Pipeline inspection robot carrying miniaturized gas leakage detection module

Abstract

The pipeline inspection robot comprises a rectangular machine body, first clamping arms, second clamping arms and Mecanum wheels, an integrated control bin is arranged on one side of the rectangular machine body, the first clamping arms are rotationally installed at the two ends of the rectangular machine body correspondingly, and the second clamping arms are rotationally installed at the two ends of the rectangular machine body correspondingly; two second clamping arms are evenly and fixedly installed on one side of the rectangular machine body, Mecanum wheels are rotationally installed at the ends, away from the rectangular machine body, of the first clamping arms and the second clamping arms correspondingly, and a first thermal imaging camera and a second thermal imaging camera are fixedly installed on the two sides of the upper surface of the rectangular machine body correspondingly; according to the gas pipeline inspection device, through the overall arrangement, inspection can be conducted on a pipeline along the outer side of the gas pipeline, inspection can be conducted on the pipeline along the interior of the gas pipeline, meanwhile, inspection can be conducted on gas pipelines of various different specifications, and the inspection efficiency is improved. Therefore, the whole device is more convenient and flexible in the using process.

Description

Technical Field

[0001] This invention relates to the field of gas engineering technology, specifically to a pipeline inspection robot equipped with a miniaturized gas leak detection module. Background Technology

[0002] Gas pipelines are specialized pipeline systems used to transport combustible gases such as natural gas, manufactured gas, and liquefied petroleum gas. They safely and efficiently deliver gas from production sources or storage facilities to user terminals (such as homes, factories, and commercial premises), and are an important component of modern energy supply networks.

[0003] Gas pipelines that have been in use for a long time may rupture due to unforeseen factors such as corrosion, leading to gas leaks. If these leaks are not detected and repaired in time, they can pose a significant safety hazard.

[0004] To ensure the safety of gas pipelines, regular inspections are conducted, such as using robots to inspect the pipelines.

[0005] However, existing inspection robots are relatively limited in their application. They can only inspect either the inside of the pipe or the outside of the pipe, meaning they can only inspect specific pipes, which results in a certain degree of limitation.

[0006] Therefore, it is essential to invent a more flexible pipeline inspection robot device equipped with a miniaturized gas leak detection module. Summary of the Invention

[0007] The purpose of this invention is to provide a pipeline inspection robot equipped with a miniaturized gas leak detection module, in order to solve the problem that existing inspection robots are relatively simple in form during use, and can only inspect either the inside of the pipeline or the outside of the pipeline. In other words, they can only inspect specific pipelines, which results in certain limitations and singularity.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a pipeline inspection robot equipped with a miniaturized gas leak detection module, comprising a rectangular body, a first gripper arm, a second gripper arm, and Mecanum wheels, wherein: an integrated control compartment is provided on one side of the rectangular body, a first gripper arm is rotatably mounted on each end of the rectangular body, two second gripper arms are uniformly fixedly mounted on one side of the rectangular body, and Mecanum wheels are rotatably mounted on the ends of the first and second gripper arms away from the rectangular body, a thermal imaging camera one and a thermal imaging camera two are fixedly mounted on both sides of the upper surface of the rectangular body, and a gas sensor is fixedly mounted on the rectangular body and the first gripper arm;

[0009] Driven by the first and second clamping arms, the Mecanum wheels are evenly distributed on one side of the rectangular body to form a four-finger gripper. In the four-finger gripper state, they can clamp onto the outer surface of the gas pipe and move along the outer surface of the gas pipe.

[0010] Driven by the first and second clamping arms, the Mecanum wheels are evenly distributed on both sides of the rectangular body to form a four-wheeled cart shape, which can move on the inner surface of the gas pipeline in the four-wheeled cart state.

[0011] The gas detection system consisting of thermal imaging camera one, thermal imaging camera two, and gas sensor is fixedly installed inside the control compartment, and the thermal imaging camera one, thermal imaging camera two, and gas sensor are electrically connected to the gas detection system.

[0012] The first clamping arm includes a first adjusting arm, a second adjusting arm, and a third adjusting arm. One end of the first adjusting arm is fixedly connected to the output end of the corresponding joint motor. The other end of the first adjusting arm is rotatably connected to one end of the second adjusting arm via an electric joint. The other end of the second adjusting arm is rotatably connected to one end of the third adjusting arm via an electric joint. Gas sensors are fixedly installed on the second adjusting arm and the third adjusting arm.

[0013] The other end of the third adjusting arm is rotatably mounted with a Mecanum wheel;

[0014] The second clamping arm includes a fourth adjusting arm and an electric joint three. The fourth adjusting arm is rotatably connected to one side of the rectangular body via the electric joint three.

[0015] The rectangular body has a U-shaped notch at each end, and a joint motor is fixedly installed in each U-shaped notch. The output end of the joint motor is fixedly connected to one end of the first adjusting arm, and the first adjusting arm is rotatably connected to the U-shaped notch.

[0016] One end of the first adjusting arm is fixedly mounted with a rotating shaft four. One end of the rotating shaft four is fixedly connected to the output end of the corresponding joint motor one. The other end of the rotating shaft four is rotatably connected to the corresponding U-shaped notch one. The other end of the first adjusting arm is provided with a U-shaped notch two. The first adjusting arm is connected to the electric joint one through the U-shaped notch two.

[0017] The second adjusting arm has a U-shaped notch three at one end, and the second adjusting arm is connected to the electric joint one through the U-shaped notch three.

[0018] The electric joint includes a connecting rod, a second rotating shaft, a third rotating shaft, a second joint motor, and a third joint motor. The two ends of the connecting rod are respectively fixedly installed with the second rotating shaft and the third rotating shaft. One end of the second rotating shaft is fixedly connected to the output end of the second joint motor. The second joint motor is fixedly installed in the second U-shaped notch. The other end of the second rotating shaft is rotatably installed in the second U-shaped notch. One end of the third rotating shaft is fixedly connected to the output end of the third joint motor. The third joint motor is fixedly installed in the third U-shaped notch. The other end of the third rotating shaft is rotatably installed in the third U-shaped notch.

[0019] The third adjusting arm has a U-shaped notch four at one end, and the third adjusting arm is connected to the electric joint two through the U-shaped notch four. A U-shaped notch five is opened through one side of the third adjusting arm from top to bottom. A Mecanum wheel is rotatably installed in the U-shaped notch five, and the motor of the Mecanum wheel is fixedly installed in the U-shaped notch five.

[0020] The electric joint 2 includes a connecting block, a rotating shaft 5, and a joint motor 4. One end of the connecting block is fixedly connected to one end of the second adjusting arm, and the other end of the connecting block is fixedly installed with the rotating shaft 5. One end of the rotating shaft 5 is fixedly connected to the output end of the joint motor 4. The joint motor 4 is fixedly installed in the U-shaped notch 4, and the other end of the rotating shaft 5 is rotatably installed in the U-shaped notch 4.

[0021] One end of the fourth adjusting arm is provided with a U-shaped notch six, and the fourth adjusting arm is connected to the electric joint three through the U-shaped notch six. The other side of the fourth adjusting arm is provided with a U-shaped notch seven running from top to bottom. A Mecanum wheel is rotatably installed in the U-shaped notch seven, and the motor of the Mecanum wheel is fixedly installed in the U-shaped notch seven.

[0022] The electric joint three includes a joint motor five, a support block and a rotating shaft one. One end of the support block is fixedly connected to one side of the rectangular body, and the other end of the support block is fixedly connected to the circumference of the rotating shaft one. One end of the rotating shaft one is fixedly connected to the output end of the joint motor five. The joint motor five is fixedly installed in the U-shaped notch six, and the other end of the rotating shaft one is rotatably installed in the U-shaped notch six.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0024] This invention, through its overall design, enables inspection not only along the outside of the gas pipeline but also along its interior, and can inspect various gas pipelines of different specifications, making the overall process more convenient and flexible. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the first overall structural form of the present invention.

[0026] Figure 2 This is a schematic diagram of the second structural form of the present invention.

[0027] Figure 3 This is a schematic diagram of the overall structure of the present invention clamped to the outside of the gas pipeline.

[0028] Figure 4 This is a schematic diagram of the four-wheeled vehicle structure of the present invention.

[0029] Figure 5 This is a schematic diagram of the overall folding and storage structure of the present invention.

[0030] Figure 6 This is an exploded structural diagram of the present invention.

[0031] Figure 7 This is a schematic diagram of the first clamping arm structure of the present invention.

[0032] Figure 8 This is a schematic diagram of the second clamping arm structure of the present invention.

[0033] Figure 9 This is a schematic diagram of the gas detection system of the present invention.

[0034] In the picture:

[0035] 1. Rectangular body; 2. Control compartment; 3. Thermal imaging camera 1; 4. Thermal imaging camera 2; 5. First adjusting arm; 6. Rotating shaft 4; 7. U-shaped notch 2; 8. Joint motor 2; 9. Second adjusting arm; 10. U-shaped notch 6; 11. Joint motor 3; 12. Connecting block; 13. Rotating shaft 5; 14. Third adjusting arm; 15. U-shaped notch 4; 16. Joint motor 3; 17. U-shaped notch 7; 18. Mecanum wheel; 19. Gas sensor; 10. U-shaped notch 1; 11. Joint motor 1; 12. Support block; 13. Rotating shaft 1; 14. Connecting rod; 15. Rotating shaft 2; 16. Rotating shaft 3; 17. Gas pipeline; 18. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Implementation list:

[0038] As attached Figure 1-9 As shown

[0039] This invention provides a pipeline inspection robot equipped with a miniaturized gas leak detection module, comprising a rectangular body 1, a first gripper arm, a second gripper arm, and a Mecanum wheel 9. The rectangular body 1 has an integrated control compartment 2 on one side to provide the necessary installation space for the robot's control system and gas detection system. The first gripper arm is rotatably mounted at each end of the rectangular body 1, and two second gripper arms are evenly fixedly mounted on one side of the rectangular body 1. These gripper arms allow for adjustment of the position of the Mecanum wheel 9 and provision of the required clamping force, enabling the robot to inspect various gas pipelines of different specifications. Mecanum wheels 9 are rotatably mounted on the ends of the first and second clamping arms away from the rectangular body 1. The Mecanum wheels 9 make the whole unit more convenient and flexible during movement. Thermal imaging camera 3 and thermal imaging camera 4 are fixedly mounted on both sides of the upper surface of the rectangular body 1, respectively. Due to the combustion or diffusion of the leaked gas after mixing with air, the temperature around the pipeline is abnormal. The temperature change is captured by the infrared thermal imager to locate the leak point. Gas sensors 10 are fixedly mounted on the rectangular body 1 and the first clamping arm.

[0040] Furthermore, the motors of joint motor 2 53, joint motor 3 62, joint motor 4 72, joint motor 5 82, joint motor 1 12, and Mecanum wheel 9 are electrically connected to the control system of the robot inside the control compartment 2.

[0041] Specifically, the gas sensor 10 employs existing technologies, such as infrared spectroscopy sensors, to achieve highly selective detection by analyzing the absorption characteristics of gas molecules to infrared light of specific wavelengths. It has strong anti-interference capabilities and is suitable for complex environments.

[0042] Furthermore, the gas detection system consisting of thermal imaging camera 3, thermal imaging camera 4, and gas sensor 10 is fixedly installed inside the control compartment 2, and the thermal imaging camera 3, thermal imaging camera 4, and gas sensor 10 are electrically connected to the gas detection system.

[0043] Specifically, the gas detection system consists of three parts: a signal processing and conversion unit, a data transmission and communication unit, and a power management unit. Some highly integrated modules also integrate microprocessors and algorithm units to achieve localized intelligent analysis. The following is a detailed analysis of the components and their functions:

[0044] I. Sensor Unit: Core Detection Component

[0045] The sensor is the core of the detection module, responsible for directly sensing changes in gas concentration or pipeline pressure. Its performance directly affects detection accuracy and response speed. Common types include:

[0046] Electrochemical sensors: These sensors generate an electric current through a chemical reaction between a fuel gas and an electrolyte. The magnitude of the current is directly proportional to the concentration of the fuel gas. They are suitable for detecting gases such as methane and carbon monoxide, and exhibit high selectivity and sensitivity.

[0047] Catalytic combustion sensors: These sensors detect combustible gases (such as methane and propane) by utilizing the heat generated during combustion of fuel gas in the presence of a catalyst to change its resistance. They offer fast response times.

[0048] Infrared spectral sensor: Achieves highly selective detection by analyzing the absorption characteristics of gas molecules to specific wavelengths of infrared light. It has strong anti-interference capabilities and is suitable for complex environments.

[0049] Semiconductor sensors: These sensors utilize thick-film or planar processes to detect gas concentration by altering the conductivity of the semiconductor material through gas adsorption. They are small in size and low in cost.

[0050] Pressure sensors monitor pressure changes within pipelines and, combined with negative pressure wave or mass balance methods, indirectly deduce the location of leaks. Suitable for real-time monitoring of long-distance pipelines.

[0051] Application examples:

[0052] Bomingwei's pipeline inspection robot is equipped with a laser methane sensor with a detection sensitivity of 0.1ppm, which can locate minute leaks in real time.

[0053] Foshan Gas Technology's miniature leak detection drone system uses a laser methane detector, which emits a laser beam to penetrate glass and detect indoor gas concentration, with a response time of less than 30 seconds.

[0054] II. Signal Processing and Conversion Unit: Enhancing Data Reliability

[0055] The raw signals output by the sensor (such as changes in current and resistance) need to be amplified, filtered, and converted from analog to digital before they can be processed by subsequent units. Key components include:

[0056] Signal amplifier: Amplifies weak signals and improves the signal-to-noise ratio. For example, the negative pressure wave signal caused by a gas pipeline leak is very weak and needs to be enhanced by a preamplifier.

[0057] Filtering module: Removes out-of-band noise and extracts useful signals. For example, a bandpass filter is used to eliminate 50Hz power frequency interference and ensure signal stability.

[0058] Analog-to-digital converters (ADCs) convert analog signals into digital signals for easier processing by microprocessors. For example, a 16-bit ADC can provide 65,536 levels of resolution, meeting the requirements for high-precision detection.

[0059] Application examples:

[0060] The Schroder pipeline inspection robot uses a 24-bit ADC combined with a digital filtering algorithm to achieve a measurement accuracy of 0.01%FS.

[0061] The intelligent monitoring system deployed by the Yilong Gas Transmission Operation Area of ​​China National Petroleum Corporation's Southwest Oil and Gas Field Company converts sensor data into standard 4-20mA signals through a signal processing module, facilitating remote transmission.

[0062] III. Data Transmission and Communication Unit: Enables Real-time Monitoring

[0063] The detection module needs to transmit the processed data to a control terminal or cloud platform to support remote monitoring and decision-making. Common communication methods include:

[0064] Wireless communication: such as Wi-Fi, Bluetooth, Zigbee, LoRa, etc., suitable for short-range or low-power scenarios. For example, the ZP14 gas detection module supports serial port gas concentration transmission and can connect to a mobile APP via Bluetooth.

[0065] Wired communication, such as RS485 and CAN bus, is suitable for long-distance transmission in industrial environments. For example, a smart gas meter connects to the control module via an RS485 interface to achieve real-time data upload.

[0066] IoT communication: such as NB-IoT and Cat.1, supports wide-area coverage and low-power transmission. For example, the NB-IoT module launched by Meig Smart enables remote meter reading and valve control of gas meters.

[0067] Application examples:

[0068] The pipeline inspection robot used by the Beijing Boiler Inspection Center transmits inspection data to the control center in real time via a 5G network with a latency of less than 100ms.

[0069] The smart gas meter terminal launched by Asia-Pacific IoT uses LoRa communication technology to achieve data transmission within a 10-kilometer range, and has a battery life of more than 5 years.

[0070] IV. Power Management Unit: Ensuring Long-Term Stable Operation

[0071] The testing module needs to be equipped with high-efficiency power management circuitry to extend battery life and adapt to complex environments. Key design features include:

[0072] Low-power design: Employs intermittent operating mode to reduce standby power consumption. For example, the ZP14 module has an operating current of <80mA and supports a 5-year expected lifespan.

[0073] Wide voltage input: adaptable to different power supply scenarios, such as DC 3-5V or AC 220V. For example, the explosion-proof wheeled inspection robot is powered by a 24V lithium battery and supports 8 hours of continuous operation.

[0074] Power protection: This includes overvoltage, overcurrent, and reverse connection protection to ensure safe module operation. For example, the gas micro-leak detector uses epoxy resin potting to encapsulate the measurement module to prevent power short circuits.

[0075] Application examples:

[0076] The Rongjiang pipeline inspection robot is equipped with a supercapacitor, supporting 30-second fast charging and 1 hour of continuous inspection.

[0077] The Foshan Gas Technology miniature leak detection drone system features a lightweight design of 980 grams, is equipped with a high-density lithium battery, and has a single flight time of up to 30 minutes.

[0078] V. Microprocessor and Algorithm Unit (Optional): Enables Intelligent Analysis

[0079] Some highly integrated detection modules incorporate microprocessors to run algorithms for localized intelligent analysis, reducing data transmission volume and improving response speed. Functions include:

[0080] Data preprocessing: such as smoothing filtering and outlier removal, to improve data quality.

[0081] Leak detection algorithm: Combines sensor data and environmental parameters to determine whether a leak has occurred. For example, threshold comparison methods or machine learning models can be used to identify minute leaks.

[0082] Self-diagnostic function: Monitors the module's own status, such as sensor lifespan and communication failures, and issues timely alarms.

[0083] Application examples:

[0084] The Shengse SM01-CH4A methane module has a built-in STM32 microprocessor that runs a PID control algorithm to achieve real-time monitoring and alarm of gas concentration.

[0085] The smart gas meter uses a built-in NB-IoT module to run an anomaly detection algorithm, identify abnormal gas usage behavior (such as nighttime gas use or prolonged gas use), and automatically shut off the valve.

[0086] Furthermore, the first clamping arm includes a first adjusting arm 5, a second adjusting arm 6, and a third adjusting arm 7. One end of the first adjusting arm 5 is fixedly connected to the output end of the corresponding joint motor 12. The other end of the first adjusting arm 5 is rotatably connected to one end of the second adjusting arm 6 through an electric joint 1. The other end of the second adjusting arm 6 is rotatably connected to one end of the third adjusting arm 7 through an electric joint 2. With this structure, each adjusting arm can rotate independently, thus providing more adjustment angles and greater flexibility when adjusting the position of the Mecanum wheel, in order to adapt to the inspection of various gas pipelines of different specifications. Gas sensors 10 are fixedly installed on the second adjusting arm 6 and the third adjusting arm 7.

[0087] Furthermore, a Mecanum wheel 9 is rotatably mounted on the other end of the third adjusting arm 7;

[0088] Furthermore, the second clamping arm includes a fourth adjusting arm 8 and an electric joint three. The fourth adjusting arm 8 is rotatably connected to one side of the rectangular body 1 via the electric joint three. By setting the electric joint three, the angle between the fourth adjusting arm 8 and one side of the rectangular body 1 can be adjusted to adapt to the inspection of various gas pipelines of different specifications.

[0089] Furthermore, each end of the rectangular body 1 has a U-shaped notch 11, and each U-shaped notch 11 is fixedly installed with a joint motor 12. The output end of the joint motor 12 is fixedly connected to one end of the corresponding first adjusting arm 5. The first adjusting arm 5 is rotatably connected to the U-shaped notch 11. Through the arrangement of the U-shaped notch 11 and the joint motor 12, the first clamping arm can be driven to rotate 180 degrees around the U-shaped notch 11.

[0090] Furthermore, a rotating shaft 51 is fixedly installed at one end of the first adjusting arm 5. The setting of the rotating shaft 51 can ensure the stability between the first adjusting arm 5 and the joint motor 12 and the U-shaped notch 11, as well as the smoothness of the rotation process. One end of the rotating shaft 51 is fixedly connected to the output end of the corresponding joint motor 12, and the other end of the rotating shaft 51 is rotatably connected to the corresponding U-shaped notch 11. The other end of the first adjusting arm 5 is provided with a U-shaped notch 52. The first adjusting arm 5 is connected to the electric joint 1 through the U-shaped notch 52, so as to provide connection space and rotation space for the electric joint 1 through the U-shaped notch 52.

[0091] Furthermore, a U-shaped notch 361 is provided at one end of the second adjusting arm 6. The second adjusting arm 6 is connected to the electric joint 1 through the U-shaped notch 361 so as to provide connection space and rotation space for the electric joint 1 through the U-shaped notch 361.

[0092] Furthermore, the electric joint includes a connecting rod 15, a second rotating shaft 16, a third rotating shaft 17, a second joint motor 53, and a third joint motor 62. The two ends of the connecting rod 15 are respectively fixedly installed with the second rotating shaft 16 and the third rotating shaft 17. One end of the second rotating shaft 16 is fixedly connected to the output end of the second joint motor 53, which is fixedly installed in the second U-shaped notch 52. The other end of the second rotating shaft 16 is rotatably installed in the second U-shaped notch 52. One end of the third rotating shaft 17 is fixedly connected to the output end of the third joint motor 62, which is fixedly installed in the third U-shaped notch 61. The other end of the third rotating shaft 17 is rotatably installed in the third U-shaped notch 61. Through the setting of the electric joint, the angle between the first adjusting arm 5 and the second adjusting arm 6 can be adjusted independently.

[0093] Furthermore, a U-shaped notch 4 71 is provided at one end of the third adjusting arm 7. The third adjusting arm 7 is connected to the electric joint 2 through the U-shaped notch 4 71. A U-shaped notch 5 73 is provided through one side of the third adjusting arm 7 from top to bottom to provide the necessary installation space for the Mecanum wheel 9. The Mecanum wheel 9 is rotatably installed in the U-shaped notch 5 73. The outer ring of the Mecanum wheel 9 protrudes from the U-shaped notch 5 73 to contact the gas pipe 18. The motor of the Mecanum wheel 9 is fixedly installed in the U-shaped notch 5 73.

[0094] Furthermore, the electric joint 2 includes a connecting block 63, a rotating shaft 64, and a joint motor 72. One end of the connecting block 63 is fixedly connected to one end of the second adjusting arm 6, and the other end of the connecting block 63 is fixedly mounted with the rotating shaft 64. One end of the rotating shaft 64 is fixedly connected to the output end of the joint motor 72. The joint motor 72 is fixedly installed in the U-shaped notch 71, and the other end of the rotating shaft 64 is rotatably installed in the U-shaped notch 71. Through the setting of the electric joint 2, the angle between the second adjusting arm 6 and the third adjusting arm 7 can be adjusted independently.

[0095] Furthermore, a U-shaped notch 681 is provided at one end of the fourth adjusting arm 8. Theoretically, the fourth adjusting arm 8 can rotate 180 degrees through the U-shaped notch 681. However, due to the Mecanum wheel 9, the rotation range of the fourth adjusting arm 8 is reduced. The fourth adjusting arm 8 is connected to the electric joint 3 through the U-shaped notch 681. A U-shaped notch 783 is provided on the other side of the fourth adjusting arm 8 from top to bottom to provide the necessary installation space for the Mecanum wheel 9. The Mecanum wheel 9 is rotatably installed in the U-shaped notch 783. The outer ring of the Mecanum wheel 9 protrudes from the U-shaped notch 783 to contact the gas pipe 18. The motor of the Mecanum wheel 9 is fixedly installed in the U-shaped notch 783.

[0096] Furthermore, the electric joint three includes a joint motor five 82, a support block 13, and a rotating shaft one 14. One end of the support block 13 is fixedly connected to one side of the rectangular body 1, and the other end of the support block 13 is fixedly connected to the circumference of the rotating shaft one 14. One end of the rotating shaft one 14 is fixedly connected to the output end of the joint motor five 82. The joint motor five 82 is fixedly installed in the U-shaped notch six 81, and the other end of the rotating shaft one 14 is rotatably installed in the U-shaped notch six 81. Through the setting of the electric joint three, the stability between the fourth adjusting arm 8 and the rectangular body 1 can be guaranteed.

[0097] In this embodiment, when it is necessary to inspect along the outer surface of the gas pipeline 18, the position of the Mecanum wheel 9 is adjusted by the first and second clamping arms to make it... Figure 2 , Figure 3 The Mecanum wheel 9 is evenly distributed on the outer surface of the gas pipeline 18, in contact with the outer surface of the gas pipeline 18, and clamped on the outer surface of the gas pipeline 18 by the first clamping arm and the second clamping arm. Under the action of the Mecanum wheel 9, it can move along the outer surface of the gas pipeline 18, and the leak points of the gas pipeline 18 can be inspected by thermal imaging camera 1 3, thermal imaging camera 2 4 and gas sensor 10.

[0098] When it is necessary to inspect the inner surface of the gas pipeline 18, the position of the Mecanum wheel 9 is adjusted by the first and second clamping arms to form a four-wheeled cart shape, such as... Figure 4 As shown, the Mecanum wheel 9 can move and inspect along the inner surface of the gas pipeline 18. When cracks appear in a part of the gas pipeline 18, they can be detected by thermal imaging camera 3 and thermal imaging camera 4.

[0099] All components used in this application are standard parts, and the specific connection methods of each part adopt conventional methods such as threads, bolts, and nesting that are mature in the prior art. All structures use conventional materials in the prior art, and will not be described in detail here.

[0100] In summary, this pipeline inspection robot equipped with a miniaturized gas leak detection module, through its overall design, can not only inspect the outside of the gas pipeline but also inspect the inside of the gas pipeline. It can also inspect gas pipelines of various specifications, making it more convenient and flexible in use.

[0101] 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 pipeline inspection robot equipped with a miniaturized gas leak detection module, characterized in that: The rectangular body (1), first clamping arm, second clamping arm, and Mecanum wheel (9) are provided. The rectangular body (1) has an integrated control compartment (2) on one side. The first clamping arm is rotatably installed at both ends of the rectangular body (1). Two second clamping arms are evenly fixedly installed on one side of the rectangular body (1). Mecanum wheel (9) is rotatably installed at the ends of the first and second clamping arms away from the rectangular body (1). Thermal imaging camera 1 (3) and thermal imaging camera 2 (4) are fixedly installed on both sides of the upper surface of the rectangular body (1). Gas sensor (10) is fixedly installed on the rectangular body (1) and the first clamping arm. The Mecanum wheel (9) can be evenly distributed on one side of the rectangular body (1) under the drive of the first and second clamping arms to form a four-finger gripper. In the four-finger gripper state, it can clamp on the outer surface of the gas pipe (18) and move along the outer surface of the gas pipe (18). The Mecanum wheel (9) can be evenly distributed on both sides of the rectangular body (1) to form a four-wheeled cart shape under the drive of the first and second clamping arms. In the four-wheeled cart state, it can move on the inner surface of the gas pipeline (18). The gas detection system of the thermal imaging camera (3), thermal imaging camera (4) and gas sensor (10) is fixedly installed inside the control compartment (2), and the thermal imaging camera (3), thermal imaging camera (4) and gas sensor (10) are electrically connected to the gas detection system. The first clamping arm includes a first adjusting arm (5), a second adjusting arm (6) and a third adjusting arm (7). One end of the first adjusting arm (5) is fixedly connected to the output end of the corresponding joint motor (12). The other end of the first adjusting arm (5) is rotatably connected to one end of the second adjusting arm (6) through an electric joint. The other end of the second adjusting arm (6) is rotatably connected to one end of the third adjusting arm (7) through an electric joint. Gas sensors (10) are fixedly installed on the second adjusting arm (6) and the third adjusting arm (7). The other end of the third adjusting arm (7) is rotatably mounted with a Mecanum wheel (9); The second clamping arm includes a fourth adjusting arm (8) and an electric joint three. The fourth adjusting arm (8) is rotatably connected to one side of the rectangular body (1) via the electric joint three.

2. The pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 1, characterized in that: The rectangular body (1) has a U-shaped notch (11) at each end. A joint motor (12) is fixedly installed in each U-shaped notch (11). The output end of the joint motor (12) is fixedly connected to one end of the corresponding first adjusting arm (5). The first adjusting arm (5) is rotatably connected to the U-shaped notch (11).

3. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 2, characterized in that: One end of the first adjusting arm (5) is fixedly mounted with a rotating shaft four (51). One end of the rotating shaft four (51) is fixedly connected to the output end of the corresponding joint motor one (12). The other end of the rotating shaft four (51) is rotatably connected to the corresponding U-shaped notch one (11). The other end of the first adjusting arm (5) is provided with a U-shaped notch two (52). The first adjusting arm (5) is connected to the electric joint one through the U-shaped notch two (52).

4. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 3, characterized in that: The second adjusting arm (6) has a U-shaped notch three (61) at one end, and the second adjusting arm (6) is connected to the electric joint one through the U-shaped notch three (61).

5. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 4, characterized in that: The electric joint includes a connecting rod (15), a second rotating shaft (16), a third rotating shaft (17), a second joint motor (53), and a third joint motor (62). The two ends of the connecting rod (15) are respectively fixedly installed with the second rotating shaft (16) and the third rotating shaft (17). One end of the second rotating shaft (16) is fixedly connected to the output end of the second joint motor (53). The second joint motor (53) is fixedly installed in the second U-shaped notch (52). The other end of the second rotating shaft (16) is rotatably installed in the second U-shaped notch (52). One end of the third rotating shaft (17) is fixedly connected to the output end of the third joint motor (62). The third joint motor (62) is fixedly installed in the third U-shaped notch (61). The other end of the third rotating shaft (17) is rotatably installed in the third U-shaped notch (61).

6. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 1, characterized in that: The third adjusting arm (7) has a U-shaped notch four (71) at one end. The third adjusting arm (7) is connected to the electric joint two through the U-shaped notch four (71). A U-shaped notch five (73) is provided through one side of the third adjusting arm (7) from top to bottom. A Mecanum wheel (9) is rotatably installed in the U-shaped notch five (73). The motor of the Mecanum wheel (9) is fixedly installed in the U-shaped notch five (73).

7. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 6, characterized in that: The electric joint includes a connecting block (63), a rotating shaft five (64), and a joint motor four (72). One end of the connecting block (63) is fixedly connected to one end of the second adjusting arm (6). The other end of the connecting block (63) is fixedly installed with the rotating shaft five (64). One end of the rotating shaft five (64) is fixedly connected to the output end of the joint motor four (72). The joint motor four (72) is fixedly installed in the U-shaped notch four (71). The other end of the rotating shaft five (64) is rotatably installed in the U-shaped notch four (71).

8. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 1, characterized in that: The fourth adjusting arm (8) has a U-shaped notch six (81) at one end, and the fourth adjusting arm (8) is connected to the electric joint three through the U-shaped notch six (81). The other side of the fourth adjusting arm (8) has a U-shaped notch seven (83) extending from top to bottom. A Mecanum wheel (9) is rotatably installed in the U-shaped notch seven (83), and the motor of the Mecanum wheel (9) is fixedly installed in the U-shaped notch seven (83).

9. A pipeline inspection robot equipped with a miniaturized gas leak detection module as described in claim 8, characterized in that: The electric joint three includes a joint motor five (82), a support block (13) and a rotating shaft one (14). One end of the support block (13) is fixedly connected to one side of the rectangular body (1), and the other end of the support block (13) is fixedly connected to the circumference of the rotating shaft one (14). One end of the rotating shaft one (14) is fixedly connected to the output end of the joint motor five (82). The joint motor five (82) is fixedly installed in the U-shaped notch six (81), and the other end of the rotating shaft one (14) is rotatably installed in the U-shaped notch six (81).

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