All-terrain pipeline detection robot with novel structure

Abstract

The invention discloses an all-terrain pipeline detection robot with a novel structure, and relates to the technical field of pipeline robots. The problem that driving wheels of an existing pipeline robot are directly connected to a main body of the robot, and when encountering a large obstacle, the robot cannot cross the obstacle is solved. According to the technical scheme, the robot comprises a robot body, front mechanical arms symmetrically arranged at the front end of the robot body, main power propellers symmetrically arranged at the side ends of the robot body and auxiliary spiral propellers symmetrically arranged at the tail end of the robot body, and the main power propellers are connected with the robot body through mechanical arm connecting structures; a rear-end mechanical arm is arranged on the top of the robot body. According to the structure scheme of the underwater pipeline robot, the obvious beneficial effects are achieved in the aspects of flexibility, module loading capacity, narrow space adaptability, movement complexity, expandability, multifunctionality and the like, and a new solution is provided for underwater pipeline operation.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to an all-terrain pipeline detection robot with a new structure. Background Art

[0002] With the acceleration of urbanization and industrialization, various pipeline systems such as water supply, gas, and drainage are spread throughout the city's underground. Their safe and stable operation is directly related to residents' lives and economic development. However, traditional manual inspection and maintenance methods are inefficient, costly, and risky. The emergence of pipeline robots provides a revolutionary solution for pipeline inspection and maintenance. They can penetrate into complex and difficult-to-reach pipelines, and use the sensors and operating machinery they carry to perform precise inspection and maintenance operations, greatly improving efficiency and safety.

[0003] A pipeline robot is an integrated system of machinery, electricity and instrumentation that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under remote control by staff or automatic control by a computer.

[0004] Pipeline robots often face challenges in complex environments when performing cleaning and maintenance tasks. Traditional pipeline robots cannot effectively cross obstacles such as silt and garbage in pipelines, which causes jams and prevents them from operating normally. Current pipeline robots are not flexible enough during movement and have difficulty operating normally in areas with many turns in the pipeline. In addition, as pipeline problems become increasingly complex, pipeline robots also need to be equipped with more modules to meet actual engineering needs. Current underwater pipeline robots have a simple structure and cannot reasonably carry infrared scanning, sonar and other modules. In response to these problems, this technology refers to the structure of the spider robot and increases the functionality of the pipeline robot by adding and improving the mechanical structure, allowing the pipeline robot to operate normally in a more complex pipeline environment. Summary of the invention

[0005] The purpose of the present invention is to provide a novel all-terrain pipeline inspection robot to solve the problem that the driving wheels of the existing pipeline robot are directly connected to the main body of the robot and cannot cross the obstacle when encountering a larger obstacle.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] A novel all-terrain pipeline inspection robot, comprising: a robot body, a front mechanical arm symmetrically arranged at the front end of the robot body, a main power propeller symmetrically arranged at the side end of the robot body, and an auxiliary screw propeller symmetrically arranged at the rear end of the robot body, wherein the main power propeller is connected to the robot body through a mechanical arm connection structure, and a rear mechanical arm is arranged on the top of the robot body;

[0008] The main power thruster includes a thruster steel frame connected to the end of the mechanical arm connection structure. The thruster steel frame is installed with a main thruster motor symmetrically arranged on the lower side through a front end constraint and an end hinge constraint, and a motion spiral is arranged between the two main thruster motors.

[0009] Preferably, the auxiliary propeller includes an auxiliary propulsion motor, an output end of the auxiliary propulsion motor is connected to a turbine, and an auxiliary propeller housing is provided on the outside of the turbine.

[0010] Preferably, the front robotic arm and the rear robotic arm both include a swing bar connected to the robot body, the swing bar is connected to the rocker arm, and the side end of the rocker arm is provided with multiple piston cylinders for advancing and retracting the rocker arm and the robotic fingers.

[0011] Preferably, the front robotic arm also includes a robotic finger, and the swing lever is connected to the robotic finger via a rocker arm.

[0012] Preferably, the rear end mechanical arm also includes a motion lever connected to the rocker arm, and the piston cylinder 17 drives the motion lever to move in the vertical direction.

[0013] Preferably, the motion lever is connected to an external module mounting frame via a rotating shaft.

[0014] Preferably, the robot arm connection structure includes a steering gear connected to the robot body, and the steering gear is connected to the steering wheel.

[0015] Preferably, a sonar is provided at the bottom of the robot body.

[0016] Preferably, a battery and a circuit board are provided inside the robot body.

[0017] Preferably, a lighting lamp and a high-definition camera mounting bracket are provided at the front end of the robot body.

[0018] The present invention has the following beneficial effects:

[0019] Improved flexible turning and obstacle crossing capabilities: By adjusting the connection structure with the servo, the robot can fold the propulsion structure to adapt to narrow pipes and achieve rapid turning in complex pipes. This flexibility greatly improves the robot's ability to operate in complex underwater environments.

[0020] Enhanced module payload capacity: The mounting areas on the front and rear manipulators of the robot have a high degree of freedom, enabling the conversion or addition of various functional modules. This not only improves the robot's versatility, but also increases its payload capacity, enabling it to perform more diverse tasks.

[0021] Optimized adaptability to narrow spaces: When encountering a smaller pipe, the robot can reduce the width by folding the propulsion structure, thus passing through the narrow space smoothly. This feature makes the robot's operation in a confined environment more efficient and feasible.

[0022] Improved motion complexity and performance: Through the coupled power of the main thrusters and auxiliary thrusters, the robot is able to achieve more complex motion patterns, which not only improves its obstacle-crossing ability, but also enhances its turning performance, making the robot's motion in underwater environments more stable and controllable.

[0023] Enhanced scalability and versatility: The design of the robot's front and rear arms allows for conversion or addition of modules according to engineering requirements, which greatly improves the robot's scalability and flexibility. Users can configure the robot according to specific task requirements, making it more adaptable to different working environments and task requirements.

[0024] Improved overall operational efficiency: Due to the robot’s flexibility in complex pipelines and its powerful module loading capacity, it can complete various underwater operational tasks more efficiently, thereby improving overall operational efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is the overall structure diagram of the novel all-terrain pipeline inspection robot of the present invention;

[0026] Figure 2 This is a side structural diagram of the novel all-terrain pipeline inspection robot of the present invention;

[0027] Figure 3 This is the internal structure diagram of the novel all-terrain pipeline inspection robot of the present invention;

[0028] Figure 4 This is a structural diagram of the connection structure of the novel all-terrain pipeline inspection robot of the present invention;

[0029] Figure 5 This is a structural diagram of the auxiliary propeller of the novel all-terrain pipeline inspection robot of the present invention;

[0030] Figure 6 This is a structural diagram of the front mechanical arm of the novel all-terrain pipeline inspection robot of the present invention;

[0031] Figure 7 This is a structural diagram of the rear end mechanical arm of the novel all-terrain pipeline inspection robot of the present invention;

[0032] Figure 8 This is a main propulsion structure diagram of the novel all-terrain pipeline inspection robot of the present invention;

[0033] Fig. 9This is a structural diagram of the novel all-terrain pipeline inspection robot of the present invention after the auxiliary propeller is adjusted by the steering gear;

[0034] Figures 1 to 9 The reference numerals shown in the figure represent respectively: 1-robot body, 2-auxiliary thruster, 3-mechanical arm connection structure, 4-main power thruster, 5-front mechanical arm, 6-lighting lamp, 7-high-definition camera mounting bracket, 8-rear end mechanical arm, 9-sonar, 10-battery, 11-circuit board, 12-servo, 13-steering wheel, 14-turbine, 15-auxiliary thruster housing, 16-auxiliary thruster motor, 17-piston cylinder, 18-mechanical finger, 19-swing bar, 20-rocker arm, 21-motion lever, 22-external module mounting bracket, 23-motion screw, 24-end hinge constraint, 25-thruster steel frame, 26-front end constraint, 27-main thruster motor. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0036] Please refer to Figure 1-2 , the specific implementation of a new type of all-terrain pipeline inspection robot is as follows:

[0037] The present invention relates to a novel all-terrain pipeline inspection robot, which has a high degree of flexibility and modular design and is suitable for inspection tasks in various complex pipeline environments. The specific structure and function implementation of the robot will be described in detail below.

[0038] First, the robot body 1 is the core part of the entire detection robot, which carries all functional modules and power equipment. The robot body 1 is made of high-strength lightweight materials to ensure sufficient structural strength and weight control. At the top of the robot body 1, a rear-end mechanical arm 8 is provided, which can be connected to other functional modules to meet the needs of different detection tasks.

[0039] Reference Figure 6At the front end of the robot body 1, front manipulator arms 5 are symmetrically arranged. The two manipulator arms are connected to the robot body 1 through a swing bar 19, and the swing bar 19 can rotate around its fixed axis to achieve the folding and extension of the manipulator arms. At the end of the swing bar 19, a rocker arm 20 is connected, and a plurality of piston cylinders 17 are arranged at the side ends of the rocker arm 20. These piston cylinders 17 can achieve the axial movement of the rocker arm 20 and the telescopic movement of the manipulator fingers 18 by advancing and contracting. The manipulator fingers 18 are used to grab obstacles or detect samples in the pipeline, and they can be replaced with other functional modules according to actual needs.

[0040] Reference Figure 1 , Figure 4 and Figure 8 In order to enhance the robot's obstacle-crossing ability and flexibility, a main power thruster 4 is symmetrically arranged at the side end of the robot body 1. The main power thruster 4 is the main power source of the robot, and is connected to the robot body 1 through a mechanical arm connection structure 3. The mechanical arm connection structure 3 includes a steering gear 12 and a steering plate 13 connected to the robot body 1. The steering gear 12 can realize the folding, extension and rotation of the mechanical arm connection structure 3 by driving the rotation of the steering plate 13. This design allows the main power thruster 4 to be flexibly adjusted according to the shape and size of the pipeline to adapt to different detection environments.

[0041] The specific structure of the main power thruster 4 includes a thruster steel frame 25 connected to the end of the robot arm connection structure 3. The thruster steel frame 25 is made of high-strength steel to ensure sufficient support strength and stability. At the front end and the end of the thruster steel frame 25, a front end constraint 26 and an end hinge constraint 24 are respectively provided. These two constraint structures are used to fix and support the main thruster motor 27 so that it can operate stably. The main thruster motor 27 is the core component of the main power thruster, which provides driving force to move the robot forward. Between the two main thruster motors 27, a motion spiral 23 is provided. The motion spiral 23 generates thrust through rotation, which combines with the driving force of the main thruster motor 27 to jointly push the robot forward.

[0042] Reference Figure 5 In order to further improve the flexibility and obstacle-crossing ability of the robot, an auxiliary screw propeller 2 is symmetrically arranged at the tail end of the robot body 1. The auxiliary screw propeller 2 includes an auxiliary propulsion motor 16, and its output end is connected to the turbine 14. An auxiliary propeller housing 15 is arranged outside the turbine 14 to protect the turbine 14 and guide the water flow. The auxiliary propulsion motor 16 generates thrust to help the robot move forward by driving the rotation of the turbine 14. At the same time, the auxiliary screw propeller 2 can also be folded, stretched, and rotated around an axis to adapt to different pipeline environments.

[0043] Reference Figure 3Inside the robot body 1, a battery 10 and a circuit board 11 are arranged. The battery 10 provides power support for the robot, and the circuit board 11 is responsible for controlling the various functions and movements of the robot. In order to enhance the perception ability of the robot, a sonar 9 is arranged at the bottom of the robot body 1. The sonar 9 can sense the pipeline environment and obstacle information around the robot by emitting and receiving sound waves, providing an important reference for the robot's navigation and obstacle avoidance.

[0044] In addition, a lighting lamp 6 and a high-definition camera mounting frame 7 are also provided at the front end of the robot body 1. The lighting lamp 6 is used to illuminate the inside of the pipeline to improve the visibility of the robot. The high-definition camera mounting frame 7 is used to install a high-definition camera to capture image information inside the pipeline. Such image information can be sent to the remote control center by wireless transmission for real-time monitoring and analysis by operators.

[0045] In the specific implementation, firstly, according to the shape and size of the pipeline, by adjusting the angle and position of the mechanical arm connection structure 3 and the main power propeller 4, the robot can adapt to different pipeline environments. Then, the main power propeller 4 and the auxiliary screw propeller 2 are started to make the robot start to move forward. During the process of moving forward, the sonar 9 continuously senses the surrounding pipeline environment and obstacle information, and transmits this information to the circuit board 11 for processing. According to this information, the operator can adjust the movement trajectory and speed of the robot through the remote control center to ensure that the robot can complete the detection task safely and accurately.

[0046] When the robot encounters an obstacle, it can grasp or bypass the obstacle by adjusting the posture of the front mechanical arm 5 and the telescopic movement of the mechanical finger 18. At the same time, the coupling power of the main power propeller 4 and the auxiliary screw propeller 2 can also help the robot achieve more complex movements, such as climbing, descending, turning, etc. These movement modes can greatly improve the robot's obstacle-crossing ability and flexibility.

[0047] Reference Figure 7 In addition, the external mounting module rack reserved by the rear-end robot arm 8 can also be added with various functional modules, such as sensors, detection instruments, etc. These functional modules can realize vertical movement and position adjustment through the linkage of the motion lever 21 and the piston cylinder 17. This design allows the robot to quickly replace and install corresponding functional modules according to different detection task requirements, thereby improving detection efficiency and accuracy.

[0048] In a specific embodiment, it is assumed that a circular pipe with a diameter of 500 mm needs to be detected. First, the main propeller 4 and the auxiliary propeller 2 of the robot are adjusted to a suitable angle and position so that they can adapt to the diameter and shape of the pipe. Then, the robot is started and moved forward. During the moving process, the sonar 9 continuously senses the obstacle information inside the pipe and transmits this information to the circuit board 11 for processing. The operator can adjust the movement trajectory and speed of the robot through the remote control center based on this information.

[0049] When the robot encounters obstacles in the pipeline, such as protruding pipe joints or sediments, the operator can grasp or bypass these obstacles by adjusting the posture of the front robot arm 5 and the telescopic movement of the robot finger 18. At the same time, the coupling power of the main power propeller 4 and the auxiliary screw propeller 2 can also help the robot achieve a more flexible movement mode, such as bypassing obstacles or changing the direction of movement.

[0050] During the inspection process, the high-definition camera can capture the image information inside the pipeline and send this information to the remote control center via wireless transmission. The operator can monitor and analyze this image information in real time to understand the condition and problems inside the pipeline. If further inspection or sampling analysis is required, the corresponding functional modules can be added through the external installation module rack reserved by the rear-end robot arm 8.

[0051] In addition, the pipeline inspection robot of the present invention also has high reliability and stability. The robot body 1 is made of high-strength lightweight materials, with sufficient structural strength and weight control. At the same time, the design of the main power propeller 4 and the auxiliary screw propeller 2 also fully considers the complexity and uncertainty factors of the pipeline environment, such as water flow, sediment, etc. These designs enable the robot to operate stably and complete the inspection task in various harsh environments.

[0052] In addition, the pipeline inspection robot of the present invention is also highly scalable and customizable. By replacing different functional modules and adjusting the structural parameters of the robot, the requirements of different pipeline environments and inspection tasks can be met. For example, for pipelines of different diameters and shapes, the angles and positions of the main power propeller 4 and the auxiliary screw propeller 2 can be adjusted to adapt; for different inspection task requirements, corresponding functional modules can be added to achieve them. This design enables the robot to have a wide range of applications and flexible application scenarios.

[0053] In the specific implementation process, the following points should be noted:

[0054] Before the robot enters the pipeline, the pipeline needs to be initially cleaned and inspected to ensure that the robot can enter smoothly and operate stably. At the same time, the various functions and equipment of the robot need to be tested and calibrated to ensure their accuracy and reliability.

[0055] During the operation of the robot, its status and position information need to be monitored in real time, and adjustments and controls need to be made according to the actual situation. If the robot fails or has an abnormal situation, it needs to be stopped immediately for inspection and maintenance.

[0056] After completing the inspection task, the robot needs to be cleaned and maintained to extend its service life and maintain its stable performance. At the same time, the inspection data needs to be analyzed and processed to obtain accurate inspection results and recommended measures.

[0057] In summary, the novel all-terrain pipeline inspection robot of the present invention has the characteristics of high flexibility, reliability and scalability, and is suitable for inspection tasks in various complex pipeline environments. By adjusting the structural parameters of the robot and replacing different functional modules, the needs and application scenarios of different customers can be met. At the same time, the robot also has a high level of intelligence and automation, and can independently complete the inspection task and transmit the inspection data in real time to the remote control center for analysis and processing. Therefore, the present invention has broad application prospects and market value.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A new type of all-terrain pipeline inspection robot, characterized in that: include: A robot body (1), a front mechanical arm (5) symmetrically arranged at the front end of the robot body (1), a main power propeller (4) symmetrically arranged at the side end of the robot body (1), and an auxiliary screw propeller (2) symmetrically arranged at the rear end of the robot body (1), wherein the main power propeller (4) is connected to the robot body (1) via a mechanical arm connection structure (3), and a rear mechanical arm (8) is arranged on the top of the robot body (1); The main power thruster (4) includes a thruster steel frame (25) connected to the end of the mechanical arm connection structure (3), and the thruster steel frame (25) is installed with a main thruster motor (27) symmetrically arranged on the lower side through a front end constraint (26) and an end hinge constraint (24), and a motion screw (23) is arranged between the two main thruster motors (27).

2. The novel all-terrain pipeline inspection robot according to claim 1 is characterized in that: The auxiliary propeller (2) comprises an auxiliary propulsion motor (16), the output end of the auxiliary propulsion motor (16) is connected to a turbine (14), and an auxiliary propeller housing (15) is provided outside the turbine (14).

3. The novel all-terrain pipeline inspection robot according to claim 1 is characterized in that: The front robot arm (5) and the rear robot arm (8) both include a swing lever (19) connected to the robot body (1), the swing lever (19) is connected to a rocker arm (20), and the side end of the rocker arm (20) is provided with a plurality of piston cylinders (17) for advancing and retracting the rocker arm (20) and the robot finger (18).

4. The novel all-terrain pipeline inspection robot according to claim 3 is characterized in that: The front robot arm (5) also includes a robot finger (18), and the swing lever (19) is connected to the robot finger (18) via a rocker arm (20).

5. The novel all-terrain pipeline inspection robot according to claim 3 is characterized in that: The rear end mechanical arm (8) also includes a moving lever (21) connected to the rocker arm (20), and the piston cylinder (17) drives the moving lever (21) to move in a vertical direction.

6. The novel all-terrain pipeline inspection robot according to claim 5 is characterized in that: The motion lever (21) is connected to an external module mounting frame (22) via a rotating shaft.

7. The novel all-terrain pipeline inspection robot according to claim 1 is characterized in that: The robot arm connection structure (3) comprises a steering gear (12) connected to the robot body (1), and the steering gear (12) is connected to a steering wheel (13).

8. The novel all-terrain pipeline inspection robot according to claim 1 is characterized in that: A sonar (9) is provided at the bottom of the robot body (1).

9. The novel all-terrain pipeline inspection robot according to claim 1 is characterized in that: A battery (10) and a circuit board (11) are provided inside the robot body (1).

10. The novel all-terrain pipeline inspection robot according to claim 1 is characterized in that: The front end of the robot body (1) is provided with an illumination lamp (6) and a high-definition camera mounting frame (7).

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