A negative pressure adsorption type small pipe diameter pipeline detection robot and a use method thereof

Abstract

The application provides a negative pressure adsorption type small-diameter pipeline detection robot and a use method. The robot comprises a negative pressure adsorption mechanism, driving rear wheels, auxiliary front wheels, a detection mechanism and a main controller. The driving rear wheels and the auxiliary front wheels are respectively arranged on the front and rear sides of the negative pressure adsorption mechanism. The detection mechanism and the main controller are arranged on the negative pressure adsorption mechanism. The main controller controls the start and stop of the detection mechanism, the negative pressure adsorption mechanism and the driving rear wheels. The robot has small volume and light weight, can adapt to the detection requirements of small-diameter pipelines, reduces the labor cost and time consumption, improves the detection efficiency, and realizes flexible movement and accurate steering in the pipeline.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline detection, and particularly relates to a negative pressure adsorption type small-diameter pipeline detection robot and a use method. BACKGROUND

[0002] In industrial production and daily life, pipelines are commonly used important transportation methods. In the long-term working process, the pipelines will have many problems such as wear, deformation, corrosion and pollution inside. And due to the general complexity of pipeline system design and the limited internal space, the problems of high labor detection cost and low efficiency are caused. Therefore, robots can be used to replace manual detection.

[0003] Generally, the adsorption methods of the pipeline robot include the following methods: magnetic adsorption, using permanent magnets for adsorption or using an electric control system to control the internal magnetic circuit to realize adsorption and release; negative pressure adsorption, generally using fluid pressure difference generated by a fan or a pump to realize object adsorption; bionic adsorption, by simulating the special structure and adsorption method of the biological surface in nature to realize the attachment and movement of artificial systems on various surfaces.

[0004] At present, the method for realizing negative pressure adsorption is to use the negative pressure generated by a vacuum pump to adsorb objects, and a vacuum chuck is generally provided to further strengthen the adsorption force. However, in order to generate sufficient adsorption force, the negative pressure adsorption robot will use a larger pump to generate sufficient negative pressure. Considering the weight and specifications of the pump and other modules of the robot, the negative pressure robot is generally medium or large in size. And the existing negative pressure adsorption robot generally works on a plane rather than a curved surface, because the curved surface is more likely to cause damage to the negative pressure environment, so that the robot cannot be stably adsorbed on the wall surface, especially when moving from a gentle area to an area with a large inclination angle, the stability of the negative pressure environment will decrease sharply.

[0005] However, due to the extremely limited working space of small-diameter pipelines (pipe diameter ≤ 80mm), the structure of the existing pipeline robot cannot be applied to such limited space. Therefore, it is of great significance to develop a small-diameter pipeline robot suitable for small-diameter pipelines. SUMMARY

[0006] The technical problem to be solved by the application is to provide a negative pressure adsorption type small-diameter pipeline detection robot and a use method to ensure that the robot volume is sufficient to adapt to small-diameter pipelines and can be adsorbed on the pipeline wall surface.

[0007] The embodiment of the application is implemented as follows:

[0008] The embodiment of the present application provides a kind of small pipe diameter pipeline detection robot of negative pressure adsorption, it is characterized in that, including negative pressure adsorption mechanism, drive rear wheel, auxiliary front wheel, detection mechanism and main controller, the drive rear wheel and auxiliary front wheel are respectively arranged in the front and rear sides of negative pressure adsorption mechanism, the detection mechanism and main controller are arranged on negative pressure adsorption mechanism, and main controller controls detection mechanism, negative pressure adsorption mechanism and the start-stop of drive rear wheel respectively.

[0009] In some optional embodiments, the negative pressure adsorption mechanism includes a negative pressure adsorption chamber, a vacuum pump and a friction pad, the friction pad is arranged at the bottom of the negative pressure adsorption chamber and contacts with the pipe wall, and the vacuum pump is arranged in the negative pressure adsorption chamber and connected with the air inlet hole and the exhaust hole of the negative pressure adsorption chamber through a vacuum pipe.

[0010] In some optional embodiments, the drive rear wheel includes a rear wheel body, a rear wheel support and a drive motor, the rear wheel body is arranged on the rear wheel support, the rear wheel support is connected with the negative pressure adsorption chamber, and the drive motor is arranged on the rear wheel support and connected with the rear wheel body to drive the rotation of the rear wheel body.

[0011] In some optional embodiments, the auxiliary front wheel includes a front wheel body, a front wheel support and a spherical hinge support, the front wheel body is hingedly connected with the front wheel support, and the spherical hinge support is arranged on the front side of the negative pressure adsorption chamber and connected with the front wheel support.

[0012] In some optional embodiments, the detection mechanism includes a camera, an infrared generating device and an illuminating device, which are electrically connected with the main controller.

[0013] In some optional embodiments, the rear wheel support is connected with the negative pressure adsorption chamber through a rotating shaft, the rotating shaft is connected with a rotating motor, the rotating motor drives the rotating shaft to rotate the rear wheel support, and the rotating motor is electrically connected with the main controller.

[0014] In some optional embodiments, the rear wheel body is two, which are symmetrically arranged on the rear wheel support.

[0015] In some optional embodiments, the detection mechanism further includes a buzzer, and the buzzer is electrically connected with the main controller.

[0016] In some optional embodiments, a flexible protective edge is arranged around the bottom end of the negative pressure adsorption chamber.

[0017] A use method of a small pipe diameter pipeline detection robot of negative pressure adsorption, characterized in that, includes the following contents:

[0018] After the robot is started, the driving motor driving the rear wheel is started to provide power for the robot, after entering the inside of the pipeline, the vacuum pump starts to work, the friction pad contacts the inside of the pipeline, the friction between the rear wheel body and the inner wall of the pipeline overcomes the friction of the friction pad and moves along the pipeline, the camera captures the image inside the pipeline and returns the image signal, the main controller judges the structure of the front pipeline according to the image information captured by the camera combined with the information of the infrared generating device, if the path needs to turn, the main controller controls the rotation of the rear wheel support, and the steering is realized by relying on the friction force of the rear wheel body, if the environment inside the pipeline is not enough to support the camera to capture image information with sufficient effect, at this time the lighting device will start to improve the environment inside the pipeline to facilitate the camera shooting, when encountering obstacles, the buzzer will emit an alarm sound, and after the obstacles are cleaned, the detection task will continue to be executed; when encountering a pipeline path that needs to be moved vertically upward, the auxiliary front wheel will rely on the spherical hinge to adapt to the angle change in the transition stage, when entering the flat pipeline again, due to the action of gravity, the auxiliary front wheel will continue to return to the position in the flat pipeline before, ensuring the stability of the robot movement, and the angle of the rear wheel support will be adjusted all the time, ensuring the smooth movement and steering of the robot in the passageway.

[0019] The application has the advantages that the negative pressure adsorption type small-diameter pipeline detection robot and use method provided by the application have small volume and light weight, can adapt to the detection requirements of small-diameter pipelines, reduce labor cost and time consumption, improve detection efficiency, and realize effective saving of energy; lightweight materials and micro components are adopted, the robot can easily enter narrow or complex pipeline environments, and through steering and adjustment of the driving rear wheel, flexible movement and accurate steering in the pipeline are realized, and the adaptability and flexibility of the robot in small-diameter pipelines are enhanced; the robot integrates a detection mechanism, can effectively detect and alarm in a dark and complex environment inside a small-diameter pipeline, and improves detection accuracy and comprehensiveness. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0021] Figure 1 The drawings are structural schematic diagrams of the embodiments of the application. DETAILED DESCRIPTION

[0022] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0024] It should be understood that the magnitude of the serial number of each step in the embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0025] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0026] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components must be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0027] The terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present application, it is also necessary to explain that, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", "connect" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0029] The features and performances of the present application are further described in detail below in combination with embodiments.

[0030] Embodiment 1

[0031] As Figure 1 shown, a negative pressure adsorption type small pipe diameter pipeline detection robot is disclosed in the embodiment, which comprises a negative pressure adsorption mechanism, a driving rear wheel, an auxiliary front wheel, a detection mechanism and a main controller. The driving rear wheel and the auxiliary front wheel are respectively arranged on the front and rear sides of the negative pressure adsorption mechanism. The detection mechanism and the main controller are arranged on the negative pressure adsorption mechanism. The main controller controls the start and stop of the detection mechanism, the negative pressure adsorption mechanism and the driving rear wheel.

[0032] The negative pressure adsorption mechanism comprises a negative pressure adsorption chamber 1, a vacuum pump 2 and a friction pad. The friction pad is arranged at the bottom of the negative pressure adsorption chamber and contacts with the pipe wall. The vacuum pump is arranged in the negative pressure adsorption chamber and is connected with the air inlet hole and the air outlet hole arranged on the negative pressure adsorption chamber through a vacuum pipe. The vacuum pump is used to suck external air to provide a negative pressure environment and provide sufficient suction force.

[0033] The driving rear wheel comprises a rear wheel body 3, a rear wheel support 4 and a driving motor. The rear wheel body is arranged on the rear wheel support. The rear wheel support is connected with the negative pressure adsorption chamber. The driving motor is arranged on the rear wheel support and is connected with the rear wheel body to drive the rotation of the rear wheel body.

[0034] The rear wheel support is connected with the negative pressure adsorption chamber through a rotating shaft. The rotating shaft is connected with a rotating motor. The rotating shaft is driven to rotate by the rotating motor to make the rear wheel body deviate to realize the steering. When the rear wheel body rotates by 180°, the maximum deviation is realized.

[0035] The rear wheel body is two, which are symmetrically arranged on the rear wheel support. The symmetric arrangement improves the structural stability of the rear wheel mechanism. At the same time, the contact area between the rear wheel body and the inner wall of the pipeline is increased to further ensure the structural stability. The arrangement of the left and right two wheel bodies has the flexible characteristics when steering.

[0036] The auxiliary front wheel comprises a front wheel body 5, a front wheel support 6 and a spherical hinge support 7, the front wheel body is hinged to the front wheel support, and the spherical hinge support is arranged on the front side of the negative pressure suction chamber and connected to the front wheel support.

[0037] When entering the transition stage from the vertical pipeline to the flat pipeline, the spherical hinge structure can adapt to the angle change of the transition stage and guide the robot to transit from the flat angle to the vertical angle. The front wheel body is a driven auxiliary wheel, which can maintain the stability of the whole robot.

[0038] The detection mechanism comprises a camera 8, an infrared generating device 9 and an illuminating device 10, which are respectively electrically connected to the main controller. After entering the inside of the pipeline, the camera captures the image inside the pipeline and transmits the image signal back, and the robot can judge the structure of the front pipeline by combining the image information captured by the camera with the information of the infrared generating device. If the internal environment of the pipeline is not sufficient to support the camera to capture image information with sufficient effect, the illuminating device will start to assist the camera to take pictures at this time.

[0039] The detection mechanism further comprises a buzzer 11, which is electrically connected to the main controller. When encountering an obstacle, the buzzer will issue an alarm, and after the obstacle is cleaned, the detection task will continue to be executed.

[0040] Embodiment 2

[0041] In the present embodiment, a flexible protective edge 12 is arranged around the bottom end of the negative pressure suction chamber. During the movement of the robot, the flexible protective edge can strengthen the negative pressure environment to ensure that the suction force can always make the robot adsorbed on the pipeline wall surface, and the flexible protective edge can also protect the bottom structure of the robot. The adaptability of the robot to the pipeline environment is enhanced, the internal elements are protected, and the safety and reliability of the detection process are improved.

[0042] The use method of the above-mentioned robot for pipeline detection comprises the following contents:

[0043] After the robot is started, the driving motor driving the rear wheel is started to provide power for the robot. After entering the inside of the pipeline, the vacuum pump starts to work. The friction pad contacts the inside of the pipeline, and the friction between the rear wheel body and the inner wall of the pipeline overcomes the friction of the friction pad to move forward along the pipeline. The camera captures the image inside the pipeline and transmits the image signal back. The main controller judges the structure of the front pipeline by combining the image information captured by the camera with the information of the infrared generating device. If the path needs to turn, the main controller controls the rotation of the rear wheel support to realize steering by relying on the friction force of the rear wheel body. If the internal environment of the pipeline is not sufficient to support the camera to capture image information good enough, the lighting device will start at this time to improve the internal environment of the pipeline to facilitate the camera shooting. When obstacles are encountered, the buzzer will emit an alarm sound, and after the obstacles are cleaned, the detection task will continue to be executed. When encountering a pipeline path that needs to be moved vertically upward, the auxiliary front wheel will rely on the ball hinge to adapt to the angle change in the transition stage. When entering the flat pipeline again, due to the action of gravity, the auxiliary front wheel will continue to return to the position in the flat pipeline before, ensuring the stability of the movement of the robot. And during this period, the angle of the rear wheel support will be adjusted all the time to ensure that the robot can move smoothly and turn in the passageway.

Claims

1. A negative pressure adsorption type small pipe diameter pipeline detection robot, characterized in that, The utility model relates to a kind of robot for detecting pipeline, including negative pressure suction mechanism, drive rear wheel, auxiliary front wheel, detection mechanism and main controller, the drive rear wheel and auxiliary front wheel are respectively arranged in front and back of negative pressure suction mechanism, the detection mechanism and main controller are arranged on negative pressure suction mechanism, and main controller controls detection mechanism, negative pressure suction mechanism and drive rear wheel start-stop respectively;Negative pressure suction mechanism includes negative pressure suction bin, vacuum pump and friction pad, the friction pad is arranged in the bottom of negative pressure suction bin and is contacted with pipe wall, the vacuum pump is arranged in negative pressure suction bin, and is connected with suction hole and exhaust hole opened in negative pressure suction bin by vacuum pipe respectively;Drive rear wheel includes rear wheel body, rear wheel support and drive motor, the rear wheel body is arranged on the rear wheel support, and rear wheel support is connected with negative pressure suction bin, and the drive motor is arranged on rear wheel support and is connected with rear wheel body, to drive rear wheel body rotation;Auxiliary front wheel includes front wheel body, front wheel support and ball hinge support, the front wheel body is hinged with the front wheel support, and the ball hinge support is arranged in the front side of negative pressure suction bin and is connected with front wheel support;Rear wheel support is connected with negative pressure suction bin by pivot, the pivot is connected with rotary motor, to drive pivot and make rear wheel support rotate, and the rotary motor is electrically connected with main controller.

2. The negative pressure adsorption type small pipe diameter pipeline detection robot according to claim 1, characterized in that, The detection mechanism includes camera, infrared generating device and lighting device, which are electrically connected with the main controller respectively.

3. The negative pressure adsorption type small pipe diameter pipeline detection robot according to claim 2, characterized in that, The rear wheel body is two, and is symmetrically arranged on the rear wheel support.

4. The negative pressure adsorption type small pipe diameter pipeline detection robot according to claim 3, characterized in that, The detection mechanism further includes a buzzer, and the buzzer is electrically connected with the main controller.

5. The negative pressure adsorption type small pipe diameter pipeline detection robot according to claim 1 or 4, characterized in that, The bottom end of the negative pressure suction bin is provided with a flexible protective edge around.

6. The use of the negative pressure adsorption type small pipe diameter pipeline detection robot according to claim 4, characterized in that, After the robot is started, the drive motor of the drive rear wheel is started to provide power for the robot, after entering the pipeline, the vacuum pump starts to work, the friction pad contacts with the pipeline, the friction between the rear wheel body and the inner wall of the pipeline overcomes the friction of the friction pad to move forward along the pipeline, the camera captures the image inside the pipeline and returns the image signal, the main controller judges the structure of the front pipeline according to the image information captured by the camera and the information of the infrared generating device, if the path needs to turn, the main controller controls the rear wheel support to rotate, and the steering is realized by the friction force of the rear wheel body, if the environment inside the pipeline is not enough to support the camera to capture image information with sufficient effect, the lighting device will start at this time to improve the environment inside the pipeline for the camera to take pictures, when obstacles are encountered, the buzzer will emit an alarm sound, and after the obstacles are cleaned, the detection task will be continued; When encountering a pipeline path that needs to be moved vertically upward, the auxiliary front wheel will adapt to the angle change of the transition stage by the ball hinge support, when entering the flat pipeline again, the auxiliary front wheel will continue to return to the position in the flat pipeline before due to the action of gravity, to ensure the stability of the robot movement, and the angle of the rear wheel support will be adjusted all the time to ensure that the robot can move and turn smoothly in the passageway. ​

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