Robot for internal detection of small pipe diameter

Abstract

The utility model discloses a robot used for small pipe diameter internal detection, which comprises a front pipe section, a rear pipe section and a corrugated pipe, the front pipe section and the rear pipe section are arranged in a linear mode, a distance is arranged between the front pipe section and the rear pipe section, the corrugated pipe is arranged between the front pipe section and the rear pipe section, one end of the corrugated pipe is connected with the front pipe section, and the other end of the corrugated pipe is connected with the rear pipe section. The front end of the front pipe section is in a circular truncated cone shape, a lighting lamp holder is arranged in the center of a small circular face of the front end of the front pipe section, and four to six cameras are arranged on the surface of an inclined face of the front end of the front pipe section at equal intervals. According to the device, the knocking head can move upwards, the knocking head can collide with the inner wall of the pipeline to make a sound, and a detector can judge the position of the device according to the sound made by a certain position of the pipeline, so that the device can be conveniently controlled to move forwards or backwards; and magnetic stickers are arranged on the surfaces of the front wheel and the rear wheel, so that the whole device can move up and down in a vertical pipeline.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection, in particular to a robot used for detection inside a small-diameter pipe. Background Art

[0002] After the production of pipelines, the inner wall of the pipeline needs to be inspected for quality, mainly to check whether the inner wall of the pipeline has damage or cracks. Using pipeline walking robots is a common inspection method. The walking robots move in the pipeline and take real-time pictures of the inner wall of the pipeline for the inspectors to judge whether there are quality problems with the inner wall of the pipeline. However, some existing pipeline robots are large in size and are not very suitable for inspecting small-diameter pipelines. In addition, some pipeline robots are inconvenient to turn when moving in the pipeline.

[0003] In view of the above problems, the present utility model is proposed. Utility Model Content

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a robot for detecting inside small-diameter pipes, so as to solve the problems mentioned in the background technology.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions.

[0006] The utility model provides a robot for small-diameter internal detection, comprising a front pipe section, a rear pipe section and a corrugated pipe, wherein the front pipe section and the rear pipe section are arranged in a straight line and have a spacing therebetween, the corrugated pipe is located between the front pipe section and the rear pipe section, one end of the corrugated pipe is connected to the front pipe section, and the other end is connected to the rear pipe section;

[0007] The front end of the front tube section is in a truncated cone shape, a lighting lamp head is arranged in the center of the small round surface of the front end of the front tube section, and four to six cameras are arranged at equal intervals on the front end inclined surface of the front tube section, and the cameras face the outside of the front tube section;

[0008] A rod seat is provided on the inner lower surface of the rear pipe section, an electric push rod is vertically provided on the upper surface of the rod seat, a cylinder body of the electric push rod passes through the rear pipe section, and a knocking head is provided on the upper end of the piston rod of the electric push rod;

[0009] A universal wheel assembly is arranged at the central position of the lower surface of the front pipe section, a rear wheel seat is arranged at the central position of the lower surface of the rear pipe section, and rear wheels are arranged on both sides of the rear wheel seat.

[0010] Preferably, four to six cameras are evenly distributed around the front end surface of the front tube section at equal intervals, and the lens directions of the cameras are perpendicular to the surface of the front tube section.

[0011] Preferably, the universal wheel assembly includes a front wheel seat, a swivel seat and a front wheel, the front wheel seat is fixedly arranged at the center of the lower surface of the front tube section, the swivel seat is rotatably mounted on the lower surface of the front wheel seat, and the front wheel is mounted on the swivel seat via a rotating shaft.

[0012] Preferably, a cable connected to the interior of the rear pipe section is provided at the tail of the rear pipe section, and the cable includes a power line and a signal line, and the power line and the signal line are attached together.

[0013] Preferably, the electric push rod is located at the central axis position of the rear pipe section, and a reinforcing rib plate is provided between the cylinder body and the rod seat of the electric push rod.

[0014] Preferably, the striking head is hemispherical.

[0015] Preferably, the bending angle of the bellows is 90°.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] The front pipe section, the rear pipe section and the corrugated pipe are in the shape of long strips, and can move in a pipe with a smaller inner diameter, and the corrugated pipe can be bent, so that the front pipe section and the rear pipe section can realize turning;

[0018] When moving forward in the pipeline, the lighting head can emit light in real time to illuminate the environment inside the pipeline. The operator can control the front pipe section to go straight or turn, and the camera can take pictures of the inner wall of the pipeline. The inspection personnel can judge whether there are quality problems with the inner wall of the pipeline through the pictures taken by the camera.

[0019] When the device is moving in a long small-diameter pipe, when the inspector needs to know the location of the device, the electric push rod can be controlled to extend, and the knocking head can move upward, and the knocking head can hit the inner wall of the pipe to make a sound. The inspector can judge the location of the device by the sound emitted at a certain position of the pipe, which is convenient for controlling whether the device moves forward or backward; the surface of the front wheel and the rear wheel are provided with magnetic stickers, and the whole device can move up and down in the vertical pipe;

[0020] The device is flexible and convenient to move, can take real-time pictures of the front and the inner wall of the pipeline, can be positioned by collision sound, and can be widely used when detecting the quality of the inner wall of a small-diameter pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall three-dimensional diagram of the utility model;

[0022] Figure 2 This is a three-dimensional diagram of the swivel seat and front wheel of the utility model;

[0023] Figure 3It is a stereoscopic view of the rear pipe section of the utility model.

[0024] In the figure: 1. front pipe section; 11. bellows; 12. lighting lamp head; 13. camera; 14. front wheel seat; 15. swivel seat; 16. front wheel; 2. rear pipe section; 21. cable; 22. rear wheel seat; 23. rear wheel; 3. rod seat; 31. electric push rod; 32. knocking head. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0026] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0027] like Figure 1-3 As shown, a robot for small-diameter internal inspection comprises a front pipe section 1, a rear pipe section 2 and a bellows 11. The front pipe section 1 and the rear pipe section 2 are arranged in a straight line and have a spacing therebetween. The bellows 11 is located between the front pipe section 1 and the rear pipe section 2. One end of the bellows 11 is connected to the front pipe section 1 and the other end is connected to the rear pipe section 2. The entire device is in a straight line and can move forward or backward in the pipeline. The bellows 11 can be bent to achieve the turning of the front pipe section 1.

[0028] The front end of the front pipe section 1 is in a truncated cone shape. A lighting lamp head 12 is arranged in the center of the small round surface at the front end of the front pipe section 1. The lighting lamp head 12 can illuminate the inside of the pipe to facilitate the camera 13 to shoot. Four to six cameras 13 are arranged at equal intervals on the front end inclined surface of the front pipe section 1. The cameras 13 face the outside of the front pipe section 1. In this way, the multiple cameras just face the inner wall of the pipe, and can clearly shoot each position of the inner wall of the pipe;

[0029] A rod seat 3 is provided on the inner lower surface of the rear pipe section 2, and an electric push rod 31 is vertically provided on the upper surface of the rod seat 3. The cylinder body of the electric push rod 31 passes through the rear pipe section 2, and a knocking head 32 is provided on the upper end of the piston rod of the electric push rod 31. When the electric push rod 31 is extended, the knocking head 32 can move upward to hit the pipe wall and make a knocking sound.

[0030] A universal wheel assembly is provided at the center of the lower surface of the front pipe section 1, a rear wheel seat 22 is provided at the center of the lower surface of the rear pipe section 2, and rear wheels 23 are provided on both sides of the rear wheel seat 22;

[0031] Four to six cameras 13 are evenly distributed around the front end surface of the front tube section 1 at equal intervals, and the lens directions of the cameras 13 are perpendicular to the surface of the front tube section 1.

[0032] The universal wheel assembly includes a front wheel seat 14, a swivel seat 15 and a front wheel 16. The front wheel seat 14 is fixedly arranged at the center of the lower surface of the front pipe section 1, the swivel seat 15 is rotatably installed on the lower surface of the front wheel seat 14, and the front wheel 16 is installed on the swivel seat 15 through a rotating shaft, so that the swivel seat 15 and the front wheel 16 can rotate in a circle to achieve universal turning.

[0033] The tail of the rear pipe section 2 is provided with a cable 21 connected to the interior of the rear pipe section 2. The cable 21 includes a power line and a signal line, and the power line and the signal line are attached together.

[0034] The electric push rod 31 is located at the central axis position of the rear pipe section 2 , and a reinforcing rib plate is provided between the cylinder body of the electric push rod 31 and the rod seat 3 .

[0035] The striking head 32 is hemispherical; the bending angle of the bellows 11 is 90°.

[0036] In summary: the front pipe section 1, the rear pipe section 2 and the corrugated pipe 11 are in the shape of long strips, so that they can move in a pipe with a smaller inner diameter, and the corrugated pipe 11 can be bent, so that the front pipe section 1 and the rear pipe section 2 can achieve a turn;

[0037] When the pipe moves forward in the pipeline, the lighting lamp head 12 can emit light in real time to illuminate the environment inside the pipeline. The operator can control the front pipe section 1 to go straight or turn, and the camera 13 can take pictures of the inner wall of the pipeline. The inspection personnel can judge whether there is a quality problem of the inner wall of the pipeline through the pictures taken by the camera 13.

[0038] When the device is moving in a long small-diameter pipe, when the inspector needs to know the location of the device, the electric push rod 31 can be controlled to extend, so that the knocking head 32 can move upward, and the knocking head 32 can hit the inner wall of the pipe to make a sound. The inspector can judge the location of the device by the sound emitted at a certain position of the pipe, which is convenient for controlling whether the device moves forward or backward; the surfaces of the front wheel 16 and the rear wheel 23 are provided with magnetic stickers, so that the entire device can move up and down in the vertical pipe;

[0039] The device is flexible and convenient to move, can take real-time pictures of the front and the inner wall of the pipeline, can be positioned by collision sound, and can be widely used when detecting the quality of the inner wall of a small-diameter pipeline.

[0040] The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, who makes equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, should be covered by the protection scope of the utility model.

Claims

1. A robot for small diameter pipe inspection, characterized in that: The invention comprises a front pipe section (1), a rear pipe section (2) and a bellows (11), wherein the front pipe section (1) and the rear pipe section (2) are arranged in a straight line and have a spacing therebetween, the bellows (11) is located between the front pipe section (1) and the rear pipe section (2), one end of the bellows (11) is connected to the front pipe section (1), and the other end is connected to the rear pipe section (2); The front end of the front tube section (1) is in the shape of a truncated cone, a lighting lamp head (12) is arranged in the center of the small round surface of the front end of the front tube section (1), and four to six cameras (13) are arranged at equal intervals on the front end inclined surface of the front tube section (1), and the cameras (13) face the outside of the front tube section (1); A rod seat (3) is arranged on the inner lower surface of the rear pipe section (2), an electric push rod (31) is vertically arranged on the upper surface of the rod seat (3), a cylinder body of the electric push rod (31) passes through the rear pipe section (2), and a striking head (32) is arranged on the upper end of the piston rod of the electric push rod (31); A universal wheel assembly is arranged at the center of the lower surface of the front pipe section (1), a rear wheel seat (22) is arranged at the center of the lower surface of the rear pipe section (2), and rear wheels (23) are arranged on both sides of the rear wheel seat (22).

2. A robot for small diameter in-line inspection according to claim 1, characterized in that: Four to six cameras (13) are evenly distributed around the front end surface of the front tube section (1) at equal intervals, and the lens directions of the cameras (13) are perpendicular to the surface of the front tube section (1).

3. The robot for small diameter in-line inspection according to claim 1, characterized in that: The universal wheel assembly comprises a front wheel seat (14), a swivel seat (15) and a front wheel (16); the front wheel seat (14) is fixedly arranged at the center of the lower surface of the front pipe section (1); the swivel seat (15) is rotatably mounted on the lower surface of the front wheel seat (14); and the front wheel (16) is mounted on the swivel seat (15) via a rotating shaft.

4. The robot for small diameter in-line inspection according to claim 1, characterized in that: The tail of the rear pipe section (2) is provided with a cable (21) connected to the interior of the rear pipe section (2), and the cable (21) comprises a power line and a signal line, and the power line and the signal line are attached together.

5. The robot for small-diameter in-pipe inspection according to claim 1, characterized in that: The electric push rod (31) is located at the central axis position of the rear pipe section (2), and a reinforcing rib plate is provided between the cylinder body of the electric push rod (31) and the rod seat (3).

6. The robot for small-diameter in-pipe inspection according to claim 1, characterized in that: The striking head (32) is hemispherical.

7. The robot for small-diameter in-pipe inspection according to claim 1, characterized in that: The bending angle of the corrugated tube (11) is 90°.

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