Pipeline internal cleanliness detection robot

Abstract

The utility model relates to the technical field of pipeline cleaning, and provides a robot for detecting cleanliness in a pipeline. The utility model provides a robot for detecting cleanliness in a pipeline. The robot comprises a shell, a first driving unit, a second driving unit, a first moving unit and a second moving unit, the first moving unit and the second moving unit are located on the two sides of the shell in the width direction. The first driving unit is accommodated in the shell and is connected with the first moving unit; the second driving unit is accommodated in the shell and is connected with the second moving unit; the first driving unit and the second driving unit are sequentially arranged in the length direction of the shell. The utility model provides a pipeline internal cleanliness detection robot which is used for solving the technical problem that a pipeline internal cleanliness detection robot in the prior art is wide and cannot enter some pipelines with small pipe diameters.

Description

Technical Field

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

[0002] The cleanliness inspection inside the pipeline is usually carried out manually by walking inside the pipeline and inspecting the cleanliness of the inside of the pipeline visually.

[0003] With the development of science and technology, the detection of internal cleanliness of pipelines is becoming more and more mechanized, and it has become a trend to replace manual labor with mechanical equipment. Especially under complex and high-risk conditions, the operation of pipeline internal cleanliness detection robots can significantly reduce labor intensity and the probability of safety accidents. Pipeline internal cleanliness detection robots include various forms such as wheeled, crawler and creeping.

[0004] However, the left moving unit and the right moving unit of the pipeline internal cleanliness inspection robot in the prior art are each driven by a motor, and the left motor and the right motor are coaxially arranged. As a result, the width of the pipeline internal cleanliness inspection robot is relatively wide and cannot enter some pipelines with smaller diameters. Utility Model Content

[0005] The utility model provides a pipeline internal cleanliness detection robot, which is used to solve the technical problem that the pipeline internal cleanliness detection robot in the prior art is too wide and cannot enter some pipelines with smaller diameters.

[0006] The utility model provides a pipeline internal cleanliness detection robot, comprising a shell, a first drive unit, a second drive unit, a first mobile unit and a second mobile unit; the first mobile unit and the second mobile unit are located on both sides of the shell in the width direction; the first drive unit is accommodated in the shell and connected to the first mobile unit; the second drive unit is accommodated in the shell and connected to the second mobile unit; wherein the first drive unit and the second drive unit are arranged sequentially along the length direction of the shell.

[0007] According to one embodiment of the present utility model, the first drive unit and the second drive unit are motors.

[0008] According to one embodiment of the utility model, the first mobile unit and the second mobile unit respectively include at least one moving wheel and a track; the moving wheel is located on one side of the shell along its width direction; the track is arranged around the moving wheel; and the output shaft of the motor is coaxially arranged with the moving wheel.

[0009] According to an embodiment of the utility model, a plurality of anti-skid protrusions are provided on the surface of the crawler track, and the plurality of anti-skid protrusions are evenly spaced and arranged along the extension direction of the crawler track.

[0010] According to one embodiment of the present invention, the shell is in contact with the pipeline wall foundation through the crawler.

[0011] According to one embodiment of the present utility model, the front end of the crawler track is arranged to protrude relative to the front end of the shell.

[0012] According to one embodiment of the utility model, the rear end of the crawler track is arranged to protrude relative to the rear end of the shell.

[0013] According to one embodiment of the present invention, the diameter of the moving wheel is 20 mm to 30 mm.

[0014] According to an embodiment of the present invention, the first mobile unit and the second mobile unit respectively include three moving wheels.

[0015] According to one embodiment of the utility model, three moving wheels are evenly spaced in sequence from the front to the rear of the shell, and are rotatably connected to the shell respectively; the motor is connected to one of the three moving wheels; and the track is arranged around the three moving wheels.

[0016] The characteristics and advantages of the pipeline internal cleanliness detection robot of the utility model are:

[0017] This technology proposes a new type of pipeline internal cleanliness inspection robot, whose design cleverly solves the problem that existing robots are difficult to enter narrow pipelines due to their large width. This robot consists of a shell and two drive units, which are respectively connected to the first and second mobile units located on both sides of the shell. Unlike traditional designs, the two drive units are not arranged horizontally, but are arranged in sequence along the length of the shell. This layout greatly reduces the overall width of the robot. This design enables the robot to flexibly enter pipelines with smaller diameters to perform cleanliness inspections. Overall, this technology improves its applicability and operating efficiency in narrow spaces by optimizing the robot's structural layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 It is a three-dimensional diagram of an embodiment of the pipeline internal cleanliness detection robot of the utility model;

[0020] Figure 2It is a three-dimensional diagram of another embodiment of the pipeline internal cleanliness detection robot of the utility model;

[0021] Figure 3 It is a top view of another embodiment of the pipeline internal cleanliness detection robot of the utility model.

[0022] Reference numerals:

[0023] 100, shell; 200, first drive unit; 300, second drive unit; 400, first moving unit; 500, second moving unit; 510, moving wheel; 520, crawler track; W, width direction of shell; L, length direction of shell. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are 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.

[0025] In the description of the present embodiment, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present embodiment and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present embodiment.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this embodiment, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0027] In this embodiment, unless otherwise clearly specified and limited, the terms "set", "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this embodiment can be understood according to specific circumstances.

[0028] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0029] Figures 1 to 3 The utility model provides a pipeline internal cleanliness detection robot. As can be seen from the figure, the utility model provides a pipeline internal cleanliness detection robot, including a shell 100, a first drive unit 200, a second drive unit 300, a first mobile unit 400 and a second mobile unit 500; the first mobile unit 400 and the second mobile unit 500 are located on both sides of the width direction W of the shell 100; the first drive unit 200 is accommodated in the shell 100 and connected to the first mobile unit 400; the second drive unit 300 is accommodated in the shell 100 and connected to the second mobile unit 500; wherein the first drive unit 200 and the second drive unit 300 are arranged sequentially along the length direction L of the shell 100.

[0030] In specific implementation, this technology proposes a new type of pipeline internal cleanliness inspection robot, whose design cleverly solves the problem that existing robots are difficult to enter narrow pipelines due to their large width. This robot consists of a shell 100 and two drive units, which are respectively connected to the first and second mobile units 500 located on both sides of the shell 100. Unlike traditional designs, the two drive units are not arranged horizontally, but are arranged in sequence along the length direction L of the shell 100. Such a layout greatly reduces the overall width of the robot. This design enables the robot to flexibly enter pipelines with smaller diameters to perform cleanliness inspections. Overall, this technology improves its applicability and operating efficiency in narrow spaces by optimizing the structural layout of the robot.

[0031] According to one embodiment of the present invention, the first driving unit 200 and the second driving unit 300 are motors.

[0032] In specific implementation, both drive units are motors. This means that the robot's mobile units are driven by motors, providing an efficient and reliable power source. The use of motors can not only improve the robot's operating efficiency, but also accurately adjust the robot's moving speed and direction by precisely controlling the motor's speed and torque. This design enables the robot to more flexibly respond to different pipeline environments and conditions when performing cleanliness inspections inside pipelines, improving the accuracy and reliability of inspections.

[0033] According to one embodiment of the utility model, the first mobile unit 400 and the second mobile unit 500 respectively include at least one moving wheel 510 and a track 520; the moving wheel 510 is located on one side of the shell 100 along its width direction W; the track 520 is arranged around the moving wheel 510; and the output shaft of the motor is coaxially arranged with the moving wheel 510.

[0034] In a specific implementation, each mobile unit of the robot is composed of at least one mobile wheel 510 and a track 520, wherein the mobile wheel 510 is located on one side of the housing 100, and the track 520 is arranged around these mobile wheels 510. This design allows the robot to achieve smooth movement inside the pipeline through the coordinated work of the mobile wheel 510 and the track 520. In particular, the output shaft of the motor is coaxially arranged with the mobile wheel 510, which means that the rotation of the motor can directly drive the mobile wheel 510, thereby simplifying the transmission structure and improving the transmission efficiency. That is, one motor is connected to the mobile wheel 510 of the first mobile unit 400, and one motor is connected to the mobile wheel 510 of the second mobile unit 500; such a design not only enables the robot to adapt to pipelines of different diameters, but also enhances its passability and stability inside the pipeline, providing a more flexible and reliable mobile solution for the detection of pipeline cleanliness.

[0035] According to an embodiment of the present invention, a plurality of anti-skid protrusions are provided on the surface (outer surface) of the crawler 520 , and the plurality of anti-skid protrusions are evenly spaced and arranged along the extension direction of the crawler 520 .

[0036] In specific implementation, the crawler 520 is designed with multiple raised anti-skid structures, which are evenly distributed along the extension direction of the crawler 520, forming an effective anti-skid mechanism. Such a design can significantly increase the friction between the robot and the inner wall of the pipeline, and improve the stability and grip of the robot when moving inside the pipeline. Whether on a smooth, slippery or debris-filled pipeline surface, these anti-skid protrusions can ensure that the robot will not slip or lose control, thereby safely and reliably completing the pipeline cleanliness inspection task. Through this enhanced crawler 520 design, the robot can adapt to a more complex and changeable pipeline environment, improving its performance and efficiency in practical applications.

[0037] According to one embodiment of the present invention, the housing 100 is in contact with the pipeline wall surface through the crawler 520 .

[0038] In specific implementation, this design allows the robot to support its weight and maintain stability when moving in the pipeline, mainly relying on the contact between the crawler 520 and the pipeline wall. Since the housing 100 does not contact the pipeline wall, the housing 100 will not be worn.

[0039] In this embodiment, the pipeline wall base may refer to the inner circumferential wall of the pipeline.

[0040] According to one embodiment of the present invention, the front end of the crawler track 520 is protruding relative to the front end of the shell 100 .

[0041] In specific implementation, the above-mentioned structural arrangement can prevent the front end of the shell 100 from directly contacting the pipeline wall.

[0042] According to one embodiment of the present invention, the rear end of the crawler track 520 is arranged to protrude relative to the rear end of the housing 100 .

[0043] In specific implementation, the above-mentioned structural arrangement can prevent the rear end of the shell 100 from directly contacting the pipeline wall.

[0044] In this embodiment, the diameter of the moving wheel 510 is 20 mm to 30 mm.

[0045] According to one embodiment of the utility model, the first mobile unit 400 and the second mobile unit 500 respectively include three mobile wheels 510; the three mobile wheels 510 are evenly arranged in sequence from the front to the rear of the shell 100, and are respectively rotatably connected to the shell 100; the motor is connected to one of the three mobile wheels 510; the track 520 is arranged around the three mobile wheels 510.

[0046] In a specific implementation, each mobile unit, namely the first and second mobile units 500, includes three mobile wheels 510. These mobile wheels 510 are evenly spaced from front to back along the housing 100, and can be rotatably connected to the housing 100, ensuring the flexibility and steering ability of the robot in the pipeline. In particular, the motor is connected to one of the three mobile wheels 510, and the entire mobile unit is driven through this connection point, thereby realizing the forward and backward movement of the robot. The track 520 is arranged around the three mobile wheels 510, providing the robot with better adhesion and passability, so that it can move stably on various pipeline surfaces. This design allows the robot to perform more sophisticated manipulation in the pipeline while maintaining a smaller external size, so that it can adapt to pipelines of different diameters. By evenly distributing the mobile wheels 510, the weight and power of the robot can be distributed more evenly, improving its stability and movement efficiency in the pipeline.

[0047] In this embodiment, the moving wheel 510 on one side of the shell 100 in the width direction and located at the front of the shell 100 can be connected to a motor, and the moving wheel 510 on the other side of the shell 100 in the width direction and located at the rear of the shell 100 can be connected to a motor.

[0048] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A pipeline internal cleanliness detection robot, characterized in that: It comprises a housing (100), a first driving unit (200), a second driving unit (300), a first moving unit (400) and a second moving unit (500); The first moving unit (400) and the second moving unit (500) are located on both sides of the housing (100) in a width direction (W); The first driving unit (200) is accommodated in the housing (100) and connected to the first moving unit (400); The second driving unit (300) is accommodated in the housing (100) and connected to the second moving unit (500); Wherein, the first drive unit (200) and the second drive unit (300) are arranged sequentially along the length direction (L) of the shell (100).

2. The pipeline internal cleanliness detection robot according to claim 1, characterized in that: The first drive unit (200) and the second drive unit (300) are motors.

3. The pipeline internal cleanliness detection robot according to claim 2, characterized in that: The first mobile unit (400) and the second mobile unit (500) respectively include at least one moving wheel (510) and a crawler track (520); The moving wheel (510) is located on one side of the housing (100) along the width direction (W) thereof; The crawler belt (520) is arranged around the moving wheel (510); The output shaft of the motor is coaxially arranged with the moving wheel (510).

4. The pipeline internal cleanliness detection robot according to claim 3, characterized in that: A plurality of anti-skid protrusions are provided on the surface of the crawler (520), and the plurality of anti-skid protrusions are evenly spaced and arranged along the extension direction of the crawler (520).

5. The pipeline internal cleanliness detection robot according to claim 3, characterized in that: The housing (100) contacts the pipeline wall foundation via the crawler (520).

6. The pipeline internal cleanliness detection robot according to claim 5, characterized in that: The front end of the crawler (520) is arranged to protrude relative to the front end of the housing (100).

7. The pipeline internal cleanliness detection robot according to claim 6, characterized in that: The rear end of the crawler (520) is arranged to protrude relative to the rear end of the housing (100).

8. The pipeline internal cleanliness detection robot according to claim 7, characterized in that: The diameter of the moving wheel (510) is 20 mm to 30 mm.

9. The pipeline internal cleanliness inspection robot according to any one of claims 3 to 8, characterized in that: The first moving unit (400) and the second moving unit (500) respectively include three moving wheels (510).

10. The pipeline internal cleanliness detection robot according to claim 9, characterized in that: The three moving wheels (510) are evenly spaced in sequence from the front of the housing (100) to the rear of the housing (100). cloth, and are respectively rotatably connected to the housing (100); The motor is connected to one of the three moving wheels (510); The crawler track (520) is arranged around the three moving wheels (510).

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