Self-adaptive ship small-diameter pipeline detection robot

Abstract

A self-adaptive ship small-diameter pipeline detection robot provided by the present invention comprises a main body assembly and a driven assembly, the main body assembly comprises a main driving stepping motor, a main driving seat and a dragging support, the main driving seat is in threaded connection with one end of a detection robot body, the main driving stepping motor is in threaded connection with the outer side of the main driving seat, and the driven assembly is in threaded connection with the main driving seat. The driven assembly comprises a tensioning motor base and a second tensioning motor, the tensioning motor base is in threaded connection with the other end of the detection robot body, the second tensioning motor is in threaded connection with the outer side of the tensioning motor base, and a first tensioning motor is installed between the main body assembly and the driven assembly. The detection robot can realize single-person single-machine operation, and has the characteristics of self-adaption to pipe diameter change, economy, high expansibility and the like. The ship pipeline inspection device can replace manpower to inspect the key pipeline of a ship, can automatically detect and alarm foreign matters in the pipeline under the condition that the pipeline is not disassembled, greatly reduces the workload of workers, improves the detection accuracy, and is higher in automation degree.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and particularly to an adaptive inspection robot for small-diameter pipelines of ships. Background Art

[0002] The ship piping system is the pipeline used to connect various mechanical equipment on the ship, and is used to convey working media such as water, oil, and gas. After the new ship pipelines are completed, foreign object detection is required to prevent mechanical failures caused by residual foreign objects. However, the pipe diameters of the ship piping system vary and there are many elbows. The detection of small-diameter pipelines has always been a pain point and a difficult point that is difficult to overcome. Through the research on small-diameter pipeline inspection robots, the self-adaptability of pipeline operation is realized based on the design of a flexible body and an elastic suspension in the bionic link, and the function of detecting foreign object residues in the pipeline can be realized by installing vision and other detection equipment.

[0003] However, in the prior art, there are wheeled pipeline inspection robots, tracked pipeline inspection robots, and peristaltic robots. Among them, the wheeled pipeline inspection robot has good maneuverability and driving speed, but there is a problem of easy slipping. The tracked pipeline inspection robot can meet the needs of heavy loads and high traction, but it is large in size and has a complex control algorithm. The peristaltic robot is suitable for complex pipelines, with high mobility and flexibility, but has the disadvantages of slow driving speed and the need for external power supply. The robots provided in the existing conventional solutions cannot be directly applied to ship pipelines. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide an adaptive inspection robot for small-diameter pipelines of ships, so as to solve the problems put forward in the above background art. The present invention has lower cost, higher automation degree, high economic benefits and application prospects, and has the characteristics of energy saving, environmental protection, automation, and intelligence in construction machinery.

[0005] In order to achieve the above purpose, the present invention is realized through the following technical solutions: An adaptive inspection robot for small-diameter pipelines of ships includes an inspection robot body. The inspection robot body includes a main body component and a driven component. The main body component includes a main driving stepping motor, a main driving seat, and a dragging bracket. The main driving seat is screwed to one end of the inspection robot body, and the main driving stepping motor is screwed to the outside of the main driving seat. The driven component includes a tensioning motor seat and a second tensioning motor. The tensioning motor seat is screwed to the other end of the inspection robot body, and the second tensioning motor is screwed to the outside of the tensioning motor seat. A first tensioning motor is installed between the main body component and the driven component, and a dragging bracket is sleeved outside the first tensioning motor. Lifting tensioning mechanisms are screwed to the sides of the main body component and the driven component.

[0006] Furthermore, push rods are installed in both the main body assembly and the driven assembly. A pressure rod is inserted outside each push rod, and rubber rings are sleeved at both ends of each pressure rod.

[0007] Furthermore, a universal joint is installed at the end of the dragging bracket, and the main body assembly is partially movably connected to the driven assembly through the universal joint.

[0008] Furthermore, the number of lifting and tensioning mechanisms in both the main body assembly and the driven assembly is three. Fixed optical rods are inserted through both the main body assembly and the driven assembly. Support seats are screwed at the end of the universal joint and the end of the first tensioning motor.

[0009] Furthermore, one end of the fixed optical rod is integrally connected to the surface of the support seat.

[0010] Furthermore, a travel detection switch is embedded on the side of the dragging bracket, and one end of the travel detection switch is fixed to the end of one of the fixed optical rods on the main body assembly by a bolt.

[0011] Furthermore, the lifting and tensioning mechanism as a whole is in a scissor structure, and after the lifting and tensioning mechanism extends, it is used to press the pressure rod against the inner wall of the pipeline.

[0012] Furthermore, the pressure rod is attached to the inner wall of the pipeline through the rubber rings sleeved at both ends, and each lifting and tensioning mechanism on the main body assembly and the driven assembly performs sequential alternating extension movements.

[0013] Furthermore, a line structured light detection system and a pipeline detection system are also carried on this inspection robot. The line structured light detection system includes a line structured light projector, and the line structured light projector is used to scan the inner wall of the pipeline through a laser light source.

[0014] Furthermore, the pipeline detection system includes a camera, and the pipeline detection system takes laser stripe images at fixed time intervals through the camera and collects images of the line laser projected on the surface of the object.

[0015] Advantages of the present invention:

[0016] 1. This adaptive ship small-diameter pipeline inspection robot can realize single-person and single-machine operation, and has the characteristics of adapting to diameter changes, portability, economy, and strong expandability.

[0017] 2. This adaptive ship small-diameter pipeline inspection robot replaces manual inspection of key pipelines on ships, can realize autonomous detection and alarm of foreign objects in the pipeline without disassembling the pipeline, greatly reduces the workload of workers, and improves the accuracy of detection.

[0018] 3. The visual inspection of the adaptive ship small-diameter pipeline detection robot is effectively integrated with the upper computer management system, with low operation difficulty, enabling immediate learning and use. Compared with semi-automatic robots on the market, it has lower costs and higher automation levels, and has high economic benefits and application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the appearance of an adaptive ship small-diameter pipeline detection robot of the present invention;

[0020] Figure 2 It is a schematic structural diagram of the main component part of the present invention;

[0021] Figure 3 It is a front structural schematic diagram of the main component of the present invention;

[0022] In the figure: 1, main drive stepping motor; 2, main drive seat; 3, pressure bar; 4, lifting and tensioning mechanism; 5, push rod; 6, fixed optical rod; 7, dragging bracket; 8, universal joint; 9, support seat; 10, tensioning motor seat; 11, first tensioning motor; 12, second tensioning motor; 13, travel detection switch. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0024] Please refer to Figures 1 to 3 , the present invention provides the following technical solutions: An adaptive ship small-diameter pipeline detection robot, including a detection robot body, the detection robot body includes a main component and a driven component, the main component includes a main drive stepping motor 1, a main drive seat 2 and a dragging bracket 7, the main drive seat 2 is screwed to one end of the detection robot body, the main drive stepping motor 1 is screwed to the outside of the main drive seat 2, the driven component includes a tensioning motor seat 10 and a second tensioning motor 12, the tensioning motor seat 10 is screwed to the other end of the detection robot body, and the second tensioning motor 12 is screwed to the outside of the tensioning motor seat 10, and a first tensioning motor 11 is installed between the main component and the driven component, the outside of the first tensioning motor 11 is sleeved with a dragging bracket 7, and lifting and tensioning mechanisms 4 are screwed to the sides of the main component and the driven component.

[0025] In this embodiment, the main body component part includes a main drive stepper motor 1, a reduction DC motor, three sets of scissor lift tensioning mechanisms 4, a pair of push rods 5, a set of drive nuts and other mechanisms. The right side is the driven component, which is connected to the dragging bracket 7 of the main body component by a ball head universal joint 8 and includes a reduction DC motor, three sets of scissor lift tensioning mechanisms 4, a set of drive nuts and other mechanisms. Since the angle adjustment of the ball head universal joint 8 is relatively flexible, when the driven component of the robot moves to the pipe elbow, it can automatically adjust the included angle with the main body component to adapt to the change of the pipe curvature, making the whole mechanism have a certain flexibility. The main drive stepper motor 1 of the robot main body component drives the screw-nut mechanism to move, thereby driving the push rod 5 to achieve a creeping motion.

[0026] When the robot starts to move from left to right, first, the first tensioning motor 11 on the right main body component drives the three pressure rods 3 in the lift tensioning mechanism 4 on the main body component to move radially along the pipe through the screw-nut mechanism. The pressure rod 3 clamps the main body component by relying on the rubber ring, fixing the robot on the inner wall of the pipe; the second tensioning motor 12 of the driven component starts, retracts the lift tensioning mechanism 4 of the driven component, and then the main drive motor pushes the push rod 5 through the screw-nut mechanism to push the entire right driven component to the right.

[0027] When the push rod 5 moves in one cycle stroke in the right direction as shown in Figure 1 the second tensioning motor 12 of the driven component drives the tensioning nut mechanism through the screw rod, drives the scissor lift tensioning mechanism 4 to move, and presses the pressure rod 3 in the three sets of lift tensioning mechanisms 4 tightly against the inner wall of the pipe. When the lift tensioning mechanism 4 rises and until the clamping of the robot driven component is completed, the tensioning nut mechanism of the main body component starts to loosen, and then the main drive motor moves to drag the main body component to move in the right direction. At this point, the robot has completed a cycle of displacement movement, and at the same time, the robot returns to the initial movement state. In this way, the robot can continuously creep to the right of the pipe. Similarly, the robot can also achieve reverse movement.

[0028] In this embodiment, a line structured light is selected as the laser light source. When the robot moves forward, the line structured light scans the inner wall of the pipe, so that the laser traverses all areas of the inner surface of the measured pipe. The pipe detection system collects the image of the line laser projected on the object surface through the camera, thereby judging whether there are foreign objects on the inner wall of the pipe. Its detection principle is based on the laser triangulation method, and the line structured light projector, the camera and the object to be measured are placed in a triangle.

[0029] In this embodiment, an oblique projection method is adopted. The oblique projection has a small measurement range but a large resolution; the oblique projection can reduce the reflection of direct light and is applicable to metal surfaces with strong reflectivity; the oblique projection can detect the pipe walls in the horizontal movement direction of the robot. Since the robot only needs to detect foreign object residues when inspecting the inner wall of the pipe, it can detect both vertical and horizontal pipes. The projector irradiates the line structured light onto the pipe surface, thus generating a bright curve in space.

[0030] The relative height of each position on the surface of the pipe without foreign objects remains unchanged. If there are foreign objects, the height information of each position of the object is different, and the curve will have undulating changes. After the camera images, the light stripes in the image will also change accordingly, and the degree of bending reflects the surface morphology of the object. In addition, by moving the robot, relative movement is generated between the line structured light and the inner wall of the pipe, and the light sweeps across the inner wall of the pipe to ensure that the morphology of each position is recorded.

[0031] In this embodiment, the pipe detection system is designed based on the oblique laser triangulation method. A camera and a line structured light projector are installed at the front end of the pipe robot. The camera uses a USB cable to transmit data to the host computer. When the robot moves in the pipe, the line laser scans the inner wall of the pipe, and the camera takes laser stripe images at set time intervals.

[0032] During system detection, the line structured light projector emits a structured light that irradiates onto the inner wall of the pipe, forming a laser light band with a width of 50 mm. Since there is a fixed angle between the camera and the laser, when the structured light irradiates the pipe wall, if there are foreign objects in the pipe, because the heights of each point on the foreign object are different, the imaging points will also move accordingly. According to the relationship between the object and the image, by using the camera to measure the change of the laser light band, it can be determined whether there are foreign objects.

[0033] The above shows and describes the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic features of the present invention, the present invention can be implemented in other specific forms.

[0034] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An adaptive ship small-diameter pipeline inspection robot, comprising an inspection robot body, characterized in that: The detection robot body comprises a main component and a driven component, wherein the main component comprises a main drive stepper motor (1), a main drive seat (2) and a drag bracket (7), wherein the main drive seat (2) is screwed to one end of the detection robot body, and the main drive stepper motor (1) is screwed to the outside of the main drive seat (2), and the driven component comprises a tensioning motor seat (10) and a second tensioning motor (12), wherein the tensioning motor seat (10) is screwed to the other end of the detection robot body, and the second tensioning motor (12) is screwed to the outside of the tensioning motor seat (10), and a first tensioning motor (11) is installed between the main component and the driven component, and the outside of the first tensioning motor (11) is sleeved with a drag bracket (7), and the sides of the main component and the driven component are screwed to a lifting tensioning mechanism (4).

2. The adaptive ship small-diameter pipeline inspection robot according to claim 1, characterized in that: Push rods (5) are installed in the main assembly and the driven assembly, a pressure rod (3) is inserted on the outside of each push rod (5), and rubber rings are sleeved on both ends of each pressure rod (3).

3. The adaptive ship small-diameter pipeline inspection robot according to claim 2, characterized in that: A universal joint (8) is installed at the end of the dragging bracket (7), and the main component is movably connected to the driven component part through the universal joint (8).

4. The adaptive ship small-diameter pipeline inspection robot according to claim 3 is characterized by: The number of lifting and tensioning mechanisms (4) in the main component and the driven component is three, and a fixed light rod (6) is inserted into the main component and the driven component. The end of the universal joint (8) and the end of the first tensioning motor (11) are both screwed with a support seat (9).

5. The adaptive ship small-diameter pipeline inspection robot according to claim 4, characterized in that: One end of the fixed polished rod (6) is integrally connected to the surface of the support seat (9).

6. The adaptive ship small-diameter pipeline inspection robot according to claim 4, characterized in that: A travel detection switch (13) is embedded on the side of the dragging bracket (7), and one end of the travel detection switch (13) is fixed to the end of one of the fixed polished rods (6) on the main assembly by means of bolts.

7. The adaptive ship small-diameter pipeline inspection robot according to claim 1, characterized in that: The lifting and tensioning mechanism (4) is a scissor-type structure as a whole, and after being extended, the lifting and tensioning mechanism (4) is used to press the pressure rod (3) against the inner wall of the pipeline.

8. The adaptive ship small-diameter pipeline inspection robot according to claim 7, characterized in that: The pressure rod (3) is fitted to the inner wall of the pipe via rubber rings sleeved at both ends, and each lifting and tensioning mechanism (4) on the main component and the driven component performs alternating stretching movements in sequence.

9. The adaptive ship small-diameter pipeline inspection robot according to claim 1, characterized in that: The inspection robot is also equipped with a line structured light inspection system and a pipeline inspection system. The line structured light inspection system includes a line structured light projector, and the line structured light projector is used to scan the inner wall of the pipeline through a laser light source.

10. The adaptive ship small-diameter pipeline inspection robot according to claim 1, characterized in that: The pipeline detection system includes a camera, and the pipeline detection system uses the camera to capture laser stripe images at fixed time intervals and collect images of line lasers projected on the surface of an object.

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