Heat distribution pipeline inspection robot

Abstract

The invention discloses a heat distribution pipeline inspection robot, and relates to the technical field of inspection devices.The heat distribution pipeline inspection robot comprises a main body frame, the two sides of the main body frame are each provided with two connecting pieces, the bottoms of the four connecting pieces are each provided with a leg frame, and the bottoms of the leg frames are provided with the connecting pieces; a connecting side plate is arranged on one side of the connecting piece at the bottom of the leg frame, crawler wheels are arranged at any two diagonal positions of the connecting side plate, angle rollers are arranged at the other two diagonal positions of the connecting side plate, and the outer surfaces of the two angle rollers and the outer surfaces of the two crawler wheels are jointly connected with a walking crawler belt. Through the arrangement, the inspection robot can meet the requirements of efficient walking on the flat ground and obstacle crossing on the complex terrain at the same time, a high-definition camera at the front end of the machine vision module can collect images at multiple angles during inspection, the inspection range is widened, in the data transmission process, an encryption algorithm is adopted to encrypt data, and the data transmission efficiency is improved. And the data security is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of inspection devices, and in particular to a thermal pipeline inspection robot. Background Art

[0002] Thermal pipelines, also known as thermal pipe networks, are a type of pressure pipeline. Their main function is to transport the heat energy produced by boilers to indoor heating equipment through heat media such as steam and hot water. After the installation of thermal pipelines, they need to be inspected to check whether the pipelines are damaged or blocked. The traditional inspection method is manual inspection, which has the problems of high labor intensity, low efficiency, easy to be affected by subjective factors, and difficult to implement in some dangerous or complex environments. With the development of automation technology, inspection robots came into being.

[0003] However, existing thermal pipeline inspection robots still have certain limitations in terms of function and structure. For example, some robots have poor navigation capabilities in complex terrain (such as obstacles, uneven ground, etc.), which limits their application scope. At the same time, in terms of machine vision inspection, the visual module viewing angle of some robots is fixed or inconvenient to adjust, which affects the comprehensive inspection of the target. In addition, in terms of data processing and transmission, there is a problem that it cannot be recorded, viewed and uploaded in real time and efficiently. Summary of the invention

[0004] The purpose of the present invention is to provide a thermal pipeline inspection robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a thermal pipeline inspection robot comprises a main frame, two connecting parts are installed on both sides of the main frame, and leg frames are installed at the bottom of the four connecting parts, and connecting parts are arranged at the bottom of the leg frames. A connecting side plate is arranged on one side of the connecting part at the bottom of the leg frames, and track wheels are arranged at any two diagonal positions of the connecting side plates, and angular rollers are arranged at the other two diagonal positions of the connecting side plates. The outer surfaces of the two angular rollers and the two track wheels are jointly connected with a walking track, and a driven chain is arranged at one end of the track wheel at an angular position above the connecting side plate, and a driving machine is arranged at a position of the track wheel near the top of the surface of the connecting side plate, and a driving sprocket is arranged on the output shaft of the driving machine, and a driving sprocket is arranged near the position of the driving machine. A driven sprocket is arranged at one end of the track wheel, and a chain is connected to the outer surfaces of the driving sprocket and the driven sprocket together, a support frame is arranged on the top of the main frame, a rotating shaft is connected to the inside of the support frame, one end of the rotating shaft extends out of the support frame, a driven gear is arranged at the extended end of the rotating shaft, one side of the driven gear is meshed and connected with a driving gear, a first DC brushless motor is arranged at one end of the driving gear, a support column is arranged at the middle position of the rotating shaft, and the top of the support column extends out of the support frame, a second DC brushless motor is arranged at the extended end of the support column, a bracket is arranged on the top of the second DC brushless motor, a machine vision module is arranged on the top of the bracket, an information acquisition module is arranged at the front end of the machine vision module, and a high-definition camera is arranged at the middle position of the front end of the information acquisition module.

[0006] Preferably, the connecting member includes a connector, an articulated frame and a support frame, the support frame is respectively installed on the top and bottom of the leg frame, the support frame is connected to the articulated frame, a connector is provided at one end of the articulated frame, a motor is provided inside the connector, the connectors are respectively installed on both sides of the main frame and inside the connecting side panels, four connecting members install the leg frames on both sides of the main frame, and the other four connecting members install the connecting side panels at the bottom of the leg frames, so that the walking tracks can drive the main frame to move, and the motor inside the connector can drive the articulated frame to rotate, so as to adjust the leg frame to perform multi-degree-of-freedom movement, so that the robot can flexibly adjust its posture when overcoming obstacles.

[0007] Preferably, a main body shell is provided on the outer surface of the main body frame, and the main body shell wraps the main body frame to make the main body frame more beautiful, while also having a protective effect to prevent dust from entering the interior of the main body frame.

[0008] Preferably, two auxiliary rollers are provided at the bottom edge of one side of the connecting side plate, and the bottom ends of the two auxiliary rollers are connected to the walking track. The two auxiliary rollers support the bottom of the walking track to ensure that the bottom end of the walking track will not be squeezed and deformed by the smaller protrusion when it contacts the ground, thereby improving the walking function of the walking track.

[0009] Preferably, one end of the two auxiliary rollers, the two angle rollers and the two track wheels are commonly connected to a protective side plate, and the protective side plate and the connecting side plate are used in combination to protect the auxiliary rollers, the two angle rollers and the two track wheels, so that the auxiliary rollers, the two angle rollers and the two track wheels are not exposed to the outside world, thereby reducing the risk of being stuck by dust.

[0010] Preferably, two auxiliary lighting devices are provided at the front end of the information acquisition modules on both sides of the high-definition camera. The lighting devices are LED lights for illuminating the surrounding environment so that the high-definition camera can acquire images of the environment.

[0011] Preferably, a stabilizing frame is provided on the outer surface of the second brushless DC motor, and the stabilizing frame supports the second brushless DC motor stably, so that the second brushless DC motor can be stably installed outside the supporting frame.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. This thermal pipeline inspection robot has four leg frames arranged on both sides of the main frame and walking tracks at the bottom of each leg frame. The leg frames are connected to the main push frame, and the leg frames are connected to the walking tracks by connectors. The connectors can be driven by motors to achieve multi-degree-of-freedom movement, so that the robot can flexibly adjust its posture when crossing obstacles. When walking on flat ground, the track structure can cooperate with the motor through a suitable transmission device to achieve stable wheeled walking. At the same time, the control of the motor can be intelligently switched through the built-in controller according to different thermal pipeline conditions and walking modes. The controller judges the terrain conditions based on the information fed back by the sensor, so that the inspection robot can simultaneously meet the needs of efficient walking on flat ground and crossing obstacles on complex terrain.

[0013] 2. The thermal pipeline inspection robot is provided with a first brushless DC motor and a second brushless DC motor for use with a bracket, so that the machine vision module can rotate up and down and left and right. During the inspection, the high-definition camera at the front end of the machine vision module can collect images from multiple angles, thereby increasing the inspection range.

[0014] 3. This thermal pipeline inspection robot is equipped with a data processing unit for real-time recording, viewing and uploading of data. The data processing unit includes a storage module and a wireless communication module. The storage module is used to store the image data collected by the machine vision module and the robot status information fed back by the sensor. The wireless communication module can upload the data to the cloud server in real time and can also receive remote control commands from the remote terminal. During the data transmission process, an encryption algorithm is used to encrypt the data to ensure data security and improve efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the main frame structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention; Figure 3 It is a schematic diagram of the structure of the connecting piece of the present invention; Figure 4 It is a schematic diagram of the walking crawler structure of the present invention; Figure 5 It is a front view plan view of the machine vision module structure of the present invention; Figure 6 It is a schematic side view of the structure of the machine vision module of the present invention; Figure 7 This is a simplified diagram of the operating principle of the data processing unit of the present invention.

[0016] In the figure: 1. main frame; 2. machine vision module; 3. connecting parts; 301. connector; 302. articulated frame; 303. support frame; 4. leg frame; 5. walking track; 6. main body shell; 7. angle roller; 8. driving machine; 9. driven sprocket; 10. chain; 11. driving sprocket; 12. track wheel; 13. secondary roller; 14. connecting side plate; 15. information acquisition module; 16. high-definition camera; 17. auxiliary lighting equipment; 18. bracket; 19. support column; 20. first DC brushless motor; 21. stabilizing frame; 22. driven gear; 23. support frame; 24. second DC brushless motor; 25. driving gear; 26. protective side plate; 27. rotating shaft. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] like Figures 1 to 7As shown, the thermal pipeline inspection robot of this embodiment includes a main frame 1, two connecting parts 3 are installed on both sides of the main frame 1, and leg frames 4 are installed at the bottom of the four connecting parts 3. The bottom of the leg frame 4 is provided with a connecting part 3, and the connecting part 3 is made of high-strength alloy steel material to ensure the stability and strength of the structure. A connecting side plate 14 is provided on one side of the connecting part 3 at the bottom of the leg frame 4. The four leg frames 4 are arranged on both sides of the main frame 1, so that the main frame 1 can be supported and stable, ensuring the stability of walking, and at the same time having an excellent obstacle climbing function, track wheels 12 are provided at any two diagonal positions of the connecting side plates 14, and angular rollers 7 are provided at the other two diagonal positions of the connecting side plates 14. The two angular rollers 7 and the two track wheels The outer surfaces of the pulleys 12 are commonly connected to the walking track 5. The two track wheels 12 are used in conjunction with the two corner rollers 7 to stretch the walking track 5 so that the walking track 5 is in a quadrilateral shape. A driven chain 10 is arranged at one end of the track wheel 12 at an angle above the connecting side plate 14. A driving machine 8 is arranged at the surface of the connecting side plate 14 near the position of the track wheel 12 above. A driving sprocket 11 is arranged on the output shaft of the driving machine 8. A driven sprocket 9 is arranged at one end of the track wheel 12 near the driving machine 8. The outer surfaces of the driving sprocket 11 and the driven sprocket 9 are commonly connected to the chain 10. The driving machine 8 includes a motor, a controller and a sensor. The motor can be intelligently switched according to different terrains and walking modes through the control of the built-in controller. The controller The terrain condition is judged according to the information fed back by the sensor. The output shaft of the motor inside the driving machine 8 is connected to the driving sprocket 11. The motor drives the driving sprocket 11 to rotate, and the driven sprocket 9 is driven to rotate through the chain 10. The outer surface of the track wheel 12 is meshed and connected with the inner wall of the walking track 5. When the driven sprocket 9 rotates, the walking track 5 is driven to run. A support frame 23 is arranged on the top of the main frame 1. A rotating shaft 27 is connected to the inside of the support frame 23. One end of the rotating shaft 27 extends out of the support frame 23. A driven gear 22 is arranged on the extended end of the rotating shaft 27. A driving gear 25 is meshed and connected to one side of the driven gear 22. A first DC brushless motor 20 is arranged on one end of the driving gear 25. A support column 19 is arranged at the middle position of the rotating shaft 27, and the top of the support column 19 is provided with a support column 19. The support column 19 extends above the support frame 23, and a second DC brushless motor 24 is arranged at the extended end of the support column 19. A bracket 18 is arranged on the top of the second DC brushless motor 24, and a machine vision module 2 is arranged on the top of the bracket 18. A reducer is arranged at the output shaft position of the first DC brushless motor 20 and the second DC brushless motor 24 to increase the torque. The first DC brushless motor 20 can be rotated by using a driving shaft 27 in cooperation with a driving gear 25 and a driven gear 22, so that the support column 19 drives the bracket 18 to rotate up and down, and the second DC brushless motor 24 can drive the bracket 18 to rotate left and right to adjust the angle of the machine vision module 2 and increase the information collection range. The front end of the machine vision module 2 is provided with an information collection module 15.A high-definition camera 16 is provided at the middle position of the front end of the information acquisition module 15. The machine vision module 2 contains an image sensor. The high-definition camera 16 is responsible for collecting image information. The image sensor converts the optical signal into an electrical signal. After model training, the visual module can identify abnormal conditions in pipelines and specific environments. The model training process is based on a large amount of sample data and is trained using a deep learning algorithm, so that the machine vision module 2 can accurately detect abnormal conditions such as cracks, leaks, and foreign objects. After identifying the abnormality, the machine vision module 2 feeds back the information to the robot's control system. A data processing unit is provided in the thermal pipeline inspection robot for real-time recording, viewing, and uploading of data. The data processing unit includes a storage module and a wireless communication module. The storage module is used to store the image data collected by the machine vision module 2 and the robot status information fed back by the sensor. The wireless communication module can upload data to the cloud server in real time, and can also receive remote control instructions from the remote terminal. During the data transmission process, an encryption algorithm is used to encrypt the data to ensure the security of the data.

[0021] Specifically, the connecting member 3 includes a connector 301, an articulated frame 302 and a support frame 303. The support frame 303 is respectively installed on the top and bottom of the leg frame 4. The support frame 303 is connected to the articulated frame 302. A connector 301 is provided at one end of the articulated frame 302. A motor is provided inside the connector 301. The connector 301 is respectively installed on both sides of the main frame 1 and inside the connecting side plate 14. Four connecting members 3 install the leg frames 4 on both sides of the main frame 1, and the other four connecting members 3 install the connecting side plates 14 at the bottom of the leg frames 4, so that the walking tracks 5 can drive the main frame 1 to move. The motor inside the connector 301 can drive the articulated frame 302 to rotate, so as to adjust the leg frame 4 to perform multi-degree-of-freedom movement, so that the robot can flexibly adjust its posture when overcoming obstacles.

[0022] Furthermore, a main body shell 6 is provided on the outer surface of the main body frame 1 , and the main body shell 6 wraps the main body frame 1 , making the main body frame 1 more beautiful, and at the same time plays a protective effect to prevent dust from entering the interior of the main body frame 1 .

[0023] Furthermore, two auxiliary rollers 13 are provided at the bottom edge of one side connecting the side plate 14, and the bottom ends of the two auxiliary rollers 13 are connected to the walking track 5. The two auxiliary rollers 13 support the bottom of the walking track 5 to ensure that the bottom end of the walking track 5 will not be squeezed and deformed by the smaller protrusion when it contacts the ground, thereby improving the walking function of the walking track 5.

[0024] Furthermore, one end of the two auxiliary rollers 13, the two angle rollers 7 and the two track wheels 12 are commonly connected to a protective side plate 26. The protective side plate 26 and the connecting side plate 14 are used in conjunction with each other to protect the auxiliary rollers 13, the two angle rollers 7 and the two track wheels 12, so that the auxiliary rollers 13, the two angle rollers 7 and the two track wheels 12 are not exposed to the outside, thereby reducing the risk of being stuck by dust.

[0025] Furthermore, two auxiliary lighting devices 17 are provided at the front end of the information collection module 15 on both sides of the high-definition camera 16. The lighting devices are LED lights that illuminate the surrounding environment so that the high-definition camera 16 can collect images of the environment.

[0026] Furthermore, a stabilizing frame 21 is disposed on the outer surface of the second DC brushless motor 24 , and the stabilizing frame 21 supports and stabilizes the second DC brushless motor 24 , so that the second DC brushless motor 24 can be stably installed outside the supporting frame 23 .

[0027] The method of using this embodiment is as follows: when the inspection robot is used to inspect the thermal pipeline, the output shaft of the motor inside the driving machine 8 is connected to the driving sprocket 11, the motor drives the driving sprocket 11 to rotate, and the driven sprocket 9 is driven to rotate through the chain 10, the outer surface of the track wheel 12 is meshed and connected with the inner wall of the walking track 5, and the driven sprocket 9 drives the walking track 5 to run when it rotates. During the inspection process, the motor inside the driving machine 8 is intelligently switched through the control of the built-in controller. According to different terrains and walking modes, the controller determines the terrain conditions according to the information fed back by the sensor. The first DC brushless motor 20 can rotate through the driving gear 25 and the driven gear 22 using the driving shaft 27, so that the support column 19 drives the bracket 18 to rotate up and down, and the second DC brushless motor 24 can drive the bracket 18 to rotate left and right to adjust the angle of the machine vision module 2, improve the information collection range, and high-definition camera The head 16 is responsible for collecting image information, and the image sensor converts the optical signal into an electrical signal. The visual module can identify abnormal conditions in pipelines and specific environments after model training. The model training process is based on a large amount of sample data and is trained using a deep learning algorithm so that the machine vision module 2 can accurately detect abnormal conditions such as cracks, leaks, and foreign objects. After identifying the abnormality, the machine vision module 2 feeds back the information to the robot's control system. The inspection robot's built-in data processing unit is used to record, view, and upload data in real time. The data processing unit includes a storage module and a wireless communication module. The storage module is used to store the image data collected by the machine vision module 2 and the robot status information fed back by the sensor. The wireless communication module can upload data to the cloud server in real time, and can also receive remote control commands from the remote terminal. During data transmission, an encryption algorithm is used to encrypt the data to ensure data security.

[0028] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A thermal pipeline inspection robot, comprising a main frame (1), characterized in that: Two connecting members (3) are installed on both sides of the main frame (1), and a leg frame (4) is installed at the bottom of the four connecting members (3). The bottom of the leg frame (4) is provided with a connecting member (3), and a connecting side plate (14) is provided on one side of the connecting member (3) at the bottom of the leg frame (4). Track wheels (12) are provided at any two diagonal positions of the connecting side plate (14), and angle rollers (7) are provided at the other two diagonal positions of the connecting side plate (14). The two angle rollers (7) A walking crawler (5) is connected to the outer surfaces of the two crawler wheels (12); a driven chain (10) is arranged at one end of the crawler wheel (12) at a corner position above the connecting side plate (14); a driving machine (8) is arranged on the surface of the connecting side plate (14) near the upper crawler wheel (12); a driving sprocket (11) is arranged on the output shaft of the driving machine (8); a driven sprocket (9) is arranged at one end of the crawler wheel (12) near the driving machine (8); the driving sprocket (11) and the driven chain are connected to each other. The outer surfaces of the wheels (9) are connected to a chain (10); a support frame (23) is provided on the top of the main frame (1); a rotating shaft (27) is connected to the inside of the supporting frame (23); one end of the rotating shaft (27) extends out of the supporting frame (23); a driven gear (22) is provided at the extended end of the rotating shaft (27); one side of the driven gear (22) is meshingly connected to a driving gear (25); one end of the driving gear (25) is provided with a first DC brushless motor (20); the middle of the rotating shaft (27) A support column (19) is provided at an intermediate position, and the top of the support column (19) extends above the support frame (23); a second DC brushless motor (24) is provided at the extended end of the support column (19); a bracket (18) is provided at the top of the second DC brushless motor (24); a machine vision module (2) is provided at the top of the bracket (18); an information collection module (15) is provided at the front end of the machine vision module (2); and a high-definition camera (16) is provided at the middle position of the front end of the information collection module (15).

2. The thermal pipeline inspection robot according to claim 1, characterized in that: The connecting member (3) comprises a connector (301), an articulated frame (302) and a support frame (303), wherein the support frame (303) is respectively mounted on the top and bottom of the leg frame (4), the support frame (303) is connected to the articulated frame (302), one end of the articulated frame (302) is provided with a connector (301), and the connector (301) is respectively mounted on both sides of the main frame (1) and inside the connecting side plate (14).

3. The thermal pipeline inspection robot according to claim 1, characterized in that: The outer surface of the main frame (1) is provided with a main body shell (6).

4. The thermal pipeline inspection robot according to claim 1, characterized in that: Two auxiliary rollers (13) are arranged at the bottom edge of one side of the connecting side plate (14), and the bottom ends of the two auxiliary rollers (13) are connected to the walking crawler (5).

5. The thermal pipeline inspection robot according to claim 4, characterized in that: One end of the two auxiliary rollers (13), the two angle rollers (7) and the two track wheels (12) is commonly connected to a protective side plate (26).

6. The thermal pipeline inspection robot according to claim 1, characterized in that: Two auxiliary lighting devices (17) are arranged at the front ends of the information collection modules (15) on both sides of the high-definition camera (16).

7. The thermal pipeline inspection robot according to claim 1, characterized in that: A stabilizing frame (21) is provided on the outer surface of the second brushless DC motor (24).

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