Variable-diameter pipe wall thickness detection robot based on swing arm track structure

Abstract

The invention belongs to the technical field of robot application, and provides a variable-diameter pipe wall thickness investigation robot based on a swing arm track structure, which comprises a box body, the box body is in a hexagonal shape, the front end of the box body is fixedly connected with a fixed seat, and the front end of the fixed seat is fixedly provided with a camera and a thickness detector. A transparent cover is arranged outside the camera and the thickness detector and is fixedly connected to the front end of the box body; the traveling mechanisms are arranged, each traveling mechanism adopts four sets of crawler belts to make contact with the inner wall of the pipeline, and the contact area is effectively enlarged, so that it is guaranteed that the traveling mechanisms can move stably, and the situations that the contact area is insufficient and the crawler belts slip are prevented; meanwhile, information can be collected, and the angle between the front and rear crawler belts and the second mounting plate is gradually changed through the controller, so that the front and rear crawler belts can be matched with the two sections of the bent pipe to advance, and it is ensured that the robot can advance in pipelines with different bending degrees.

Description

Technical Field

[0001] This invention belongs to the field of robot application technology, specifically relating to a variable diameter pipe wall thickness detection robot based on a swing arm track structure. Background Technology

[0002] Reconnaissance robots are a type of robotic system specifically designed to perform reconnaissance and surveillance tasks. These robots can be equipped with various sensors, such as cameras, microphones, and thermal imaging devices, to collect visual, auditory, and other types of data. They can work in environments that are difficult for humans to reach or that are dangerous. With the development of technology, especially the advancement of artificial intelligence, machine learning, and drone technology, the capabilities of reconnaissance robots are constantly improving, and their application scope is continuously expanding.

[0003] Pipeline inspection is a crucial step in ensuring the safe and reliable operation of various pipeline systems. These pipelines may be used to transport fluids such as water, oil, and natural gas, or other media in industrial processes. Pipeline inspection includes various methods, among which pipeline wall thickness inspection is the most common. Since the internal environment of pipelines is not suitable for human activity, inspection robots have been introduced for pipeline wall thickness inspection.

[0004] While existing reconnaissance robots can detect the wall thickness of some conventional pipes, they cannot navigate properly inside pipes with small or large diameters, making accurate detection difficult. Furthermore, some pipes are curved, and existing reconnaissance robots, mostly using single-track designs, often have their tracks suspended in the air when traversing bends. This insufficient contact and friction can cause the robot to jam at bends, hindering wall thickness detection. Additionally, because pipes often contain residual fluid debris, sensors and cameras on the robot are protected with transparent glass. However, the accumulation of this debris on the glass can severely impair the operation of the cameras and sensors. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a variable-diameter pipe wall thickness detection robot based on a swing-arm track structure, thereby resolving the issues in the prior art.

[0006] A variable-diameter pipe wall thickness detection robot based on a swing arm track structure includes a box body, which is hexagonal in shape. A fixed base is fixedly connected to the front end of the box body. A camera and a thickness detector are fixedly installed at the front end of the fixed base. A transparent cover is provided outside the camera and the thickness detector. The transparent cover is fixedly connected to the front end of the box body. An L-shaped cleaning brush is provided outside the transparent cover and is close to the outer wall of the transparent cover.

[0007] Three sets of traveling mechanisms are equidistantly arranged around the outer circumference of the box to drive its movement within the pipeline. The traveling mechanism includes two mounting plates arranged symmetrically at the front and rear. Mounting seats are symmetrically hinged to the center of the two mounting plates. A middle plate is fixedly connected to the middle of the mounting seats. Driven rollers are symmetrically rotatably connected to both the front and rear ends of the middle plate. Tracks are connected to two driven rollers distributed on the same side of the middle plate. A drive roller is rotatably connected to the center of the middle plate. The drive roller is driven by a motor, which is fixedly connected to one side of the middle plate.

[0008] The cleaning brush is equipped with a surrounding component for rotating around the transparent cover;

[0009] A variable-diameter mechanism is provided between the three sets of traveling mechanisms and the housing to adjust the distance between them.

[0010] Preferably, the surrounding assembly includes an integrally fixed mounting rod fixedly connected to the rear end of the cleaning brush. A gear is rotatably connected to the rear side of the middle of the mounting rod. The gear is driven to rotate by a motor. The motor is fixedly connected to the mounting rod. A gear ring is meshed around the gear. The gear ring is fixedly connected to the front end of the housing, and its central axis is collinear with the central axis of the housing.

[0011] Preferably, the end of the mounting rod away from the cleaning brush is rotatably connected to a pin, the outer end of the pin is fixedly connected to a roller, and a guide ring coaxial with it is fixedly connected to the rear side of the gear ring through several connecting brackets. A limit ring groove is opened on the front side of the guide ring, and the roller rolls and is limitedly connected to the limit ring groove.

[0012] Preferably, the variable diameter mechanism includes mounting plates one, which are respectively disposed on the side of each mounting plate two near the central axis of the housing. A main support frame and a secondary support frame are hinged to each other on the side of the mounting plate one near the central axis of the housing, and the main support frame and the secondary support frame are parallel to each other. A connecting rod is fixedly connected to the middle of each main support frame and the secondary support frame. The sides of the main support frame and the secondary support frame away from the mounting plate one are respectively hinged to the outer wall of the housing. A push arm is hinged to the center of the connecting rod of the main support frame. The end of each push arm away from the connecting rod is hinged to a connecting seat. The connecting seat is fixedly connected to the output end of an electric push rod one. The electric push rod one is fixedly connected inside the housing. The electric push rod one is also electrically connected to a controller, and the controller is also electrically connected to a camera.

[0013] Preferably, the side wall of the housing has an opening corresponding to the position of each push arm.

[0014] Preferably, an electric push rod two is hinged to the side of the mounting base near the central axis of the housing, and the end of the electric push rod two away from the mounting base is hinged to the mounting plate two. The electric push rod two is electrically connected to the controller.

[0015] Preferably, the transparent cover is made of tempered glass.

[0016] Preferably, the thickness measuring instrument is an ultrasonic thickness gauge.

[0017] Preferably, an elastic element is provided between the first mounting plate and the second mounting plate. The elastic element includes a plurality of dampers fixedly connected between the first mounting plate and the second mounting plate, and springs are sleeved around the dampers.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. This invention sets up a traveling mechanism in which each traveling mechanism uses four sets of tracks to contact the inner wall of the pipe, effectively expanding the contact area. This ensures that the traveling mechanism can move smoothly and prevents insufficient contact area from causing the tracks to slip. At the same time, it can collect information and use a controller to change the angle between the front and rear sets of tracks and the mounting plate two one by one, so that the front and rear tracks can adapt to the two sections of the curved pipe, thereby ensuring that the robot can travel in pipes with different degrees of curvature.

[0020] 2. By setting up a diameter-changing mechanism, the present invention can simultaneously adjust the distance between the three sets of traveling mechanisms and the inner wall of the pipe through the push arm, thereby ensuring that the robot can move inside pipes of different diameters and further expanding the robot's applicable range. At the same time, the use of elastic components can ensure flexible contact between the tracks and the pipe wall, avoiding problems such as excessive diameter adjustment, tracks being too close to the pipe wall, or too little track, with some tracks not contacting the pipe wall, which would cause difficulties in robot movement.

[0021] 3. By setting up a surrounding component, the present invention can clean the surface of the transparent cover, preventing debris from sticking to the transparent cover and affecting the detection accuracy of the camera and thickness measuring instrument, thus ensuring that the robot can accurately complete the measurement work. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention;

[0023] Figure 2 This is a three-dimensional connection structure diagram of the transparent cover, cleaning brush, and surrounding assembly of the present invention;

[0024] Figure 3 This is a schematic diagram of the cross-section of the guide ring of the present invention and its connection structure with the pin and roller;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the box body of the present invention;

[0026] Figure 5 This is a side view of the variable diameter mechanism of the present invention.

[0027] Figure 6 For the present invention Figure 5 Enlarged structural diagram of region A in the middle;

[0028] Figure 7 This is a three-dimensional structural diagram of the traveling mechanism of the present invention;

[0029] In the picture:

[0030] 1. Housing; 11. Movable opening; 2. Transparent cover; 3. Cleaning brush; 31. Surrounding assembly; 311. Mounting rod; 312. Motor 1; 313. Gear; 314. Guide ring; 315. Gear ring; 316. Connecting frame; 317. Limiting ring groove; 318. Pin; 319. Roller; 4. Variable diameter mechanism; 41. Connecting rod; 42. Electric push rod 1; 43. Connecting seat; 44. Push arm; 45. Main support frame; 46. Mounting plate 1; 47. Secondary support frame; 5. Traveling mechanism; 51. Mounting plate 2; 52. Mounting seat; 53. Intermediate plate; 54. Track; 55. Driven roller; 56. Drive roller; 57. Motor 2; 6. Camera; 7. Fixed seat; 8. Thickness gauge; 9. Electric push rod 2; 10. Elastic element; 101. Spring; 102. Damper. Detailed Implementation

[0031] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0032] As attached Figure 1 To be continued Figure 7 As shown:

[0033] Example 1:

[0034] The present invention provides a variable diameter pipe wall thickness detection robot based on a swing arm track structure, including a box 1, the box 1 being hexagonal in shape, a fixed base 7 fixedly connected to the front end of the box 1, a camera 6 and a thickness detector 8 fixedly mounted at the front end of the fixed base 7, a transparent cover 2 being provided outside the camera 6 and the thickness detector 8, the transparent cover 2 being fixedly connected to the front end of the box 1, and an L-shaped cleaning brush 3 being provided outside the transparent cover 2 and closely attached to the outer wall of the transparent cover 2;

[0035] Three sets of traveling mechanisms 5 are equidistantly arranged on the outer circumference of the housing 1 to drive it to move inside the pipe. The traveling mechanism 5 includes a second mounting plate 51 symmetrically arranged front and rear. The center of the second mounting plate 51 is symmetrically hinged to a mounting seat 52. The middle part of the mounting seat 52 is fixedly connected to a middle plate 53. The front and rear ends of the middle plate 53 are symmetrically rotatably connected to driven rollers 55. The two driven rollers 55 distributed on the same side of the middle plate 53 are connected to a track 54 for transmission. The center of the middle plate 53 is rotatably connected to a drive roller 56. The drive roller 56 is driven by a second motor 57. The second motor 57 is fixedly connected to one side of the middle plate 53.

[0036] The cleaning brush 3 is equipped with a surrounding component 31 for driving it to rotate around the transparent cover 2;

[0037] A variable diameter mechanism 4 is provided between the three sets of traveling mechanisms 5 and the housing 1 to adjust the distance between them.

[0038] As can be seen from the above, the drive roller 56 is driven to rotate by the motor 57, and the drive roller 56 controls the rotation of the two driven rollers 55 through the track 54, thereby making the two tracks 54 on the same mounting base 52 run. By having multiple sets of tracks 54 closely contact the pipe wall and rotate in the same direction, the traveling mechanism 5 drives the robot to move forward as a whole.

[0039] See Figure 1 , Figure 2 and Figure 3 The surrounding assembly 31 includes an integrally fixed mounting rod 311 fixedly connected to the rear end of the cleaning brush 3. A gear 313 is rotatably connected to the rear side of the middle of the mounting rod 311. The gear 313 is driven to rotate by a motor 312, which is fixedly connected to the mounting rod 311. A gear ring 315 is meshed around the gear 313. The gear ring 315 is fixedly connected to the front end of the housing 1, and its central axis is collinear with the central axis of the housing 1. A pin 318 is rotatably connected to the end of the mounting rod 311 away from the cleaning brush 3. A roller 319 is fixedly connected to the outer end of the pin 318. A guide ring 314 coaxial with the gear ring 315 is fixedly connected to the rear side of the gear ring 315 through several connecting brackets 316. A limiting ring groove 317 is opened on the front side of the guide ring 314. The roller 319 rolls and is limitedly connected to the limiting ring groove 317.

[0040] As can be seen from the above, the operation of motor 312 controls the rotation of gear 313, which in turn drives the cleaning brush 3 to rotate around the surface of transparent cover 2 by rotating around gear ring 315. This achieves complete cleaning of debris on the outer surface of transparent cover 2. The meshing of gear 313 and gear ring 315, as well as the cooperation of roller 319 and limiting ring groove 317, restrict the degree of freedom of mounting rod 311, thereby radially locking the position of cleaning brush 3 and ensuring that the movement trajectory of cleaning brush 3 is always on the same circle.

[0041] See Figure 1 , Figure 2 and Figure 5The variable diameter mechanism 4 includes mounting plates 46 respectively located on the side of each mounting plate 51 near the central axis of the housing 1. A main support frame 45 and a secondary support frame 47 are hinged to each other on the side of the mounting plate 46 near the central axis of the housing 1, and are arranged in parallel. A connecting rod 41 is fixedly connected to the middle of both the main support frame 45 and the secondary support frame 47. The sides of the main support frame 45 and the secondary support frame 47 away from the mounting plate 46 are respectively hinged to the outer wall of the housing 1. A push arm 44 is hinged to the center of the connecting rod 41 of the main support frame 45. The ends of each push arm 44 away from the connecting rod 41 are hinged to a connecting seat 43. The connecting seat 43 is fixedly connected to the output end of an electric push rod 42. The electric push rod 42 is fixedly connected inside the housing 1. The electric push rod 42 is also electrically connected to a controller (not shown in the diagram), and the controller is also electrically connected to a camera 6.

[0042] As can be seen from the above, the electric push rod 42 controls the connecting seat 43 to drive each push arm 44 to change its front and rear position synchronously. The push arm 44 adjusts the angle of the main support frame 45. The main support frame 45 supports the mounting plate 46 in conjunction with the auxiliary support frame 47, thereby changing the radial distance between the mounting plate 46 and the box 1. This allows the track 54 to change diameter to adapt to pipes of different diameters. In actual use, the camera 6 scans the pipe in front and predicts the pipe diameter, which is then fed back to the controller. The controller controls the electric push rod 42 to extend and retract according to the pipe diameter to change the radial distance between the mounting plate 46 and the box 1.

[0043] See Figure 4 The side wall of the housing 1 has an opening 11 corresponding to the position of each push arm 44.

[0044] As can be seen from the above, the movable port 11 is set to facilitate the movement of the push arm 44 and avoid interference.

[0045] See Figure 5 An electric push rod 9 is hinged to the side of the mounting base 52 near the central axis of the housing 1. The end of the electric push rod 9 away from the mounting base 52 is hinged to the mounting plate 51. The electric push rod 9 is electrically connected to the controller.

[0046] As can be seen from the above, the camera 6 scans the pipe ahead and predicts the curvature of the bend, which is then fed back to the controller. The controller calculates in advance the adjustment angle of the front electric push rod 2 9 to the mounting base 52 based on the curvature. This causes the track 54 of the front mounting base 52 to continuously adjust to the calculated angle as it moves forward, until it is in contact with the lower half of the bend. This ensures that the traveling mechanism 5 maintains full contact with the pipe wall when passing through the bend, guaranteeing the smooth operation of the traveling mechanism 5. As it continues to move forward, the front track 54 remains in contact with the pipe wall, while the rear track 54 tends to move away from the pipe wall. The controller controls the rear electric push rod 2 9 to adjust the angle of the rear mounting base 52 until it has completely passed through the bend. Once the adjustment is complete, the front and rear mounting bases 52 are on the same horizontal plane.

[0047] See Figure 1 and Figure 2 The transparent cover 2 is made of tempered glass.

[0048] As can be seen from the above, the transparent cover 2 provides external protection for the camera 6 and the thickness measuring instrument 8, preventing residual fluid in the pipeline from corroding the camera 6 and the thickness measuring instrument 8.

[0049] See Figure 2 The thickness measuring instrument 8 is an ultrasonic thickness gauge.

[0050] As can be seen from the above, using an ultrasonic thickness gauge, the pipe wall thickness can be calculated by sending ultrasonic pulses to the pipe wall and then measuring the time it takes for them to reflect back.

[0051] Example 2:

[0052] This embodiment is basically the same as the previous embodiment, except that, see reference... Figure 6 An elastic element 10 is provided between the first mounting plate 46 and the second mounting plate 51. The elastic element 10 includes a plurality of dampers 102 fixedly connected between the first mounting plate 46 and the second mounting plate 51, and springs 101 are sleeved around the dampers 102.

[0053] As can be seen from the above, the elastic buffering function of spring 101 and damper 102, in conjunction with the flexible buffering of the contact between track 54 and pipe wall, avoids the problem of the traveling mechanism 5 being unable to move.

[0054] The accompanying drawings of the embodiments disclosed in this invention only involve structures relevant to the embodiments disclosed in this invention. Other structures can be referred to with common designs. Unless otherwise specified, the same embodiment and different embodiments of this invention can be combined with each other.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A variable-diameter pipe wall thickness detection robot based on a swing-arm track structure, comprising a housing (1), characterized in that: The box (1) is hexagonal in shape. A fixed base (7) is fixedly connected to the front end of the box (1). A camera (6) and a thickness detector (8) are fixedly installed at the front end of the fixed base (7). A transparent cover (2) is provided outside the camera (6) and the thickness detector (8). The transparent cover (2) is fixedly connected to the front end of the box (1). An L-shaped cleaning brush (3) is provided outside the transparent cover (2) and is close to the outer wall of the transparent cover (2). The outer circumference of the box (1) is equidistantly provided with three sets of traveling mechanisms (5) for driving it to move in the pipe. The traveling mechanism (5) includes a mounting plate two (51) symmetrically arranged in front and back. The center of the mounting plate two (51) is symmetrically hinged with a mounting seat (52). The middle part of the mounting seat (52) is fixedly connected with a middle plate (53). The front and rear ends of the middle plate (53) are symmetrically rotatably connected with driven rollers (55). The two driven rollers (55) distributed in front and back on the same side of the middle plate (53) are connected to a track (54) for transmission. The center of the middle plate (53) is rotatably connected with a drive roller (56). The drive roller (56) is driven by a motor two (57). The motor two (57) is fixedly connected to one side of the middle plate (53). The cleaning brush (3) is equipped with a surrounding component (31) for driving it to rotate around the transparent cover (2); A variable diameter mechanism (4) is provided between the three sets of traveling mechanisms (5) and the housing (1) to adjust the distance between them.

2. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: The surrounding assembly (31) includes an integrally fixed mounting rod (311) fixedly connected to the rear end of the cleaning brush (3). A gear (313) is rotatably connected to the rear side of the middle part of the mounting rod (311). The gear (313) is driven to rotate by a motor (312). The motor (312) is fixedly connected to the mounting rod (311). A gear ring (315) is meshed around the gear (313). The gear ring (315) is fixedly connected to the front end of the housing (1) and its central axis is collinear with the central axis of the housing (1).

3. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 2, characterized in that: The mounting rod (311) is rotatably connected to a pin (318) at the end away from the cleaning brush (3). A roller (319) is fixedly connected to the outer end of the pin (318). A guide ring (314) coaxial with the toothed ring (315) is fixedly connected to the rear side of the toothed ring (315) through several connecting brackets (316). A limiting ring groove (317) is opened on the front side of the guide ring (314). The roller (319) rolls and is limitedly connected to the limiting ring groove (317).

4. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: The variable diameter mechanism (4) includes mounting plates (46) respectively located on the side of each mounting plate (51) near the central axis of the housing (1). A main support frame (45) and a secondary support frame (47) are hinged to each mounting plate (46) on the side near the central axis of the housing (1). The main support frame (45) and the secondary support frame (47) are parallel to each other. A connecting rod (41) is fixedly connected to the middle of both the main support frame (45) and the secondary support frame (47). The side away from the mounting plate (46) is hinged to the outer wall of the housing (1). The connecting rod (41) of the main support frame (45) is hinged to the center of the push arm (44). The end of each push arm (44) away from the connecting rod (41) is hinged to the connecting seat (43). The connecting seat (43) is fixedly connected to the output end of the electric push rod (42). The electric push rod (42) is fixedly connected inside the housing (1). The electric push rod (42) is also electrically connected to the controller. The controller is also electrically connected to the camera (6).

5. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: The side wall of the housing (1) has an opening (11) corresponding to the position of each push arm (44).

6. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: The mounting base (52) is hinged to an electric push rod two (9) on the side near the central axis of the housing (1). The end of the electric push rod two (9) away from the mounting base (52) is hinged to the mounting plate two (51). The electric push rod two (9) is electrically connected to the controller.

7. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: The transparent cover (2) is made of tempered glass.

8. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: The thickness measuring instrument (8) is an ultrasonic thickness gauge.

9. The variable-diameter pipe wall thickness detection robot based on a swing-arm track structure as described in claim 1, characterized in that: An elastic element (10) is provided between the first mounting plate (46) and the second mounting plate (51). The elastic element (10) includes several dampers (102) fixedly connected between the first mounting plate (46) and the second mounting plate (51). A spring (101) is sleeved around the damper (102).

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