A variable-axis robot for pipe flaw detection

Abstract

This invention relates to the field of pipeline flaw detection technology, and discloses a variable wheelbase robot for pipeline flaw detection, comprising two complementary balanced Mecanum wheel modules, an adaptive suspension and rotary joint, and a two-dimensional brushless platform. The complementary balanced Mecanum wheel module includes a pair of Mecanum wheels with opposite directions, a motor support frame, and a motor. The motor is mounted on the motor support frame and connected to the Mecanum wheels. The adaptive suspension and rotary joint includes a balance motion support part, a piston tube, a spring, a dual servo motor mounting plate, and two servos. An empty space is reserved at the top of the balance support part for mounting bearings and connecting them to the servos. The piston tube is connected to the spring, its lower part is connected to the motor support frame, and its upper part is connected to the balance motion support part. The two-dimensional brushless platform includes a camera drive component and a camera. This invention uses servo joints to adjust the complementary balanced parallel Mecanum wheel sets to achieve omnidirectional movement in corresponding pipelines with different wheelbases.

Description

Technical Field

[0001] This invention relates to the field of pipeline flaw detection technology, and in particular to a variable-axis-pitch robot for pipeline flaw detection. Background Technology

[0002] In recent years, with the popularization of industrial modernization, various robots specializing in specific tasks have emerged. Currently, the application of various industrial pipelines is becoming increasingly widespread. To reduce dangerous accidents caused by pipeline corrosion, some flaw detection robots capable of penetrating deep into pipelines have been developed.

[0003] For example, CN108843893A discloses an auxiliary mobile device for directional and balanced movement of an oil pipeline flaw detection robot. Its structure includes an ultrasonic flaw detector, a movable arm, a directional and balanced auxiliary movement device, a support, anti-slip wheels, and a body. The advantages of this invention are: by controlling the lifting mechanism to raise the top rod, it drives the pipe wall contact mechanism to contact the inner wall of the oil pipeline. By manually adjusting the pipe wall contact mechanism, the central roller and the side rollers form a triangular layout that fits tightly against the inner wall of the pipeline, achieving weight balance of the body. This prevents the oil pipeline flaw detection robot from slipping or getting stuck due to the sticky and uneven environment inside the oil pipeline during directional movement, and enables the oil pipeline flaw detection robot to move stably in the longitudinal pipeline.

[0004] CN117889363A discloses an underwater pipeline flaw detection robot, belonging to the field of underwater pipeline inspection technology. The invention comprises a main ring, a cleaning mechanism, a spring-loaded telescopic lever, a moving mechanism, a second spring, a drive mechanism, and a monitoring probe. A receiving groove is formed on the inner wall of the main ring. The cleaning mechanism is slidably connected to the receiving groove. The two ends of the spring-loaded telescopic lever are hinged to the cleaning mechanism and the moving mechanism, respectively. The spring-loaded telescopic lever is rotatably connected to the side wall of the receiving groove. The moving mechanism is slidably connected to the side wall of the receiving groove. The two ends of the second spring are fixedly connected to the moving mechanism and the side wall of the receiving groove, respectively. The drive mechanism is fixedly installed on the outer wall of the main ring, and the monitoring probe is fixedly installed on the top surface of the main ring. This invention allows the robot to be fitted onto the pipeline, improving its stability in water. The cleaning mechanism cleans the deposits on the pipeline, improving the flaw detection effect. The moving mechanism allows the robot to move in water while traversing flanges, enabling the robot to successfully complete flaw detection work.

[0005] Existing pipe flaw detection robots have a structure similar to a four-wheel drive vehicle, moving by supporting the pipe wall with four wheels. This traditional structure is stable and reliable, but its movement is greatly limited in various irregularly shaped bends and narrow spaces. Summary of the Invention

[0006] The purpose of this invention is to provide a variable wheelbase robot for pipeline flaw detection, which uses servo joints to adjust the complementary balance of parallel Mecanum wheelsets to achieve omnidirectional movement in corresponding pipelines with different wheelbases.

[0007] To achieve the above objectives, the following technical solution is adopted:

[0008] This invention provides a variable axisymmetric robot for pipeline flaw detection, comprising two complementary balancing wheel modules, an adaptive suspension and rotation joint, and a two-dimensional brushless platform;

[0009] The complementary balancing Mecanum wheel module includes a pair of Mecanum wheels with opposite directions, a motor support frame, and a motor. The motor is mounted on the motor support frame. There are two motors, each connected to one of the Mecanum wheels, for driving the Mecanum wheels forward or backward.

[0010] The adaptive suspension and rotating joint includes a balance motion support part, a piston tube, a spring, a dual servo mounting plate, and two servos. The upper part of the balance support part has a reserved space for installing bearings and connecting them to the servos. The piston tube is connected to the spring. The lower part of the piston tube is connected to the motor support frame, and the upper part of the piston tube is connected to the balance motion support part.

[0011] The two-dimensional brushless platform includes a camera driver component and a camera. The camera is mounted on the camera driver component, and the camera driver component is used to drive the camera to rotate.

[0012] Preferably, the variable axisymmetric robot for pipeline flaw detection described above also includes a gyroscope head tracking module, which is wirelessly connected to the camera driving component to achieve flaw detection from a first-view perspective.

[0013] Preferably, in the above-mentioned variable axis distance robot for pipeline flaw detection, the camera drive component includes a camera base, a camera rotary motor, a camera rotary shaft, and a camera bearing. The camera rotary motor is connected to the camera in sequence through the camera rotary shaft and the camera bearing. The camera rotary motor is mounted on the camera base, and the gyroscope head tracking module is wirelessly connected to the camera rotary motor.

[0014] Preferably, in the above-mentioned variable-axis-pitch robot for pipeline flaw detection, the Mecanum wheel motion components in the two complementary balancing Mecanum wheel modules are opposite. The Mecanum wheel sprockets of one complementary balancing Mecanum wheel module are arranged in a figure-eight pattern, while the Mecanum wheel sprockets of the other complementary balancing Mecanum wheel module are arranged in an inverted figure-eight pattern, so as to improve the stability of lateral movement in a balanced state.

[0015] Preferably, the variable-axis-pitch robot for pipeline flaw detection described above also includes a battery, which is disposed on the dual-servo motor mounting plate.

[0016] Preferably, in the above-mentioned variable wheelbase robot for pipeline flaw detection, the dual servo motor fixing plate realizes coaxial and anisoaxial and different wheelbase adjustments through servo motors, so that the variable wheelbase robot can be in a straight line state and a Z-shaped state, thereby enabling the variable wheelbase robot to operate in various irregular and / or curved pipelines.

[0017] Preferably, in the above-mentioned variable wheelbase robot for pipeline flaw detection, the complementary balancing wheel module further includes a first protective frame and a second protective frame, the first protective frame and the second protective frame are respectively installed on both sides inside the two motor support frames, and a motor is installed on each side outside the motor support frame.

[0018] Preferably, in the above-mentioned variable-axis-pitch robot for pipeline flaw detection, a first electronic component and a second electronic component are provided on the dual-servo motor mounting plate; wherein, the first electronic component is used to collect the robot's operating data, and the second electronic component is used to control the robot.

[0019] Preferably, in the above-mentioned variable-axis-pitch robot for pipeline flaw detection, the dual-servo motor mounting plate is connected to the balance motion support portion via a flange.

[0020] Preferably, in the above-mentioned variable-axis-pitch robot for pipeline flaw detection, the two-dimensional brushless platform is disposed on the flange.

[0021] The beneficial effects of this invention are:

[0022] 1. The two-dimensional brushless platform features two-degree-of-freedom movable joints, allowing users to control the camera angle from a first-person perspective. Compared to current mainstream fixed wide-angle cameras, it offers greater targeting and improves image quality for small pipe wounds.

[0023] 2. The symmetrical Meadowsweeper's "I"-shaped unfolded configuration enables balanced lateral movement, facilitating stable movement in confined pipe spaces. The robot can freely adjust joint angles to navigate bends in pipes.

[0024] 3. The "Z" folding state of the variable shaft pulley enables omnidirectional movement without rotating the entire vehicle, resulting in high mobility within the pipeline.

[0025] 4. The robot's joint transformations offer greater adaptability to various pipelines.

[0026] 5. All structural components in this invention can be manufactured using 3D printed parts (PLA, PETG, resin), facilitating production and market promotion. Attached Figure Description

[0027] Figure 1 A side view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention is shown in an "I"-shaped unfolded state.

[0028] Figure 2 A top view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention is shown in an "I"-shaped unfolded state.

[0029] Figure 3 The image shows a front view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention in an "I"-shaped unfolded state.

[0030] Figure 4 A perspective view of a variable-axis-pitch robot for pipeline flaw detection according to an embodiment of the present invention is shown in a "I"-shaped unfolded state.

[0031] Figure 5 A side view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention is shown in a "Z"-folded state.

[0032] Figure 6 A top view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention is shown in a "Z"-folded state.

[0033] Figure 7 The diagram shows a front view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention in a "Z"-folded state.

[0034] Figure 8 A perspective view of a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention is shown in a "Z"-shaped folded state.

[0035] Figure 9 A diagram of the suspension structure in a variable-axis-pitch robot for pipe flaw detection according to an embodiment of the present invention is shown.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1: Balance motion support part; 2: Motor; 3: Camera rotating shaft; 4: Coupling; 5: First protective frame; 6: Wheel; 7: Second protective frame; 8: Second electronic component; 9: Piston tube; 10: Dual servo motor mounting plate; 11: Servo motor; 12: First electronic component; 13: Camera rotating motor; 14: Motor support frame; 15: Camera base; 16: Camera; 17: Spring; 18: Battery; 19: 7*14*5 bearing; 20: Camera bearing; 21: 17*37*12 flange. Detailed Implementation

[0038] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0039] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples.

[0040] This invention provides a variable-axis-pitch robot for pipeline flaw detection, such as... Figures 1 to 9 As shown, this variable-axis-pitch robot for pipe flaw detection includes two complementary balancing wheel modules, an adaptive suspension and rotary joint, and a two-dimensional brushless gimbal. The two complementary balancing wheel modules can achieve coaxial, antiaxial, and different-pitch adjustments under the action of the adaptive suspension and rotary joint, allowing the robot to be in a "I"-shaped unfolded state and a "Z"-shaped folded state. This enables it to navigate through various irregular and curved pipes. The suspension helps the robot maintain four-wheel contact on uneven ground in both the "I"-shaped unfolded and "Z"-shaped folded states, automatically adapting to various terrains. The "Z"-shaped folding requires less pipe space than the traditional "C"-shaped folding, and the asymmetrical folding is more advantageous for movement in confined spaces. Figures 1 to 4 This is a structural diagram of the variable axisymmetry robot in its "I"-shaped unfolded state. Figures 5 to 8 This is a structural diagram of a variable axisymmetry robot in a "Z"-shaped folded state. Figure 9 This is a diagram of the suspension structure of a variable axisympanic robot.

[0041] Specifically, the complementary balancing Mecanum wheel module includes a motor 2, a coupling 4, a first protective frame 5, Mecanum wheels 6, a second protective frame 7, and a motor support frame 14. There are two complementary balancing Mecanum wheel modules. The Mecanum wheels on the side of the camera 16 are arranged in a figure-eight pattern. The Mecanum wheels on the side away from the camera 16 are arranged in an inverted figure-eight pattern. The four motors 2 are fixed to the outer sides of the two motor support frames (14) with M3 screws and connected to the Mecanum wheels 6 through the coupling 4. The two first protective frames 5 and the two second protective frames 7 are respectively installed on the inner sides of the two motor support frames 14. The components are fixed together with M3 screws or strips. Through the two Mecanum wheel sets, the robot can achieve self-balancing in a coaxial state. At the same time, since the directional components of the small wheels of the two Mecanum wheel sets are opposite, it can move left and right in a balanced state, which is beneficial for completing flaw detection operations in narrow pipe spaces.

[0042] In this embodiment, the complementary balancing Mecanum wheel module includes a pair of Mecanum wheels, each containing two Mecanum wheels 6. Each Mecanum wheel 6 is driven by a motor 2 to achieve forward or backward movement. The motor 2 is connected to the Mecanum wheel 6 via a coupling 4. As an example only, the motor 2 is selected as a 6mm shaft brushless motor, the coupling 4 is selected as a 6mm coupling, and the Mecanum wheel 6 is selected as an 80mm Mecanum wheel.

[0043] The adaptive suspension and swivel joint include a balance motion support component 1, a second electronic component 8, a piston tube 9, a dual servo mounting plate 10, a servo 11, a first electronic component 12, a spring 17, a battery 18, a 7*14*5 bearing 19, and a 17*37*12 flange 21. The suspension is as follows... Figure 9 As shown, the balance motion support part 1 is connected to the first protective frame 5 via a 7*14*5 bearing 19. A piston tube 9 is connected below the balance motion support part, and a spring 17 is fitted onto the piston tube 9. The piston tube 9 is flexibly connected to the motor support frame 14 below. Through this suspension structure, connected by a central bearing 19 and flexibly connected to the Meyer wheel module by two springs 17 on both sides, the robot can automatically adapt to various uneven pipes, enhancing the robustness of its lateral movement. The dual servo motor mounting plate 10 is connected to the servo motor 11 on both sides via M3 screws. It is connected to the balance motion support part via a 17*37*12 flange 21. The second electronic component 8 and the first electronic component 12 are fixed to the top of the dual servo motor mounting plate 10 via M3 screws. The battery 18 is installed at the bottom of the dual servo motor mounting plate 10 via a strip to lower the robot's overall center of gravity.

[0044] It should be noted that the 7*14*5 bearing 19 and the 17*37*12 flange 21 are only examples of the specific dimensions of the bearing 19 and the flange 21, and are not intended to limit the invention. In other embodiments, bearings or flanges of other sizes can be selected.

[0045] The two-dimensional brushless gimbal includes a camera rotation axis 3, a camera rotation motor 13, a camera base 15, a camera 16, and a camera bearing 20. The camera 16 is connected to the camera rotation motor 13 via the camera rotation axis 3, and the camera rotation motor 13 is connected to the camera base 15 via the camera rotation axis 3 and the camera bearing 20.

[0046] In this embodiment, the robot also includes a gyroscope head-tracking module wirelessly connected to the camera rotation motor 13 and the camera 16. The gyroscope head-tracking module is used to acquire and display the image data collected by the camera 16 in real time and control the rotation of the camera rotation motor 13. For example, when a user wears the gyroscope head-tracking module, the two-dimensional brushless gimbal has two rotation angles: pitch and yaw. These two rotation angles map the angles of the camera 16 and the user's head-tracking gyroscope. The user controls the camera 16 from a first-person perspective, enabling pinpoint detection of defects in narrow pipe environments.

[0047] In practical implementation, the variable-axis robot for pipeline flaw detection can wirelessly connect to a host computer and a control terminal. The host computer is wirelessly connected to camera 16 and analyzes the pipeline internal data collected by camera 16 to identify pipeline flaws. The control terminal can connect to the first electronic component 12 and the second electronic component 8. The second electronic component 12 is connected to motor 2 and servo motor 11. The second electronic component 8 responds to control commands sent by the control terminal to control motor 2 and servo motor 11 to perform corresponding operations, enabling the robot to move smoothly inside the pipeline. The control terminal can be any existing device capable of receiving data and sending commands, including but not limited to smartphones and computers. The control terminal is controlled by the user to issue control commands. The robot's operating data collected by the first electronic component 12 is fed to the control terminal in real time. The user issues corresponding control commands to the robot based on the image data from camera 16 and the robot's operating data.

[0048] For example, a pair of image transmission glasses equipped with a head tracker is used as the gyroscope head tracker module, and a smartphone is selected as the control terminal. An APP is downloaded on the smartphone, and the APP wirelessly connects to the second electronic component 8 via Bluetooth, WiFi, 4G, or 5G. The working principle of this invention is as follows:

[0049] The variable-axis robot for pipeline flaw detection is activated, and the second electronic component wirelessly connects to the user's app. The user sends commands to the robot via the app. Based on the received commands, the second electronic component adjusts the angle of the joint servo motor 11. The user wears image transmission glasses equipped with head tracking, achieving angle synchronization with the 2D gimbal, and the camera sends the images back to the host computer in real time for defect detection.

[0050] In its "I"-shaped unfolded state, the robot is placed into the pipe to be inspected. The robot continuously adjusts its position based on angle data fed back by its onboard first electronic component, maintaining its balance. The balancing suspension automatically adjusts the Mecanum wheel angle to maintain contact with the ground. When the user issues a "forward" or "backward" command, the second electronic component receives the data and adjusts the speed of each of the four wheels. Combined with gyroscope data, the Mecanum wheels, while maintaining balance, propel the robot forward or backward through the components of their smaller wheels. When encountering a bend in the pipe, the user determines the bend angle based on the camera's feedback. This angle is input into the app, which then transmits the command to the robot. The robot adjusts the servo motor angle, while the main controller in the electronic component analyzes the robot's balance data from the gyroscope in real time, continuously fine-tuning the Mecanum wheel angle to maintain balance as it navigates the bend.

[0051] With the robot in its "Z"-shaped folded position, it is placed into the pipe to be inspected. At this time, the two sets of balancing Meyer wheel modules are in an off-axis mode, allowing the robot to move in all directions while maintaining a constant relative angle between the camera and the pipe.

[0052] The above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also fall within the scope of the present invention, and the patent protection scope of the present invention should be defined by the claims.

Claims

1. A variable-axis-pitch robot for pipeline flaw detection, characterized in that, It includes two complementary balancing Meyer wheel modules, adaptive suspension and swivel joints, and a two-dimensional brushless platform; The complementary balancing Mecanum wheel module includes a pair of Mecanum wheels with opposite directions, a motor support frame, and a motor. The motor is mounted on the motor support frame. There are two motors, each connected to one of the Mecanum wheels, for driving the Mecanum wheels forward or backward. The adaptive suspension and rotation joint includes a balance motion support section, a piston tube, a spring, a dual servo motor mounting plate, and two servo motors. The upper part of the balance motion support section has a pre-reserved space for mounting bearings and connecting them to the servo motors. The piston tube is connected to the spring, the lower part of the piston tube is connected to the motor support frame, and the upper part of the piston tube is connected to the balance motion support section. The dual servo motor mounting plate is connected to the servo motors on both sides by screws. The dual servo motor mounting plate can be adjusted for coaxial and anisoaxial configurations and different wheelbases via the servo motors, allowing the variable wheelbase robot to be in a straight line or a Z-shaped configuration. The dual servo motor mounting plate is connected to the balance motion support section via flanges. The two-dimensional brushless platform includes a camera driver component and a camera. The camera is mounted on the camera driver component, and the camera driver component is used to drive the camera to rotate.

2. The variable-axis-pitch robot for pipeline flaw detection as described in claim 1, characterized in that, It also includes a gyroscope head-tracking module, which is wirelessly connected to the camera driver component to achieve first-person perspective flaw detection.

3. The variable-axis-pitch robot for pipeline flaw detection as described in claim 2, characterized in that, The camera driving component includes a camera base, a camera rotating motor, a camera rotating shaft, and a camera bearing. The camera rotating motor is connected to the camera in sequence through the camera rotating shaft and the camera bearing. The camera rotating motor is mounted on the camera base. The gyroscope head tracking module is wirelessly connected to the camera rotating motor.

4. The variable-axis-pitch robot for pipeline flaw detection as described in claim 1, characterized in that, The Mecanum wheels in the two complementary balanced Mecanum wheel modules have opposite motion components. The Mecanum wheels of one complementary balanced Mecanum wheel module are arranged in a figure-eight pattern, while the Mecanum wheels of the other complementary balanced Mecanum wheel module are arranged in an inverted figure-eight pattern, in order to improve the stability of lateral movement in a balanced state.

5. The variable-axis-pitch robot for pipeline flaw detection as described in claim 1, characterized in that, It also includes a battery, which is mounted on the dual servo mounting plate.

6. The variable-axis-pitch robot for pipeline flaw detection as described in claim 1, characterized in that, The complementary balancing wheel module also includes a first protective frame and a second protective frame. The first protective frame and the second protective frame are respectively installed on both sides inside the two motor support frames, and a motor is installed on each side outside the motor support frame.

7. The variable-axis-pitch robot for pipeline flaw detection as described in claim 1, characterized in that, The dual servo mounting plate is equipped with a first electronic component and a second electronic component; wherein, the first electronic component is used to collect the robot's operating data, and the second electronic component is used to control the robot.

8. The variable-axis-pitch robot for pipeline flaw detection as described in claim 1, characterized in that, The two-dimensional brushless platform is mounted on the flange.

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