A track type pipeline inspection robot with adjustable body height

Abstract

The present application relates to the technical fields of pipeline robot protection, in particular to a track type pipeline detection robot with adjustable vehicle body height, which comprises a pipeline robot, and the tracks on both sides of the pipeline robot are connected with the bottom plate inside the pipeline robot; the beneficial effects are as follows: only the protective plate I above the track and the lateral protective plate II need to be leveled to quickly determine the pipe diameter, and the fixed rod on the protective plate II rotates on the rotating shaft, so that the other end of the fixed rod is fixed in the upper insertion hole by the latch, thereby fixing the protective plate II; at this time, the outermost side of the protective plate II is wider than the entire detection robot, so that the width of the pipeline can be detected, and corresponding measures can be taken; if the pipeline diameter is small, the protective plate II is pushed to drive the connecting plate to slide inward, and the bottom plate connected by the connecting plate also shrinks synchronously, so that the track shrinks correspondingly to adapt to the smaller pipe diameter, thereby greatly improving the passability and versatility of the equipment.

Description

Technical Field

[0001] This invention relates to the field of pipeline robot protection technology, specifically to a tracked pipeline inspection robot with adjustable body height. Background Technology

[0002] Pipeline inspection robots are mainly used for internal inspection of municipal water supply and drainage pipelines, industrial pipe corridors, underground integrated pipelines, and other similar environments. Because these spaces are generally narrow, slippery, and cluttered, the inspection robots not only need good maneuverability but also need to maintain a stable posture and continuous forward movement under different pipe diameters, slopes, and obstacle conditions. Therefore, adjustable vehicle height, adaptable tracks, and self-protection capabilities are gradually becoming key areas of focus for industry development.

[0003] In existing technologies, it is necessary to rely on manual measurement or additional measuring devices to detect the pipe diameter. The spacing between the tracks is actively contracted or expanded according to different pipe diameters, which can easily lead to jamming, increased friction, or even inability to enter smaller pipes, thus limiting the versatility and adaptability of the equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a tracked pipeline inspection robot with adjustable vehicle height to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pipeline robot, wherein the tracks on both sides of the pipeline robot are ultimately connected to the bottom plate inside the pipeline robot, the pipeline robot has a first slide groove and a second slide groove, the rollers on both sides of the bottom plate roll in the first slide groove on both sides, a connecting plate is fixed on the upper surface of the bottom plate, the rollers on both sides of the connecting plate roll in the second slide groove on both sides, and the outer end of the connecting plate is protected by a protective structure to protect the tracks.

[0006] Preferably, the bottom plate is provided in two sets, and the two sets of bottom plates are located on the inner side of the track respectively.

[0007] Preferably, both slide 1 and slide 2 are provided in two sets, with slide 1 located directly below slide 2, and both sets of slide 1 and slide 2 located on the inner wall of the pipeline robot.

[0008] Preferably, one side of the connecting plate is located inside the pipeline robot, and the other side of the connecting plate is located outside the pipeline robot.

[0009] Preferably, a positioning plate one is fixed on the side surface of the connecting plate on the left, and a positioning plate two is fixed on the side surface of the connecting plate on the right. Positioning plate one and positioning plate two face each other. The size of positioning plate one is smaller than the size of positioning plate two. Positioning plate one slides inside positioning plate two. Both positioning plate one and positioning plate two have through holes on their surfaces, and the number, size and spacing of the through holes in positioning plate one and positioning plate two are the same.

[0010] Preferably, the through holes on the surfaces of the first positioning plate and the second positioning plate are fixed by a positioning rod, and one end of the positioning rod is located on the outside of the pipeline robot. A support frame is fixed on the inner bottom surface of the pipeline robot. The top of the support frame has a "U"-shaped structure, and the "U"-shaped groove of the support frame supports the positioning rod.

[0011] Preferably, the protective structure includes a first protective plate, a second protective plate, a hinge, a pivot, and a fixing plate. The first protective plate is fixed to the outside of the connecting plate and is located directly above the track. The second protective plate is connected to the outside of the first protective plate via a hinge. When protecting the track, the second protective plate is located to the side of the track. Both the first and second protective plates are provided in two sets, with each set corresponding to a track. The pivot is fixed to the side of the second protective plate, and there are two sets of pivots. One end of the fixing plate rotates to the outside of the pivot, and the fixing plate is located above the track. There are two sets of fixing plates, and each set of pivots corresponds to a fixing plate. Each set of pivots has two pivots, and the two pivots are fixed to the front and rear sides of the second protective plate. The fixing plate is located to the front and rear sides of the first protective plate, and the other end of the fixing plate is fixed by a locking structure.

[0012] Preferably, the surface of the fixing plate has a groove, a placement frame is installed in the groove, the placement frame contains a rubber pad, the rubber pad is located on the outside of the fixing plate, and the fixing plate and the rubber pad correspond one-to-one, and the fixing plate is fixed by a fixing pin.

[0013] Preferably, the locking structure includes a vertical plate, a pin, and a socket. The vertical plate is fixed to the upper surface of the pipeline robot. The upper end of the vertical plate has a "U"-shaped structure. The socket is opened on the surface of the vertical plate and extends through the U-shaped groove. There are two sets of sockets, and the two sets of sockets are arranged vertically. The other end of the fixing plate is placed in the U-shaped groove of the vertical plate. The pin is inserted into the socket and extends through the socket to be inserted into the surface of the fixing plate.

[0014] Compared with the prior art, the beneficial effects of the present invention are: The tracked pipeline inspection robot with adjustable vehicle height proposed in this invention can quickly determine the pipe diameter simply by aligning the first protective plate above the track with the second side protective plate. The fixing rod on the second protective plate rotates on a pivot, fixing the other end of the fixing rod in a pin hole, thus securing the second protective plate. Since the outermost part of the second protective plate is larger than the overall width of the inspection robot, it can detect the width of the pipe and take appropriate measures. If the pipe diameter is small, pushing the second protective plate causes the connecting plate to slide inward, and the base plate connected to the connecting plate will also retract synchronously, causing the track to retract accordingly to accommodate smaller pipe diameters, thus significantly improving the equipment's passability and versatility. When the pipeline inspection robot enters a pipe, the first and second protective plates are perpendicular, better protecting the track. Furthermore, the fixing rods on the sides of the second protective plate and the rubber pads embedded inside them buffer against large stones on the track, and when they come into contact with the rubber pads, they provide cushioning, protecting the fixing rods and preventing hard impacts. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 For the present invention Figure 1 Schematic diagram of the cross-sectional structure along the middle AA direction; Figure 3 For the present invention Figure 1 Schematic diagram of the cross-sectional structure in the middle BB direction; Figure 4 This is a schematic diagram of the structure of the present invention in the state of measuring pipe diameter; Figure 5 This is a schematic diagram of the track spacing adjustment structure of the present invention.

[0016] In the diagram: 1. Pipeline robot; 2. Slide 1; 3. Slide 2; 4. Base plate; 5. Connecting plate; 6. Protective plate 1; 7. Protective plate 2; 8. Hinge; 9. Shaft; 10. Fixing plate; 11. Vertical plate; 12. Pin; 13. Insertion hole; 14. Positioning plate 1; 15. Positioning plate 2; 16. Positioning rod; 17. Support frame; 18. Rubber pad. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the present invention clear and complete, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only some, not all, embodiments of the present invention, and are merely illustrative of the embodiments of the present invention. They are not intended to limit 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.

[0018] Please refer to Example 1 Figures 1 to 5 The present invention provides a technical solution: a tracked pipeline inspection robot with adjustable body height, wherein the body height is the vertical height of the tracked pipeline inspection robot, including a pipeline robot 1, the tracks on both sides of the pipeline robot 1 are finally connected to the bottom plate 4 inside the pipeline robot 1, the bottom plate 4 is provided in two sets, and the two sets of bottom plates 4 are respectively located inside the tracks. Specifically, the pipeline inspection robot consists of a body frame, a flexible execution module, an integrated imaging unit, and a collaborative drive and communication system. While the drive system continuously provides stable propulsion, the flexible execution module can automatically conform to the curvature of the pipeline wall and move forward, keeping the robot in a relatively centered position. The imaging unit acquires data of the surrounding environment in real time during the movement, and this data is synchronously transmitted back through the communication system, enabling the robot to maintain the coordination of position, speed and image acquisition in a confined space, thereby achieving continuous, stable and targeted pipeline internal inspection.

[0019] In Example 2, based on Example 1, to fix the base plate 4 to the connecting plate 5, a sliding groove 2 and a sliding groove 3 are provided inside the pipeline robot 1. Two sets of sliding grooves 2 and 3 are provided, with sliding groove 2 located directly below sliding groove 3. Both sets of sliding grooves 2 and 3 are located on the inner wall of the pipeline robot 1. The rollers on both sides of the base plate 4 roll within the sliding grooves 2 on both sides. A connecting plate 5 is fixed to the upper surface of the base plate 4. One side of the connecting plate 5 is inside the pipeline robot 1, and the other side is outside the pipeline robot 1. The rollers on both sides of the connecting plate 5 roll within the sliding grooves 3 on both sides. A positioning plate 14 is fixed to the side surface of the left connecting plate 5, and the right connecting plate... Positioning plate 2 15 is fixed on the side surface of 5. Positioning plate 14 faces positioning plate 2 15. The size of positioning plate 14 is smaller than that of positioning plate 2 15. Positioning plate 14 slides inside positioning plate 2 15. Both positioning plate 14 and positioning plate 2 15 have through holes on their surfaces. The number, size and spacing of the through holes of positioning plate 14 and positioning plate 2 15 are the same. The through holes on the surfaces of positioning plate 14 and positioning plate 2 15 are fixed by positioning rod 16. One end of positioning rod 16 is located on the outside of pipe robot 1. Support frame 17 is fixed on the inner bottom surface of pipe robot 1. The top of support frame 17 has a "U" shaped structure. The "U" shaped groove of support frame 17 supports positioning rod 16. Specifically, when moving the base plates 4 and connecting plates 5 on both sides, the positioning rod 16 needs to be pulled out. The positioning rod 16 will be placed in the U-shaped groove of the support frame 17. When the connecting plates 5 on both sides are pushed inward or outward, the positioning plate 14 and the positioning plate 2 15 will also move accordingly. The positioning plate 14 slides in the positioning plate 2 15. When it slides to the desired position, the positioning rod 16 is inserted into the through hole, thereby fixing the positioning plate 14 and the positioning plate 2 15, preventing the base plates 4 and connecting plates 5 from sliding at will, and facilitating the normal movement of the pipeline inspection robot in the pipeline.

[0020] In Example 3, based on Example 2, to achieve track protection, a protective structure is proposed to protect the track at the outer end of the connecting plate 5. The protective structure includes a first protective plate 6, a second protective plate 7, a hinge 8, a rotating shaft 9, and a fixing plate 10. The first protective plate 6 is fixed to the outside of the connecting plate 5, directly above the track. The second protective plate 7 is connected to the outside of the first protective plate 6 via the hinge 8. When protecting the track, the second protective plate 7 is located to the side of the track. Both the first and second protective plates 6 and 7 have two sets, corresponding one-to-one with the track. The rotating shaft 9 is fixed to the side of the second protective plate 7, and there are two sets of rotating shafts 9. One end of the fixing plate 10 rotates to the outside of the rotating shaft 9, and the fixing plate 10 is located above the track. There are two sets of fixing plates 10, and each set has two rotating shafts 9, which are fixed to the protective plate. The front and rear sides of the second 7, the fixing plate 10 is located on the front and rear sides of the first 6 of the protective plate, and the other end of the fixing plate 10 is fixed by the locking structure. The surface of the fixing plate 10 has a groove, and a placement frame is installed in the groove. The placement frame contains a rubber pad 18. The rubber pad 18 is located on the outside of the fixing plate 10, and the fixing plate 10 and the rubber pad 18 correspond one-to-one. The fixing plate 10 is fixed by a fixing pin. The locking structure includes a vertical plate 11, a pin 12 and a socket 13. The vertical plate 11 is fixed on the upper surface of the pipeline robot 1. The upper end of the vertical plate 11 has a "U" shaped structure. The socket 13 is opened on the surface of the vertical plate 11 and the socket 13 penetrates into the U-shaped groove. There are two sets of sockets 13, and the two sets of sockets 13 are arranged vertically. The other end of the fixing plate 10 is placed in the U-shaped groove of the vertical plate 11. The pin 12 is inserted into the socket 13 and the pin 12 penetrates the socket 13 and is inserted into the surface of the fixing plate 10. Specifically, by simply aligning the protective plate 6 above the track with the side protective plate 7, the pipe diameter can be quickly determined by the outer width of the protective plate 7. Simultaneously, the fixed plate 10 rotates at the pivot 9, and its other end is securely locked into the upper insertion hole 13 via the pin 12, keeping the protective plate 7 in the unfolded state. If a smaller pipe diameter is detected, the protective plate 7 is pushed to slide the connecting plate 5 inward. The connecting plate 5, in conjunction with the base plate, retracts synchronously, causing the gap between the two tracks to decrease accordingly to accommodate smaller pipe diameters, thereby significantly improving the equipment's passability and versatility. When the robot enters the pipe, the protective plate 6 and the protective plate 7 are perpendicular, effectively covering the track and forming a buffer barrier with the rubber pad 18 on the fixed plate 10. This can block large stones in front of the track and absorb the impact force when impacting the rubber pad 18, avoiding hard collision damage to the fixed plate 10, thus achieving synchronous and reliable operation of protection and detection functions.

[0021] During operation, when determining the pipe diameter and preparing for entry, the operator first unfolds and levels the protective plate 6 above the track and the protective plate 7 on the side, forming an outer baseline. After the fixing rod on the protective plate 7 rotates at the pivot 9, its other end aligns with the upper insertion hole 13 on the upright plate 11. The pin 12 is inserted into the insertion hole 13 to securely fix the protective plate 7. At this time, the outermost width of the protective plate 7 is greater than the overall outer width of the pipe inspection robot, so the pipe diameter can be quickly determined and subsequent adjustment strategies can be taken. If the detected pipe diameter is too small, the protective plate 7 is directly pushed inward, and the protective plate 7 drives the connecting plate 5 to slide inward simultaneously. The base plate connected to the connecting plate 5 also shrinks accordingly, so that the overall width of the track automatically adapts to the reduction of the pipe diameter, greatly improving the passability and versatility of the equipment in different pipe diameter environments. When the robot officially enters the pipe, the protective plate 6 and the protective plate 7 are in a nearly vertical covering state, so that the track is protected from the top and the side. At the same time, the fixing rod installed on the side of the protective plate 7 and the rubber pad 18 embedded in the groove on the fixing plate 10 work together to form a barrier when the track encounters large stones, and to generate effective buffer when the stones contact the rubber pad 18, avoiding hard impacts that could damage the fixing rod or the overall structure, thereby ensuring the stable operation of the robot in the narrow and cluttered pipe.

[0022] 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 tracked pipeline inspection robot with adjustable body height, wherein the body height is the vertical height of the tracked pipeline inspection robot, comprising a pipeline robot (1), wherein the tracks on both sides of the pipeline robot (1) are ultimately connected to the base plate (4) inside the pipeline robot (1), characterized in that: The pipeline robot (1) has a sliding groove 1 (2) and a sliding groove 2 (3) inside. The rollers on both sides of the base plate (4) roll in the sliding groove 1 (2) on both sides. A connecting plate (5) is fixed on the upper surface of the base plate (4). The rollers on both sides of the connecting plate (5) roll in the sliding groove 2 (3) on both sides. The outer end of the connecting plate (5) is protected by a protective structure for the tracks.

2. The tracked pipeline inspection robot with adjustable vehicle height according to claim 1, characterized in that: The base plate (4) is provided in two sets, and the two sets of base plates (4) are located on the inner side of the track respectively.

3. The tracked pipeline inspection robot with adjustable vehicle height according to claim 1, characterized in that: The first slide (2) and the second slide (3) are provided in two sets, and the first slide (2) is located directly below the second slide (3). Both sets of the first slide (2) and the second slide (3) are located on the inner wall of the pipeline robot (1).

4. The tracked pipeline inspection robot with adjustable vehicle height according to claim 1, characterized in that: One side of the connecting plate (5) is located inside the pipeline robot (1), and the other side of the connecting plate (5) is located outside the pipeline robot (1).

5. The tracked pipeline inspection robot with adjustable vehicle height according to claim 1, characterized in that: A positioning plate 1 (14) is fixed on the side surface of the connecting plate (5) on the left, and a positioning plate 2 (15) is fixed on the side surface of the connecting plate (5) on the right. Positioning plate 1 (14) and positioning plate 2 (15) face each other. The size of positioning plate 1 (14) is smaller than that of positioning plate 2 (15). Positioning plate 1 (14) slides inside positioning plate 2 (15). Both positioning plate 1 (14) and positioning plate 2 (15) have through holes on their surfaces. The number, size and spacing of the through holes of positioning plate 1 (14) and positioning plate 2 (15) are the same.

6. The tracked pipeline inspection robot with adjustable vehicle height according to claim 5, characterized in that: The through holes on the surfaces of the first positioning plate (14) and the second positioning plate (15) are fixed by the insertion of the positioning rod (16), and one end of the positioning rod (16) is located on the outside of the pipe robot (1). The inner bottom surface of the pipe robot (1) is fixed with a support frame (17). The top of the support frame (17) is in the shape of a "U". The "U" shaped groove of the support frame (17) supports the positioning rod (16).

7. The tracked pipeline inspection robot with adjustable vehicle height according to claim 1, characterized in that: The protective structure includes a first protective plate (6), a second protective plate (7), a hinge (8), a pivot (9), and a fixing plate (10). The first protective plate (6) is fixed to the outside of the connecting plate (5) and is located directly above the track. The second protective plate (7) is connected to the outside of the first protective plate (6) via the hinge (8). When protecting the track, the second protective plate (7) is located to the side of the track. Both the first protective plate (6) and the second protective plate (7) are provided in two sets. The first protective plate (6) and the second protective plate (7) correspond one-to-one with the track. The pivot... (9) Fixed on the side of the second protective plate (7), the rotating shaft (9) is provided in two sets, one end of the fixing plate (10) rotates on the outside of the rotating shaft (9), the fixing plate (10) is located above the track, the fixing plate (10) is provided in two sets, and the rotating shaft (9) corresponds to the fixing plate (10) one by one. Each set of rotating shafts (9) is provided in two sets, and the two rotating shafts (9) are fixed on the front and rear sides of the second protective plate (7). The fixing plate (10) is located on the front and rear sides of the first protective plate (6), and the other end of the fixing plate (10) is fixed by the locking structure.

8. A tracked pipeline inspection robot with adjustable vehicle height according to claim 7, characterized in that: The surface of the fixing plate (10) has a groove, and a placement frame is installed in the groove. The placement frame contains a rubber pad (18). The rubber pad (18) is located on the outside of the fixing plate (10), and the fixing plate (10) and the rubber pad (18) correspond one-to-one. The fixing plate (10) is fixed by a fixing pin.

9. A tracked pipeline inspection robot with adjustable vehicle height according to claim 7, characterized in that: The locking structure includes a vertical plate (11), a pin (12), and a socket (13). The vertical plate (11) is fixed on the upper surface of the pipeline robot (1). The upper end of the vertical plate (11) is U-shaped. The socket (13) is opened on the surface of the vertical plate (11) and the socket (13) penetrates into the U-shaped groove. There are two sets of sockets (13), and the two sets of sockets (13) are arranged vertically. The other end of the fixing plate (10) is placed in the U-shaped groove of the vertical plate (11). The pin (12) is inserted into the socket (13) and the pin (12) penetrates the socket (13) and is inserted into the surface of the fixing plate (10).

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