An assembled pipeline detection robot

Abstract

This invention discloses an assembled pipeline inspection robot, comprising an assembled mobile carrier and a probe head. The front end of the assembled mobile carrier is provided with a front insertion socket, and the probe head has a connector. The probe head is detachably inserted into the front insertion socket and electrically connected to the assembled mobile carrier. By using an assembled mobile carrier, when the assembled mobile carrier malfunctions, the faulty module can be quickly replaced directly. This allows for on-site equipment maintenance, shortens equipment maintenance time, and avoids delays in the project schedule.

Description

Technical Field

[0001] This invention belongs to the field of pipeline detection technology, and in particular relates to an assembled pipeline detection robot. Background Technology

[0002] Currently, existing pipeline robots consist of a mobile carrier and a probe. The mobile carrier and probe can be plugged into each other for easy probe replacement. However, the mobile carrier still adopts an integrated design. If the mobile carrier malfunctions, it usually needs to be sent to an after-sales service center or returned to the factory for repair (by professional technicians who disassemble the mobile carrier and locate the fault for repair). This results in a long maintenance cycle and can easily delay the pipeline inspection schedule. Summary of the Invention

[0003] In order to solve the above-mentioned technical problems, the purpose of this invention is to provide a modular pipeline inspection robot with a simple structure and modular assembly to facilitate maintenance.

[0004] To achieve the above objectives, the technical solution of the present invention is as follows: A modular pipeline inspection robot includes a modular mobile carrier and a probe head. The front end of the modular mobile carrier is provided with a front insertion socket, and the probe head has a connector. The probe head is detachably inserted into the front insertion socket and electrically connected to the modular mobile carrier.

[0005] The beneficial effects of the above technical solution are as follows: by adopting a modular mobile carrier, when the modular mobile carrier fails, the faulty module can be quickly replaced directly. This allows for on-site equipment maintenance, shortens the equipment maintenance time, and avoids delays in the project schedule.

[0006] The modular mobile carrier described in the above technical solution includes two transmission side plates, two drive assemblies, and two sets of wheels. The two transmission side plates are arranged along the front-to-back direction and distributed at intervals along the left-to-right direction. The two drive assemblies, the two sets of wheels, and the two transmission side plates correspond one-to-one with each other. The two drive assemblies are sandwiched between the two transmission side plates at intervals along the front-to-back direction. Each set of wheels is installed on the side of the corresponding transmission side plate away from the other transmission side plate. Each drive assembly is connected to the corresponding wheel through the corresponding transmission side plate.

[0007] The beneficial effect of the above technical solution is that each transmission side plate and the wheel on it constitute a single-sided assembly, and the drive assembly is sandwiched between the two transmission side plates, and each drive assembly is connected to the corresponding transmission side plate. At this time, when the assembled mobile carrier fails, the two transmission side plates can be disassembled and the faulty module can be replaced, and then reassembled.

[0008] The wheels described in the above technical solution are tracked wheels or include multiple wheels.

[0009] The beneficial effect of the above technical solution is that it allows the wheels on the transmission side plate to be either track wheels or trolley wheels, thus making it more applicable.

[0010] In the above technical solution, a gear set is provided inside the transmission side plate. The gear set has a power input shaft and at least one power output shaft. The drive assembly is driven to the power input shaft of the gear set, and the power output shaft of the gear set is driven to the corresponding wheel.

[0011] The beneficial effect of the above technical solution is that it enables the drive assembly to be connected to the corresponding wheel via the gear set in the transmission side plate.

[0012] When the wheel assembly described in the above technical solution includes multiple wheels, the gear set includes multiple power output gears and multiple transition gears. The gear shaft of each power output gear constitutes a power output shaft. The multiple power output gears are spaced apart in the front-rear direction within the transmission side plate, and at least one transition gear is provided between two adjacent power output gears to drive and connect the two adjacent power output gears. The gear shaft of any one of the transition gears constitutes the power input shaft, and a wheel is coaxially fixedly mounted on each power output shaft.

[0013] The advantages of the above technical solution are that it has a simple structure and allows each wheel on the transmission side plate to be connected to the power input shaft.

[0014] The above technical solution also includes a coupling, through which each drive assembly is connected to the corresponding transmission side plate.

[0015] The beneficial effect of the above technical solution is that it allows the drive end of the drive assembly and the corresponding power input shaft to be conveniently connected by a coupling.

[0016] The drive assembly described in the above technical solution includes a housing and a drive motor disposed within the housing. The two sides of the housing are flat surfaces, and the drive shaft of the drive motor passes through one side of the housing to form the drive end of the drive assembly. The two sides of the housing are respectively connected to the two transmission side plates.

[0017] The beneficial effect of the above technical solution is that it makes both sides of the entire drive assembly flat, thus allowing for better assembly with the two transmission side plates.

[0018] The modular mobile carrier described in the above technical solution is also provided with a rear connector, a control assembly, and a communication module, and the front connector, rear connector, communication module, and two drive assemblies are all electrically connected to the control assembly.

[0019] The beneficial effects of the above technical solution are as follows: This allows the assembled pipeline detection robot to be electrically connected to other devices via a rear connector, and the rear connector can be easily replaced in case of failure. In addition, by setting up a control assembly and a communication module, the assembled pipeline detection robot is equipped with its own controller and can communicate with terminal devices via the communication module.

[0020] The above technical solution also includes an end cap, which is a straight strip and is horizontally disposed at the upper end of the two transmission side plates in the front-back direction, and the two sides of the end cap are respectively connected to the upper end of the two transmission side plates.

[0021] The beneficial effect of the above technical solution is that the end cap can be placed above the drive assembly and control assembly and span across the upper end of the two transmission side plates, thus making the structural strength of the entire assembled pipeline robot higher.

[0022] In the above technical solution, the control assembly is sandwiched between the two transmission side plates.

[0023] The beneficial effect of the above technical solution is that it makes it easy to replace the control assembly when a fault occurs. Attached Figure Description

[0024] Figure 1 This is a top view of the assembled pipeline detection robot described in Embodiment 1 of the present invention; Figure 2 This is a side view of the assembled pipeline detection robot described in Embodiment 1 of the present invention; Figure 3 This is an exploded view of the assembled pipeline detection robot described in Embodiment 1 of the present invention from a top-down perspective; Figure 4 This is an exploded view of the assembled pipeline detection robot described in Embodiment 1 of the present invention from a downward angle; Figure 5 This is an elevation view of the assembled pipeline detection robot described in Embodiment 1 of the present invention from a bottom-view angle; Figure 6 This is a cross-sectional view of the drive assembly described in Embodiment 1 of the present invention; Figure 7 This is a cross-sectional view of the transmission side plate described in Embodiment 1 of the present invention; Figure 8 This is a schematic diagram of the installation of the wheel on the transmission side plate in Embodiment 2 of the present invention.

[0025] In the diagram: 1. Assembled mobile carrier; 11. Front connector; 12. Transmission side plate; 121. Gear set; 1211. Power output gear; 1212. Transition gear; 1213. Power output shaft; 122. Limiting strip; 13. Drive assembly; 131. Housing; 132. Drive motor; 14. Wheels; 141. Wheels; 142. Tracks; 143. Load-bearing wheels; 15. Coupling; 151. Male coupling; 152. Female coupling; 16. Rear connector; 17. Control assembly; 171. Bottom support beam; 172. Limiting groove; 18. End cover; 19. Communication module; 2. Probe; 21. Connector. Detailed Implementation

[0026] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the invention will be more clearly described from the following description and claims. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0027] Example 1 like Figures 1-7 As shown, this embodiment provides a modular pipeline inspection robot, including a modular mobile carrier 1 and a probe head 2. The front end of the modular mobile carrier 1 is provided with a front insertion socket 11, and the probe head 2 has a connector 21. The probe head 2 is detachably inserted into the front insertion socket 11 and electrically connected to the modular mobile carrier 1. By using a modular mobile carrier, when the modular mobile carrier malfunctions, the faulty module can be quickly replaced directly. This allows for on-site equipment maintenance, shortens equipment maintenance time, and avoids delays in the project schedule.

[0028] like Figures 3-5As shown, the modular mobile carrier 1 described in the above technical solution includes two transmission side plates 12, two drive assemblies 13, and two sets of wheels 14. In this embodiment, each set of wheels 14 includes multiple wheels 141. The two transmission side plates 12 are arranged along the front-rear direction and spaced apart along the left-right direction. A gear set 121 is provided inside the transmission side plate 12. Each gear set 121 has a power input shaft and multiple power output shafts 1213 spaced apart along the front-rear direction. The multiple power output shafts 1213 of the two transmission side plates 12 correspond one-to-one, and the two corresponding power output shafts 1213 are aligned left and right. Each power output shaft 1213 is coaxially fixedly mounted with one of the wheels 141. The two drive assemblies 141 are arranged along the front-rear direction. The assembly 13 corresponds one-to-one with the two transmission side plates 12. The two drive assemblies 13 are spaced apart between the two transmission side plates 12 in the front-rear direction. The drive shaft of each drive assembly 13 is connected to the power input shaft of the corresponding transmission side plate 12. Each drive assembly 13 drives multiple wheels 141 on the corresponding side to rotate synchronously and in the same direction through the corresponding transmission side plate 12. In this way, each transmission side plate and its multiple wheels form a single-sided assembly. The drive assembly is sandwiched between the two transmission side plates, and each drive assembly is connected to the corresponding transmission side plate. When the assembled mobile carrier malfunctions, the two transmission side plates can be disassembled and the faulty module can be replaced, and then the assembly can be restored.

[0029] like Figure 4 As shown, the above technical solution also includes a coupling 15, and each drive assembly 13 is connected to the corresponding transmission side plate 12 through the coupling 15, so that the drive end of the drive assembly and the corresponding power input shaft can be conveniently connected through the coupling.

[0030] like Figures 1-5 As shown, in the above technical solution, the front connector 11 is clamped between the two transmission side plates 12 at the front end, so that the front connector is also installed in a modular way between the two transmission side plates, and it can be easily replaced in case of failure.

[0031] like Figure 6As shown, the drive assembly 13 in the above technical solution includes a housing 131 and a drive motor 132 disposed within the housing 131. The two sides of the housing 131 are flat surfaces, and the drive shaft of the drive motor 132 passes through one side of the housing 131 to form the drive end of the drive assembly 13. The two sides of the housing 131 are respectively connected to the two transmission side plates 12, so that the two sides of the entire drive assembly are flat surfaces, thereby enabling better assembly with the two transmission side plates (the housing encloses the drive motor, which also improves the waterproof performance of the drive motor). In this embodiment, the drive motor can be a servo motor.

[0032] like Figures 1-5 As shown, the above technical solution also includes a rear connector 16 sandwiched between the two transmission side plates 12 at the rear end, so that the assembled pipeline inspection robot can also be electrically connected to other devices through the rear connector, and the rear connector can be easily replaced in case of failure.

[0033] like Figures 1-5 As shown, the above technical solution also includes a control assembly 17, which is sandwiched between the two transmission side plates 12. The front connector 11, the rear connector 16, and the two drive assemblies 13 are all electrically connected to the control assembly 17. This allows the assembled pipeline inspection robot to have its own controller, and it can also be easily replaced when the control assembly fails. Similar to the drive assembly, the control assembly can also be provided with a shell with flat sides, which will not be described in detail here.

[0034] like Figures 1-5 As shown, the above technical solution also includes an end cap 18, which is a straight strip and is horizontally arranged on the upper end of the two transmission side plates 12 in the front-back direction. The two sides of the end cap 18 are respectively connected to the upper end of the two transmission side plates 12, so that the end cap can be placed on top of the drive assembly and the control assembly and span across the upper end of the two transmission side plates, thus making the structural strength of the entire assembled pipeline robot higher.

[0035] In the above technical solution, a communication module 19 is provided inside the end cap 18, and the communication module 19 is electrically connected to the control assembly 17, so that the assembled pipeline robot can communicate with the terminal device through the communication module (the communication module can be a GPRS communication module, a WiFi communication module or a 5G communication module).

[0036] like Figure 7As shown, the gear set 121 in the above technical solution includes multiple power output gears 1211 and multiple transition gears 1212. The gear shaft of each power output gear 1211 constitutes a power output shaft 1213. The multiple power output gears 1211 are spaced apart in the front-rear direction in the transmission side plate 12, and at least one transition gear 1212 is provided between two adjacent power output gears 1211 to drive and connect the two adjacent power output gears 1211. The gear shaft of any one of the transition gears 1212 constitutes the power input shaft. Its structure is simple and allows each wheel on the transmission side plate to be driven and connected to the power input shaft.

[0037] In this embodiment, three power output gears can be provided in the transmission side plate, and three transition gears can be provided between two adjacent power output gears. The specifications of the multiple transition gears are the same, and the specifications of the multiple power output gears are also the same, so that the rotational speed of multiple wheels on the same transmission side plate can be kept consistent.

[0038] like Figure 4 As shown, the coupling includes a male coupling part 151 and a female coupling part 152. The male coupling part 151 is coaxially connected to the drive end of the drive motor (or can be integrally formed). The female coupling part can be located inside the corresponding transmission side plate and coaxially connected to the gear shaft of the corresponding transition gear (or can be integrally formed). The transmission side plate is provided with a through hole for the male coupling part to be inserted at the position corresponding to the female coupling part. The coupling is a plug-in type coupling. The male coupling part can be inserted into the female coupling part to make the two mesh with each other and realize the transmission connection.

[0039] In this embodiment, the drive assembly can be connected to both of its transmission side plates via screws (i.e., both sides of the housing are recessed with screw holes, and the transmission side plates are provided with through holes aligned with the corresponding screw holes; screws threaded into the screw holes are inserted to connect the transmission side plates to the drive assembly; the screw connection between the housing and the transmission side plates is existing technology in the art and will not be elaborated here). Similarly, the two sides of the end cover are also connected to the two transmission side plates via screws. Specifically, the front and rear connectors can also be installed between the two transmission side plates using screw mounting (the screw connection between the front and rear connectors is existing technology in the art and will not be elaborated here). The front connector and connector are similar in structure to aviation plugs (achieving both mechanical and electrical connections).

[0040] like Figure 4 and Figure 5As shown, a limiting strip 122 can be vertically installed at the middle of the two transmission side plates 12 near the control assembly, and limiting grooves 172 that cooperate with the limiting strips 122 can be recessed on both sides of the control assembly 17. A bottom support beam 171 can be installed at the lower end of the control assembly in the left-right direction, and the two ends of the bottom support beam protrude outside the control assembly. The specific installation method of the control assembly between the two transmission side plates is as follows: the limiting strips on the two transmission side plates are respectively placed in the limiting grooves on the corresponding sides to restrict the control assembly from moving back and forth between the two transmission side plates. The two ends of the bottom support beam are respectively connected to the lower ends of the two transmission side plates by screws (the specific method of screw connection is as above, and will not be repeated here). This can prevent the control assembly from falling from below between the two transmission side plates.

[0041] In this embodiment, the components that are easily damaged are mainly the probe, the front connector, the rear connector, the drive assembly, the control assembly, and the communication module. The transmission side plate and the multiple wheels on it are not easily damaged. In this case, the spare parts mainly need to be prepared as the probe, the front connector, the rear connector, the drive assembly, the control assembly, and the communication module. Since the structures of the front connector and the rear connector can be the same, only one of them needs to be prepared.

[0042] The probe described in this embodiment can be a camera, a sonar probe, or a ranging probe, but it is not limited to these.

[0043] Example 2 Same as Example 1, except that, as Figure 8 As shown, the wheel 14 is a track wheel. At this time, the wheel 14 includes a track 142 and two load-bearing wheels 143 (at this time, the gear set has two power output gears). The two load-bearing wheels are installed on the corresponding transmission side plate in a manner similar to the installation method of the wheel 141 in the embodiment. The two load-bearing wheels are located at the front and rear ends of the transmission side plate, respectively. The track 142 is simply fitted onto the two load-bearing wheels 143. In this embodiment, the drive assembly drives the corresponding two load-bearing wheels to rotate synchronously and in the same direction to drive the track to rotate.

[0044] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Those skilled in the art can readily implement the present invention based on the accompanying drawings and the above description. However, any modifications, alterations, or variations made by those skilled in the art without departing from the scope of the present invention, utilizing the disclosed technical content, are equivalent embodiments of the present invention. Furthermore, any modifications, alterations, or variations made to the above embodiments based on the essential technology of the present invention are still within the protection scope of the present invention.

Claims

1. A modular pipeline inspection robot, comprising: The device includes a modular mobile carrier (1) and a probe (2). The front end of the modular mobile carrier (1) is provided with a front plug-in (11), and the probe (2) has a plug-in (21). The probe (2) is detachably plugged into the front plug-in (11) and electrically connected to the modular mobile carrier (1).

2. The modular pipeline inspection robot according to claim 1, characterized in that, The assembled mobile carrier (1) includes two transmission side plates (12), two drive assemblies (13) and two sets of wheels (14). The two transmission side plates (12) are arranged along the front-to-back direction and are distributed at intervals along the left-to-right direction. The two drive assemblies (13), the two sets of wheels (14) and the two transmission side plates (12) correspond to each other. The two drive assemblies (13) are sandwiched between the two transmission side plates (12) at intervals along the front-to-back direction. Each set of wheels (14) is installed on the side of the corresponding transmission side plate (12) away from the other transmission side plate (12). Each drive assembly (13) is connected to the corresponding wheel (14) through the corresponding transmission side plate (12).

3. The assembled pipeline inspection robot according to claim 2, characterized in that, The wheel (14) is a tracked wheel or includes multiple wheels (141).

4. The assembled pipeline inspection robot according to claim 2, characterized in that, The transmission side plate (12) is provided with a gear set (121), the gear set (121) has a power input shaft and at least one power output shaft (1213), the drive assembly (13) is connected to the power input shaft of the gear set (121) in a transmission connection, and the power output shaft of the gear set (121) is connected to the corresponding wheel (14) in a transmission connection.

5. The assembled pipeline inspection robot according to claim 4, characterized in that, When the wheel assembly (14) includes multiple wheels (141), the gear set (121) includes multiple power output gears (1211) and multiple transition gears (1212). The gear shaft of each power output gear (1211) constitutes a power output shaft (1213). The multiple power output gears (1211) are spaced apart in the front-rear direction in the transmission side plate (12), and at least one transition gear (1212) is provided between two adjacent power output gears (1211) to drive and connect the two adjacent power output gears (1211). The gear shaft of any one of the transition gears (1212) constitutes the power input shaft, and a wheel (141) is coaxially fixedly installed on each power output shaft.

6. The assembled pipeline inspection robot according to claim 2, characterized in that, It also includes a coupling (15), through which each of the drive assemblies (13) is connected to the corresponding transmission side plate (12).

7. The modular pipeline inspection robot according to claim 2, characterized in that, The drive assembly (13) includes a housing (131) and a drive motor (132) disposed in the housing (131). The two sides of the housing (131) are flat surfaces, and the drive shaft of the drive motor (132) passes through one side of the housing (131) to form the drive end of the drive assembly (13). The two sides of the housing (131) are respectively connected to the two transmission side plates (12).

8. The assembled pipeline inspection robot according to claim 2, characterized in that, The modular mobile carrier (1) is also provided with a rear connector (16), a control assembly (17) and a communication module (19), and the front connector (11), the rear connector (16), the communication module (19) and the two drive assemblies (13) are all electrically connected to the control assembly (17).

9. The assembled pipeline inspection robot according to claim 2, characterized in that, It also includes an end cap (18), which is a straight strip and is horizontally arranged at the upper end of the two transmission side plates (12) in the front-back direction. The two sides of the end cap (18) are respectively connected to the upper end of the two transmission side plates (12).

10. The assembled pipeline inspection robot according to claim 8, characterized in that, The control assembly (17) is sandwiched between the two transmission side plates (12).

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