Pipeline detection robot

Abstract

The utility model discloses a pipeline detection robot, and relates to the technical field of pipeline detection robots. The device comprises a machine body, a storage battery is fixedly connected to one side of the machine body, two electric telescopic rods are symmetrically and fixedly connected to the bottom of the machine body, the output ends of the two electric telescopic rods are fixedly connected with the bottom of the machine body, supporting plates are fixedly connected to the bottoms of the two electric telescopic rods, and rotating shafts are symmetrically and rotationally connected to the bottoms of the supporting plates; the bottom of the rotating shaft is fixedly connected with a connecting plate. The supporting assembly is arranged, when the pipeline inclines and needs to be subjected to climbing detection, the supporting assembly can be started to operate, the contact area between the robot and the pipeline can be effectively increased through operation of the supporting assembly, and through dual cooperation of the supporting assembly and the electric wheels, the friction force between the robot and the wall face of the pipeline can be increased, and the slipping phenomenon is reduced; the climbing ability of the robot is effectively improved, and the detection accuracy and efficiency can be kept in the climbing process.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline inspection robots, and in particular to a pipeline inspection robot. Background Art

[0002] A pipeline inspection robot is a mechatronic system that can automatically enter and exit pipelines, carry a variety of sensors and operating machinery, and perform pipeline inspection and maintenance tasks under remote control or computer automatic control.

[0003] Existing pipeline inspection robots are usually placed inside the pipeline when in use. The robot is then controlled to move inside the pipeline through an external controller. Real-time imaging and defect detection are performed through high-definition cameras and sensors. Finally, data analysis is performed based on the detection results to evaluate the condition of the pipeline.

[0004] However, in daily use, current traditional pipeline inspection robots generally lack the function of climbing and cleaning the camera surface. When facing the inspection of inclined pipelines, due to the insufficient friction between the robot's moving wheels and the pipeline wall, slipping is very likely to occur. At the same time, dirt is also easily present on the camera surface, which not only seriously affects the accuracy and efficiency of the inspection, but may also cause damage to the robot itself. For this reason, the present application provides a pipeline inspection robot. Utility Model Content

[0005] The purpose of the present application is to solve the problem that when inspecting inclined pipelines, the robot's moving wheels are not sufficiently rubbed against the pipeline wall, which easily causes slippage. The present application provides a pipeline inspection robot.

[0006] In order to achieve the above-mentioned purpose, this application specifically adopts the following technical solutions:

[0007] A pipeline inspection robot comprises a fuselage, one side of the fuselage is fixedly connected to a battery, the bottom of the fuselage is symmetrically fixedly connected to two electric telescopic rods, the output ends of the two electric telescopic rods are fixedly connected to the bottom of the fuselage, the bottoms of the two electric telescopic rods are fixedly connected to support plates, the bottoms of the support plates are symmetrically rotatably connected to a rotating shaft, the bottom of the rotating shaft is fixedly connected to a connecting plate, both sides of the connecting plates are rotatably connected to electric wheels, one end of the fuselage is fixedly connected to a camera, one end of the fuselage is fixedly connected to a glass frame, the camera is located inside the glass frame, a support assembly is installed inside the fuselage, and a cleaning assembly is installed on the top of the glass frame.

[0008] By adopting the above technical solution, the control system drives the electric wheels to rotate to drive the robot to move inside the pipeline. During the movement, when the pipeline is inclined and slope climbing detection is required, the support component can be started to operate. Through the operation of the support component, the contact area between the robot and the pipeline can be effectively increased. Through the dual cooperation of the support component and the electric wheels, the friction between the robot and the pipeline wall can be increased, the slipping phenomenon can be reduced, and the slope climbing ability of the robot can be effectively increased, so that the detection accuracy and efficiency can be maintained during the slope climbing process. When the surface of the glass frame touches sundries, some dust will remain on the glass frame. At this time, the cleaning component can be started to operate to spray and clean the outer wall of the glass frame in time, so that the glass frame can always be kept clean and tidy, so as not to affect the detection of the camera, and the detection result is greatly improved.

[0009] Further, the support component includes a bidirectional lead screw rotatably connected inside the fuselage. One end of the fuselage is fixedly connected with a motor I, and the output end of the motor I is fixedly connected with one end of the bidirectional lead screw. Two lead screw sleeves are symmetrically threadedly connected to the bidirectional lead screw. Rotating plates are rotatably connected to both lead screw sleeves. One end of the rotating plate away from the lead screw sleeve is hinged with a U-shaped plate, and a support wheel is rotatably connected inside the U-shaped plate.

[0010] By adopting the above technical solution, when the bidirectional lead screw rotates, it can drive the two U-shaped plates to gradually rise until the two support wheels are in contact with the inner wall of the pipeline. Through the contact between the two support wheels and the pipeline, the contact area between the robot and the pipeline can be effectively increased.

[0011] Further, a guiding groove is opened at the top of the fuselage, and the two rotating plates are slidably connected in the guiding groove.

[0012] By adopting the above technical solution, when the two lead screw sleeves move, the two rotating plates will rotate according to the guidance of the guiding groove.

[0013] Further, anti-slip strips are fixedly connected to the outer walls of the support wheel and the electric wheel.

[0014] By adopting the above technical solution, the anti-slip strips on the support wheel and the electric wheel can further increase the friction with the pipeline, making the support wheel and the electric wheel more stable during the movement.

[0015] Further, the cleaning component includes a water tank fixedly connected to the top of the glass frame. The top of the water tank is fixedly connected with a water inlet, and two spray heads are symmetrically and fixedly connected to one side of the water tank.

[0016] By adopting the above technical solution, starting the operation of the spray head can spray the water source inside the water tank onto the surface of the glass frame.

[0017] Furthermore, two fixing plates are symmetrically and fixedly connected to both sides of the glass frame. A lead screw is rotatably connected to the opposite surfaces of two of the fixing plates. A second motor is fixedly connected to the top of the fixing plate, and the output end of the second motor is fixedly connected to one end of the lead screw. A cleaning brush is threadedly connected to the lead screw.

[0018] By adopting the above technical solution, the cleaning brush that reciprocates can quickly clean the surface of the glass frame, enabling the glass frame to always maintain a clean and tidy state, so as not to affect the detection of the camera, and greatly improving the detection result.

[0019] Furthermore, a guide rod is fixedly connected to the opposite surfaces of the other two fixing plates. The end of the cleaning brush away from the lead screw is slidably connected to the guide rod, and one side of the cleaning brush is in contact with one side of the glass frame.

[0020] By adopting the above technical solution, starting the second motor to operate drives the lead screw to rotate. At this time, the cleaning brush will reciprocate on the lead screw according to the guidance of the guide rod.

[0021] Furthermore, searchlights are symmetrically and fixedly connected to both sides of the fuselage.

[0022] By adopting the above technical solution, the inside of the pipeline can be illuminated by the searchlights, enabling the camera to detect and shoot more clearly.

[0023] In summary, the present application includes at least one of the following beneficial effects:

[0024] 1. In the present application, a support component is provided. When the pipeline is inclined and slope climbing detection is required, the support component can be started to operate. By the operation of the support component, the contact area between the robot and the pipeline can be effectively increased. Through the double cooperation of the support component and the electric wheels, the friction between the robot and the pipeline wall can be increased, the slipping phenomenon can be reduced, and the slope climbing ability of the robot can be effectively increased, so that the detection accuracy and efficiency can be maintained during the slope climbing process.

[0025] 2. In the present application, a cleaning component is provided. When foreign objects touch the surface of the glass frame, some dust will remain on the glass frame. At this time, the cleaning component can be started to operate to spray and clean the outer wall of the glass frame in time, enabling the glass frame to always maintain a clean and tidy state, so as not to affect the detection of the camera, and greatly improving the detection result. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional structural schematic diagram of the main body of the device in the present application.

[0027] Figure 2 is a front view of the main body of the device in the present application.

[0028] Figure 3 It is a three-dimensional structure schematic diagram of the support component in this application.

[0029] Figure 4 It is a three-dimensional structure schematic diagram of the cleaning component in this application.

[0030] Explanation of reference numerals:

[0031] 1, fuselage; 2, storage battery; 3, electric telescopic rod; 31, support plate; 32, rotating shaft; 4, connecting plate; 5, electric wheel; 6, camera; 7, glass frame; 8, support component; 9, cleaning component; 10, searchlight; 81, bidirectional lead screw; 82, motor 1; 83, lead screw sleeve; 84, hinged plate; 85, U-shaped plate; 86, support wheel; 87, guide groove; 88, anti-slip strip; 91, water tank; 92, water inlet; 93, nozzle; 94, fixing plate; 95, lead screw; 96, motor 2; 97, cleaning brush; 98, guide rod. Detailed implementation manners

[0032] The following further elaborates on this application in conjunction with the attached Figures 1-4 drawings.

[0033] The embodiment of this application discloses a pipeline inspection robot.

[0034] Referring to Figure 1 , Figure 2 and Figure 3 , a pipeline inspection robot includes a fuselage 1, a storage battery 2 is fixedly connected to one side of the fuselage 1, two electric telescopic rods 3 are symmetrically and fixedly connected to the bottom of the fuselage 1, the output ends of the two electric telescopic rods 3 are fixedly connected to the bottom of the fuselage 1, support plates 31 are fixedly connected to the bottoms of the two electric telescopic rods 3, rotating shafts 32 are symmetrically and rotatably connected to the bottoms of the support plates 31, a connecting plate 4 is fixedly connected to the bottom of the rotating shaft 32, electric wheels 5 are rotatably connected to both sides of the connecting plate 4, a camera 6 is fixedly connected to one end of the fuselage 1, a glass frame 7 is fixedly connected to one end of the fuselage 1, the camera 6 is located inside the glass frame 7, a support component 8 is installed inside the fuselage 1, a cleaning component 9 is installed on the top of the glass frame 7, and searchlights 10 are symmetrically and fixedly connected to both sides of the fuselage 1.

[0035] During use, first place the robot inside the pipeline. Subsequently, drive the electric wheel 5 to rotate through the control system to drive the robot to move inside the pipeline. During the movement, the inside of the pipeline can be illuminated by the searchlight 10, enabling the camera 6 to detect and shoot more clearly. When the pipeline is inclined and slope climbing detection is required, the support assembly 8 can be started to operate. By the operation of the support assembly 8, the contact area between the robot and the pipeline can be effectively increased. Through the dual cooperation of the support assembly 8 and the electric wheel 5, the friction between the robot and the pipeline wall can be increased, reducing the slipping phenomenon and effectively increasing the slope climbing ability of the robot, so that the detection accuracy and efficiency can be maintained during slope climbing. When some pipelines are relatively large and the support assembly 8 alone cannot make good contact with the inner wall of the pipeline, the electric telescopic rod 3 can be started to operate to push the fuselage 1 to rise, so that the support assembly 8 can better contact the inner wall of the pipeline. Secondly, during the detection process, since the internal environment of the pipeline is mostly dirty and may contain various garbage and sundries, the camera 6 can be protected by the glass frame 7 without affecting the normal detection of the camera 6. When debris touches the surface of the glass frame 7, some dust will remain on the glass frame 7. At this time, the cleaning assembly 9 can be started to operate to spray water and clean the outer wall of the glass frame 7 in a timely manner, so that the glass frame 7 is always kept clean and tidy, preventing it from affecting the detection of the camera 6 and greatly improving the detection result.

[0036] Refer to Figure 1 and Figure 3 , the support assembly 8 includes a bidirectional lead screw 81 rotatably connected inside the fuselage 1. One end of the fuselage 1 is fixedly connected with a motor 82. The output end of the motor 82 is fixedly connected with one end of the bidirectional lead screw 81. Two lead screw sleeves 83 are symmetrically threadedly connected on the bidirectional lead screw 81. Two articulated plates 84 are rotatably connected to the two lead screw sleeves 83 respectively. One end of the articulated plate 84 away from the lead screw sleeve 83 is articulated with a U-shaped plate 85. A support wheel 86 is rotatably connected inside the U-shaped plate 85. A guide groove 87 is opened at the top of the fuselage 1. The two articulated plates 84 are slidably connected in the guide groove 87. An anti-slip strip 88 is fixedly connected to the outer wall of the support wheel 86.

[0037] During use, first start the operation of motor 1 82 to drive the rotation of the bidirectional lead screw 81. When the bidirectional lead screw 81 rotates, it will drive the two lead screw sleeves 83 to move away from each other on the bidirectional lead screw 81. When the two lead screw sleeves 83 move, it will cause the two hinge plates 84 to rotate according to the guidance of the guide groove 87, thereby driving the two U-shaped plates 85 to gradually rise until the two support wheels 86 are in contact with the inner wall of the pipeline. Through the contact between the two support wheels 86 and the pipeline, the contact area between the robot and the pipeline can be effectively increased. Through the dual cooperation of the support wheels 86 and the electric wheels 5, the friction between the robot and the pipeline wall is greatly increased, reducing the occurrence of slipping phenomena, effectively increasing the climbing ability of the robot, enabling the detection accuracy and efficiency to be maintained during the climbing process. At the same time, the anti-slip strips 88 on the support wheels 86 can further increase the friction with the pipeline, making the support wheels 86 and the electric wheels 5 more stable during the movement process.

[0038] Refer to Figure 1 and Figure 4 As shown in FIGS. 7 and 8, the cleaning assembly 9 includes a water tank 91 fixedly connected to the top of the glass frame 7. The top of the water tank 91 is fixedly connected with a water inlet 92. Two spray heads 93 are symmetrically and fixedly connected to one side of the water tank 91. Two fixing plates 94 are symmetrically and fixedly connected to both sides of the glass frame 7. A lead screw 95 is rotatably connected to the opposite surfaces of two of the fixing plates 94. A motor 2 96 is fixedly connected to the top of the fixing plate 94. The output end of the motor 2 96 is fixedly connected to one end of the lead screw 95. A cleaning brush 97 is threadedly connected to the lead screw 95. A guide rod 98 is fixedly connected to the opposite surfaces of the other two fixing plates 94. The end of the cleaning brush 97 away from the lead screw 95 is slidably connected to the guide rod 98. One side of the cleaning brush 97 is in contact with one side of the glass frame 7.

[0039] During use, first start the operation of the spray heads 93 to spray the water source inside the water tank 91 onto the surface of the glass frame 7. Subsequently, start the operation of the motor 2 96 to drive the rotation of the lead screw 95. At this time, the cleaning brush 97 will reciprocally move on the lead screw 95 according to the guidance of the guide rod 98. Since the cleaning brush 97 is in contact with the inner wall of the glass frame 7, the surface of the glass frame 7 can be quickly cleaned by the reciprocally moving cleaning brush 97, enabling the glass frame 7 to always maintain a clean and tidy state, so as not to affect the detection of the camera 6, and greatly improving the detection result.

[0040] The implementation principle of a pipeline inspection robot in this embodiment is as follows: When in use, first place the robot inside the pipeline. Subsequently, drive the electric wheels 5 to rotate through the control system to drive the robot to move inside the pipeline. During the movement, the interior of the pipeline can be illuminated by the searchlight 10, enabling the camera 6 to conduct more clear inspection and shooting. When the pipeline is inclined and slope climbing inspection is required, the first motor 82 can be started to drive the bidirectional lead screw 81 to rotate. When the bidirectional lead screw 81 rotates, it will drive the two lead screw sleeves 83 to move away from each other on the bidirectional lead screw 81. When the two lead screw sleeves 83 move, the two hinge plates 84 will rotate according to the guidance of the guide groove 87, thereby driving the two U-shaped plates 85 to gradually rise until the two support wheels 86 are in contact with the inner wall of the pipeline. Through the contact between the two support wheels 86 and the pipeline, the contact area between the robot and the pipeline can be effectively increased. Through the dual cooperation of the support wheels 86 and the electric wheels 5, the friction between the robot and the pipeline wall is greatly increased, reducing the occurrence of slipping phenomenon, effectively increasing the slope climbing ability of the robot, enabling the inspection accuracy and efficiency to be maintained during the slope climbing process. At the same time, the anti-slip strips 88 on the support wheels 86 can further increase the friction with the pipeline, making the support wheels 86 and the electric wheels 5 more stable during the movement;

[0041] Secondly, during the inspection process, since the internal environment of the pipeline is mostly dirty and may contain various garbage and sundries, the glass frame 7 can protect the camera 6 while not affecting the normal inspection of the camera 6. When foreign objects touch the surface of the glass frame 7, some dust will remain on the glass frame 7. At this time, the nozzle 93 can be started to spray the water source inside the water tank 91 on the surface of the glass frame 7. Subsequently, the second motor 96 is started to drive the lead screw 95 to rotate. At this time, the cleaning brush 97 will reciprocally move on the lead screw 95 according to the guidance of the guide rod 98. Since the cleaning brush 97 is in contact with the inner wall of the glass frame 7, the surface of the glass frame 7 can be quickly cleaned through the reciprocally moving cleaning brush 97, enabling the glass frame 7 to always maintain a clean and tidy state, so as not to affect the inspection of the camera 6, greatly improving the inspection results.

Claims

1. A pipeline inspection robot, comprising a body (1), characterized in that: A battery (2) is fixedly connected to one side of the fuselage (1); two electric telescopic rods (3) are symmetrically fixedly connected to the bottom of the fuselage (1); the output ends of the two electric telescopic rods (3) are fixedly connected to the bottom of the fuselage (1); a support plate (31) is fixedly connected to the bottom of the support plate (31) in a symmetrical rotational manner with a rotating shaft (32); the bottom of the rotating shaft (32) is fixedly connected to a connecting plate (4); both sides of the connecting plate (4) are rotationally connected to electric wheels (5); one end of the fuselage (1) is fixedly connected to a camera (6); one end of the fuselage (1) is fixedly connected to a glass frame (7); the camera (6) is located inside the glass frame (7); a support component (8) is installed inside the fuselage (1); and a cleaning component (9) is installed on the top of the glass frame (7).

2. A pipeline inspection robot according to claim 1, characterized in that: The support assembly (8) comprises a bidirectional screw (81) rotatably connected to the inside of the fuselage (1); one end of the fuselage (1) is fixedly connected to a motor 1 (82); the output end of the motor 1 (82) is fixedly connected to one end of the bidirectional screw (81); two screw sleeves (83) are symmetrically threadedly connected to the bidirectional screw (81); both of the two screw sleeves (83) are rotatably connected to a hinge plate (84); one end of the hinge plate (84) away from the screw sleeve (83) is hingedly connected to a U-shaped plate (85); and the inside of the U-shaped plate (85) is rotatably connected to a support wheel (86).

3. A pipeline inspection robot according to claim 2, characterized in that: A guide groove (87) is provided on the top of the fuselage (1), and the two hinged plates (84) are slidably connected in the guide groove (87).

4. A pipeline inspection robot according to claim 2, characterized in that: An anti-slip strip (88) is fixedly connected to the outer wall of the support wheel (86).

5. The pipeline inspection robot according to claim 1, characterized in that: The cleaning assembly (9) comprises a water tank (91) fixedly connected to the top of the glass frame (7), a water inlet (92) fixedly connected to the top of the water tank (91), and two spray heads (93) symmetrically fixedly connected to one side of the water tank (91).

6. The pipeline inspection robot according to claim 1, characterized in that: Two fixing plates (94) are symmetrically fixedly connected to both sides of the glass frame (7), wherein the two fixing plates (94) are rotatably connected to opposite surfaces with screw rods (95), a second motor (96) is fixedly connected to the top of the fixing plates (94), an output end of the second motor (96) is fixedly connected to one end of the screw rod (95), and a cleaning brush (97) is threadedly connected to the screw rod (95).

7. The pipeline inspection robot according to claim 6, characterized in that: The opposing surfaces of the other two fixing plates (94) are fixedly connected to a guide rod (98), one end of the cleaning brush (97) away from the screw rod (95) is slidably connected to the guide rod (98), and one side of the cleaning brush (97) is in contact with one side of the glass frame (7).

8. The pipeline inspection robot according to claim 1, characterized in that: Searchlights (10) are symmetrically fixedly connected to both sides of the fuselage (1).

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