Pipeline inner wall inspection robot

Abstract

The utility model discloses a pipeline inner wall inspection robot, including a mounting shell and a screw propeller arranged at the rear end of the inner wall thereof, wherein the mounting shell is provided with multiple inspection mechanisms: the inspection mechanism includes a threaded rod rotatably arranged around the mounting shell, one end of the threaded rod extends to the outside of the mounting shell and is threadedly connected to a lifting plate, the left and right sides of the top of the lifting plate are rotatably connected to a first electric push rod, the telescopic end of the first electric push rod is rotatably connected to a moving wheel, and a camera is connected to the center of the top of the lifting plate. The device has the advantage of flexible adjustment, which solves the problem that some pipeline inner wall inspection robots are fixed in size, and robots of fixed size can only be applied to pipelines within a specific diameter range, which limits their application in diversified pipeline networks, especially when the pipeline diameter span is large, multiple robots of different types or sizes may be required, which increases the cost and complexity.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline inner wall inspection, in particular to a pipeline inner wall inspection robot. Background Art

[0002] Pipeline inner wall inspection robots are intelligent devices specially designed for inspection, maintenance and evaluation inside various pipelines. They can work in environments that are difficult for personnel to reach or pose a threat to personnel safety. They are widely used in oil, natural gas, water supply, drainage, chemical and other industries to ensure the safe operation of pipeline systems and timely detection of potential problems.

[0003] Some pipeline inner wall inspection robots have fixed sizes. Robots with fixed sizes can only be used for pipelines within a specific diameter range, which limits their application in diverse pipeline networks. Especially when the pipeline diameter span is large, multiple robots of different types or sizes may be required, increasing cost and complexity. Utility Model Content

[0004] The purpose of the utility model is to provide a pipeline inner wall inspection robot with the advantage of flexible adjustment, which solves the problem that some pipeline inner wall inspection robots have fixed sizes. Robots with fixed sizes can only be suitable for pipelines within a specific diameter range, which limits their application in diversified pipeline networks. In particular, when the pipeline diameter span is large, multiple robots of different types or sizes may be required, increasing the cost and complexity.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a pipeline inner wall inspection robot, comprising a mounting shell and a screw propeller arranged at the rear end of the inner wall thereof, wherein a plurality of inspection mechanisms are arranged around the mounting shell:

[0006] The inspection mechanism includes a threaded rod rotatably arranged around the mounting shell, one end of the threaded rod extends to the outside of the mounting shell and is threadedly connected to a lifting plate, the left and right sides of the top of the lifting plate are rotatably connected to a first electric push rod, the telescopic end of the first electric push rod is rotatably connected to a moving wheel, and a camera is connected to the center of the top of the lifting plate.

[0007] As a preferred embodiment of the pipeline inner wall inspection robot of the utility model, one end of the threaded rod extends to the interior of the mounting shell and is fixedly sleeved with a driven bevel gear, one side of a plurality of driven bevel gears are meshedly connected to the same driving bevel gear, the inner wall of the mounting shell is fixedly connected to a power motor, and the output end of the power motor is fixedly connected to the inner wall of the driving bevel gear.

[0008] As a preferred embodiment of the pipeline inner wall inspection robot of the utility model, the lifting plate is internally slidably connected with a limit rod, and the limit rod is equidistantly arranged around the mounting shell.

[0009] As a preferred embodiment of the pipeline inner wall inspection robot of the utility model, the left and right sides of the bottom of the lifting plate are rotatably connected with telescopic rods, one end of the telescopic rods is rotatably connected with a moving ring, the inner wall of the moving ring is slidably connected with a fixed rod, and the fixed rod is fixedly arranged on the surface of the mounting shell.

[0010] As a preferred embodiment of the pipeline inner wall inspection robot of the utility model, the movable sleeve on the surface of the fixed rod is provided with a spring fixedly connected between the movable ring and the mounting shell.

[0011] As a preferred embodiment of the pipeline inner wall inspection robot of the utility model, second electric push rods are fixedly connected to the left and right sides of the top of the lifting plate, and the telescopic ends of the second electric push rods are rotatably connected to the first electric push rod.

[0012] As a preferred embodiment of the pipeline inner wall inspection robot of the utility model, a third electric push rod is fixedly connected to the bottom of the camera, and the third electric push rod is fixedly arranged on the top of the lifting plate.

[0013] As a preferred embodiment of the pipeline inner wall inspection robot of the present invention, the mounting shell is made of stainless steel.

[0014] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0015] 1. In the utility model, each inspection mechanism includes a threaded rod that is rotatably arranged along the circumference of the mounting shell. One end of the threaded rod extends out of the mounting shell and is connected to a lifting plate. The lifting plate can be moved up and down by threaded connection. This design allows the robot to adjust its height when necessary to meet the inspection requirements of different positions in the pipeline. The first electric push rod on the lifting plate can be extended and retracted in the vertical direction, and its retractable end is connected to the moving wheel. When the first electric push rod is extended or retracted, it can drive the moving wheel to move up and down, assisting the robot to maintain stability on the pipeline wall or explore up and down, thereby enhancing its adaptability in complex pipeline environments. The moving wheel is installed at the telescopic end of the first electric push rod, and can provide additional support or guidance on the pipeline wall according to the position change of the lifting plate, which helps the robot to move and turn stably in the pipeline. The camera is installed at the top center of the lifting plate. This position can provide a wider field of view, which is convenient for all-round and no-dead-angle observation of the internal situation of the pipeline, and high-definition image or video acquisition, and recording and analysis of pipeline defects such as corrosion, cracks, and foreign matter accumulation. This equipment enables the robot not only to advance stably in the pipeline, but also to adjust the height and viewing angle according to the specific situation of the pipeline, and to perform flexible and comprehensive inspection operations, effectively improving the efficiency and accuracy of pipeline detection.

[0016] 2. The utility model is fixedly connected with a power motor by installing the inner wall of the shell, and the output end of the power motor is fixedly connected with the inner wall of the active bevel gear. After the power motor is started, the active bevel gear is driven to rotate by its rotational motion, and then the rotational motion is transmitted to each driven bevel gear through the meshing of the bevel gear set, which eventually causes the threaded rod to move up and down along its axial direction. Through the above design, the robot can accurately control its vertical position in the pipeline, thereby enhancing the adaptability to different pipeline environments and the flexibility of inspection. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of the utility model;

[0018] Figure 2 It is a side view of the utility model;

[0019] Figure 3 It is a cross-sectional view of the utility model;

[0020] Figure 4 It is a three-dimensional diagram of the inspection mechanism of the utility model;

[0021] Figure 5 It is a structural schematic diagram of the patrol inspection mechanism of the utility model.

[0022] In the figure: 1. mounting shell; 2. screw propeller; 3. inspection mechanism; 301. threaded rod; 302. driven bevel gear; 303. driving bevel gear; 304. power motor; 305. lifting plate; 306. limit rod; 307. telescopic rod; 308. moving ring; 309. fixing rod; 310. spring; 311. first electric push rod; 312. moving wheel; 313. second electric push rod; 314. third electric push rod; 315. camera. DETAILED DESCRIPTION

[0023] See also Figure 1-Figure 5 The pipeline inner wall inspection robot comprises a mounting shell 1 and a screw propeller 2 arranged at the rear end of the inner wall thereof, and a plurality of inspection mechanisms 3 are arranged around the mounting shell 1:

[0024] The mounting shell 1 constitutes the main frame of the robot, ensuring that all components are integrated and protecting the internal electronic equipment from damage by the internal environment of the pipeline. The propeller 2 is located at the rear end of the mounting shell 1, and generates thrust by rotation to drive the robot forward or backward along the axis of the pipeline, which is particularly effective for moving in circular or nearly circular pipelines.

[0025] Furthermore, the inspection mechanism 3 includes a threaded rod 301 rotatably arranged around the mounting shell 1, one end of the threaded rod 301 extends to the outside of the mounting shell 1 and is threadedly connected to a lifting plate 305, the left and right sides of the top of the lifting plate 305 are rotatably connected to a first electric push rod 311, the telescopic end of the first electric push rod 311 is rotatably connected to a moving wheel 312, and a camera 315 is connected to the top center of the lifting plate 305.

[0026] Each inspection mechanism 3 includes a threaded rod 301 that is rotatably arranged along the circumference of the mounting shell 1. One end of the threaded rod 301 extends out of the mounting shell 1 and is connected to a lifting plate 305. The lifting plate 305 can be moved up and down by a threaded connection. This design allows the robot to adjust its height when necessary to meet the inspection requirements of different positions in the pipeline. The first electric push rod 311 on the lifting plate 305 can be extended and retracted in the vertical direction, and its retractable end is connected to the moving wheel 312. When the first electric push rod 311 is extended or retracted, it can drive the moving wheel 312 to move up and down, assisting the robot to maintain stability on the pipeline wall or to explore up and down, thereby enhancing its adaptability in complex pipeline environments. The moving wheel 312 is installed at the telescopic end of the first electric push rod 311, and can provide additional support or guidance on the pipeline wall according to the position change of the lifting plate 305, which helps the robot to move and turn stably in the pipeline. The camera 315 is installed at the top center of the lifting plate 305. This position can provide a wider field of view, which is convenient for observing the internal situation of the pipeline in all directions without blind spots, and collecting high-definition images or videos, and recording and analyzing pipeline defects such as corrosion, cracks, and foreign matter accumulation. This equipment enables the robot to not only advance stably in the pipeline, but also adjust the height and viewing angle according to the specific situation of the pipeline, and perform flexible and comprehensive inspection operations, effectively improving the efficiency and accuracy of pipeline detection.

[0027] Furthermore, one end of the threaded rod 301 extends to the interior of the mounting shell 1 and is fixedly sleeved with a driven bevel gear 302, and one side of multiple driven bevel gears 302 is meshedly connected to the same driving bevel gear 303, and the inner wall of the mounting shell 1 is fixedly connected to a power motor 304, and the output end of the power motor 304 is fixedly connected to the inner wall of the driving bevel gear 303.

[0028] A power motor 304 is fixedly connected to the inner wall of the mounting shell 1, and the output end of the power motor 304 is fixedly connected to the inner wall of the active bevel gear 303. After the power motor 304 is started, the active bevel gear 303 is driven to rotate through its rotational motion, and then the rotational motion is transmitted to each driven bevel gear 302 through the meshing of the bevel gear set, which eventually causes the threaded rod 301 to move up and down along its axial direction. Through the above design, the robot can accurately control its vertical position in the pipeline, thereby enhancing the adaptability to different pipeline environments and the flexibility of inspection.

[0029] Furthermore, the lifting plate 305 is internally slidably connected with a limiting rod 306 , and the limiting rod 306 is equidistantly arranged around the mounting shell 1 .

[0030] The lifting plate 305 is internally slidably connected with limit rods 306, which are equidistantly arranged around the mounting shell 1. When the lifting plate 305 moves up and down, the limit rods 306 limit the moving range of the lifting plate 305. This design can effectively prevent the lifting plate 305 from excessively rising or falling, exceeding the acceptable range of the pipe diameter, and preventing it from colliding with the pipe wall or top, thereby reducing the risk of damage.

[0031] Furthermore, the left and right sides of the bottom of the lifting plate 305 are rotatably connected with telescopic rods 307, one end of the telescopic rods 307 is rotatably connected with a moving ring 308, the inner wall of the moving ring 308 is slidably connected with a fixed rod 309, and the fixed rod 309 is fixedly set on the surface of the mounting shell 1.

[0032] The inner wall of the moving ring 308 is slidably connected to a fixed rod 309, and the fixed rod 309 is fixedly arranged on the surface of the mounting shell 1, which means that the moving ring 308 can slide on the fixed rod 309 but will not separate from the mounting shell 1, ensuring that during the movement of the robot, especially at bends or irregular parts of the pipeline, the moving ring 308 can flexibly adjust its own position while maintaining an overall connection with the mounting shell 1 to maintain the structural stability of the robot.

[0033] Furthermore, a spring 310 is movably sleeved on the surface of the fixing rod 309 and is fixedly connected to the moving ring 308 and the mounting shell 1 .

[0034] The spring 310 is installed on the fixed rod 309 and is fixedly connected to the moving ring 308 and the mounting shell 1. When the robot moves in the pipeline, especially when encountering changes in pipeline diameter, bends or uneven parts, the moving ring 308 changes with the shape of the pipeline, and the spring 310 is compressed or stretched accordingly, providing the necessary buffering effect. This not only reduces the damage to the robot structure caused by direct impact, but also ensures that the moving ring 308 maintains appropriate contact pressure with the inner wall of the pipeline, thereby enhancing grip and stability.

[0035] Furthermore, the left and right sides of the top of the lifting plate 305 are fixedly connected with second electric push rods 313 , and the telescopic ends of the second electric push rods 313 are rotationally connected to the first electric push rods 311 .

[0036] By fixing the second electric push rod 313 on the left and right sides of the top of the lifting plate 305 and enabling the telescopic end to be rotatably connected to the first electric push rod 311, the robot obtains the ability to move in an additional dimension. This design allows the robot to not only move up and down in the pipeline through the up and down adjustment of the lifting plate 305 and the propulsion of the screw propeller 2, but also through the mutual cooperation of the two electric push rods, to achieve fine adjustment in the left and right directions or local lateral movement, which is particularly important for exploring complex pipeline structures, bypassing obstacles or operating at pipeline bifurcations.

[0037] Furthermore, a third electric push rod 314 is fixedly connected to the bottom of the camera 315 , and the third electric push rod 314 is fixedly arranged on the top of the lifting plate 305 .

[0038] A third electric push rod 314 is fixedly connected to the bottom of the camera 315, which means that the camera 315 no longer relies solely on the overall lifting of the lifting plate 305 to change its height, but can independently perform fine adjustments forward and backward or up and down through the third electric push rod 314. This design gives the camera 315 greater flexibility and enables precise focus and observation of detection points at different heights and angles in the pipeline.

[0039] Furthermore, the mounting shell 1 is made of stainless steel.

[0040] Stainless steel is known for its excellent corrosion resistance and is particularly suitable for use in pipeline environments containing water, chemicals or other corrosive substances. This ensures that the robot can work in harsh environments for a long time, reduces structural damage caused by corrosion, and prolongs its service life.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A pipeline inner wall inspection robot, comprising a mounting shell (1) and a screw propeller (2) arranged at the rear end of the inner wall thereof, wherein a plurality of inspection mechanisms (3) are arranged around the mounting shell (1), and characterized in that: The inspection mechanism (3) comprises a threaded rod (301) rotatably arranged around the mounting shell (1), one end of the threaded rod (301) extending to the outside of the mounting shell (1) and being threadedly connected to a lifting plate (305), the left and right sides of the top of the lifting plate (305) being rotatably connected to first electric push rods (311), the telescopic end of the first electric push rod (311) being rotatably connected to a moving wheel (312), and the top center of the lifting plate (305) being connected to a camera (315).

2. The pipeline inner wall inspection robot according to claim 1, characterized in that: One end of the threaded rod (301) extends into the interior of the mounting shell (1) and is fixedly sleeved with a driven bevel gear (302); one side of a plurality of driven bevel gears (302) is meshedly connected to the same driving bevel gear (303); a power motor (304) is fixedly connected to the inner wall of the mounting shell (1); and an output end of the power motor (304) is fixedly connected to the inner wall of the driving bevel gear (303).

3. The pipeline inner wall inspection robot according to claim 1, characterized in that: The lifting plate (305) is internally slidably connected to a limiting rod (306), and the limiting rod (306) is equidistantly arranged around the mounting shell (1).

4. The pipeline inner wall inspection robot according to claim 1, characterized in that: The bottom left and right sides of the lifting plate (305) are rotatably connected to telescopic rods (307), one end of the telescopic rod (307) is rotatably connected to a moving ring (308), the inner wall of the moving ring (308) is slidably connected to a fixed rod (309), and the fixed rod (309) is fixedly arranged on the surface of the mounting shell (1).

5. The pipeline inner wall inspection robot according to claim 4, characterized in that: A spring (310) is movably sleeved on the surface of the fixed rod (309) and is fixedly connected to the movable ring (308) and the mounting shell (1).

6. The pipeline inner wall inspection robot according to claim 1, characterized in that: The left and right sides of the top of the lifting plate (305) are fixedly connected with second electric push rods (313), and the telescopic ends of the second electric push rods (313) are rotationally connected to the first electric push rods (311).

7. The pipeline inner wall inspection robot according to claim 1, characterized in that: The bottom of the camera (315) is fixedly connected to a third electric push rod (314), and the third electric push rod (314) is fixedly arranged on the top of the lifting plate (305).

8. The pipeline inner wall inspection robot according to claim 1, characterized in that: The installation shell (1) is made of stainless steel.

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