Self-propelled detection robot for pipeline defect detection and operation method of self-propelled detection robot
Through the improved self-propelled detection robot structure, the problem of dirt and gravel affecting detection in the inner wall of the pipeline is solved, and high-precision pipeline defect identification and positioning is achieved, ensuring the stability and integrity of the detection.
Patent Information
- Application Number
- CN202510539286.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-27
- Publication Date
- 2025-08-19
AI Technical Summary
The existing self-propelled detection robots for pipeline defect detection cannot accurately detect the inner wall of the pipeline under the influence of dirt and small gravel, especially in narrow and curved pipelines, which are prone to detect interruptions.
By setting up screw rods, embedded strips, convex plates, transverse frame bodies, bidirectional thread rods, moving blocks, arc pads and rubber strips, cleaning of the inner wall of the pipeline and pushing the gravel to ensure stable contact between the detection equipment and the surface of the pipeline; using the coordination of the restraint frames, restraint rings, limit strips, extension rods and push plates to enhance the firmness of the interface and the conductors and the stability of the detection equipment.
It improves detection accuracy, ensures the clean contact of the detection equipment in the inner wall of the pipeline, avoids detection interruption, and achieves efficient pipeline defect identification and positioning.
Smart Images
Figure CN120506558A_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of pipeline defect detection, and in particular relates to a self-propelled detection robot for pipeline defect detection and an operation method thereof. Background Art
[0002] Self-propelled inspection robots (also known as pipeline robots) play a vital role in pipeline defect detection. They conduct automated inspections inside pipelines, efficiently and accurately detecting potential defects. They are widely used in the oil, natural gas, electricity, and water supply sectors. Self-propelled inspection robots can move autonomously, cruise along the inner wall of the pipeline, and complete long-distance inspection tasks. They are equipped with video cameras that provide high-resolution real-time images to help detect cracks, deformations, and blockages on the pipeline surface. Laser scanners can perform three-dimensional imaging, accurately measure the pipeline shape, and detect tiny deformations and damage. Compared with traditional manual inspections and inspection methods that rely on other equipment, self-propelled inspection robots can greatly save the time required for manual operation and inspection.
[0003] However, the existing self-propelled inspection robots and their operation methods for pipeline defect inspection are not perfect and still have certain defects: Dirt will adhere to the inner wall of the pipe, which will affect the camera's ability to accurately capture images of the inner wall of the pipe, making it impossible to accurately detect the true state of the pipe, affecting the identification and location of defects. There may be small gravel in the pipe, which may block the robot's forward path, especially in narrow and curved pipes. The robot may not be able to advance smoothly, resulting in detection interruption. Summary of the Invention
[0004] The object of the present invention is to provide a self-propelled inspection robot for pipeline defect detection and an operating method thereof, so as to solve the problems raised in the above-mentioned background technology.
[0005] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: a self-propelled inspection robot for pipeline defect inspection, comprising an inspection robot body, multiple driving wheels, an adjustment frame and a camera, the multiple driving wheels are respectively arranged on both sides of the inspection robot body, the adjustment frame is arranged on the top of the inspection robot body, the camera is arranged on one side of the adjustment frame, an interface is provided on one side of the inspection robot body, a wire is plugged into one end of the interface, an embedded frame is fixedly installed inside the inspection robot body, a screw rod is provided inside the embedded frame, an embedded strip is provided inside the embedded frame, one end of the screw rod and the embedded strip is provided with a lifting block, a convex plate is provided on one side of the lifting block, a horizontal frame is provided at the bottom of the convex plate, a bidirectional threaded rod is provided inside the horizontal frame, both ends of the bidirectional threaded rod are provided with moving blocks, one side of the two moving blocks are provided with arc pads, and the outer surfaces of the two arc pads are interspersed with multiple rubber strips.
[0006] Preferably, restraint frames are provided on both sides of the interface, restraint rings are fixedly installed on one side of the two restraint frames, recessed holes are provided on both sides of the interface, and limiting strips are provided on the other side of the two restraint frames, and one end of the two limiting strips is respectively connected to the internal threads of the two recessed holes.
[0007] Preferably, a first motor is fixedly installed on the top of the embedded frame, the output shaft of the first motor is transmission-connected to one end of the screw rod, two arc blocks are fixedly installed on one side of the lifting block, and a positioning shaft is fixedly installed between the inner walls of the two arc blocks.
[0008] Preferably, the convex plate is fixedly sleeved on one end of the positioning shaft, two vertical bars are fixedly installed on the top of the horizontal frame, one end of the two vertical bars are respectively fixedly connected with the bottom of the convex plate, and the two moving blocks are respectively threadedly sleeved on the two ends of the bidirectional threaded rod.
[0009] Preferably, a second motor is fixedly installed on one side of the horizontal frame, the output shaft of the second motor is transmission-connected to one end of the bidirectional threaded rod, a vertical bar is fixedly installed on the other side of the two arc-shaped pads, and a fixed block is fixedly installed on one side of the two moving blocks.
[0010] Preferably, one side of the two fixing blocks is fixedly connected to one end of the two vertical strips respectively, and the positions of the plurality of rubber strips are arranged at equal intervals.
[0011] Preferably, two extension rods are fixedly installed on the bottom end of the horizontal frame, a U-shaped frame is fixedly installed on one end of the two extension rods, a push plate is fixedly installed inside the U-shaped frame, and the positions of the two extension rods are corresponding.
[0012] The method for operating a self-propelled inspection robot for pipeline defect detection includes the following steps: Step 1: Equipment Inspection and Preparation: Ensure that the robot equipment (including sensors, batteries, and propulsion systems) is intact and debugged. Conduct a preliminary assessment of the pipeline to confirm the internal environment and ensure that the robot can adapt to it. Step 2: Robot enters the pipe: Insert the wire into the interface, use an external power supply to power the robot, deploy the robot into the pipe through the entrance, and start the robot; Step 3: The robot activates its propulsion system and uses wheels for navigation to achieve autonomous positioning without external navigation. The robot uses its onboard sensors to collect various data inside the pipeline in real time, including images, temperature, pressure, corrosion, and crack information. Step 4: The robot transmits the collected images and data to the ground control center in real time for the operator to monitor and make corresponding decisions. After the robot completes the inspection task of the target area, it checks and confirms to ensure that all areas to be inspected have been covered. According to the preset tasks and path planning, the robot autonomously returns to the starting point.
[0013] The beneficial effects of the present invention are as follows: 1. The present invention cooperates with the provided screw rod, embedded strip, convex plate, transverse frame, bidirectional threaded rod, moving block, arc pad and rubber strip. After the wire is inserted into the interface, the robot device is powered by an external power supply device, the detection robot body is deployed into the pipeline through the entrance of the pipeline, the detection robot body is started, and the detection robot body automatically moves in the pipeline. The camera can be used to collect images of the inner wall of the pipeline. After starting the second motor, the bidirectional threaded rod connected to its output shaft is first driven to rotate. Since the outer wall of the moving block is tightly fitted with the inner wall of the transverse frame, the two fixed blocks are driven to move toward each other during the clockwise rotation of the bidirectional threaded rod. Under the connection of the vertical strip, the two arc pads move toward each other, and the distance between the two gradually increases, so that the position of the two arc pads can be adjusted according to the diameter of the pipeline. One end of the multiple rubber strips scrapes against the inner wall of the pipeline respectively, so that the inner wall of the pipeline can be cleaned. The clean inner wall can ensure that the detection equipment accurately contacts the pipeline surface and obtains a clear image, thereby improving the detection accuracy.
[0014] 2. The present invention cooperates with the restraining frame, restraining ring, limiting strip, extension rod, U-shaped frame and push plate. After the interface is plugged in with the wire, one side of the two restraining frames are respectively in contact with the two sides of the interface, and then one end of the limiting strip is embedded in the inside of the corresponding concave hole. The two are threadedly connected to each other, so as to realize the limitation and fixation of the interface and the restraining frame. One side of the two restraining rings is respectively clamped with the two sides of the wire, thereby enhancing the firmness of the connection between the interface and the wire. After starting the first motor, it first drives the screw rod connected to its output shaft to rotate, and the lifting block threadedly sleeved with it can move up and down smoothly. Under the connection of the convex plate, the U-shaped frame and the push plate are also driven to move up and down synchronously, so that the distance between the push plate and the bottom end of the pipe can be adjusted. The push plate can push small gravel inside the pipe to avoid affecting the advancement of the driving wheel.
[0015] 3. The present invention cooperates with the lifting block, arc block, positioning shaft, first motor, fixed block, vertical bar and vertical bar, and the convex plate is fixedly sleeved on one end of the positioning shaft, and the lifting block and the convex plate are connected by two arc blocks to ensure the stability of the convex plate, and the convex plate and the horizontal frame are fixed by two vertical bars, which keeps the horizontal frame stable. The fixed block and the arc pad are connected by vertical bars, and as the moving block moves, the arc pad is also driven to move. The horizontal frame and the U-shaped frame are connected by two extension rods, and as the convex plate moves up and down, the U-shaped frame is also driven up and down, so the position height of the push plate can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a front view structural schematic diagram of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point A in the middle; Figure 3 It is a bottom view structural schematic diagram of the present invention; Figure 4 For the present invention Figure 3 Enlarged view of point B in the middle; Figure 5 It is a partial side view structural schematic diagram of the present invention; Figure 6 It is a partial front view structural schematic diagram of the present invention.
[0017] In the figure: 1. Detection robot body; 2. Driving wheel; 3. Adjustment frame; 4. Camera; 5. Interface; 6. Wire; 7. Constraint frame; 8. Constraint ring; 9. Limit strip; 10. Embedded frame; 11. Screw rod; 12. Embedded strip; 13. Lifting block; 14. Arc block; 15. Positioning shaft; 16. First motor; 17. Convex plate; 18. Vertical bar; 19. Horizontal frame; 20. Bidirectional threaded rod; 21. Moving block; 22. Fixed block; 23. Vertical bar; 24. Arc pad; 25. Rubber strip; 26. Second motor; 27. Extension rod; 28. U-shaped frame; 29. Push plate. DETAILED DESCRIPTION
[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention 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 ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0019] like Figures 1 to 6 As shown, the embodiment of the present invention provides a technical solution of a self-propelled inspection robot for pipeline defect inspection and an operation method thereof: Example 1:
[0020] like Figure 1-2As shown, a self-propelled inspection robot for pipeline defect inspection and an operating method thereof include an inspection robot body 1, multiple driving wheels 2, an adjustment frame 3 and a camera 4, wherein the multiple driving wheels 2 are respectively arranged on both sides of the inspection robot body 1, the adjustment frame 3 is arranged on the top of the inspection robot body 1, and the camera 4 is arranged on one side of the adjustment frame 3. An interface 5 is provided on one side of the inspection robot body 1, and a wire 6 is plugged into one end of the interface 5. An embedded frame 10 is fixedly installed inside the inspection robot body 1, a screw rod 11 is provided inside the embedded frame 10, and an embedded strip 12 is provided inside the embedded frame 10. One end of the screw rod 11 and the embedded strip 12 is provided with a lifting block 13, a convex plate 17 is provided on one side of the lifting block 13, a transverse frame 19 is provided at the bottom of the convex plate 17, a bidirectional threaded rod 20 is provided inside the transverse frame 19, and both ends of the bidirectional threaded rod 20 are provided with moving blocks 21. One side of the two moving blocks 21 is provided with an arc-shaped pad 24, and the outer surfaces of the two arc-shaped pads 24 are interspersed with multiple rubber strips 25. Both sides of the interface 5 are provided with a restraining frame 7, and one side of the two restraining frames 7 is fixedly installed with a restraining ring 8. Concave holes are opened on both sides of the interface 5, and the other side of the two restraining frames 7 is provided with a limiting strip 9. One end of the two limiting strips 9 is respectively connected to the internal threads of the two concave holes. Since the outer wall of the moving block 21 is tightly fitted with the inner wall of the horizontal frame 19, during the clockwise rotation of the two-way threaded rod 20, the two fixed blocks 22 are driven to move toward each other. Under the connection of the vertical bar 23, the two arc-shaped pads 24 move toward each other, and the distance between the two gradually increases, so that the position of the two arc-shaped pads 24 can be adjusted according to the diameter of the pipe. One end of the multiple rubber strips 25 scrapes against the inner wall of the pipe, which can also clean the inner wall of the pipe. Example 2:
[0021] Based on the first embodiment, Figure 2-4 As shown, the convex plate 17 is fixedly mounted on one end of the positioning shaft 15, and two vertical bars 18 are fixedly installed on the top of the horizontal frame 19. One end of the two vertical bars 18 is fixedly connected to the bottom of the convex plate 17, and the two moving blocks 21 are respectively threadedly mounted on the two ends of the bidirectional threaded rod 20. One side of the two restraining rings 8 is respectively clamped on both sides of the wire 6, which enhances the firmness of the connection between the interface 5 and the wire 6. After starting the first motor 16, it first drives the screw rod 11 connected to its output shaft to rotate, and the lifting block 13 threadedly mounted thereon can move up and down smoothly. Under the connection of the convex plate 17, the U-shaped frame 28 and the push plate 29 are also driven to move up and down synchronously, so that the distance between the push plate 29 and the bottom end of the pipeline can be adjusted. Example 3:
[0022] Based on the first and second embodiments, Figure 1 、 Figure 5 and Figure 6As shown, a second motor 26 is fixedly installed on one side of the transverse frame 19, and the output shaft of the second motor 26 is transmission-connected to one end of the bidirectional threaded rod 20. A vertical bar 23 is fixedly installed on the other side of the two arc-shaped pads 24, and a fixed block 22 is fixedly installed on one side of the two moving blocks 21. The lifting block 13 and the protruding plate 17 are connected by two arc-shaped blocks 14 to ensure the stability of the protruding plate 17, and the protruding plate 17 and the transverse frame 19 are fixed by two vertical bars 18, so that the transverse frame 19 remains stable. The fixed block 22 and the arc-shaped pad 24 are connected by a vertical bar 23, and move with the moving block 21.
[0023] The method for operating a self-propelled inspection robot for pipeline defect detection includes the following steps: Step 1: Equipment Inspection and Preparation: Ensure that the robot equipment, including sensors, batteries, and propulsion systems, are intact and debugged. Conduct a preliminary assessment of the pipeline to confirm the internal environment and ensure that the robot can adapt to it. Step 2: Robot enters the pipeline: Insert the wire 6 into the interface 5, use the external power supply device to power the robot, deploy the robot into the pipeline through the entrance of the pipeline, and start the robot; Step 3: The robot activates its propulsion system and uses wheels for navigation to achieve autonomous positioning without external navigation. The robot uses its onboard sensors to collect various data inside the pipeline in real time, including images, temperature, pressure, corrosion, and crack information. Step 4: The robot transmits the collected images and data to the ground control center in real time for the operator to monitor and make corresponding decisions. After the robot completes the inspection task of the target area, it checks and confirms to ensure that all areas to be inspected have been covered. According to the preset tasks and path planning, the robot autonomously returns to the starting point.
[0024] The working principle and usage process of the present invention: Self-propelled inspection robots, also known as pipeline robots, play a vital role in pipeline defect detection. They conduct inspections inside the pipeline in an automated manner and can efficiently and accurately detect potential defects. They are widely used in the fields of oil, natural gas, electricity, and water supply. Self-propelled inspection robots can move autonomously, cruise along the inner wall of the pipeline, and complete long-distance inspection tasks. They are equipped with video cameras to provide high-resolution real-time images to help inspect cracks, deformations, and blockages on the pipeline surface. Laser scanners can perform three-dimensional imaging, accurately measure the shape of the pipeline, and detect tiny deformations and damages. Compared with traditional manual inspections and inspection methods that rely on other equipment, self-propelled inspection robots can The detection robot can greatly save the time required for manual operation and inspection. Dirt will adhere to the inner wall of the pipeline, which will affect the camera's accurate collection of images of the inner wall of the pipeline, and cannot accurately detect the true state of the pipeline, affecting the identification and positioning of defects. There may be small gravel in the pipeline, and the gravel may block the robot's forward path, especially in narrow and curved pipelines. The robot may not be able to advance smoothly, resulting in detection interruption. After the wire 6 is inserted into the interface 5, the robot device is powered by an external power supply device, and the detection robot body 1 is deployed into the pipeline through the entrance of the pipeline. The detection robot body 1 is started, and the detection robot body 1 moves automatically in the pipeline. The camera 4 can be used to collect images of the inner wall of the pipeline. After starting the second motor 26 First, it drives the bidirectional threaded rod 20 connected to its output shaft to rotate. Since the outer wall of the moving block 21 is tightly fitted with the inner wall of the horizontal frame 19, the two fixed blocks 22 are driven to move toward each other during the clockwise rotation of the bidirectional threaded rod 20. Under the connection of the vertical bar 23, the two arc-shaped pads 24 move toward each other, and the distance between them gradually increases, so that the position of the two arc-shaped pads 24 can be adjusted according to the diameter of the pipe. One end of the multiple rubber strips 25 scrapes against the inner wall of the pipe respectively, which can also clean the inner wall of the pipe. The clean inner wall can ensure that the detection equipment accurately contacts the pipe surface and obtains a clear image, thereby improving the detection accuracy. After the interface 5 is plugged into the wire 6, one side of the two restraining frames 7 is respectively connected to the two sides of the interface 5. The two sides contact each other, and then one end of the limit strip 9 is embedded into the inside of the corresponding concave hole. The two are threadedly connected to achieve the limitation and fixation of the interface 5 and the restraining frame 7. One side of the two restraining rings 8 is clamped on both sides of the wire 6 respectively, which enhances the firmness of the connection between the interface 5 and the wire 6. After starting the first motor 16, it first drives the screw rod 11 connected to its output shaft to rotate, and the lifting block 13 threadedly sleeved with it can move up and down smoothly. Under the connection of the convex plate 17, it also drives the U-shaped frame 28 and the push plate 29 to move up and down synchronously, so that the distance between the push plate 29 and the bottom end of the pipe can be adjusted. The push plate 29 can push the small gravel inside the pipe to avoid affecting the advancement of the driving wheel 2. The convex plate 17 is fixedly sleeved with one end of the positioning shaft 15.The lifting block 13 and the protruding plate 17 are connected by two curved blocks 14, ensuring the stability of the protruding plate 17. The protruding plate 17 and the transverse frame 19 are fixed by two vertical bars 18, which also keeps the transverse frame 19 stable. The fixed block 22 and the curved pad 24 are connected by vertical bars 23. As the moving block 21 moves, the curved pad 24 also moves with it. The transverse frame 19 and the U-shaped frame 28 are connected by two extension rods 27. As the protruding plate 17 moves up and down, the U-shaped frame 28 also moves up and down, and the position and height of the push plate 29 can be adjusted.
[0025] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.
Claims
1. A self-propelled inspection robot for pipeline defect inspection, comprising an inspection robot body (1), a plurality of driving wheels (2), an adjustment frame (3), and a camera (4), wherein the plurality of driving wheels (2) are respectively arranged on both sides of the inspection robot body (1), the adjustment frame (3) is arranged on the top of the inspection robot body (1), and the camera (4) is arranged on one side of the adjustment frame (3), characterized in that: An interface (5) is provided on one side of the detection robot body (1), a wire (6) is plugged into one end of the interface (5), an embedded frame (10) is fixedly installed inside the detection robot body (1), a screw rod (11) is provided inside the embedded frame (10), an embedded strip (12) is provided inside the embedded frame (10), one end of the screw rod (11) and the embedded strip (12) is sleeved with a lifting block (13), a convex plate (17) is provided on one side of the lifting block (13), a transverse frame (19) is provided at the bottom of the convex plate (17), a bidirectional threaded rod (20) is provided inside the transverse frame (19), both ends of the bidirectional threaded rod (20) are sleeved with a moving block (21), one side of the two moving blocks (21) are provided with an arc pad (24), and the outer surfaces of the two arc pads (24) are interlaced and connected with a plurality of rubber strips (25).
2. The self-propelled inspection robot for pipeline defect detection according to claim 1, characterized in that: Both sides of the interface (5) are provided with restraining frames (7), and one side of the two restraining frames (7) is fixedly mounted with a restraining ring (8). Both sides of the interface (5) are provided with concave holes, and the other side of the two restraining frames (7) is provided with a limiting strip (9), and one end of the two limiting strips (9) is respectively connected to the internal threads of the two concave holes.
3. The self-propelled inspection robot for pipeline defect detection according to claim 1, characterized in that: A first motor (16) is fixedly mounted on the top of the embedded frame (10), and an output shaft of the first motor (16) is transmission-connected to one end of the screw rod (11). Two arc blocks (14) are fixedly mounted on one side of the lifting block (13), and a positioning shaft (15) is fixedly mounted between the inner walls of the two arc blocks (14).
4. The self-propelled inspection robot for pipeline defect detection according to claim 3, characterized in that: The convex plate (17) is fixedly sleeved on one end of the positioning shaft (15), and two vertical bars (18) are fixedly installed on the top of the horizontal frame (19). One end of the two vertical bars (18) is fixedly connected to the bottom of the convex plate (17), and the two moving blocks (21) are respectively threadedly sleeved on the two ends of the bidirectional threaded rod (20).
5. The self-propelled inspection robot for pipeline defect detection according to claim 4, characterized in that: A second motor (26) is fixedly mounted on one side of the transverse frame (19), and an output shaft of the second motor (26) is transmission-connected to one end of a bidirectional threaded rod (20). A vertical bar (23) is fixedly mounted on the other side of the two arc-shaped pads (24), and a fixed block (22) is fixedly mounted on one side of the two moving blocks (21).
6. The self-propelled inspection robot for pipeline defect detection according to claim 5, characterized in that: One side of the two fixed blocks (22) is fixedly connected to one end of the two vertical strips (23), respectively, and the positions of the plurality of rubber strips (25) are arranged at equal intervals.
7. The self-propelled inspection robot for pipeline defect detection according to claim 4, characterized in that: Two extension rods (27) are fixedly mounted on the bottom end of the transverse frame (19), a U-shaped frame (28) is fixedly mounted on one end of the two extension rods (27), a push plate (29) is fixedly mounted inside the U-shaped frame (28), and the positions of the two extension rods (27) are corresponding.
8. An operating method of a self-propelled inspection robot for pipeline defect detection, the method being applicable to the self-propelled inspection robot for pipeline defect detection according to claims 1 to 7, characterized in that : It includes the following steps: Step 1: Equipment Inspection and Preparation: Ensure that the robot equipment (including sensors, batteries, and propulsion systems) is intact and debugged. Conduct a preliminary assessment of the pipeline to confirm the internal environment and ensure that the robot can adapt to it. Step 2: The robot enters the pipe: insert the wire (6) into the interface (5), use the external power supply device to power the robot device, deploy the robot into the pipe through the entrance of the pipe, and start the robot; Step 3: The robot activates its propulsion system and uses wheels for navigation to achieve autonomous positioning without external navigation. The robot uses its onboard sensors to collect various data inside the pipeline in real time, including images, temperature, pressure, corrosion, and crack information. Step 4: The robot transmits the collected images and data to the ground control center in real time for the operator to monitor and make corresponding decisions. After the robot completes the inspection task of the target area, it checks and confirms to ensure that all areas to be inspected have been covered. According to the preset tasks and path planning, the robot autonomously returns to the starting point.