Pipeline detection robot

Abstract

The pipeline detection robot relates to the technical field of pipeline detection and comprises a main body, a detection mechanism is arranged at the front end of the main body and used for detecting the interior of a pipeline, an adjustable driving advancing mechanism is arranged at the bottom end of the main body, and adjustable driven advancing mechanisms are symmetrically arranged on the left side and the right side of the main body. The telescopic end of the adjustable driving advancing mechanism is connected with the telescopic end of the adjustable driven advancing mechanism through a connecting rod mechanism, a controller is arranged in the main body, and the detection mechanism and the adjustable driving advancing mechanism are both electrically connected with the controller. The adjustable driving advancing mechanism is arranged at the bottom of the inner wall of the pipeline, the adjustable driven advancing mechanisms abut against the two sides of the inner wall of the pipeline, it is guaranteed that the advancing process is stable, and the controller can control the adjustable driving advancing mechanism to adjust the length. And the adjustable driven advancing mechanism is driven by the connecting rod mechanism to adjust the length together, so that pipelines with different pipe diameters can be quickly adapted.

Description

Technical Field

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

[0002] The South-to-North Water Diversion Middle Route pipe network is long in distance, large in pipe diameter, and very fast in flow velocity. At the same time, the newly built pipelines have high requirements for construction quality (the weld quality during the welding of two pipes of the new pipeline is very important for later use). Therefore, once a pipe burst or leakage occurs in such a pipe network, it will have a very large impact on property and the environment, and it is difficult to solve and restore the problem in a short time. Therefore, it is necessary to seek a device that can, in the case of no water flow, no pressure, and no siltation during water cut-off, not only solve the defect of "visible" by using video, but also replace manual labor to solve the defect of "invisible".

[0003] The traditional solution is that operators hold an anti-corrosion layer detector or a weld ultrasonic flaw detector and enter the interior of the South-to-North Water Diversion pipeline to fit the pipeline wall for detection. However, when the pipe diameter is small, the operators simply cannot enter. At the same time, there are significant safety risks for operators entering confined spaces, and the operation efficiency is low.

[0004] Patent CN212156256U discloses a pipeline inner wall detection robot, including a detection vehicle body and a detection mechanism arranged at one end of the detection vehicle body; the detection mechanism includes a rotating mechanism connected to the detection vehicle body and rotating along the pipeline axis, and a detection device connected to the side of the rotating mechanism away from the detection vehicle body; the detection device includes a slide plate assembly connected to the rotating mechanism, a graphic collector fixedly installed on the slide plate assembly, and a detection mechanism and a scanning mechanism respectively slidably installed on the slide plate assembly and approaching and / or departing from the pipeline inner wall. The above solution does not require operators to enter the pipeline for detection. However, when the detection vehicle body travels in the pipeline, the wheels at the bottom of the detection vehicle body cannot fully fit the pipeline inner wall, the traveling process is unstable, which affects the detection result, and it cannot adapt to pipelines with different diameters. Summary of the Utility Model

[0005] In view of this, the utility model provides a pipeline detection robot to solve the problems raised in the above background art, and specifically discloses the following content:

[0006] A pipeline detection robot includes a main body. A detection mechanism is provided at the front end of the main body for detecting the interior of the pipeline. An adjustable active traveling mechanism is provided at the bottom end of the main body. Adjustable driven traveling mechanisms are symmetrically provided on the left and right sides of the main body. The telescopic end of the adjustable active traveling mechanism is connected to the telescopic end of the adjustable driven traveling mechanism through a link mechanism. A controller is provided inside the main body. The detection mechanism and the adjustable active traveling mechanism are both electrically connected to the controller.

[0007] Further, the adjustable active traveling mechanism includes a telescopic cylinder fixed to the bottom wall of the main body. The output end of the telescopic cylinder is fixedly connected to a first telescopic rod. The bottom end of the first telescopic rod is fixedly connected to a drive box. A crawler wheel is provided at the bottom of the drive box. A driver for driving the crawler wheel to travel is provided inside the drive box. Both the telescopic cylinder and the driver are electrically connected to the controller.

[0008] Further, a fixing frame is also fixedly provided between the bottom end of the first telescopic rod and the drive box. A prism is provided at the center of the fixing frame. The prism cooperates with an external total station for measuring the elevation of the pipe bottom.

[0009] Further, the adjustable driven traveling mechanism includes fixing arms respectively fixedly provided on the left and right side walls of the main body. A telescopic arm is provided at one end of the fixing arm away from the main body. A driven wheel is provided at one end of the telescopic arm away from the fixing arm.

[0010] Further, the link mechanism includes a fixed link. Hinge seats are fixedly provided on both the front and rear sides of the first telescopic rod. One end of the fixed link is hinged to the hinge seat, and the other end is provided with a telescopic link. Fixed seats are fixedly provided on both the front and rear sides of the telescopic arm. The end of the telescopic link away from the fixed link is fixedly connected to the fixed seat.

[0011] Further, the distance between the installation point of the hinge seat and the center of the main body is equal to the distance between the installation point of the fixed seat and the center of the main body.

[0012] Further, the detection mechanism includes a robotic arm. The robotic arm is arranged at the center position of the front wall of the main body through a mounting seat. An installation platform is provided at one end of the robotic arm away from the main body. A flaw detector and a thickness gauge are provided on the installation platform. The robotic arm, the flaw detector, and the thickness gauge are all electrically connected to the controller.

[0013] Further, two cameras are also provided on the front wall of the main body. The two cameras are respectively located above and below the mounting seat.

[0014] Further, mounting grooves are provided on the top wall, bottom wall, and left and right side walls of the main body. The mounting grooves are all located on the same longitudinal section of the main body. The longitudinal section of the main body is square. An infrared rangefinder is provided in the mounting groove. The infrared rangefinder is electrically connected to the controller.

[0015] Further, a counterweight box is fixedly provided at the rear end of the main body for keeping the main body balanced. Clamping grooves are provided on both sides of the counterweight box to facilitate an external clamping mechanism to clamp the main body at the center position inside the pipeline. A lidar is fixedly provided at the center position of the rear end of the counterweight box. The lidar is electrically connected to the controller.

[0016] The beneficial effects of the present utility model are as follows:

[0017] In the present utility model, the adjustable active traveling mechanism is placed at the bottom of the inner wall of the pipeline, and the adjustable driven traveling mechanism abuts against both sides of the inner wall of the pipeline to ensure stable traveling during the process. Moreover, in the present utility model, the controller can control the adjustable active traveling mechanism to adjust its length, and drive the adjustable driven traveling mechanism to adjust its length together through the link mechanism, quickly adapting to pipelines with different diameters; A fixed frame is also fixedly arranged between the bottom end of the first telescopic rod and the driving box, and a prism is provided at the center of the fixed frame. The length between the prism and the crawler wheel is fixed, enabling the prism to cooperate with the external total station for measuring the elevation of the pipe bottom; The robotic arm is arranged at the center of the front wall of the main body through a mounting seat to ensure the moving space of the robotic arm, facilitating the detection of circumferential welds, and the robotic arm can be adaptively adjusted according to different pipe diameters. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0019] Figure 1 It is a side view of a pipeline inspection robot of the present utility model.

[0020] Figure 2 It is a schematic diagram of a pipeline inspection robot of the present utility model entering the interior of the pipeline.

[0021] Among them, in the figure:

[0022] 1. Main body; 11. Counterweight box; 12. Clamping groove; 13. Lidar; 2. Camera; 3. Robotic arm; 31. Thickness gauge; 32. Flaw detector; 33. Mounting seat; 4. Infrared rangefinder; 5. Telescopic cylinder; 51. Telescopic rod; 52. Fixed frame; 521. Prism; 53. Driving box; 54. Crawler wheel; 6. Fixed arm; 61. Telescopic arm; 62. Driven wheel; 7. Fixed link; 71. Telescopic link; 72. Hinge seat; 73. Fixed seat; 8. Pipeline. Detailed Embodiments

[0023] The following clearly and completely describes the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0024] It should be noted that the terms "first", "second", etc. in the description, claims and the above-mentioned drawings of this application are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of this application described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or components does not necessarily have to be limited to those steps or components clearly listed, but may include other steps or components not clearly listed or inherent to these processes, methods, products or devices.

[0025] In this application, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe this application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation.

[0026] Moreover, in addition to being used to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0027] In addition, the terms "install", "set", "provided with", "connect", "connected", "socketed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] Referring to the attached Figure 1-2 , the present utility model discloses a pipeline inspection robot, including a main body 1. A detection mechanism is provided at the front end of the main body 1 for detecting the inside of the pipeline 8. An adjustable active traveling mechanism is provided at the bottom end of the main body 1. Adjustable driven traveling mechanisms are symmetrically provided on the left and right sides of the main body 1. The telescopic end of the adjustable active traveling mechanism is connected to the telescopic end of the adjustable driven traveling mechanism through a link mechanism. A controller is provided inside the main body 1. The detection mechanism and the adjustable active traveling mechanism are both electrically connected to the controller.

[0029] In this embodiment, the adjustable active traveling mechanism is placed at the bottom inner wall of the pipeline 8, and the adjustable driven traveling mechanism abuts against both sides of the inner wall of the pipeline 8 to ensure the stability of the traveling process. Moreover, in the present utility model, the controller can control the adjustable active traveling mechanism to adjust its length, and drive the adjustable driven traveling mechanism to adjust its length together through the link mechanism, so as to quickly adapt to pipelines 8 with different diameters.

[0030] In this embodiment, the controller is a prior art and will not be elaborated here.

[0031] The adjustable active traveling mechanism includes a telescopic cylinder 5 fixed to the bottom wall of the main body 1. The output end of the telescopic cylinder 5 is fixedly connected with a first telescopic rod 51. The bottom end of the first telescopic rod 51 is fixedly connected with a driving box 53. A crawler wheel 54 is arranged at the bottom of the driving box 53. A driver for driving the crawler wheel 54 to travel is arranged in the driving box 53. The telescopic cylinder 5 and the driver are both electrically connected to the controller.

[0032] In this embodiment, the driver is a prior art and will not be elaborated here.

[0033] In this embodiment, the crawler wheel 54 is placed at the bottom inner wall of the pipeline 8. The driver controls the telescopic cylinder 5 to expand and contract, thereby controlling the distance between the crawler wheel 54 and the main body 1 to adapt to pipelines 8 with different diameters. The controller controls the traveling and stopping of the crawler wheel 54 through the driver, and can also realize the turning around of the main body 1 to complete the conversion between the front end and the rear end of the main body 1.

[0034] A fixing frame 52 is also fixedly arranged between the bottom end of the first telescopic rod 51 and the driving box 53. A prism 521 is arranged at the center of the fixing frame 52. The prism 521 cooperates with an external total station for measuring the elevation of the pipe bottom.

[0035] The adjustable driven traveling mechanism includes fixing arms 6 respectively fixedly arranged on the left and right side walls of the main body 1. One end of the fixing arm 6 far from the main body 1 is provided with a telescopic arm 61, and one end of the telescopic arm 61 far from the fixing arm 6 is provided with a driven wheel 62.

[0036] In this embodiment, the driven wheels 62 respectively abut against both sides of the inner wall of the pipeline 8, which not only ensures that the driven wheels 62 fit the inner wall of the pipeline 8 to the greatest extent, but also improves the stability of the main body 1 during movement.

[0037] The link mechanism includes a fixed link 7. Hinge seats 72 are fixedly arranged on the front and rear sides of the first telescopic rod 51. One end of the fixed link 7 is hinged to the hinge seat 72, and the other end is provided with a telescopic link 71. Fixed seats 73 are fixedly arranged on the front and rear sides of the telescopic arm 61. One end of the telescopic link 71 far from the fixed link 7 is fixedly connected to the fixed seat 73.

[0038] The distance between the installation point of the hinge seat 72 and the center of the main body 1 is equal to the distance between the installation point of the fixed seat 73 and the center of the main body 1.

[0039] In this embodiment, when the first telescopic rod 51 expands and contracts, under the action of the link mechanism, the telescopic arm 61 can be driven to expand and contract by the same length, so as to quickly adapt to pipes 8 with different diameters.

[0040] The detection mechanism includes a robotic arm 3. The robotic arm 3 is arranged at the center position of the front wall of the main body 1 through a mounting seat 33. At one end of the robotic arm 3 far from the main body 1, there is a mounting platform, on which a flaw detector 32 and a thickness gauge 31 are arranged. The robotic arm 3, the flaw detector 32, and the thickness gauge 31 are all electrically connected to the controller.

[0041] In this embodiment, the robotic arm 3 is arranged at the center position of the front wall of the main body 1 through the mounting seat 33 to ensure the moving space of the robotic arm 3, facilitate the detection of circumferential welds, and the robotic arm 3 can be adaptively adjusted according to different pipe diameters. The movement of the robotic arm 3 is controlled by the controller; the flaw detector 32 is used to detect circumferential welds, and the thickness gauge 31 is used to detect whether the inner wall thickness of the pipe 8 is uniform. The flaw detector 32 and the thickness gauge 31 send the detection data to the controller, and the controller wirelessly transmits the data to the outside.

[0042] Two cameras 2 are also arranged on the front wall of the main body 1, and the two cameras 2 are respectively located on the upper side and the lower side of the mounting seat 33.

[0043] In this embodiment, the two cameras 2 are provided for observing the movement of the robotic arm 3 in all directions.

[0044] Mounting grooves are provided on the top wall, bottom wall, and left and right side walls of the main body 1. The mounting grooves are all located on the same longitudinal section of the main body 1. The longitudinal section of the main body 1 is square. An infrared distance meter 4 is arranged in the mounting groove, and the infrared distance meter 4 is electrically connected to the controller.

[0045] In this embodiment, the inner diameter of the pipe 8 in the vertical direction is measured by the infrared distance meters 4 on the top wall and the bottom wall of the main body 1, and the inner diameter of the pipe 8 in the horizontal direction is measured by the infrared distance meters 4 on the left and right side walls of the main body 1.

[0046] A counterweight box 11 is fixedly arranged at the rear end of the main body 1 to keep the main body 1 balanced. Clamping grooves 12 are provided on both sides of the counterweight box 11 to facilitate the external clamping mechanism to clamp the main body 1 and place it at the center position inside the pipe 8. A lidar 13 is fixedly arranged at the center position of the rear end of the counterweight box 11. The lidar 13 is electrically connected to the controller, and the lidar 13 can perform a 360° scan of the inside of the pipe 8 to perform an overall detection and evaluation of the inside of the pipe 8.

[0047] In this embodiment, the distance between the crawler wheel 54 and the center of the main body 1 is the same as the distance between the driven wheel 62 and the center of the main body 1. Therefore, the main body 1 is placed at the central position inside the pipeline 8. The length of the first telescopic rod 51 is adjusted to drive the telescopic arm 61 to expand and contract by the same length. After adjustment, it is ensured that both the crawler wheel 54 and the driven wheel 62 are in contact with the inner wall of the pipeline 8, and the main body 1 is always located at the central position inside the pipeline 8.

[0048] Working principle of this embodiment:

[0049] First, the main body 1 is clamped by an external clamping mechanism and inserted into the pipeline 8 so that the main body 1 is located at the central position inside the pipeline 8. The length of the first telescopic rod 51 is adjusted through the controller to drive the telescopic arm 61 to expand and contract by the same length. After adjustment, it is ensured that both the crawler wheel 54 and the driven wheel 62 are in contact with the inner wall of the pipeline 8, and the main body 1 is always located at the central position inside the pipeline 8;

[0050] Then, the controller controls the crawler wheel 54 to drive the main body 1 to move forward through the driver. During the movement, the flaw detector 32 is used to detect the circumferential weld, the thickness gauge 31 is used to detect whether the thickness of the inner wall of the pipeline 8 is uniform, and the lidar 13 can perform a 360° scan of the inside of the pipeline 8 to perform an overall detection and evaluation of the inside of the pipeline 8 and feed the data back to the controller;

[0051] Finally, the controller wirelessly transmits the data to the outside.

[0052] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A pipeline inspection robot, characterized in that: The invention comprises a main body (1), wherein a detection mechanism is provided at the front end of the main body (1) for detecting the inside of a pipe (8), an adjustable active travel mechanism is provided at the bottom end of the main body (1), and adjustable driven travel mechanisms are symmetrically provided on the left and right sides of the main body (1), the telescopic end of the adjustable active travel mechanism is connected to the telescopic end of the adjustable driven travel mechanism via a connecting rod mechanism, a controller is provided inside the main body (1), and the detection mechanism and the adjustable active travel mechanism are both electrically connected to the controller.

2. A pipeline inspection robot according to claim 1, characterized in that: The adjustable active advancing mechanism comprises a telescopic cylinder (5) fixed to the bottom wall of the main body (1); the output end of the telescopic cylinder (5) is fixedly connected to a first telescopic rod (51); the bottom end of the first telescopic rod (51) is fixedly connected to a driving box (53); a track wheel (54) is arranged at the bottom of the driving box (53); a driver for driving the track wheel (54) to advance is arranged in the driving box (53); the telescopic cylinder (5) and the driver are both electrically connected to the controller.

3. A pipeline inspection robot according to claim 2, characterized in that: A fixing frame (52) is fixedly arranged between the bottom end of the first telescopic rod (51) and the driving box (53), and a prism (521) is arranged at the center of the fixing frame (52). The prism (521) cooperates with an external collimator to measure the elevation of the pipe bottom.

4. A pipeline inspection robot according to claim 2 or 3, characterized in that: The adjustable driven travel mechanism comprises fixed arms (6) respectively fixedly arranged on the left and right side walls of the main body (1); a telescopic arm (61) is arranged at one end of the fixed arm (6) away from the main body (1); and a driven wheel (62) is arranged at one end of the telescopic arm (61) away from the fixed arm (6).

5. A pipeline inspection robot according to claim 4, characterized in that: The connecting rod mechanism comprises a fixed connecting rod (7), a hinge seat (72) is fixedly provided on the front and rear sides of the first telescopic rod (51), one end of the fixed connecting rod (7) is hinged to the hinge seat (72), and the other end is provided with a telescopic connecting rod (71), the front and rear sides of the telescopic arm (61) are fixedly provided with a fixed seat (73), and one end of the telescopic connecting rod (71) away from the fixed connecting rod (7) is fixedly connected to the fixed seat (73).

6. A pipeline inspection robot according to claim 5, characterized in that: The distance between the mounting point of the hinge seat (72) and the center of the main body (1) is equal to the distance between the mounting point of the fixed seat (73) and the center of the main body (1).

7. The pipeline inspection robot according to claim 1, characterized in that: The detection mechanism comprises a mechanical arm (3), the mechanical arm (3) being arranged at the center position of the front wall of the main body (1) via a mounting seat (33), a mounting platform being arranged at one end of the mechanical arm (3) away from the main body (1), a flaw detector (32) and a thickness gauge (31) being arranged on the mounting platform, and the mechanical arm (3), the flaw detector (32) and the thickness gauge (31) are all electrically connected to the controller.

8. The pipeline inspection robot according to claim 7, characterized in that: The front wall of the main body (1) is also provided with two cameras (2), and the two cameras (2) are respectively located on the upper side and the lower side of the mounting seat (33).

9. The pipeline inspection robot according to claim 1, characterized in that: The main body (1) is provided with mounting grooves on the top wall, the bottom wall and the left and right side walls. The mounting grooves are located on the same longitudinal section of the main body (1). The longitudinal section of the main body (1) is square. An infrared rangefinder (4) is provided in the mounting groove. The infrared rangefinder (4) is electrically connected to the controller.

10. The pipeline inspection robot according to claim 9, characterized in that: A counterweight box (11) is fixedly provided at the rear end of the main body (1) for maintaining the balance of the main body (1). Clamping grooves (12) are provided on both sides of the counterweight box (11) to facilitate an external clamping mechanism to clamp the main body (1) and place it at the center position inside the pipe (8). A laser radar (13) is fixedly provided at the center position of the rear end of the counterweight box (11), and the laser radar (13) is electrically connected to the controller.

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