A pipeline inspection manipulator and an oil pipeline inspection robot

Abstract

This invention relates to the field of robotic arm technology, specifically to a pipeline inspection robotic arm and an oil pipeline inspection robot. It includes a mounting plate with several mounting columns movably connected to its lower end. The lower end of the mounting plate is fixedly connected to the output end of a rotating motor. A connecting plate is fixedly connected to the upper end of the mounting plate, and two connecting arms are provided on the upper end of the connecting plate. The opposite ends of the two connecting arms are movably connected to each other, and the lower end of the lower connecting arm is movably connected to the upper end of the connecting plate. This invention allows the lower connecting arm to rotate directly via a transmission motor. Opening the corresponding connecting motor drives a second hydraulic mechanism, which in turn drives a first hydraulic mechanism, thereby causing the rotating mechanism to control the rotation of the connecting arm or mounting arm. The structural design in this application allows for a smaller size of the connecting arm and mounting arm, preventing movement that could occur due to collision interference.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a pipeline inspection robotic arm and an oil pipeline inspection robot. Background Technology

[0002] With the continuous construction of my country's energy pipeline infrastructure, extremely high requirements have been placed on the regular inspection and maintenance of oil pipelines in long-distance, large-diameter, and high-pressure complex environments. As the core equipment for achieving this task, pipeline inspection robots are usually equipped with multi-joint robotic arms to carry out precise operations on pipe wall welds, corrosion points, and mechanical damage.

[0003] Existing pipeline inspection robots with multi-joint robotic arms mainly follow the serial configuration of industrial robotic arms in terms of structural design. Their power source and reduction transmission mechanism are usually directly installed at each moving joint. In the specific confined space of an oil pipeline, when encountering extremely narrow internal space and complex terrain such as a large number of diameter changes, bends, and tees, the size of the motor and reducer makes the joints of the robotic arm abnormally large. This not only restricts the folding and unfolding movements of the robotic arm in narrow-diameter pipes, but also makes it very easy for it to mechanically interfere with the pipe wall or the wax and scale accumulated inside the pipe, causing the robotic arm to get stuck and unable to move. To address this, we have introduced a pipeline inspection robotic arm and an oil pipeline inspection robot. Summary of the Invention

[0004] The purpose of this invention is to provide a pipeline inspection manipulator and an oil pipeline inspection robot 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 inspection robot includes a mounting plate with several mounting columns movably connected to its lower end. The lower end of the mounting plate is fixedly connected to the output end of a rotary motor. A connecting plate is fixedly connected to the upper end of the mounting plate, and two connecting arms are provided on the upper end of the connecting plate. The two connecting arms are movably connected to each other at their opposite ends. The lower end of the lower connecting arm is movably connected to the upper end of the connecting plate, and the upper end of the upper connecting arm is movably connected to the mounting arm. An infrared thermal imaging device is fixedly connected to the upper end of the mounting arm and a connecting gear is fixedly connected to the lower end of both the connecting arm and the mounting arm. A rotating mechanism is provided inside the connecting arm. The rotating mechanism inside the upper connecting arm is connected to the connecting gear at the lower end of the mounting arm, and the rotating mechanism inside the lower connecting arm is connected to the connecting gear inside the upper connecting arm. The rotating mechanism is connected to a first hydraulic transmission mechanism, which is located inside the connecting arm. The first hydraulic transmission mechanism drives the rotating mechanism, which in turn drives the connecting gear, causing the connecting arm to rotate. The first hydraulic mechanism is connected to the second hydraulic mechanism through two guide hoses. The two second hydraulic mechanisms are located at the lower end of the connecting plate. A drive motor is fixedly connected to the upper end of the mounting plate. A drive gear is fixedly connected to the output end of the drive motor. The drive gear is connected to the connecting gear in the lower connecting arm through a second belt.

[0006] Preferably, the rotating mechanism includes two connecting plates, which are fixedly connected to the inner side of the connecting arm. A first gear is movably connected between the two connecting plates. One end of the first gear passes through the connecting plate and is fixedly connected to the second gear. The first gear is connected to the connecting gear through a first belt.

[0007] Preferably, the first hydraulic transmission mechanism includes a first hydraulic tank, which is fixedly connected to the inner side of the connecting arm. A T-shaped gear is slidably connected inside the first hydraulic tank. The upper end of the T-shaped gear passes through the first hydraulic tank and meshes with a second gear. Guide hoses are fixedly connected to both the upper and lower ends of the first hydraulic tank, and the guide hoses are connected to the first hydraulic tank.

[0008] Preferably, the second hydraulic mechanism includes a second hydraulic tank, which is fixedly connected to the lower end of the connecting plate. The end of the guide hose away from the first hydraulic tank is fixedly connected to the outside of the second hydraulic tank and communicates with it. A push block is slidably connected inside the second hydraulic tank, and a lead screw is screwed to the inner side of the push block. Both ends of the lead screw are movably connected to the second hydraulic tank. The lower end of the lead screw passes through the second hydraulic tank and is fixedly connected to the output end of the connecting motor. The connecting motor is fixedly connected to the upper end of the mounting plate. Both the first and second hydraulic tanks are filled with hydraulic oil.

[0009] Preferably, a gear ring is provided on the lower side of the second hydraulic tank. The gear ring is fixedly sleeved on the outside of the lead screw. Two limiting tooth plates are snapped onto the outside of the gear ring. Two T-shaped rods are fixedly connected to the side of the limiting tooth plates away from the gear ring. The T-shaped rods are movably connected inside the second hydraulic tank. A support spring is sleeved on the outside of the T-shaped rod. One end of the support spring is fixedly connected to the limiting tooth plate, and the other end is fixedly connected to the second hydraulic tank.

[0010] In addition, to achieve the above objectives, the present invention also provides an oil pipeline inspection robot, including the pipeline inspection manipulator described above.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: by setting the connecting motor and the transmission motor for driving between the mounting plate and the connecting plate, the size of the mounting arm and the connecting arm is reduced. The transmission motor can directly drive the lower connecting arm to rotate. By opening the corresponding connecting motor, the second hydraulic mechanism can be driven, and the second hydraulic mechanism can drive the first hydraulic mechanism, thereby causing the rotation mechanism to control the connecting arm or the mounting arm to rotate. Compared with setting the motor at the joint of the robotic arm, which results in a larger size of the robotic arm, the structural arrangement in this application can reduce the size of the connecting arm and the mounting arm, and prevent the connecting arm and the mounting arm from being unable to move due to collision interference. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional cross-sectional view of the present invention; Figure 3 This is a three-dimensional structural diagram illustrating the connection relationship between the transmission gear and the connecting gear of the present invention; Figure 4 This is a three-dimensional structural diagram illustrating the connection relationship between the connecting plate and the connecting arm of the present invention; Figure 5 This is a three-dimensional sectional view of the connection between the T-shaped rack and the first hydraulic tank of the present invention. Figure 6 This is a three-dimensional sectional view of the second hydraulic tank of the present invention; Figure 7 This is a three-dimensional structural diagram of the second hydraulic tank and the lead screw in the separated state of the present invention; Figure 8 This is a three-dimensional structural diagram of the present invention and its installation on the chassis.

[0013] In the diagram: 1. Walking chassis; 2. Mounting plate; 3. Connecting plate; 4. Connecting arm; 5. Guide hose; 6. Infrared thermal imaging device; 7. Mounting arm; 8. Rotating motor; 9. Second gear; 10. First hydraulic tank; 11. T-shaped rack; 12. First gear; 13. First belt; 14. Transmission gear; 15. Transmission motor; 16. Second belt; 17. Connecting gear; 18. Second hydraulic tank; 19. Connecting motor; 20. Connecting plate; 21. Limiting gear plate; 22. Support spring; 23. T-shaped rod; 24. Gear ring; 25. Push block; 26. Lead screw; 27. Mounting column. Detailed Implementation

[0014] 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.

[0015] Please see Figures 1-8 The present invention provides a technical solution: Example 1: A pipeline inspection robot includes a mounting plate 2. Several mounting columns 27 are movably connected to the lower end of the mounting plate 2. T-shaped blocks are connected to the upper ends of the mounting columns 27. A T-shaped annular groove is opened at the lower end of the mounting plate 2. The T-shaped blocks slide in the T-shaped annular groove, allowing the mounting columns 27 to rotate at the lower end of the mounting plate 2. The lower end of the mounting plate 2 is fixedly connected to the output end of a rotary motor 8. The mounting columns 27 and the lower end of the rotary motor 8 are fixed to the upper end of a traveling chassis 1. At this time, the rotary motor 8 can drive the mounting plate 2 to rotate. A connecting plate 3 is fixedly connected to the upper end of the mounting plate 2. Two connecting arms 4 are provided on the upper end of the connecting plate 3. The two connecting arms 4 are movably connected to each other at opposite ends. The lower end of the lower connecting arm 4 is movably connected to the upper end of the connecting plate 3.

[0016] The upper end of the connecting arm 4 is movably connected to the mounting arm 7. The upper end of the mounting arm 7 is fixedly connected to an infrared thermal imaging device 6, which consists of an incremental encoder and an end infrared ranging sensor. This device monitors the damage to the insulation layer of the pipeline in the refinery or minor thermal anomalies at the connection points, effectively preventing local overheating accidents caused by insulation layer damage. By monitoring the temperature distribution on the pipeline surface, a thermal loss database is established, providing a quantitative basis for optimizing the thickness of insulation materials and evaluating the energy efficiency level of equipment. This solves the problem of hidden defects that are difficult to detect with the naked eye in complex pipeline networks. In particular, it can maintain detection accuracy at night or in severe weather conditions, significantly reducing the probability of sudden equipment shutdown.

[0017] Both the connecting arm 4 and the mounting arm 7 are fixedly connected to the lower ends of the connecting arm 4 and the mounting arm 7. The connecting arm 4 is equipped with a rotating mechanism. The rotating mechanism in the upper connecting arm 4 is connected to the connecting gear 17 at the lower end of the mounting arm 7, and the rotating mechanism in the lower connecting arm 4 is connected to the connecting gear 17 in the upper connecting arm 4. The rotating mechanism is connected to the first hydraulic transmission mechanism, which is located in the connecting arm 4. The first hydraulic mechanism drives the rotating mechanism, which in turn drives the connecting gear 17, causing the connecting arm 4 to rotate.

[0018] The first hydraulic mechanism is connected to the second hydraulic mechanism through two guide hoses 5. The two second hydraulic mechanisms are located at the lower end of the connecting plate 3. The upper end of the mounting plate 2 is fixedly connected to a drive motor 15. The output end of the drive motor 15 is fixedly connected to a drive gear 14. The drive gear 14 is connected to the connecting gear 17 in the lower connecting arm 4 through a second belt 16. By turning on the drive motor 15, the drive gear 14 connected to it is driven to rotate. The drive gear 14 drives the connecting gear 17 connected to it to rotate through the second belt 16. At this time, the lower connecting gear 17 will drive the lower connecting arm 4 to rotate.

[0019] Example 2: Based on Embodiment 1, in order to prevent the corresponding connecting arm 4 and mounting arm 7 from moving when the connecting motor 19 is turned off, the rotating mechanism includes two connecting plates 20. The connecting plates 20 are fixedly connected to the inner side of the connecting arm 4. A first gear 12 is movably connected between the two connecting plates 20. One end of the first gear 12 passes through the connecting plate 20 and is fixedly connected to the second gear 9. The first gear 12 is connected to the connecting gear 17 through the first belt 13. The second gear 9 drives the first gear 12 to rotate. The first gear 12 drives the connecting gear 17 at the lower end of the upper connecting arm 4 to rotate through the first belt 13. The rotation of the connecting gear 17 controls the rotation of the upper connecting arm 4.

[0020] The first hydraulic transmission mechanism includes a first hydraulic tank 10, which is fixedly connected to the inner side of the connecting arm 4. A T-shaped gear 11 is slidably connected inside the first hydraulic tank 10, and the T-shaped gear 11 is tightly fitted to the inner side of the first hydraulic tank 10. The upper end of the T-shaped gear 11 passes through the first hydraulic tank 10 and meshes with the second gear 9. Guide hoses 5 are fixedly connected to both the upper and lower ends of the first hydraulic tank 10. The guide hoses 5 are connected to the first hydraulic tank 10. The hydraulic oil entering the guide hoses 5 will enter the first hydraulic tank 10. The T-shaped gear 11 will be pushed to move along the first hydraulic tank 10. When the T-shaped gear 11 moves, it will drive the second gear 9 meshing with it to rotate.

[0021] The second hydraulic mechanism includes a second hydraulic tank 18, which is fixedly connected to the lower end of the connecting plate 3. The end of the guide hose 5 away from the first hydraulic tank 10 is fixedly connected to the outside of the second hydraulic tank 18 and communicates with the second hydraulic tank 18. A push block 25 is slidably connected inside the second hydraulic tank 18. A lead screw 26 is screwed to the inside of the push block 25. The two ends of the lead screw 26 are movably connected to the second hydraulic tank 18. The lower end of the lead screw 26 passes through the second hydraulic tank 18 and is fixedly connected to the output end of the connecting motor 19. The connecting motor 19 is fixedly connected to the upper end of the mounting plate 2. Both the first hydraulic tank 10 and the second hydraulic tank 18 are filled with hydraulic oil. By turning on the corresponding connecting motor 19, the lead screw 26 connected to it is driven to rotate. The rotation of the lead screw 26 drives the push block 25 connected to it to move up or down along the inside of the second hydraulic tank 18. When the push block 25 moves, the hydraulic oil is pushed into the guide hose 5.

[0022] A gear ring 24 is provided on the lower side of the second hydraulic tank 18. The gear ring 24 is fixedly sleeved on the outside of the lead screw 26. Two limiting tooth plates 21 are snapped onto the outside of the gear ring 24. The limiting tooth plates 21 have tooth-like protrusions on the side near the gear ring 24. These tooth-like protrusions are snapped into the tooth grooves of the gear ring 24. Two T-shaped rods 23 are fixedly connected to the side of the limiting tooth plates 21 away from the gear ring 24. The T-shaped rods 23 are movably connected to the second hydraulic tank 18. Support springs 22 are sleeved on the outside of the T-shaped rods 23. One end of the support springs 22 is fixedly connected to the limiting tooth plates 21, and the other end is fixedly connected to the second hydraulic tank 18. When the connecting motor 19 drives the lead screw 26 connected to it to rotate, the force generated by the rotation of the connecting motor 19 is greater than the force of several support springs 22. Therefore, when the connecting motor 19 drives the lead screw 26 to rotate, the gear ring 24 will lose its snapping with the limiting tooth plates 21.

[0023] In addition, to achieve the above objectives, the present invention also provides an oil pipeline inspection robot, including the pipeline inspection manipulator described above.

[0024] Working principle: During use, several mounting columns 27 and the lower end of the rotating motor 8 are fixed to the upper end of the walking chassis 1. At this time, the rotating motor 8 can drive the mounting plate 2 to rotate. When it is necessary to control the rotation of the lower connecting arm 4, the transmission motor 15 is turned on to drive the transmission gear 14 connected to it to rotate. The transmission gear 14 drives the connecting gear 17 connected to it to rotate through the second belt 16. At this time, the lower connecting gear 17 will drive the lower connecting arm 4 to rotate. After the rotation is completed, the transmission motor 15 is in a self-locking state, so that the lower connecting arm 4 cannot rotate. When it is necessary to control the rotation of the upper connecting arm 4, the corresponding connecting motor 19 is turned on to drive the lead screw 26 connected to it to rotate. The rotation of the lead screw 26 drives the push block 25 connected to it to move up or down along the inner side of the second hydraulic tank 18. When the push block 25 moves upward, the hydraulic oil on the upper side of the push block 25 is pushed into the upper guide hose 5. The hydraulic oil in the upper guide hose 5 then enters the first hydraulic tank 10 from the upper side. At this time, the T-shaped rack 11 is pushed downward along the first hydraulic tank 10. Simultaneously, the downward movement of the T-shaped rack 11 pushes the hydraulic oil on its lower side into the lower guide hose 5, and then into the lower side of the second hydraulic tank 18. When the T-shaped rack 11 moves downward, it drives the second gear 9 meshing with it to rotate. The second gear 9 drives the first gear 12 to rotate. The first gear 12 drives the connecting gear 17 at the lower end of the upper connecting arm 4 to rotate through the first belt 13. The rotation of the connecting gear 17 controls the rotation of the upper connecting arm 4. When the push block 25 moves downward, the upper connecting arm 4 will rotate in the opposite direction. By turning on another connecting motor 19, the installation arm 7 can be controlled to rotate. The rotation of the installation arm 7 drives the infrared thermal imaging device 6 to rotate. Meanwhile, as the lead screw 26 rotates, it will drive the gear ring 24 connected to it to rotate. During the rotation, the gear ring 24 will disengage from the limiting tooth plate 21, and the support spring 22 will be compressed. After the connecting arm 4 or the mounting arm 7 has finished rotating, under the elastic force of the support spring 22, the limiting tooth plate 21 will re-engage with the gear ring 24. Through the elastic force generated by several support springs 22, when the connecting motor 19 stops rotating, the limiting tooth plate 21 will still engage with the gear ring 24, thereby limiting the lead screw 26. A fixed scanning path is formed by pre-setting key coordinate points of the pipeline. During the inspection, the traveling chassis 1, connecting arm 4, and mounting arm 7 move point by point along the path, stopping at each point for 3 seconds to collect data. When the infrared thermal imaging device 6 detects an area with excessive temperature, the connecting arm 4 and mounting arm 7 immediately lock their positions and start a low-speed lateral swing scan to generate a local temperature distribution map and store auxiliary thermal imaging images. By monitoring the temperature distribution on the pipeline surface, a thermal loss database is established, providing a quantitative basis for optimizing the thickness of insulation materials and evaluating the energy efficiency level of equipment. This method can replace the traditional inspection method of manually climbing high-risk pipe corridors, solve the problem of hidden defects that are difficult to detect with the naked eye in complex pipeline networks, and maintain detection accuracy, especially at night or in severe weather conditions, significantly reducing the probability of sudden equipment shutdown.

[0025] 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, comprising a mounting plate, characterized in that: The mounting plate has several mounting posts movably connected to its lower end. The lower end of the mounting plate is fixedly connected to the output end of the rotating motor. A connecting plate is fixedly connected to the upper end of the mounting plate. The connecting plate has two connecting arms on its upper end, with their opposite ends movably connected. The lower end of the lower connecting arm is movably connected to the upper end of the connecting plate, and the upper end of the upper connecting arm is movably connected to the mounting arm. An infrared thermal imaging device is fixedly connected to the upper end of the mounting arm. Connecting gears are fixedly connected to the lower ends of both the connecting arm and the mounting arm. A rotating mechanism is provided inside the connecting arm. The rotating mechanism inside the upper connecting arm is connected to the connecting gear at the lower end of the mounting arm, and the rotating mechanism inside the lower connecting arm is connected to the connecting gear inside the upper connecting arm. The rotating mechanism is connected to a first hydraulic transmission mechanism, which is located inside the connecting arm. The first hydraulic mechanism drives the rotating mechanism, which in turn drives the connecting gear, causing the connecting arm to rotate. The first hydraulic mechanism is connected to the second hydraulic mechanism through two guide hoses. The two second hydraulic mechanisms are located at the lower end of the connecting plate. A drive motor is fixedly connected to the upper end of the mounting plate. A drive gear is fixedly connected to the output end of the drive motor. The drive gear is connected to the connecting gear in the lower connecting arm through a second belt.

2. The pipeline inspection robot according to claim 1, characterized in that: The rotating mechanism includes two connecting plates, which are fixedly connected to the inner side of the connecting arm. A first gear is movably connected between the two connecting plates. One end of the first gear passes through the connecting plate and is fixedly connected to the second gear. The first gear is connected to the connecting gear through a first belt.

3. The pipeline inspection robot according to claim 2, characterized in that: The first hydraulic transmission mechanism includes a first hydraulic tank, which is fixedly connected to the inner side of the connecting arm. A T-shaped gear is slidably connected inside the first hydraulic tank. The upper end of the T-shaped gear passes through the first hydraulic tank and meshes with a second gear. Guide hoses are fixedly connected to both the upper and lower ends of the first hydraulic tank, and the guide hoses are connected to the first hydraulic tank.

4. A pipeline inspection robot according to claim 3, characterized in that: The second hydraulic mechanism includes a second hydraulic tank, which is fixedly connected to the lower end of the connecting plate. The end of the guide hose away from the first hydraulic tank is fixedly connected to the outside of the second hydraulic tank and communicates with it. A push block is slidably connected inside the second hydraulic tank, and a lead screw is screwed to the inner side of the push block. Both ends of the lead screw are movably connected to the second hydraulic tank. The lower end of the lead screw passes through the second hydraulic tank and is fixedly connected to the output end of the connecting motor. The connecting motor is fixedly connected to the upper end of the mounting plate. Both the first and second hydraulic tanks are filled with hydraulic oil.

5. A pipeline inspection robot according to claim 4, characterized in that: The second hydraulic tank has a gear ring on its lower side. The gear ring is fixedly sleeved on the outside of the lead screw. Two limiting tooth plates are snapped onto the outside of the gear ring. Two T-shaped rods are fixedly connected to the side of the limiting tooth plates away from the gear ring. The T-shaped rods are movably connected inside the second hydraulic tank. A support spring is sleeved on the outside of the T-shaped rod. One end of the support spring is fixedly connected to the limiting tooth plate, and the other end is fixedly connected to the second hydraulic tank.

6. An oil pipeline inspection robot, characterized in that, Includes the pipeline inspection robot as described in any one of claims 1-5.

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