermal imager 6 faces forward, and the detection part of the geological radar in this embodiment is away from the fixed axis. The geological radar can adopt a geological radar of the SIR series.

[0036] In the above technical solution, the bracket 3 includes a sleeve 31, a mounting plate 32 and a telescopic frame 33. The sleeve 31 is coaxially rotatably sleeved on the fixed shaft 2. The mounting plate 32 is connected to the sleeve 31. The geological radar 5 is installed on the mounting plate 32 through the telescopic frame 33. The telescopic frame 33 is telescoped to adjust the distance between the geological radar 5 and the sleeve 31 in the vertical plane (vertical plane perpendicular to the fixed axis). The structure is simple, so that the bracket is rotatably connected to the fixed axis through the sleeve, and the telescopic frame can adjust the distance between the geological radar and the fixed axis, that is, the distance between the geological radar and the pipe wall during detection is adjustable.

[0037] The telescopic frame 33 in the above technical solution includes a plurality of telescopic parts 331, and the plurality of telescopic parts 331 are vertically mounted on the mounting plate 32 and are spaced apart on the mounting plate 32. The telescopic ends of the plurality of telescopic parts 331 are connected to the geological radar 5. The structure is simple, and the geological radar has good stability when the height is adjusted.

[0038] In the above technical solution, the plurality of telescopic members 331 are distributed on both sides of the shaft sleeve 31 , and the shaft sleeve is passed through the plurality of telescopic members, so that the structure of the entire bracket is more compact when the telescopic bracket is in the retracted state.

[0039] The telescopic member 331 in the above technical solution is a telescopic electric cylinder, which has a simple structure and is easy to control.

[0040] Preferably, the telescopic frame 33 also includes a plurality of telescopic rods 332, which are arranged between the geological radar and the mounting plate, one end of the telescopic rod is connected to the geological radar, and the other end is connected to the mounting plate, wherein the telescopic rod is similar to an existing fishing rod composed of a plurality of rod sections interconnected, and mainly plays a role of guiding stability.

[0041] In the above technical solution, the interior of the mounting seat 1 is hollow, the rear ends of the fixed shaft 2 and the sleeve 31 are both extended into the mounting seat 1, and the rear end of the fixed shaft 2 is fixedly connected to the mounting seat 1, the sleeve 31 is rotatably connected to the mounting seat 1, and the rotary drive mechanism 4 is arranged in the mounting seat 1 and is transmission-connected to the sleeve 31. It has a simple structure and good aesthetics, and at the same time makes the structure of the entire pipeline detection assembly more compact.

[0042] Specifically, two telescopic members and two telescopic rods are provided, each side of the sleeve has a telescopic member and a telescopic rod, and the two telescopic rods and two telescopic rods are located at the four corners of the mounting plate (of course, the telescopic rods can also be replaced by gas springs).

[0043] like Figure 4 and Figure 5 As shown, the rotary drive mechanism 4 in the above technical scheme includes a drive motor 41, a worm 42 and a worm wheel 43. The worm wheel 43 is coaxially rotatably sleeved on the fixed shaft 2 and coaxially fixedly connected with the rear end of the sleeve 31. The worm 42 is rotatably installed in the mounting seat 1 along the left and right directions and meshes with the worm wheel 43. The drive motor 41 is installed in the mounting seat 1 and is transmission-connected with the worm 42. The worm wheel 43 constitutes the driving end of the rotary drive mechanism 4, which has a simple structure, and the worm wheel and worm also have a locking function during transmission (that is, the rotation of the worm can cause the worm wheel to rotate, but the rotation of the worm wheel cannot cause the worm to rotate in the opposite direction). When the drive motor stops rotating, the locking function of the worm wheel and the worm can prevent the sleeve from rotating by itself under the gravity of the geological radar.

[0044] The rotary drive mechanism 4 in the above technical solution also includes two gears 44. The drive motor 41 is arranged in the mounting base 1 along the left and right directions. One of the gears 44 is coaxially fixedly installed on the drive shaft of the drive motor 41, and the other gear 44 is coaxially fixedly installed at one end of the worm 42, and the two gears 44 are meshed with each other, so that the rotary drive mechanism is arranged more compactly in the mounting base.

[0045] In this embodiment, the fixed shaft may be a tubular shaft, so that the cable of the infrared thermal imager can pass through the inner hole of the fixed shaft backwards, so that the cable of the infrared thermal imager is exposed and affects the rotation of the bracket around the fixed shaft.

[0046] In this embodiment, the mounting plate and the shaft sleeve can be connected via a hollow connecting frame 34 .

[0047] Of course, for detection purposes, the infrared thermal imager may also be replaced by a laser radar or a fisheye lens.

[0048] Example 2

[0049] like Figure 6 and Figure 7As shown, this embodiment provides a pipeline detection robot, including a mobile chassis 200, a lifting frame 300 and the pipeline detection assembly 100 as described in Example 1, the lifting frame 300 is installed at the upper end of the mobile chassis 200, the mounting seat 1 is installed at the front end of the lifting end of the lifting frame 300, the lifting frame 300 is used to adjust the height of the pipeline detection assembly 100, and its structure is simple, so that the height of the pipeline detection assembly can be adjusted by the lifting frame, and the pipeline detection assembly uses geological radar and infrared thermal imager to jointly detect the pipeline.

[0050] The lifting frame 300 described in the above technical solution is a double-scissor-type electric lifting platform, which has a simple structure and is easy to control, and occupies little space when in the storage state.

[0051] The advantage of the pipeline detection robot provided in this embodiment is that its height of the pipeline detection assembly can be adjusted. For example, the height of the pipeline detection assembly is adjusted to a fixed axis close to the axis of the pipeline, and then the telescopic frame is used to adjust the geological radar close to the inner wall of the pipeline. At this time, the rotating drive mechanism can drive the geological radar to rotate in the pipeline close to the inner wall of the pipeline when the driving sleeve rotates to perform flaw detection on the pipeline.

[0052] Of course, in order to avoid the cable of the geological radar from getting tangled when the geological radar rotates, the driving motor drives the shaft sleeve to rotate reciprocatingly (the maximum rotation angle in a single direction is 360°).

[0053] The mobile chassis in this embodiment can be a wheeled chassis or a crawler chassis.

[0054] The pipeline detection robot also includes a long-distance communication module 400 and a control assembly 500 arranged on the mobile chassis 200. The long-distance communication module 400, the pipeline detection assembly 100, the mobile chassis 200 and the lifting frame 300 are all electrically connected to the control assembly 500. The long-distance communication module 400 is used to communicate with the terminal device, so that the pipeline detection robot can communicate with the terminal device on the ground over a long distance. The signal transmission has good stability, which is conducive to improving the quality and efficiency of pipeline detection (the telescopic parts, drive motors, geological radars and infrared thermal imagers of the pipeline detection assembly 100 are all electrically connected to the control assembly).

[0055] In this embodiment, the long-distance communication module may adopt an existing vdsl2 communication module, the control assembly may be an ARM series single-chip microcomputer, and the terminal device may be a computer.

[0056] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Any ordinary technician in the industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with the profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. A pipeline detection assembly, characterized in that: The invention comprises a mounting seat (1), a fixed shaft (2), a bracket (3), a rotation drive mechanism (4), a geological radar (5) and an infrared thermal imager (6), wherein the mounting seat (1) is arranged vertically, the fixed shaft (2) is arranged horizontally in the front-rear direction, and its rear end is fixedly connected to the mounting seat (1), the bracket (3) is rotatably mounted on the fixed shaft (2), the infrared thermal imager (6) is mounted on the front end of the fixed shaft (2), the geological radar (5) is mounted on the bracket (3), the rotation drive mechanism (4) is mounted on the mounting seat (1), and its driving end is transmission-connected to the bracket (3), and the rotation drive mechanism (4) is used to drive the bracket (3) to drive the geological radar (5) to rotate around the fixed shaft (2).

2. The pipeline detection assembly according to claim 1, characterized in that: The bracket (3) comprises a shaft sleeve (31), a mounting plate (32) and a telescopic frame (33); the shaft sleeve (31) is coaxially rotatably sleeved on the fixed shaft (2); the mounting plate (32) is connected to the shaft sleeve (31); the geological radar (5) is mounted on the mounting plate (32) via the telescopic frame (33); the telescopic frame (33) is telescopic to adjust the distance between the geological radar (5) and the shaft sleeve (31) in a vertical plane.

3. The pipeline detection assembly according to claim 2, characterized in that: The telescopic frame (33) comprises a plurality of telescopic members (331), wherein the plurality of telescopic members (331) are vertically mounted on the mounting plate (32) and are spaced apart on the mounting plate (32), and the telescopic ends of the plurality of telescopic members (331) are connected to the geological radar (5).

4. The pipeline detection assembly according to claim 3, characterized in that: The plurality of telescopic members (331) are distributed on both sides of the shaft sleeve (31).

5. The pipeline detection assembly according to claim 3, characterized in that: The telescopic member (331) is a telescopic electric cylinder.

6. The pipeline detection assembly according to any one of claims 2 to 5, characterized in that: The interior of the mounting seat (1) is hollow, the rear ends of the fixed shaft (2) and the shaft sleeve (31) are both extended into the mounting seat (1), and the rear end of the fixed shaft (2) is fixedly connected to the mounting seat (1), the shaft sleeve (31) is rotatably connected to the mounting seat (1), and the rotary drive mechanism (4) is arranged in the mounting seat (1) and is transmission-connected to the shaft sleeve (31).

7. The pipeline detection assembly according to any one of claims 2 to 5, characterized in that: The rotary drive mechanism (4) comprises a drive motor (41), a worm (42) and a worm wheel (43); the worm wheel (43) is coaxially rotatably sleeved on the fixed shaft (2) and coaxially fixedly connected to the rear end of the shaft sleeve (31); the worm (42) is rotatably mounted in the mounting seat (1) in the left-right direction and meshes with the worm wheel (43); the drive motor (41) is mounted in the mounting seat (1) and is transmission-connected to the worm (42); and the worm wheel (43) constitutes the drive end of the rotary drive mechanism (4).

8. The pipeline detection assembly according to claim 7, characterized in that: The rotary drive mechanism (4) further comprises two gears (44); the drive motor (41) is arranged in the mounting seat (1) along the left-right direction; one of the gears (44) is coaxially fixedly mounted on the drive shaft of the drive motor (41); the other gear (44) is coaxially fixedly mounted on one end of the worm (42); and the two gears (44) are meshed with each other.

9. A pipeline detection robot, characterized in that: The invention comprises a mobile chassis (200), a lifting frame (300) and a pipeline detection assembly (100) as described in any one of claims 1 to 8, wherein the lifting frame (300) is installed at the upper end of the mobile chassis (200), the mounting seat (1) is installed at the front end of the lifting end of the lifting frame (300), and the lifting frame (300) is used to adjust the height of the pipeline detection assembly (100).

10. The pipeline detection robot according to claim 9, characterized in that: It also includes a long-distance communication module (400) and a control assembly (500) arranged on the mobile chassis (200); the long-distance communication module (400), the pipeline detection assembly (100), the mobile chassis (200) and the lifting frame (300) are all electrically connected to the control assembly (500); and the long-distance communication module (400) is used to communicate with a terminal device.

Images