Pipeline detection robot applicable to multiple scenes

Abstract

The pipeline detection robot comprises a robot body, the two sides of the robot body are connected with a driving device through telescopic supports correspondingly, the two ends of the driving device are provided with spiral cylinders correspondingly, and an image collecting device is arranged at the top of the robot body; lifting driving devices are further arranged on the two sides of the top of the robot body correspondingly and connected with the telescopic supports correspondingly, so that the spiral barrel can be driven by the lifting driving devices to ascend and descend, and transverse span adjustment is achieved under driving of the telescopic supports. When the detection robot is used, the spiral cylinders on the two sides of the robot body can contract or extend, so that the detection robot can run in pipelines of different sizes, the inspection of the pipelines of different diameters is met, the driving motor is arranged on the robot body instead of being directly connected with the spiral cylinders, the driving motor is prevented from making direct contact with water, and the service life of the detection robot is prolonged. And the driving motor is protected.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline inspection robots, and specifically to a pipeline inspection robot suitable for multiple scenarios. Background Art

[0002] A pipeline inspection robot is a device that can automatically move along the inside or outside of a pipeline. It is usually operated by a staff member and uses a variety of sensors to inspect the pipeline. The conventional inspection method of a pipeline inspection robot is to vertically descend into the pipeline through an inspection well. While crawling in the pipeline, the installed camera is used to record real-time video, allowing the operator to observe the internal situation of the pipeline through the video images it collects.

[0003] Existing robots lack adjustable wheel spans, limiting their mobility. For example, the wheeled pipeline inspection robot proposed in document CN218972158U features large and small wheels on either side of the robot's body. However, neither the large nor the small wheels can be adjusted during use. This prevents the robot from properly crossing obstacles in the pipeline. Furthermore, neither the large nor the small wheels can be raised or extended, reducing the robot's ability to overcome obstacles. To address this issue, we propose a pipeline inspection robot suitable for multiple scenarios. Summary of the Invention

[0004] The invention provides a pipeline inspection robot suitable for multiple scenarios, which has the function of allowing the spiral barrel to be adjusted laterally and in height, thereby enabling the robot to walk in pipelines of different sizes, solving the problems raised in the above-mentioned background technology.

[0005] The technical solution of the invention is implemented as follows: a pipeline inspection robot suitable for multiple scenarios includes a robot main body, both sides of the robot main body are connected to the driving device through telescopic brackets, spiral cylinders are provided at both ends of the driving device, an image acquisition device is provided on the top of the robot main body, and lifting drive devices are provided on both sides of the top of the robot main body. The lifting drive devices are respectively connected to the telescopic brackets, so that the spiral cylinder can be lifted and lowered under the drive of the lifting drive device, and the lateral span can be adjusted under the drive of the telescopic bracket.

[0006] Preferably, the driving device includes a driving housing, a driving shaft is coaxially provided in the driving housing, both ends of the driving shaft extend to the outside of the driving housing, the spiral cylinder is coaxially installed on both ends of the driving shaft, a spline sleeve is rotatably provided at the top of the driving housing, a spline shaft is movably provided in the spline sleeve, the top of the spline shaft is connected to the driving motor through a universal joint, the driving motor is installed on the robot body and the two are electrically connected, the bottom of the spline sleeve extends into the driving housing, and bevel gears are respectively provided on the driving shaft in the driving housing and at the bottom of the spline sleeve, and the two bevel gears are engaged with each other.

[0007] Preferably, the telescopic bracket includes a first support respectively arranged at both ends of the drive housing, the first support is parallel to the spline sleeve, a first support arm is rotatably provided on the top of the first support, a second support arm is rotatably provided on the top of the first support arm, the second support arm and the first support arm are distributed in a "V" shape, the end of the second support arm is rotatably connected to the second support, and the end of the second support is installed on the robot body. The telescopic bracket also includes a first telescopic device distributed on both sides of the robot body, the first telescopic device is electrically connected to the robot body, the first telescopic device is located on one side of the second support and its two ends are rotatably connected to the second support and the second support arm respectively.

[0008] Preferably, the lifting drive device includes a bracket arranged on the top edge of the robot body, the top of the bracket is rotatably connected to the second telescopic device, the second telescopic device is electrically connected to the robot body, the other end of the second telescopic device is connected to the U-shaped frame, and the two ends of the U-shaped frame are respectively connected to the second support.

[0009] Preferably, the image acquisition device includes a detector arranged at one end of the robot body.

[0010] Preferably, the detector is mounted on one end of the support rod, and the other end of the support rod is rotatably set on the top of the robot body through a mounting seat. The bottom of the support rod is connected to the top surface of the robot body through a third telescopic device. Driven by the third telescopic device, the support rod rotates around the mounting seat, thereby raising or lowering the detector. The third telescopic device is electrically connected to the robot body.

[0011] Preferably, an adjusting motor is installed at the end of the support rod, the detector is installed on the adjusting motor, and the adjusting motor is electrically connected to the robot body.

[0012] Preferably, the detector includes a camera and a radar, and the camera, the radar and the robot body are electrically connected.

[0013] Compared with the existing technology, when the invention is in use, the spiral barrels on both sides of the robot body can be contracted or extended, so that the detection robot can travel in pipes of different sizes, thereby meeting the inspection of pipes of different diameters. The drive motor is set on the robot body instead of being directly connected to the spiral barrel, which avoids the drive motor from direct contact with water and protects the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 Schematic diagram of the three-dimensional structure of the invention Figure 1 .

[0016] Figure 2 Schematic diagram of the three-dimensional structure of the invention Figure 2 .

[0017] Figure 3 Schematic diagram of the three-dimensional structure of the invention Figure 3 .

[0018] Figure 4 It is a structural diagram of the invention part.

[0019] In the figure: 1. Screw cylinder; 2. Drive housing; 3. Spline sleeve; 4. Robot body; 5. Bracket; 6. First telescopic device; 7. Second support; 8. Second support arm; 9. First support arm; 10. First support; 11. Second telescopic device; 12. Drive motor; 13. Third telescopic device; 14. Adjustment motor; 15. Detector; 16. Support rod; 17. Mounting seat; 18. Universal joint; 19. Spline shaft; 20. Drive shaft; 21. U-shaped frame. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solution of the invention in conjunction with the embodiments of the invention. Obviously, the embodiments described are only part of the embodiments of the invention, not all of the embodiments. Based on the embodiments of the invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the invention.

[0021] Reference Figures 1 to 4 The invention provides a technical solution: a pipeline inspection robot applicable to multiple scenarios, including a robot body 4, a driving device is provided on both sides of the robot body 4, and a spiral cylinder 1 is provided at both ends of the driving device. Figure 4 As shown, the drive device includes a drive housing 2, a drive shaft 20 is coaxially provided in the drive housing 2, and both ends of the drive shaft 20 extend to the outside of the drive housing 2. The spiral cylinder 1 is coaxially installed on both ends of the drive shaft 20, that is, the two ends of the drive shaft 20 are respectively provided with a spiral cylinder 1, and the two spiral cylinders 1 on the same side are coaxially arranged. Both ends of the spiral cylinder 1 have a tapered structure, which can reduce the resistance of the spiral cylinder 1 when moving forward; The top of the drive housing 2 is provided with a spline sleeve 3, as shown Figure 1As shown, the spline sleeve 3 is tilted in the opposite direction toward the robot body 4. A spline shaft 19 is movably mounted within the spline sleeve 3. The spline shaft 19 is approximately the same length as the spline sleeve 3. The top of the spline shaft 19 is connected to the drive motor 12 via a universal joint 18. The drive motor 12 is mounted on the robot body 4 and the two are electrically connected. Therefore, when the drive motor 12 rotates, it drives the spline shaft 19 to rotate, and the rotation of the spline shaft 19 drives the spline sleeve 3 to rotate on the drive housing 2. In order to allow the drive shaft 20 to rotate along with the spline sleeve 3, the bottom of the spline sleeve 3 is extended into the drive housing 2, and bevel gears are provided on the drive shaft 20 in the drive housing 2 and on the bottom of the spline sleeve 3. The two bevel gears mesh with each other, so that the bottom of the spline sleeve 3 and the drive shaft 20 can be connected to each other through the two meshing bevel gears. Therefore, the rotation of the spline sleeve 3 can drive the drive shaft 20 to rotate, and the drive shaft 20 drives the spiral drum 1 to rotate. The specific process is that the robot body 4 is connected to the remote control device through an umbilical cable. The operator can control the two drive motors 12 to rotate simultaneously through the umbilical cable. When the rotation speeds of the spiral drums 1 on both sides of the robot body 4 are the same, the detection robot moves forward in a straight line or moves backward in a straight line. When the detection robot needs to turn, it is only necessary to control the rotation speed of one of the drive motors 12 to decrease, so that the rotation speeds of the spiral drums 1 on both sides of the robot body 4 produce a speed difference, and the detection robot can turn.

[0022] Furthermore, telescopic brackets are provided on both sides of the robot body 4, and the bottom of the telescopic brackets is connected to the driving device, such as Figure 1 As shown, specifically, the bottom of the telescopic bracket is connected to the first support 10. Figure 1 and Figure 2 As shown, the telescopic bracket includes a first support 10, respectively, disposed at both ends of the drive housing 2. It should be noted that the first support 10 and the splined sleeve 3 are parallel to each other. A first support arm 9 is rotatably mounted on top of the first support arm 10, and a second support arm 8 is rotatably mounted on top of the first support arm 9. The second support arm 8 and the first support arm 9 form a "V" shape. The distal end of the second support arm 8 is rotatably connected to the second support 7, the distal end of which is mounted on the robot body 4. like Figure 1 and Figure 2 As shown, in order to enable the second support arm 8 and the first support arm 9 to open and close, the telescopic bracket in the present application also includes a first telescopic device 6 distributed on both sides of the robot body 4. The first telescopic device 6 is electrically connected to the robot body 4. The first telescopic device 6 is located on one side of the second support 7 and its two ends are rotatably connected to the second support 7 and the second support arm 8 respectively. The first telescopic device 6, the second support 7 and the second support arm 8 form a triangular structure. The specific process is as follows: when the first telescopic device 6 is extended, the first telescopic device 6 can drive the second support arm 8 and the first support arm 9 to open or close. When the second support arm 8 and the first support arm 9 are opened, that is, the spiral barrel 1 extends outward, the spline sleeve 3 at this time slides on the spline shaft 19, so the spline shaft 19 is pulled outward in the spline sleeve 3 to increase the length of the driving spiral barrel 1 to rotate; when the second support arm 8 and the first support arm 9 are closed, that is, the spiral barrel 1 approaches the robot body 4, the spline shaft 19 retracts toward the inside of the spline sleeve 3, shortening the distance between the spline shaft 19 and the spline sleeve 3. Therefore, no matter whether the telescopic bracket is extended or shortened, the spline shaft 19 and the spline sleeve 3 can change the driving length by extension and contraction, so that the drive motor 12 can always drive the spiral barrel 1 to rotate.

[0023] Based on the above embodiment, in order to enable the spiral drum 1 to be height-adjusted up and down, a lifting drive device is provided on both sides of the top of the robot body 4, and the lifting drive device is connected to the telescopic bracket. Figure 1 and Figure 4 As shown, the lifting drive device includes a bracket 5 provided on the top edge of the robot body 4. The bracket 5 is specifically located above the drive motor 12. The top of the bracket 5 is rotatably connected to the second telescopic device 11. The second telescopic device 11 is electrically connected to the robot body 4. The other end of the second telescopic device 11 is connected to the U-shaped frame 21. The two ends of the U-shaped frame 21 are respectively connected to the second support 7. The spiral drum 1 can be lifted and lowered under the drive of the lifting drive device, and the lateral span can be adjusted under the drive of the telescopic bracket. Specifically, when the second telescopic device 11 is extended and retracted, the second telescopic device 11 can simultaneously drive the two second supports 7 to rotate around the robot body 4 through the U-shaped frame 21, so that the end of the second support 7 can drive the second support arm 8 and the first support arm 9 to move up and down, thereby allowing the spiral drum 1 to follow the second support arm 8 and the first support arm 9 to move up and down. It should be noted that when the spiral drum is lifted and lowered, its power can still be continuously provided by the drive motor 12, because the spline shaft 19 and the spline sleeve 3 can be extended and retracted to change the length, and the spline shaft 19 is connected to the drive motor 12 through a universal joint, so the end of the spline shaft 19 can rotate freely.

[0024] Furthermore, an image acquisition device is provided on the top of the robot body 4. The image acquisition device is used to collect images of the robot traveling in the pipeline. The image acquisition device includes a detector 15 provided at one end of the robot body 4. The detector 15 includes a camera and a radar. The camera, the radar and the robot body 4 are electrically connected. like Figure 1 As shown, the detector 15 is mounted on one end of the support rod 16, the end of the support rod 16 is mounted with an adjustment motor 14, the detector 15 is mounted on the adjustment motor 14, and the adjustment motor 14 is electrically connected to the robot body 4; The other end of the support rod 16 is rotatably mounted on the top of the robot body 4 via a mounting base 17. The lower portion of the support rod 16 is connected to the top surface of the robot body 4 via a third telescopic device 13. Driven by the third telescopic device 13, the support rod 16 rotates around the mounting base 17, thereby raising or lowering the detector 15. The third telescopic device 13 is electrically connected to the robot body 4. When the third telescopic device 13 is extended or retracted, it drives the support rod 16 to rotate around the mounting base 17, thereby raising or lowering the end of the support rod 16, thereby changing the detection height of the detector 15. The adjustment motor 14 also drives the detector 15 to rotate, thereby increasing the observation range.

[0025] Based on the above embodiment, it needs to be further explained that the first telescopic device 6, the second telescopic device 11 and the third telescopic device 13 are electric push rods, electric cylinders, air cylinders or hydraulic cylinders; like Figure 1 As shown, when the lengths of the second support arm 8 and the first support arm 9 increase, the drive housing 2 can move toward the outside of the robot body 4, thereby increasing the span of the spiral barrels 1 on both sides, thereby making the robot body 4 more stable. If the robot body 4 is placed on the water surface, the large-span spiral barrel 1 can increase the stability of the robot body 4. Furthermore, the spiral drum 1 can be adjusted in height under the drive of the second telescopic device 11, thereby also changing the height between the robot body 4 and the ground. In general, the spiral drums 1 on both sides of the robot body 4 can be retracted or extended, so that the inspection robot can travel in pipes of different sizes, thereby meeting the inspection of pipes of different diameters. Moreover, if Figure 1 and Figure 2 As shown, the drive motor 12 is arranged on the robot body 4 rather than being directly connected to the spiral drum 1 , thereby preventing the drive motor from directly contacting water and protecting the drive motor 12 .

[0026] The above description is only a preferred embodiment of the invention and is not intended to limit the invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the invention should be included in the scope of protection of the invention.

Claims

1. A pipeline inspection robot applicable to multiple scenarios, comprising a robot body (4), characterized in that: Both sides of the robot body (4) are connected to the driving device via telescopic brackets; A spiral cylinder (1) is provided at each end of the driving device; An image acquisition device is provided on the top of the robot body (4); and Lifting drive devices are provided on both sides of the top of the robot body (4), and the lifting drive devices are connected to the telescopic brackets, respectively, so that the spiral barrel (1) can be lifted and lowered under the drive of the lifting drive devices, and the horizontal span can be adjusted under the drive of the telescopic brackets.

2. The multi-scenario applicable pipeline inspection robot according to claim 1, characterized in that: The driving device comprises a driving housing (2), a driving shaft (20) being coaxially arranged in the driving housing (2), both ends of the driving shaft (20) extending to the outside of the driving housing (2), and a spiral cylinder (1) being coaxially mounted on both ends of the driving shaft (20); A spline sleeve (3) is rotatably provided at the top of the driving housing (2), a spline shaft (19) is movably provided in the spline sleeve (3), the top of the spline shaft (19) is connected to the driving motor (12) via a universal joint (18), and the driving motor (12) is mounted on the robot body (4) and the two are electrically connected; The bottom of the spline sleeve (3) extends into the drive housing (2), and bevel gears are respectively provided on the drive shaft (20) in the drive housing (2) and at the bottom of the spline sleeve (3), and the two bevel gears are meshed with each other.

3. The multi-scenario applicable pipeline inspection robot according to claim 2, characterized in that: The telescopic bracket comprises first supports (10) respectively arranged at two ends of the drive housing (2), and the first supports (10) are parallel to the spline sleeve (3); A first support arm (9) is rotatably provided on the top of the first support seat (10), and a second support arm (8) is rotatably provided on the top of the first support arm (9), and the second support arm (8) and the first support arm (9) are arranged in a "V" shape; The end of the second support arm (8) is rotatably connected to the second support (7), and the end of the second support (7) is mounted on the robot body (4); The telescopic bracket further includes a first telescopic device (6) distributed on both sides of the robot body (4), the first telescopic device (6) being electrically connected to the robot body (4), and the first telescopic device (6) being located on one side of the second support (7) and having two ends thereof being rotatably connected to the second support (7) and the second support arm (8), respectively.

4. The multi-scenario applicable pipeline inspection robot according to claim 3, characterized in that: The lifting drive device includes a bracket (5) arranged on the top edge of the robot body (4), the top of the bracket (5) is rotatably connected to the second telescopic device (11), the second telescopic device (11) is electrically connected to the robot body (4), the other end of the second telescopic device (11) is connected to the U-shaped frame (21), and the two ends of the U-shaped frame (21) are respectively connected to the second support (7).

5. The multi-scenario applicable pipeline inspection robot according to claim 4, characterized in that: The image acquisition device includes a detector (15) arranged at one end of the robot body (4).

6. The multi-scenario applicable pipeline inspection robot according to claim 5, characterized in that: The detector (15) is mounted on one end of a support rod (16), and the other end of the support rod (16) is rotatably mounted on the top of the robot body (4) through a mounting seat (17). The lower portion of the support rod (16) is connected to the top surface of the robot body (4) through a third telescopic device (13). Driven by the third telescopic device (13), the support rod (16) rotates around the mounting seat (17), thereby raising or lowering the detector (15). The third telescopic device (13) is electrically connected to the robot body (4).

7. The multi-scenario applicable pipeline inspection robot according to claim 6, characterized in that: An adjusting motor (14) is installed at the end of the support rod (16), the detector (15) is installed on the adjusting motor (14), and the adjusting motor (14) is electrically connected to the robot body (4).

8. The multi-scenario applicable pipeline inspection robot according to claim 7, characterized in that: The detector (15) includes a camera and a radar, and the camera, the radar and the robot body (4) are electrically connected.

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