Long-distance pipeline periphery detection robot

Abstract

The utility model discloses a long-distance pipeline periphery detection robot which comprises a plurality of connecting supporting blocks which are connected with one another, the inner sides of the connecting supporting blocks define a space for a pipeline to penetrate through, the outer sides of the connecting supporting blocks are connected with mechanical arms, the ends, away from the connecting supporting blocks, of the mechanical arms are provided with detectors, and the included angles between the adjacent mechanical arms are equal. A driving space is formed between one end of each connecting supporting block and one end of the adjacent connecting supporting block, the driving spaces communicate with spaces, allowing pipelines to penetrate through, on the inner sides of the connecting supporting blocks, driving mechanisms are arranged in the driving spaces, and the driving mechanisms drive the device to move relative to the pipelines. The outer wall of the oil and gas pipeline can be overhauled, the overhauling efficiency is improved, and the safety risk is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline detection robots, and in particular relates to a long-distance pipeline periphery detection robot. Background Art

[0002] At present, during the daily use of domestic long-distance oil and gas pipelines, the external part of the pipeline may be damaged due to environmental and human factors. If the damaged parts are not found and repaired in time, the pipeline may corrode from the outside, and long-term operation is prone to safety accidents. Since oil and gas pipelines are generally long, manual maintenance requires a lot of time and manpower, and there may be some places on the pipeline laying path that personnel cannot enter for inspection. Therefore, pipeline robots are usually used for pipeline inspection in China.

[0003] However, currently most pipeline robots are used to perform maintenance on the inside of pipelines, and there are relatively few maintenance robots for the outside of pipelines. For example, pipeline maintenance robots with publication numbers CN117386929A and CN116293198A all perform maintenance operations on the inside of pipelines; however, once the outer wall of the pipeline is damaged, it cannot be discovered and repaired in time, which poses a major threat to the operational safety of the pipeline. Utility Model Content

[0004] The utility model aims to provide a long-distance pipeline periphery detection robot, which can perform maintenance operations on the outer wall of the oil and gas pipeline, thereby improving the maintenance efficiency and reducing the safety risks.

[0005] The technical solution adopted by the utility model is that the long-distance pipeline periphery detection robot includes a plurality of interconnected connection support blocks, the inner sides of the plurality of connection support blocks are enclosed to form a space for the pipeline to pass through, the outer sides of the connection support blocks are connected to a mechanical arm, a detector is installed at one end of the mechanical arm away from the connection support block, and the angles between adjacent mechanical arms are equal;

[0006] A driving space is formed between one end of the connecting support block and one end of the adjacent connecting support block. The driving space is connected to the space inside the connecting support block for the pipeline to pass through. A driving mechanism is arranged in the driving space, and the driving device is displaced relative to the pipeline through the driving mechanism.

[0007] The utility model is also characterized in that:

[0008] The number of connecting support blocks is not less than two.

[0009] The two ends of the connecting support block are respectively fixedly connected with ear seats, and adjacent connecting support blocks are connected through the ear seats at adjacent ends. The ear seats at adjacent ends are provided with opposite through holes, and clamping bolts are passed through the through holes. The clamping bolts pass through the ear seats and are connected with the clamping nuts.

[0010] The mechanical arm comprises a mechanical arm base fixedly connected to a connecting support block by fastening bolts, an end of the mechanical arm base away from the connecting support block is movably connected to a slewing support, an end of the slewing support away from the mechanical arm base is connected to a mechanical arm, and the mechanical arm is driven by the slewing support to rotate relative to the connecting support block;

[0011] One end of the mechanical arm away from the rotary support is movably connected with a mechanical small arm, and the end of the mechanical small arm away from the mechanical arm is connected with the detector.

[0012] The driving mechanism includes a motor fixed to the inner side of the connecting support block by fixing bolts, a traveling wheel is sleeved on the output shaft of the motor, the apex of the cross section of the traveling wheel is located in the space inside the connecting support block for the pipeline to pass through, the traveling wheel is driven to rotate by the motor, and the friction between the traveling wheel and the pipeline when the traveling wheel rotates enables the device to move relative to the pipeline.

[0013] A fixed seat is fixedly connected to the inner side of the support block on one side adjacent to the fixed motor. A fixed bearing is arranged on the fixed seat. The outer side of the fixed bearing is connected to the fixed seat, and the inner side of the fixed bearing is connected to the end of the output shaft of the motor.

[0014] The traveling wheel is made of rubber and has anti-skid grooves on the outside of the traveling wheel.

[0015] The beneficial effects of the utility model are:

[0016] (1) The utility model long-distance pipeline periphery inspection robot is composed of a plurality of connecting support blocks and is enclosed on the outside of the pipeline. The mechanical arm on the connecting support blocks drives the detector to inspect the outside of the pipeline. The driving mechanism driving device between adjacent connecting support blocks moves on the pipeline to achieve comprehensive inspection of the entire pipeline, thereby improving the inspection efficiency and reducing the maintenance cost.

[0017] (2) The mechanical arm of the long-distance pipeline periphery inspection robot of the utility model drives the mechanical arm to rotate 360° through the slewing support. The rotation angle between the mechanical arm and the slewing support, and between the mechanical arm and the mechanical arm can also be adjusted at the same time, so that even if the device encounters a narrow space during pipeline inspection, it can pass through the narrow space by adjusting the angle of the mechanical arm.

[0018] (3) The traveling wheels of the utility model long-distance pipeline periphery inspection robot are made of rubber material, which increases the friction between the traveling wheels and the pipeline, ensuring that the device can stably move on the pipeline. At the same time, anti-skid grooves are opened on the outside of the traveling wheels to further improve the friction performance between the traveling wheels and the pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the structure of the utility model long-distance pipeline periphery detection robot;

[0020] Figure 2 yes Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

[0021] In the figure, 1. connecting support block, 2. ear seat, 3. clamping bolt, 4. clamping nut, 5. mechanical arm base, 6. mechanical arm, 7. mechanical arm, 8. detector, 9. motor, 10. traveling wheel, 11. fixed seat, 12. fixed bearing, 13. fastening bolt, 14. fixing bolt, 15. slewing support. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Example 1

[0024] like Figure 1 As shown, the utility model long-distance pipeline periphery detection robot includes a plurality of interconnected connection support blocks 1, the inner sides of the plurality of connection support blocks 1 enclose a space for the pipeline to pass through, a mechanical arm is connected to the outer side of the connection support block 1, and a detector 8 is installed at one end of the mechanical arm away from the connection support block 1, and the angles between adjacent mechanical arms are equal. The detector 8 includes but is not limited to one or more sensor devices, such as position and posture sensors, ultrasonic sensors, eddy current sensors, etc.

[0025] By setting the robotic arms at equal angles, it is ensured that the robotic arms can drive the detector 8 to perform all-round detection of the outside of the pipeline. The movement coverage range of the robotic arms is not less than the coverage range of the divided angles. This embodiment adopts three connecting support blocks 1, and the adjacent angles of the robotic arms set on the three connecting support blocks 1 are 120°, which ensures that the pipeline can be fully covered.

[0026] Furthermore, the number of the connecting support blocks 1 is not less than two. If only one connecting support block 1 is provided, it is difficult to drive the detector 8 to perform 360° all-round detection of the pipeline through one mechanical arm.

[0027] Ear seats 2 are fixedly connected to both ends of the connecting support block 1, and adjacent connecting support blocks 1 are connected through the ear seats 2 at adjacent ends. Relative through holes are opened on the ear seats 2 at adjacent ends, and clamping bolts 3 are passed through the through holes. The clamping bolts 3 pass through the ear seats 2 and are connected with the clamping nuts 4.

[0028] That is, when installing the robot, each connecting support block 1 is placed outside the pipe, the ear seats 2 of adjacent connecting support blocks 1 are aligned, the clamping bolts 3 are passed through the through holes of the ear seats 2, and the clamping nuts 4 are rotated to fix the two opposite ear seats 2, thereby completing the relative fixation of the adjacent connecting support blocks 1.

[0029] A driving space is formed between one end of the connecting support block 1 and one end of the adjacent connecting support block 1. The driving space is connected to the space inside the connecting support block 1 for the pipeline to pass through. A driving mechanism is provided in the driving space, and the driving mechanism drives the device to move relative to the pipeline.

[0030] Example 2

[0031] On the basis of Example 1, the mechanical arm of the long-distance pipeline periphery detection robot of the utility model includes a mechanical arm base 5 fixedly connected to the connection support block 1 by a fastening bolt 13, and the end of the mechanical arm base 5 away from the connection support block 1 is movably connected to a slewing support 15, and the end of the slewing support 15 away from the mechanical arm base 5 is connected to a mechanical arm 6, and the mechanical arm 6 is driven by the slewing support 15 to rotate relative to the connection support block 1;

[0032] One end of the mechanical arm 6 away from the slewing support 15 is movably connected to the mechanical small arm 7 , and the end of the mechanical small arm 7 away from the mechanical arm 6 is connected to the detector 8 .

[0033] That is, when the mechanical arm is running, the mechanical arm 6 and the mechanical arm 7 are driven to rotate through the slewing support 15, so that the detection range of the detector 8 covers the outside of the pipeline. When the slewing support 15 rotates, the rotation angle between the mechanical arm 6 and the slewing support 15, and between the mechanical arm 6 and the mechanical arm 7 can also be adjusted at the same time.

[0034] The robot of this embodiment moves while the three mechanical arms can work simultaneously, and the mechanical arms can rotate 360 ​​degrees. The three mechanical arms can work 360 degrees simultaneously to perform all-round inspection of various parts of the outer wall of the pipeline. The mechanical arms can be driven by hydraulic pressure or motor, for example, the prior art with publication number CN117182963A mentions a mechanical arm structure based on hydraulic drive.

[0035] Example 3

[0036] On the basis of Example 2, Figure 2 As shown, the driving mechanism of the long-distance pipeline periphery detection robot of the present invention includes a motor 9 fixed to the inner side of the connecting support block 1 by a fixing bolt 14, and the motor 9 is either a unidirectional motor or a bidirectional motor.

[0037] The output shaft of the motor 9 is sleeved with a traveling wheel 10, which is made of rubber and has an anti-skid groove or anti-skid strip on the outside of the traveling wheel 10. The friction between the traveling wheel 10 and the outer wall of the pipeline is increased to improve the stability of the robot when walking. At the same time, the traveling wheel 10 is made of rubber, and since rubber itself has a certain elasticity, it also protects the outer wall of the pipeline.

[0038] The apex of the cross section of the traveling wheel 10 is located in the space inside the connecting support block 1 for the pipeline to pass through, that is, to ensure that the traveling wheel 10 contacts the outer wall of the pipeline to avoid idling of the traveling wheel 10. The traveling wheel 10 is driven to rotate by the motor 9, and the friction between the traveling wheel 10 and the pipeline when rotating enables the device to move relative to the pipeline.

[0039] In order to improve the stability of the traveling wheel 10 during rotation, a fixed seat 11 is fixedly connected to the inner side of the support block 1 on the side adjacent to the fixed motor 9, and a fixed bearing 12 is arranged on the fixed seat 11. The outer side of the fixed bearing 12 is connected to the fixed seat 11, and the inner side of the fixed bearing 12 is meshed with the end of the output shaft of the motor 9.

[0040] The use of such a fixing method greatly stabilizes the stability of the traveling wheel 10 when it moves on the outer wall of the pipeline. When the motor 9 rotates, the fixed bearing 12 meshing with the output shaft of the motor 9 will not generate excessive resistance due to the rotation of the inner ring of the fixed bearing 12. However, if the output shaft of the motor 9 decelerates, the fixed bearing 12 can play a role in deceleration.

[0041] At the same time, the service life of the fixed bearing 12 can be increased by regularly adding lubricating oil to the fixed bearing 12 .

[0042] When the utility model is in use, the connection support block 1 is wrapped and enclosed on the outside of the pipeline, and the adjacent connection support blocks 1 are connected and fixed by the clamping bolts 3 and the clamping nuts 4; the motor 9 is started, and the motor 9 drives the traveling wheel 10 to rotate, so that the utility model device moves on the pipeline, and at the same time, the detector 8 is driven by the mechanical arm to perform all-round detection of the outer wall of the pipeline.

Claims

1. Long-distance pipeline periphery inspection robot, characterized in that: It comprises a plurality of interconnected connection support blocks (1), the inner sides of the plurality of connection support blocks (1) enclose a space for the pipeline to pass through, the outer sides of the connection support blocks (1) are connected to a mechanical arm, a detector (8) is installed at one end of the mechanical arm away from the connection support block (1), and the angles between adjacent mechanical arms are equal; A driving space is formed between one end of the connecting support block (1) and one end of an adjacent connecting support block (1), the driving space being connected to a space inside the connecting support block (1) for the pipeline to pass through, a driving mechanism being provided in the driving space, and the driving device is driven by the driving mechanism to perform displacement movement relative to the pipeline.

2. The long-distance pipeline periphery detection robot according to claim 1, characterized in that: The number of the connecting support blocks (1) is no less than two.

3. The long-distance pipeline periphery detection robot according to claim 1, characterized in that: The two ends of the connection support block (1) are respectively fixedly connected with ear seats (2), and adjacent connection support blocks (1) are connected via the ear seats (2) at adjacent ends. The ear seats (2) at adjacent ends are provided with opposite through holes, and clamping bolts (3) are inserted into the through holes. The clamping bolts (3) pass through the ear seats (2) and are connected with the clamping nuts (4).

4. The long-distance pipeline periphery detection robot according to claim 1, characterized in that: The mechanical arm comprises a mechanical arm base (5) fixedly connected to a connecting support block (1) by means of a fastening bolt (13); one end of the mechanical arm base (5) away from the connecting support block (1) is movably connected to a slewing support (15); one end of the slewing support (15) away from the mechanical arm base (5) is connected to a mechanical arm (6); the slewing support (15) drives the mechanical arm (6) to perform a rotational movement relative to the connecting support block (1); The end of the mechanical arm (6) away from the rotary support (15) is movably connected to a mechanical arm (7), and the end of the mechanical arm (7) away from the mechanical arm (6) is connected to the detector (8).

5. The long-distance pipeline periphery detection robot according to any one of claims 1 to 4, characterized in that: The driving mechanism comprises a motor (9) fixed to the inner side of the connection support block (1) by means of fixing bolts (14); a traveling wheel (10) is sleeved on the output shaft of the motor (9); the vertex of the cross section of the traveling wheel (10) is located in a space inside the connection support block (1) for the pipeline to pass through; the traveling wheel (10) is driven to rotate by the motor (9); when the traveling wheel (10) rotates, the friction force between the traveling wheel (10) and the pipeline enables the device to move relative to the pipeline.

6. The long-distance pipeline periphery detection robot according to claim 5, characterized in that: A fixed seat (11) is fixedly connected to the inner side of the support block (1) adjacent to the motor (9), and a fixed bearing (12) is arranged on the fixed seat (11). The outer side of the fixed bearing (12) is connected to the fixed seat (11), and the inner side of the fixed bearing (12) is connected to the end of the output shaft of the motor (9).

7. The long-distance pipeline periphery detection robot according to claim 5, characterized in that: The traveling wheel (10) is made of rubber material, and an anti-skid groove or an anti-skid strip is provided on the outer side of the traveling wheel (10).

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