Pipeline outer side detection robot

Abstract

The utility model provides a pipeline outer side detection robot, which comprises a walking component, a detection component and a detection component, the walking component comprises a walking rack and a walking mechanism arranged on the walking rack, and the whole walking rack is in a notch ring shape; and the mechanical arm component is arranged on the walking rack and used for detecting the outer side of the pipeline. By arranging the walking rack which is integrally in a notch ring shape, the to-be-detected pipeline is clamped through the notch, so that the adaptive range of pipe diameter change can be expanded, climbing of various types of pipelines is achieved through the walking mechanism, the obstacle crossing ability is achieved, and the detection efficiency is improved. The problems that an existing pipe climbing robot is limited in application range to pipe diameter changes, climbing of multiple types of pipelines cannot be achieved, the obstacle crossing ability is not achieved, and the detection efficiency is low are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot structures, in particular to a pipeline outside detection robot. Background Art

[0002] In daily life, various pipelines can be seen everywhere. These pipelines are used to transport tap water, natural gas, oil and some more dangerous chemicals. Although the pipeline itself is made of materials with high mechanical strength, high corrosion resistance or high thermal stability in order to transport these things for a long time, it ensures the safety of transportation. However, with the accumulation of time, the material will be damaged, or the structure will be deformed due to external factors, which increases the danger of pipeline transportation. Therefore, it is very necessary to inspect the pipeline regularly, and manual inspection takes a lot of time and is inefficient. Therefore, a robot that can automatically and efficiently inspect the pipeline is needed at this time. Using machines to inspect can effectively reduce the labor intensity of workers and effectively protect the personal safety of workers. Moreover, the robot has a more efficient and stable work efficiency than manual labor. In addition, the pipe climbing robot equipped with a robotic arm can use the robotic arm to help workers carry operating tools in the subsequent maintenance work of workers, which can effectively reduce the burden on workers.

[0003] At present, most pipeline inspection robots need to enter the pipeline for inspection. For pipelines of different sizes, robots of corresponding sizes are required to enter the pipeline for inspection. Robots of too large sizes cannot enter the pipeline for inspection. If the robot is too small, it cannot effectively drive inside the inner wall. Therefore, in this case, it is necessary to design robots of many sizes to deal with different pipelines, which is quite costly. On the other hand, the substances transported by the pipeline also have an impact on the robot. If it is a corrosive substance, the robot needs to be protected, which indirectly increases the working cost of the robot. In addition, the different materials of the pipeline will also affect the robot. Some materials have strong information shielding, but entering the pipeline too far can easily cause the robot signal to be lost. Therefore, in view of the situation, the pipe-climbing robot in this study runs outside the pipeline, avoiding the shortcomings of the above pipe-climbing robots inside the pipeline.

[0004] Traditional pipe-climbing robots include fully enclosed and embracing type, snake-like crawling robots, negative pressure adsorption tracked robots, etc. Among them, the fully enclosed and embracing type robots adopt a fully enclosed method, so their adaptability to changes in pipe diameter is limited, and they cannot climb multiple types of pipes, do not have the ability to overcome obstacles, and have low detection efficiency. Utility Model Content

[0005] Based on this, in order to solve the problems that the above-mentioned pipe climbing robot has a limited adaptability to pipe diameter changes, cannot climb multiple types of pipes, does not have the ability to overcome obstacles, and has low detection efficiency, the utility model provides a pipeline outer side detection robot, and its specific technical solution is as follows:

[0006] A pipeline outer side detection robot, comprising:

[0007] The walking component includes a walking frame and a walking mechanism arranged on the walking frame, wherein the walking frame is in a notched ring shape as a whole;

[0008] The mechanical arm component is arranged on the walking frame and is used for detecting the outside of the pipeline.

[0009] The above-mentioned pipeline outside inspection robot, by setting up a walking frame with a notched ring shape as a whole, uses the notch to insert into the pipeline to be inspected, thereby expanding the adaptability range of pipe diameter changes, using the walking mechanism to achieve climbing of multiple types of pipelines, and has the ability to overcome obstacles, which is conducive to improving inspection efficiency.

[0010] Furthermore, the walking frame is a hexagonal frame; the walking mechanism includes three groups of walking components arranged at intervals along the center of the hexagonal frame, the walking components include a walking unit and a clamping unit, the walking unit includes a walking bracket, a walking motor arranged on the walking bracket, and a walking wheel driven by the walking motor; the clamping unit is used to press the walking bracket toward the center of the hexagonal frame.

[0011] Furthermore, the clamping unit includes a connecting seat and a spring member; the connecting seat is provided with a connecting rod end plugged into the traveling bracket, and a fixed end connected to the traveling frame; the spring member is sleeved on the connecting rod end, and one end presses the traveling bracket and the other end presses the connecting seat.

[0012] Furthermore, the travel support comprises a frame body and a wheel support arranged on the frame body; the travel wheel is arranged on the wheel support, and the travel motor is arranged on the wheel support and drives the travel wheel.

[0013] Furthermore, the travel support further comprises a dustproof housing arranged on the frame body, and the travel motor is arranged in the dustproof housing.

[0014] Further, the robotic arm component includes a mounting base, a connecting rod assembly, a driving assembly, and an action assembly; the connecting rod assembly includes a first connecting rod member and a second connecting rod member, the mounting base is connected to the first connecting rod member through a shoulder joint, the first connecting rod member is connected to the second connecting rod member through an elbow joint, and the second connecting rod member is connected to the action assembly through a wrist joint; the driving assembly includes a first motor for driving the mounting base to rotate, a second driving unit for driving the shoulder joint to rotate, a third motor for driving the elbow joint to rotate, and a fourth motor for driving the wrist joint.

[0015] Furthermore, the action component includes a mounting plate, a clamping jaw arranged on the mounting plate and a detection unit; the detection unit detects physical data of the outside of the pipeline, and the clamping jaw performs a clamping action according to the physical data detected by the detection unit.

[0016] Furthermore, the driving assembly also includes a fifth motor that drives the mounting plate to rotate.

[0017] Furthermore, the second driving unit includes two second motors respectively arranged on both sides of the mounting base.

[0018] Furthermore, a baffle for mounting mechanical arm components is provided on the walking frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0020] Figure 1 It is a structural schematic diagram of a pipeline outer side detection robot according to an embodiment of the utility model;

[0021] Figure 2 It is a structural schematic diagram of a mechanical arm component according to an embodiment of the utility model;

[0022] Figure 3 It is a structural schematic diagram of a walking unit in a walking mechanism described in an embodiment of the utility model.

[0023] Description of reference numerals:

[0024] 1. Walking frame; 2. Robotic arm parts; 3. Walking mechanism;

[0025] 11. Dustproof housing; 12. Baffle;

[0026] 21. Gripper; 22. Detection unit; 23. First motor; 24. Wrist joint; 25. Second motor; 26. First connecting rod; 27. Third motor; 28. Elbow joint; 29. ​​Second connecting rod; 210. Shoulder joint; 211. Fourth motor; 212. Fifth motor; 213. Mounting base;

[0027] 31. Traveling motor; 32. Wheel bracket; 33. Traveling wheel; 34. Traveling bracket; 35. Spring member; 36. Connecting seat. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with its embodiments. It should be understood that the specific implementation methods described here are only used to explain the utility model and do not limit the protection scope of the utility model.

[0029] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0031] The “first” and “second” mentioned in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0032] like Figure 1 and Figure 2 , Figure 3 As shown, a pipeline outer side detection robot in one embodiment of the utility model includes:

[0033] The walking component includes a walking frame 1 and a walking mechanism 3 arranged on the walking frame 1, and the walking frame 1 is in a notched ring shape as a whole;

[0034] The mechanical arm component 2 is arranged on the walking frame 1 and is used for detecting the outside of the pipeline.

[0035] The above-mentioned pipeline outside detection robot, by setting up a walking frame 1 that is an overall notched ring shape, uses the notch to insert into the pipeline to be detected, thereby expanding the adaptability range of pipe diameter changes, and uses the walking mechanism 3 to climb multiple types of pipelines. It has the ability to overcome obstacles and is conducive to improving detection efficiency.

[0036] In one embodiment, the walking frame 1 is a hexagonal frame; the walking mechanism 3 includes three groups of walking components arranged at intervals along the center of the hexagonal frame, the walking components include a walking unit and a pressing unit, the walking unit includes a walking bracket 34, a walking motor 31 arranged on the walking bracket 34, and a walking wheel 33 driven by the walking motor 31; the pressing unit is used to press the walking bracket 34 toward the center of the hexagonal frame. In this way, the walking bracket 34 is pressed toward the center of the hexagonal frame by the three pressing units respectively, so as to be applicable to pipes of different diameters; at the same time, the walking motor 31 is used to drive the walking wheel 33, so as to realize the movement of the walking mechanism 3 on the pipe.

[0037] In one embodiment, the pressing unit includes a connecting seat 36 and a spring member 35; the connecting seat 36 is provided with a connecting rod end plugged into the traveling bracket 34 and a fixed end connected to the traveling frame 1; the spring member 35 is sleeved on the connecting rod end, and one end presses the traveling bracket 34 and the other end presses the connecting seat 36. Specifically, the connecting rod end is rotatably connected to the traveling frame 1 through a nut or a retaining ring. In this way, the traveling bracket 34 is pressed toward the center of the hexagonal frame by the elastic force of the spring member 35.

[0038] In one embodiment, the traveling frame 34 includes a frame body and a wheel frame 32 disposed on the frame body; the traveling wheel 33 is disposed on the wheel frame 32 , and the traveling motor 31 is disposed on the wheel frame 32 and drives the traveling wheel 33 .

[0039] In one embodiment, the traveling support 34 further includes a dustproof housing 11 disposed on the frame, and the traveling motor 31 is disposed in the dustproof housing 11. In this way, the dustproof housing 11 is used to prevent dust or water from entering the dustproof housing 11 during the operation of the traveling mechanism 3, thereby ensuring the safe use of the traveling motor 31.

[0040] In one embodiment, the robotic arm component 2 includes a mounting base 213, a connecting rod assembly, a driving assembly, and an action assembly; the connecting rod assembly includes a first connecting rod member 26 and a second connecting rod member 29, the mounting base 213 is connected to the first connecting rod member 26 through a shoulder joint 210, the first connecting rod member 26 is connected to the second connecting rod member 29 through an elbow joint 28, and the second connecting rod member 29 is connected to the action assembly through a wrist joint 24; the driving assembly includes a first motor 23 for driving the mounting base 213 to rotate, a second driving unit for driving the shoulder joint 210 to rotate, a third motor 27 for driving the elbow joint 28 to rotate, and a fourth motor 211 for driving the wrist joint 24. In this way, the robot arm component 2 composed of multiple motors and three joints makes the working space volume of the robot arm component 2 very large and the degree of freedom very high, and can achieve all-round grasping and detection in a three-dimensional space; on this basis, the robot arm component 2 is mounted on a walking component that can work in a pipeline environment, and due to the special design of the walking component, it can rotate around the pipeline, so that the working space of the robot arm component 2 is further expanded to cover the entire surface of the pipeline.

[0041] In one of the embodiments, the action component includes a mounting plate, a clamp 21 disposed on the mounting plate, and a detection unit 22; the detection unit detects physical data on the outside of the pipeline, and the clamp performs a clamping action according to the physical data detected by the detection unit. Specifically, the detection unit 22 may be equipped with an infrared sensor, a camera-type image sensor, or an ultrasonic distance measurement sensor, etc. In this way, the clamp 21 can grab heavy objects, which greatly improves the working function of the robot arm component 2, can help pipeline maintenance workers detect pipeline damage, and can also help workers extract heavy objects when maintenance workers are working at high altitudes.

[0042] In one embodiment, the driving assembly further includes a fifth motor 212 for driving the mounting plate to rotate.

[0043] In one embodiment, the second driving unit includes two second motors 25 respectively disposed on both sides of the mounting base 213. In this way, the two second motors 25 are used to ensure the movement stability of the entire connecting rod assembly.

[0044] In one embodiment, a baffle plate 12 for mounting the mechanical arm component 2 is provided on the walking frame 1. Thus, the baffle plate 12 provides a stable and reliable mounting surface, so that the mechanical arm component 2 can be mounted on the walking frame 1.

[0045] The working process of the pipeline outer side detection robot in this technical solution is as follows:

[0046] When the service life of the pipeline reaches a certain period, we need to perform regular maintenance and inspection on the pipeline. The pipeline outside detection robot is designed with the following execution plan.

[0047] First, the robot arm component 2 will first check the pipe on the side of the robot equipped with the baffle 12. The joints of the robot arm component 2 will automatically rotate to expand the robot arm component 2 so that the action component is close to the outer diameter surface of the pipe, and the detection unit 22 can carefully check the pipe surface.

[0048] The detection unit 22 may be equipped with a GPS position sensor, a temperature sensor, an infrared sensor, a camera image vision sensor or an ultrasonic distance sensor. The infrared sensor is a sensor that can sense infrared radiation from a target and uses the physical properties of infrared rays to perform measurements. It mainly emits and receives infrared rays, converts them into electrical signals, and then converts them into electrical signals through an electronic amplifier for output. The infrared sensor will emit infrared rays to the surface of the pipeline. If the surface of the pipeline is damaged, the distance of the light emitted by the infrared sensor will change, and the robotic arm will recognize that the pipeline is damaged; if it is a camera type, the pipeline information will be transmitted to the background computer. The computer can be equipped with an automatic recognition function to detect the damage, or it can be manually reviewed; the ultrasonic distance sensor uses the propagation characteristics of ultrasound to calculate the distance between the target object and a high-frequency oscillator. It has the advantages of high precision, small angle, and small blind area. The ultrasonic distance sensor emits sound waves to the surface of the pipeline. The sound waves will rebound when they touch the pipe wall. If the pipe wall is damaged, the time it takes for the sound wave sensor to receive the reflected sound waves will increase. The sensor can detect the condition of the pipe surface by recognizing this time difference; the temperature sensor is a sensor used to measure the temperature of an object, which can convert the temperature into an electrical signal. It can measure temperature through radiated or absorbed heat, and convert the temperature into electrical signal output. The temperature sensor can be used to detect the tightness of certain specific pipelines. Some pipelines are filled with high-temperature or low-temperature liquids. If the pipeline has cracks or damage, the temperature will change. The temperature sensor can be used to detect the temperature data and then determine whether the pipeline is damaged.

[0049] When the above situation detects a problem with the pipeline, the specific location of the problematic pipeline will be marked on the GPS position sensor for subsequent workers to repair. After that, the pipeline outer inspection robot rotates around the damaged surface of the pipeline through the walking unit to continue to inspect the subsequent pipelines.

[0050] After the mechanical arm part 2 is unfolded to make the action component close to the pipeline surface, the fifth motor 212 is rotated to control the mechanical arm to be placed parallel to the pipeline first, and then the fifth motor 212 is rotated to make the mechanical arm rotate 90 degrees to the left first, and then rotate 180 degrees to the right, to ensure that the detection range of the fifth motor 212 within the 180-degree range directly in front of the robot is covered, and the action component is always kept close to the pipeline surface while the fifth motor 212 moves. After executing the above steps, the mechanical arm rotates to be parallel to the pipeline, and then the walking unit of the pipeline outside detection robot starts to travel at this time, and the pipeline outside detection robot is controlled to rotate 180 degrees around the pipeline in situ. Assuming that the front of the pipeline has just been checked, the purpose of this operation is to enable the mechanical arm part 2 to detect the back of the pipeline. When the robot rotates 180 degrees around the back of the pipeline, the fifth motor 212 is executed to control the mechanical arm to rotate and detect the operation. After the above operations, the detection of one circle of the pipeline is completed. After checking this circle, the pipeline outside detection robot walks the distance of the circle just checked, and then performs a new circle of inspection.

[0051] When maintenance workers are repairing on the pipeline, they need the help of the pipe-climbing robot to clamp tools. The clamping function of the clamp 21 is turned on, and the robotic arm will automatically lift away from the pipeline surface to avoid friction and collision between the object and the pipeline surface when clamping the object. After lifting, the first motor 23 will drive the clamp to close and clamp the object.

[0052] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0053] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A pipeline outer side inspection robot, characterized in that: include: The walking component includes a walking frame and a walking mechanism arranged on the walking frame, wherein the walking frame is in a notched ring shape as a whole; The mechanical arm component is arranged on the walking frame and is used for detecting the outside of the pipeline.

2. The pipeline outer side detection robot according to claim 1, characterized in that: The walking frame is a hexagonal frame; The walking mechanism comprises three groups of walking components arranged at intervals along the center of the hexagonal frame, the walking components comprise a walking unit and a pressing unit, the walking unit comprises a walking bracket, a walking motor arranged on the walking bracket, and a walking wheel driven by the walking motor; The pressing unit is used to press the traveling support toward the center of the hexagonal frame.

3. The pipeline outer side detection robot according to claim 2, characterized in that: The pressing unit comprises a connecting seat and a spring member; The connecting seat is provided with a connecting rod end plugged into the traveling bracket and a fixed end connected to the traveling frame; The spring element is sleeved on the connecting rod end, and one end of the spring element presses the traveling bracket, and the other end of the spring element presses the connecting seat.

4. The pipeline outer side detection robot according to claim 2, characterized in that: The walking support comprises a frame body and a wheel support arranged on the frame body; The travel wheel is arranged on the wheel bracket, and the travel motor is arranged on the wheel bracket and drives the travel wheel.

5. The pipeline outer side detection robot according to claim 4, characterized in that: The travel support further comprises a dustproof housing arranged on the frame body, and the travel motor is arranged in the dustproof housing.

6. The pipeline outer side detection robot according to claim 1, characterized in that: The mechanical arm components include a mounting base, a connecting rod assembly, a driving assembly, and an action assembly; The connecting rod assembly includes a first connecting rod member and a second connecting rod member, the mounting base is connected to the first connecting rod member through a shoulder joint, the first connecting rod member is connected to the second connecting rod member through an elbow joint, and the second connecting rod member is connected to the action assembly through a wrist joint; The driving assembly includes a first motor for driving the mounting base to rotate, a second driving unit for driving the shoulder joint to rotate, a third motor for driving the elbow joint to rotate, and a fourth motor for driving the wrist joint.

7. The pipeline outer side detection robot according to claim 6, characterized in that: The action assembly includes a mounting plate, a clamping claw arranged on the mounting plate, and a detection unit; The detection unit detects physical data of the outside of the pipeline, and the clamp performs a clamping action according to the physical data detected by the detection unit.

8. The pipeline outer side detection robot according to claim 7, characterized in that: The driving assembly also includes a fifth motor that drives the mounting plate to rotate.

9. The pipeline outer side detection robot according to claim 6, characterized in that: The second driving unit includes two second motors respectively arranged on both sides of the mounting base.

10. The pipeline outer side detection robot according to claim 5, characterized in that: The walking machine frame is provided with a baffle for arranging mechanical arm components.

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