Pipeline internal cleanliness detection robot
By designing a cleanliness detection robot inside the pipe where the mobile components are located on both sides of the housing and the motor is housed in the accommodating cavity, the problem of the robot being unable to enter the small pipes and the motor being easily damaged is solved, and the detection effect of smaller size and higher reliability is achieved.
Patent Information
- Application Number
- CN202421362991.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-14
- Publication Date
- 2025-03-25
- Estimated Expiration
- 2034-06-14
AI Technical Summary
The existing internal cleanliness detection robot cannot enter pipes with smaller diameters due to its wide width, and the motor is exposed to the outside and is prone to damage.
A pipe internal cleanliness detection robot is designed, with its mobile components located on both sides of the housing, driving the motor arranged along the length of the housing, and accommodating the motor in the housing accommodation cavity.
The design reduces the lateral dimensions of the robot, allowing it to enter smaller pipes and effectively prevents motor damage, improving the durability and reliability of the robot.
Smart Images
Figure CN222669367U_ABST
Abstract
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 and right moving units of the existing pipeline internal cleanliness inspection robot are each driven by a motor, and the left motor and the right motor are coaxially arranged, which results in the pipeline internal cleanliness inspection robot being too wide and unable to enter some pipelines with smaller diameters. In addition, the motor is exposed outside the housing of the pipeline internal cleanliness inspection robot, and water is easily allowed to enter the motor during pipeline internal cleanliness inspection, causing damage to the motor. 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, resulting in the robot being unable to enter some pipelines with smaller diameters, and is used to solve the technical problem that the motor is easily damaged due to the motor being exposed outside the shell.
[0006] The utility model provides a pipeline internal cleanliness detection robot, comprising a shell, a cover plate, a first movable assembly, a second movable assembly, a first drive motor and a second drive motor; the shell has a accommodating cavity and an opening located above the shell and connected to the accommodating cavity; the cover plate is arranged at the opening; the first movable assembly is rotatably arranged on one side of the shell along its width direction; the second movable assembly is rotatably arranged on the other side of the shell along its width direction; the first drive motor is accommodated in the accommodating cavity and connected to the first movable assembly; the second drive motor is accommodated in the accommodating cavity and connected to the second movable assembly; wherein the first drive motor and the second drive motor are arranged along the length direction of the shell.
[0007] According to one embodiment of the utility model, a camera installation hole that can communicate with the accommodating cavity is provided at the front end of the shell; the pipeline internal cleanliness detection robot also includes a camera, and the camera is sealed and penetrated in the camera installation hole.
[0008] According to one embodiment of the utility model, it also includes an infrared lamp, a light sensor and a first controller; the front end of the shell has an infrared lamp installation hole and a light sensor installation hole; the infrared lamp is sealed and penetrated in the infrared lamp installation hole; the light sensor is sealed and penetrated in the light sensor installation hole; the first controller is accommodated in the accommodating cavity and is connected to the camera, the infrared lamp and the light sensor.
[0009] According to an embodiment of the present invention, it also includes a storage battery, which is accommodated in the accommodating cavity and connected to the first controller.
[0010] According to an embodiment of the utility model, it also includes a wireless transmitting module; the camera is connected to the wireless transmitting module through the first controller; the wireless transmitting module can be wirelessly connected to the wireless receiving module.
[0011] According to an embodiment of the present utility model, the wireless receiving module is connected to the second controller; the second controller and the wireless receiving module are arranged on a computer.
[0012] According to an embodiment of the present utility model, the wireless transmitting module is a WIFI transmitting module; and the wireless receiving module is a WIFI receiving module.
[0013] According to one embodiment of the present utility model, the wireless transmitting module is a LoRa transmitting module; and the wireless receiving module is a LoRa receiving module.
[0014] According to one embodiment of the utility model, the first movable component and the second movable component respectively include at least one movable wheel and at least one rotating shaft; one end of the rotating shaft is connected to the wheel center of the movable wheel, and the other end of the rotating shaft is rotatably arranged in the shell; the output shaft of the first drive motor is connected to the other end of the rotating shaft of the first movable component; the output shaft of the second drive motor is connected to the other end of the rotating shaft of the second movable component.
[0015] According to one embodiment of the utility model, the first moving component and the second moving component respectively include three moving wheels; the three moving wheels are arranged at intervals along the length direction of the shell; the first drive motor is located at the front of the shell, and the output end of the first drive motor is connected to the moving wheel of the first moving component located at the front of the shell; the second drive motor is located at the rear of the shell, and the output end of the second drive motor is connected to the moving wheel of the second moving component located at the rear of the shell.
[0016] The characteristics and advantages of the pipeline internal cleanliness detection robot of the utility model are:
[0017] Through the ingenious design, two major problems in the prior art are solved. First, in order to solve the problem that the existing robots cannot enter pipes with smaller diameters due to their excessive width, this solution adopts an innovative structure so that the two moving components of the robot are located on both sides of the shell, and the motors that drive these components are cleverly arranged inside the shell and arranged along the length of the shell. This layout greatly reduces the lateral size of the robot, allowing it to flexibly enter smaller pipes for operation. Secondly, in order to solve the problem that the motor is easily damaged, this solution accommodates the first drive motor and the second drive motor in the housing cavity of the shell, so that the motor will not be exposed to the external environment, thereby effectively preventing the intrusion of water and other harmful substances, and significantly improving the durability of the motor and the overall reliability of the robot. Through these improvements, this robot can not only adapt to the detection needs of more pipelines, but also improve the safety and efficiency of operations. 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 2 This is an exploded view of the utility model pipeline internal cleanliness detection robot;
[0021] Figure 3 It is a three-dimensional diagram of another embodiment of the pipeline internal cleanliness detection robot of the utility model;
[0022] Figure 4 It is a top view of another embodiment of the pipeline internal cleanliness detection robot of the utility model.
[0023] Reference numerals:
[0024] 100, shell; 110, accommodating cavity; 120, opening; 200, cover plate; 300, first moving component; 400, second moving component; 410, moving wheel; 500, first driving motor; 600, second driving motor; 700, camera; 800, infrared lamp; 900, light sensor; W, width direction of shell; L, length direction of shell. DETAILED DESCRIPTION
[0025] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below 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.
[0026] 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.
[0027] 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.
[0028] 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.
[0029] 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.
[0030] Figures 1 to 4 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 cover plate 200, a first movable assembly 300, a second movable assembly 400, a first drive motor 500 and a second drive motor 600; the shell 100 has a accommodating cavity 110 and an opening 120 located above the shell 100 and connected to the accommodating cavity 110; the cover plate 200 is covered at the opening 120; the first movable assembly 300 is rotatably arranged on one side of the shell 100 along its width direction W; the second movable assembly 400 is rotatably arranged on the other side of the shell 100 along its width direction W; the first drive motor 500 is accommodated in the accommodating cavity 110 and connected to the first movable assembly 300; the second drive motor 600 is accommodated in the accommodating cavity 110 and connected to the second movable assembly 400; wherein, the first drive motor 500 and the second drive motor 600 are arranged along the length direction L of the shell 100.
[0031] In the specific implementation, two major problems in the prior art are solved through ingenious design. First, in view of the problem that the existing robot cannot enter the pipe with a smaller diameter due to its excessive width, this solution adopts an innovative structure, so that the two moving components of the robot are respectively located on both sides of the shell 100, and the motors driving these components are cleverly arranged inside the shell 100, arranged along the length direction L of the shell 100. This layout greatly reduces the lateral size of the robot, enabling it to flexibly enter smaller pipes for operation. Secondly, in order to solve the problem that the motor is easily damaged, this solution accommodates the first drive motor 500 and the second drive motor 600 in the accommodating chamber 110 of the shell 100, so that the motor will not be exposed to the external environment, thereby effectively preventing the intrusion of water and other harmful substances, and significantly improving the durability of the motor and the overall reliability of the robot. Through these improvements, this robot can not only adapt to the detection needs of more pipelines, but also improve the safety and efficiency of the operation.
[0032] According to one embodiment of the utility model, the front end of the shell 100 is provided with a camera installation hole that can be connected to the accommodating cavity 110; the pipeline internal cleanliness detection robot also includes a camera 700, and the camera 700 is sealed and penetrated in the camera installation hole.
[0033] In specific implementation, a camera mounting hole is specially designed at the front end of the shell 100 of the robot, and this hole can be connected to the accommodating cavity 110 in the shell 100. The robot is equipped with a dedicated camera 700, which is installed in this hole in a sealed manner to ensure the safety and stability of the camera 700 when working inside the pipeline. Such a design allows the robot to capture the situation inside the pipeline in real time through the camera 700 when performing cleanliness inspection tasks, thereby achieving more accurate and efficient inspections. The sealed installation of the camera 700 not only protects the camera 700 from the influence of the internal environment of the pipeline, but also ensures the overall waterproof performance of the robot, enabling it to work normally in a humid or watery environment. Through this design, the robot can not only adapt to more pipeline inspection scenarios, but also improve the accuracy of inspection and the safety of operation.
[0034] According to one embodiment of the utility model, it also includes an infrared lamp 800, a light sensor 900 and a first controller; the front end of the shell 100 has an infrared lamp mounting hole and a light sensor mounting hole; the infrared lamp 800 is sealed and penetrated in the infrared lamp mounting hole; the light sensor 900 is sealed and penetrated in the light sensor mounting hole; the first controller is accommodated in the accommodating cavity 110 and is connected to the camera 700, the infrared lamp 800 and the light sensor 900.
[0035] According to an embodiment of the present invention, a storage battery is further included, which is accommodated in the accommodating cavity 110 and connected to the first controller.
[0036] In specific implementation, the pipeline internal cleanliness detection robot of the present technical solution further integrates a battery on the basis of the original design, so that the robot can operate independently of an external power supply. This design not only improves the portability and flexibility of the robot, but also enhances its autonomous operation ability in a complex pipeline environment. By accommodating the battery in the accommodating cavity 110 of the shell 100, the power supply of the robot is effectively protected, avoiding the adverse effects of the external environment on the battery performance. At the same time, the connection between the battery and the first controller realizes intelligent power management, optimizes energy use, extends the working time of the robot, and improves operating efficiency. Combining these innovations, the robot of the present technical solution can perform pipeline cleanliness detection more stably and persistently, and can provide high-quality detection services regardless of whether it is in an environment with sufficient or insufficient light, significantly improving the reliability and efficiency of the detection work.
[0037] According to an embodiment of the present invention, a wireless transmitting module is also included; the camera 700 is connected to the wireless transmitting module via a first controller; the wireless transmitting module can be wirelessly connected to the wireless receiving module.
[0038] During specific implementation, the image data captured by the camera 700 can be sent wirelessly to the wireless transmitting module after being processed by the first controller. This module can establish a connection with an external wireless receiving module to realize remote transmission of data. This design breaks through the limitations of traditional wired transmission methods, allowing operators to receive and view test results far away from the pipeline inspection site, greatly improving the safety and convenience of operations. At the same time, the wireless transmission method also reduces the risk of interference and damage caused by cables, and improves the stability and reliability of the robot in complex environments. By integrating the wireless transmitting module, the robot of this technical solution can not only adapt to more diverse inspection scenarios, but also make real-time sharing and remote monitoring of data possible, thereby improving the efficiency and flexibility of the entire inspection process. This innovative wireless data transmission function provides a more advanced and practical solution for internal cleanliness detection of pipelines.
[0039] According to an embodiment of the present utility model, the wireless receiving module is connected to the second controller; the second controller and the wireless receiving module are arranged on a computer.
[0040] In practice, this design means that when the robot performs cleanliness inspection inside the pipeline, it can wirelessly transmit the inspection data to the computer in real time. The second controller on the computer is responsible for receiving the data and further processing and analysis. The operator can directly view the real-time image of the inside of the pipeline on the computer interface, and use the second controller to remotely control and operate the robot. This integrated wireless data transmission and processing system not only improves the efficiency of the inspection work, but also makes the operation more intuitive and convenient. Through the user interface on the computer, the operator can easily monitor the inspection process, obtain the inspection results in time, and adjust or control the robot as needed. In addition, the powerful data processing capability of the computer also provides support for subsequent data analysis and report generation.
[0041] In a feasible implementation manner, the wireless transmitting module is a WIFI transmitting module; and the wireless receiving module is a WIFI receiving module.
[0042] In another feasible implementation, the wireless transmitting module is a LoRa transmitting module; and the wireless receiving module is a LoRa receiving module.
[0043] According to one embodiment of the utility model, the first movable component 300 and the second movable component 400 respectively include at least one movable wheel 410 and at least one rotating shaft; one end of the rotating shaft is connected to the wheel center of the movable wheel 410, and the other end of the rotating shaft is rotatably disposed in the shell 100; the output shaft of the first drive motor 500 is connected to the other end of the rotating shaft of the first movable component 300; the output shaft of the second drive motor 600 is connected to the other end of the rotating shaft of the second movable component 400.
[0044] In specific implementation, the mobile components of the robot, namely the first mobile component 300 and the second mobile component 400, each include at least one mobile wheel 410 and a rotating shaft. This design allows the robot to move flexibly inside the pipeline while maintaining the compactness and stability of the structure.
[0045] Specifically, through this structural design, the robot can not only adapt to pipes of different diameters, but also achieve smooth and precise movement inside the pipe, whether it is moving straight forward or turning (the two drive motors achieve turning by differential motion). In addition, since the drive motor is housed inside the housing 100, this design also helps to protect the motor from damage by the internal environment of the pipe, thereby improving the durability and reliability of the robot.
[0046] According to one embodiment of the utility model, the first movable component 300 and the second movable component 400 respectively include three movable wheels 410; the three movable wheels 410 are arranged at intervals along the length direction L of the shell 100; the first drive motor 500 is located at the front of the shell 100, and the output end of the first drive motor 500 is connected to the movable wheel 410 of the first movable component 300 located at the front of the shell 100; the second drive motor 600 is located at the rear of the shell 100, and the output end of the second drive motor 600 is connected to the movable wheel 410 of the second movable component 400 located at the rear of the shell 100.
[0047] In specific implementation, the pipeline internal cleanliness detection robot of the technical solution realizes more efficient and flexible pipeline internal detection through its innovative mobile component design. The two side mobile components of the robot, namely the first mobile component 300 and the second mobile component 400, are equipped with three moving wheels 410, which are arranged at intervals along the length direction L of the shell 100, providing stable support and good mobility for the robot. The first drive motor 500 is located at the front of the shell 100, and its output end is connected to the front moving wheel 410, while the second drive motor 600 is located at the rear of the shell 100, connected to the rear moving wheel 410. This front and rear motor layout not only enables the robot to achieve flexible control of forward and backward movement, but also enhances its stability and passability in the pipeline. Through this design, the robot can more effectively adapt to pipeline environments with different pipe diameters and curvatures, while maintaining efficient detection speed and accurate positioning capabilities. The configuration of the front and rear motors also helps the robot to make precise steering and adjustments in the pipeline to adapt to complex pipeline structures. In addition, the direct connection between the motor and the moving wheel 410 ensures the high efficiency of power transmission, reduces energy loss, and prolongs the operation time of the robot. Overall, this design significantly improves the practicality and reliability of the robot in the inspection of the cleanliness of the inside of the pipeline, making it a high-tech inspection tool with strong adaptability and easy operation.
[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 cover plate (200), a first moving assembly (300), a second moving assembly (400), a first driving motor (500) and a second driving motor (600); The housing (100) has a receiving cavity (110) and an opening (120) located above the housing (100) and capable of communicating with the receiving cavity (110); The cover plate (200) is disposed on the opening (120); The first moving assembly (300) is rotatably arranged on one side of the housing (100) along the width direction (W) thereof; The second moving assembly (400) is rotatably arranged on the other side of the housing (100) along the width direction (W) thereof; The first driving motor (500) is accommodated in the accommodating cavity (110) and is connected to the first moving component (300); The second driving motor (600) is accommodated in the accommodating cavity (110) and is connected to the second moving assembly (400); Wherein, the first drive motor (500) and the second drive motor (600) are arranged along the length direction (L) of the housing (100).
2. The pipeline internal cleanliness detection robot according to claim 1, characterized in that: The front end of the housing (100) is provided with a camera installation hole capable of communicating with the accommodating cavity (110); The pipeline internal cleanliness detection robot further comprises a camera (700), and the camera (700) is sealed and penetrated in the camera installation hole.
3. The pipeline internal cleanliness detection robot according to claim 2, characterized in that: It also includes an infrared lamp (800), a light sensor (900) and a first controller; The front end of the housing (100) is provided with an infrared lamp mounting through hole and a light sensor mounting through hole; The infrared lamp (800) is sealed and inserted into the infrared lamp installation through hole; The light sensor (900) is sealed and penetrated in the light sensor installation through hole; The first controller is housed in the accommodating cavity (110) and is connected to the camera (700), the infrared lamp (800) and the light sensor (900).
4. The pipeline internal cleanliness detection robot according to claim 3, characterized in that: It also includes a storage battery, which is accommodated in the accommodating cavity (110) and connected to the first controller.
5. The pipeline internal cleanliness detection robot according to claim 3, characterized in that: Also includes a wireless transmission module; The camera (700) is connected to the wireless transmission module via the first controller; The wireless transmitting module can be wirelessly connected to the wireless receiving module.
6. The pipeline internal cleanliness detection robot according to claim 5, characterized in that: The wireless receiving module is connected to the second controller; The second controller and the wireless receiving module are arranged on a computer.
7. The pipeline internal cleanliness detection robot according to claim 6, characterized in that: The wireless transmission module is a WIFI transmission module; The wireless receiving module is a WIFI receiving module.
8. The pipeline internal cleanliness detection robot according to claim 6, characterized in that: The wireless transmission module is a LoRa transmission module; The wireless receiving module is a LoRa receiving module.
9. The pipeline internal cleanliness detection robot according to any one of claims 1 to 8, characterized in that: The first moving assembly (300) and the second moving assembly (400) respectively include at least one moving wheel (410) and at least one rotating shaft; One end of the rotating shaft is connected to the wheel center of the moving wheel (410), and the other end of the rotating shaft is rotatably disposed in the housing (100); The output shaft of the first driving motor (500) is connected to the other end of the rotating shaft of the first moving component (300); The output shaft of the second driving motor (600) is connected to the other end of the rotating shaft of the second moving component (400).
10. The pipeline internal cleanliness detection robot according to claim 9, characterized in that: The first moving assembly (300) and the second moving assembly (400) respectively include three moving wheels (410); The three moving wheels (410) are arranged at intervals along the length direction (L) of the housing (100); The first driving motor (500) is located at the front of the housing (100), and an output end of the first driving motor (500) is connected to a moving wheel (410) of the first moving assembly (300) located at the front of the housing (100); The second driving motor (600) is located at the rear of the housing (100), and the output end of the second driving motor (600) is connected to the moving wheel (410) of the second moving assembly (400) located at the rear of the housing (100).