Pipeline detection robot

Abstract

The invention relates to the field of robots, in particular to a pipeline detection robot which comprises a detection device fixed to the front end of a middle rod and a hollow frame fixed to the rear end of the middle rod, a plurality of supporting rods are arranged on the hollow frame in a circumferential rotating mode, a linkage base is arranged on the middle rod in a penetrating and sliding mode, and a plurality of supporting leg plates are evenly arranged on the linkage base in a circumferential rotating mode. The multiple supporting rods are rotationally connected with the middles of the multiple supporting leg plates correspondingly, a middle shaft is rotationally arranged at the rear end of the hollow frame, the middle shaft and the middle rod are coaxially arranged, a power rod is fixed to the rear end of the middle shaft, and multiple linkage rods are circumferentially and uniformly rotationally arranged at the front end and the rear end of the power rod correspondingly; a parallel plate which is parallel to the power rod all the time is arranged between the two linkage rods in the same direction in a rotating mode, each parallel plate is connected with a wheel seat, each wheel seat is provided with a driving wheel in a rotating mode, and the axis of each driving wheel is not parallel to or perpendicular to the axis of the middle shaft. The device can be suitable for moving in pipelines with various inclination angles.

Description

Technical Field

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

[0002] The pipeline inspection robot is a special inspection device developed for the cleaning, inspection and maintenance of oil and gas pipelines. It integrates intelligent mobile technology and non-destructive testing technology to perform non-destructive testing on oil and gas pipelines in working state to ensure the safe and stable operation of the pipelines. Most of them use non-contact non-destructive testing technology for inspection, which includes magnetic leakage detection technology, eddy current detection technology, magnetic memory detection technology, electromagnetic ultrasonic detection technology and laser detection technology.

[0003] At present, most of the existing pipeline inspection robots adopt a trolley-like structure, carrying a detection device to move in the pipeline to inspect the pipeline. However, this type of trolley-like structure robot cannot move in a pipeline with a large inclination angle, which affects its use. Summary of the invention

[0004] The object of the present invention is to provide a pipeline inspection robot which can be adapted to move in pipelines with various inclination angles.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A pipeline detection robot comprises a detection device fixed at the front end of a center rod, and a hollow frame fixed at the rear end of the center rod, wherein a plurality of support rods are circumferentially rotatable on the hollow frame, a linkage seat is slidably penetrated through the center rod, a plurality of leg plates are circumferentially uniformly rotated on the linkage seat, and the plurality of support rods are respectively rotatably connected to the middle parts of the plurality of leg plates, a central axis is rotatably arranged at the rear end of the hollow frame, the central axis is coaxially arranged with the center rod, and a power rod is fixed at the rear end of the central axis, a plurality of linkage rods are circumferentially uniformly rotated at both front and rear ends of the power rod, a parallel plate which is always parallel to the power rod is rotated between two linkage rods in the same direction, each parallel plate is connected to a wheel seat, and a driving wheel is rotatable on each wheel seat, and the axis of the driving wheel is non-parallel to or perpendicular to the axis of the center axis.

[0007] A spring I is arranged between the detection device and the linkage seat, a sliding seat is slidably penetrated on the power rod, and a spring II is arranged between each parallel plate and the sliding seat.

[0008] The slide seat is provided with a plurality of cone wheels which rotate evenly in the circumferential direction, and the two ends of each spring II are respectively fixedly connected with the cone wheel and the wheel seat.

[0009] A worm cone sleeve is rotatably sleeved on the sliding seat, and the worm cone sleeve is meshed and driven with multiple cone wheels at the same time. A worm is rotatably mounted on the sliding seat, and the worm is meshed and driven with the worm cone sleeve.

[0010] The leg plates are all provided with supporting wheels for rotation at the ends away from the linkage seats.

[0011] The support rods and the leg plates are each provided with three.

[0012] The front and rear ends of the power rod are both provided with three connecting rods which rotate evenly in the circumferential direction.

[0013] The surface of the driving wheel is provided with anti-skid rubber.

[0014] A power motor for rotating the transmission shaft is installed in the hollow frame.

[0015] A storage battery is installed in the hollow frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the pipeline inspection robot;

[0017] Figure 2 It is a schematic diagram of the front structure of the pipeline inspection robot;

[0018] Figure 3 It is a schematic diagram of the structure of the detection device and the middle rod;

[0019] Figure 4 It is a structural diagram of the linkage seat, the outrigger plate, and the support wheel;

[0020] Figure 5 This is a schematic diagram of the rear structure of the pipeline inspection robot;

[0021] Figure 6 It is a structural diagram of the power rod;

[0022] Figure 7 It is a schematic diagram of the connecting rod and parallel plate structure;

[0023] Figure 8 yes Figure 5 Schematic diagram of the local structure;

[0024] Fig. 9 It is a structural diagram of the sliding seat, worm gear cone sleeve and worm;

[0025] Fig.10 It is a schematic diagram of the structure of the cone wheel, spring II, wheel seat and driving wheel.

[0026] In the figure:

[0027] Detection device 101; middle rod 102; hollow frame 103; spring I 104;

[0028] Linking seat 201; leg plate 202; support wheel 203; support rod 204;

[0029] Central axis 301; power rod 302; connecting rod 303; parallel plate 304;

[0030] Sliding seat 401; worm gear cone sleeve 402; worm 403;

[0031] Cone wheel 501; spring II 502; wheel seat 503; driving wheel 504. DETAILED DESCRIPTION

[0032] like Figure 1-10 As shown, the pipeline inspection robot is described in detail:

[0033] A pipeline inspection robot comprises a detection device 101 fixed at the front end of a middle rod 102, and a hollow frame 103 fixed at the rear end of the middle rod 102, a plurality of support rods 204 are circumferentially rotated on the hollow frame 103, a linkage seat 201 is slidably penetrated on the middle rod 102, a plurality of leg plates 202 are circumferentially rotated on the linkage seat 201, a plurality of support rods 204 are respectively rotatably connected to the middle parts of the plurality of leg plates 202, a central axis 301 is rotatably provided at the rear end of the hollow frame 103, and a plurality of support rods 204 are rotatably provided on the middle rod 102. The shaft 301 is coaxially arranged with the middle rod 102, and a power rod 302 is fixed to the rear end of the middle shaft 301, and multiple connecting rods 303 are uniformly rotated in the circumferential direction at the front and rear ends of the power rod 302, and a parallel plate 304 that is always parallel to the power rod 302 rotates between two connecting rods 303 in the same direction, and each parallel plate 304 is connected to a wheel seat 503, and a driving wheel 504 rotates on each wheel seat 503, and the axis of the driving wheel 504 is non-parallel or perpendicular to the axis of the middle shaft 301.

[0034] When in use, the linkage seat 201 is controlled to slide on the middle rod 102, thereby controlling the multiple leg plates 202 to be synchronously expanded or closed in an umbrella shape, so that the diameter of the outer ends of the multiple leg plates 202 can match the inner diameter of the pipeline to be detected. At the same time, the multiple parallel plates 304 are controlled to move parallel to the power rod 302 through the two linkage rods 303, so that the driving wheels 504 on the parallel plates 304 contact the inner wall of the pipeline, thereby forming support for the robot as a whole in the pipeline, ensuring that the detection device 101 is located at the center of the detected pipeline, thereby ensuring the detection of the pipeline;

[0035] The power motor installed in the hollow frame 103 transmits the power to the central axis 301, so that the central axis 301 drives the multiple parallel plates 304 to rotate through the power rod 302, and then the multiple driving wheels 504 rotate and roll on the inner wall of the pipeline. Since the axis of the driving wheel 504 has a certain angle, the rotating driving wheel 504 will roll and rotate in a spiral on the inner wall of the pipeline, thereby pushing the robot as a whole to move along the axis of the pipeline, thereby forming a continuous detection of the pipeline through the detection device 101. Moreover, since the multiple leg plates 202 and the multiple driving wheels 504 tightly support the inner wall of the pipeline, even when the pipeline is vertical, the robot can still move along the pipeline, thereby achieving the purpose of enabling the robot to move in pipelines with various inclination angles.

[0036] At the same time, by rotating a support wheel 203 at the end of the leg plate 202 away from the linkage seat 201, the support wheel 203 rolls on the inner wall of the pipe instead of the leg plate 202 sliding on the inner wall of the pipe, further improving the smoothness of the robot's movement in the pipe.

[0037] Further:

[0038] A spring I 104 is provided between the detection device 101 and the linkage seat 201 , a slide seat 401 is slidably penetrated through the power rod 302 , and a spring II 502 is provided between each parallel plate 304 and the slide seat 401 .

[0039] The elastic force of the spring I 104 can elastically push the linkage seat 201 to move backward on the middle rod 102, so that the multiple leg plates 202 are elastically expanded in an umbrella-like state; the elastic force of the spring II 502 can elastically push the parallel plates 304 away from the power rod 302, so that the multiple parallel plates 304 are in a state of being farthest from the power rod 302;

[0040] When in use, the detection device 101 is inserted into the pipeline to be detected, and the robot as a whole is pushed inward. The pipeline port will squeeze multiple leg plates 202 at the same time, so that the multiple leg plates 202 are aggregated and close together until the multiple leg plates 202 are squeezed into the pipeline, so that the robot is naturally supported in the pipeline, and then the multiple parallel plates 304 are controlled to aggregate toward the power rod 302, so that the multiple driving wheels 504 all enter the pipeline. At this time, the robot is automatically elastically supported in the pipeline;

[0041] Thereby, the robot can quickly enter the pipeline in a propped-up state and can automatically adapt to pipelines of different inner diameters. At the same time, when the leg plate 202 or the driving wheel 504 encounters an obstacle, it can automatically and elastically cross it to ensure the movement of the robot.

[0042] like Figure 5-10 As shown:

[0043] The slide seat 401 is provided with a plurality of cone wheels 501 which rotate evenly in the circumferential direction, and the two ends of each spring II 502 are fixedly connected to the cone wheel 501 and the wheel seat 503 respectively.

[0044] A worm cone sleeve 402 is rotatably mounted on the slide 401 , and the worm cone sleeve 402 is meshed and driven with multiple cone wheels 501 at the same time. A worm 403 is rotatably mounted on the slide 401 , and the worm 403 is meshed and driven with the worm cone sleeve 402 .

[0045] The worm 403 is driven by a micro motor installed on the slide 401, and the rotating worm 403 engages with the worm cone sleeve 402 and rotates on the slide 401, thereby engaging and driving multiple cone wheels 501 to rotate on the slide 401 at the same time, and then the wheel seat 503 is driven to rotate on the parallel plate 304 through the spring II 502, thereby changing the angle between the axis of the driving wheel 504 and the axis of the central axis 301, thereby changing the pitch of the spiral line of the driving wheel 504 rotating and rolling on the inner wall of the pipeline, and then changing the speed of the robot moving in the pipeline.

[0046] Further:

[0047] The support rods 204 and the leg plates 202 are each provided with three.

[0048] The front and rear ends of the power rod 302 are provided with three connecting rods 303 that rotate evenly in the circumferential direction.

[0049] The three leg plates 202 can prop up the front of the robot inside the pipe, and the driving wheels 504 on the three power rods 302 can also prop up the rear of the robot inside the pipe, saving materials and reducing the overall weight of the robot.

[0050] Further:

[0051] By providing anti-skid rubber on the surface of the driving wheel 504, it is prevented that the driving wheel 504 slides sideways when moving in a spiral trajectory on the inner wall of the pipeline, thereby affecting the movement of the robot.

[0052] Further:

[0053] By installing a battery in the hollow frame 103, power is provided to the power motor, the micro motor, the detection device 101 and the main control circuit;

[0054] The main control circuit is used to wirelessly connect with an external controller, and then control the operation of the power motor, the micro motor, and the detection device 101.

Claims

1. A pipeline inspection robot, characterized in that: The invention comprises a detection device (101) fixed at the front end of a middle rod (102), and a hollow frame (103) fixed at the rear end of the middle rod (102); a plurality of support rods (204) are rotatably arranged on the hollow frame (103); a linkage seat (201) is slidably passed through the middle rod (102); a plurality of leg plates (202) are rotatably arranged on the linkage seat (201); the plurality of support rods (204) are rotatably connected to the middle parts of the plurality of leg plates (202); a central axis (301) is rotatably arranged at the rear end of the hollow frame (103); the central axis (301) The power rod (302) is coaxially arranged with the middle rod (102), and the rear end of the middle shaft (301) is fixed with a power rod (302). The front and rear ends of the power rod (302) are provided with a plurality of connecting rods (303) that rotate evenly in the circumferential direction. A parallel plate (304) that is always parallel to the power rod (302) rotates between two connecting rods (303) in the same direction. A wheel seat (503) is connected to each parallel plate (304). A driving wheel (504) rotates on each wheel seat (503). The axis of the driving wheel (504) is non-parallel to or perpendicular to the axis of the middle shaft (301).

2. A pipeline inspection robot according to claim 1, characterized in that: A spring I (104) is provided between the detection device (101) and the linkage seat (201), a slide seat (401) is slidably passed through the power rod (302), and a spring II (502) is provided between each parallel plate (304) and the slide seat (401).

3. A pipeline inspection robot according to claim 2, characterized in that: A plurality of cone wheels (501) are arranged on the slide seat (401) to rotate evenly in the circumferential direction, and the two ends of each spring II (502) are fixedly connected to the cone wheel (501) and the wheel seat (503) respectively.

4. A pipeline inspection robot according to claim 3, characterized in that: A worm wheel cone sleeve (402) is sleeved and rotatable on the slide seat (401), and the worm wheel cone sleeve (402) is meshed and driven with multiple cone wheels (501) at the same time. A worm (403) is rotatable on the slide seat (401), and the worm (403) is meshed and driven with the worm wheel cone sleeve (402).

5. The pipeline inspection robot according to claim 1, characterized in that: The leg plate (202) is provided with a support wheel (203) for rotation at the end away from the linkage seat (201).

6. The pipeline inspection robot according to claim 1, characterized in that: The support rods (204) and the leg plates (202) are each provided with three.

7. The pipeline inspection robot according to claim 1, characterized in that: The front and rear ends of the power rod (302) are both provided with three connecting rods (303) which rotate evenly in the circumferential direction.

8. The pipeline inspection robot according to claim 1, characterized in that: The surface of the driving wheel (504) is provided with anti-slip rubber.

9. The pipeline inspection robot according to claim 1, characterized in that: A power motor for driving the central shaft (301) to rotate is installed in the hollow frame (103).

10. The pipeline inspection robot according to claim 9, characterized in that: A storage battery is installed in the hollow frame (103).

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