Spherical gravity propulsion pipeline detection robot

Abstract

The utility model belongs to the field of pipeline detection, and particularly relates to a spherical gravity propulsion pipeline detection robot which comprises a first shell, a second shell arranged on the right side of the first shell, a mounting rod fixedly mounted on the inner side of the first shell, and a driving device arranged on the outer side of the mounting rod. The advancing device is arranged on the outer side of the mounting rod, detection devices are arranged on the front side and the rear side of the advancing device, and a direction adjusting device is arranged at the bottom of the advancing device; the first shell and the second shell are arranged to be used for installing and protecting the driving device, meanwhile, the contact face of the whole device and an inner cavity of a pipeline is reduced, whole rotation is achieved, the whole device can conveniently move in the pipeline, and then detection on a long pipeline is achieved; through the arrangement of the advancing device, the detection device and the direction adjusting device, movement and steering of the first shell and the second shell are achieved, and then the pipeline with many branches is detected.

Description

Technical Field

[0001] The utility model relates to the field of pipeline detection, in particular to a spherical gravity propulsion pipeline detection robot. Background Technique

[0002] A pipeline is a device connected by pipes, pipe connectors, valves, etc. for transporting gases, liquids or fluids with solid particles. Usually, after the fluid is pressurized by a blower, compressor, pump, boiler, etc., it flows from the high-pressure part of the pipeline to the low-pressure part, or it can also be transported by the pressure or gravity of the fluid itself. Pipelines are widely used, mainly in water supply, drainage, heating, gas supply, long-distance transportation of oil and natural gas, agricultural irrigation, water conservancy projects and various industrial installations.

[0003] When a pipeline is actually used, it needs to be connected. During the connection, welding is often used. However, after welding, in order to meet the sealing performance of the pipeline, it often needs to be detected. Traditional detection devices cannot detect pipelines that are too long or have too many branches during actual use, thus affecting the detection requirements. Content of the Utility Model

[0004] In order to make up for the deficiencies of the prior art, that is, after welding, in order to meet the sealing performance of the pipeline, it often needs to be detected, and traditional detection devices cannot detect pipelines that are too long or have too many branches during actual use, the utility model provides a spherical gravity propulsion pipeline detection robot.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a spherical gravity propulsion pipeline detection robot, including a first outer shell, a second outer shell is arranged on the right side of the first outer shell, a mounting rod is fixedly installed inside the first outer shell, a driving device is arranged outside the mounting rod, a camera is embedded in the inner cavity of the second outer shell, and a counterweight corresponding to the camera is fixedly installed inside the first outer shell;

[0006] The driving device includes a forward device, the forward device is arranged outside the mounting rod, detection devices are arranged on the front side and the rear side of the forward device, a direction adjustment device is arranged at the bottom of the forward device, and the forward device includes a connecting bearing ring sleeved outside the mounting rod.

[0007] Preferably, a U-shaped mounting frame is fixedly installed at the top of the connecting bearing ring, two first servo motors are fixedly installed inside the U-shaped mounting frame, the output end of the first servo motor penetrates through the U-shaped mounting frame and is fixedly installed with a second gear, and first gears are fixedly installed on both sides of the connecting bearing ring outside the mounting rod, and the first gear meshes with the second gear.

[0008] Preferably, the detection device includes a first mounting plate and a second mounting plate, the first mounting plate and the second mounting plate are fixedly mounted on the front and rear sides of the bearing ring by second bolts, a first processor is fixedly mounted on the front side of the first mounting plate, a first ultrasonic sensor is fixedly mounted on the front side of the first processor, and second ultrasonic sensors are fixedly mounted on the top and bottom of the first processor.

[0009] Preferably, a second processor is fixedly mounted on the rear side of the second mounting plate, and a data interface is embedded on the rear side of the second processor.

[0010] Preferably, the direction adjustment device includes a punching mounting frame, which is fixedly mounted on the bottom of the connecting bearing ring, and two fourth mounting plates are fixedly mounted on the top of the punching mounting frame, a second servo motor is fixedly mounted between the fourth mounting plates, and connecting rods are fixedly mounted on both sides of the second servo motor.

[0011] Preferably, a third mounting plate is fixedly installed inside the punching mounting frame, and the bottom of the third mounting plate is fixedly connected to the top of the second servo motor by a second bolt.

[0012] Preferably, a mounting shell is fixedly mounted on the bottom of the connecting rod, and batteries are inserted into the interior of the mounting shell.

[0013] Preferably, a limiting ring is fixedly installed inside the second housing, and the front side of the mounting rod penetrates into the inside of the limiting ring.

[0014] Preferably, four connecting through holes are provided on the outer sides of the first shell and the second shell, and four third bolts are inserted into the connecting through holes.

[0015] The utility model is beneficial in that:

[0016] The utility model uses the first shell and the second shell to install and protect the driving device, while reducing the contact surface between the whole and the inner cavity of the pipeline, realizing the overall rotation to facilitate the overall movement inside the pipeline, thereby realizing the detection of longer pipelines, and realizing the movement and steering of the first shell and the second shell by the setting of the forward device, the detection device and the direction adjustment device, thereby realizing the detection of pipelines with more branches. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0018] Figure 1 is a schematic structural diagram of the present invention;

[0019] Figure 2 is a schematic structural diagram of the driving device of the present invention;

[0020] Figure 3 is a schematic structural diagram of the second housing of the present invention;

[0021] Figure 4 is a schematic structural diagram of the forward device of the present invention;

[0022] Figure 5 is a schematic structural diagram of the direction adjustment device of the present invention;

[0023] Figure 6 is a schematic structural diagram of the detection device of the present invention.

[0024] In the figure: 1. First housing; 2. Second housing; 3. Driving device; 301. Forward device; 3011. U-shaped mounting bracket; 3012. First servo motor; 3013. Connecting bearing ring; 3014. First gear; 3015. Second gear; 302. Detection device; 3021. First mounting plate; 3022. First processor; 3023. First ultrasonic sensor; 3024. Second ultrasonic sensor; 3025. Second processor; 3026. Second mounting plate; 303. Direction adjustment device; 3031. Mounting shell; 3032. Battery; 3033. Connecting rod; 3034. Third mounting plate; 3035. Second servo motor; 3036. Fourth mounting plate; 3037. Punching mounting bracket; 4. Connecting through hole; 5. Mounting rod; 6. Limiting ring; 7. Camera; 8. Counterweight. Detailed implementation manners

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0026] The following is combined with the attached Figure 1-6A further detailed description of the present application is as follows.

[0027] An embodiment of the present application discloses a spherical gravity propulsion pipeline inspection robot. Referring to Figure 1 and Figure 2 , a spherical gravity propulsion pipeline inspection robot includes a first outer shell 1. A second outer shell 2 is arranged on the right side of the first outer shell 1. An installation rod 5 is fixedly installed inside the first outer shell 1. A driving device 3 is arranged outside the installation rod 5. A camera 7 is embedded in the inner cavity of the second outer shell 2. A counterweight 8 corresponding to the camera 7 is fixedly installed inside the first outer shell 1.

[0028] The driving device 3 includes a forward device 301. The forward device 301 is arranged outside the installation rod 5. Detection devices 302 are arranged on the front side and the rear side of the forward device 301. A direction adjustment device 303 is arranged at the bottom of the forward device 301. The forward device 301 includes a connecting bearing ring 3013. The connecting bearing ring 3013 is sleeved outside the installation rod 5.

[0029] Referring to Figure 2 and Figure 4 , a U-shaped mounting bracket 3011 is fixedly installed at the top of the connecting bearing ring 3013. Two first servo motors 3012 are fixedly installed inside the U-shaped mounting bracket 3011. The output end of the first servo motor 3012 penetrates through the U-shaped mounting bracket 3011 and is fixedly installed with a second gear 3015. First gears 3014 are fixedly installed on both sides of the connecting bearing ring 3013 outside the installation rod 5. The first gear 3014 meshes with the second gear 3015. The setting of the first servo motor 3012, the second gear 3015 and the first gear 3014 is used to drive the connecting bearing ring 3013 to rotate, thereby driving the direction adjustment device 303 to rotate, so that the overall center of gravity changes and then drives the whole to roll to realize the movement of the whole.

[0030] Referring to Figure 2 and Figure 6 , the detection device 302 includes a first mounting plate 3021 and a second mounting plate 3026. The first mounting plate 3021 and the second mounting plate 3026 are fixedly installed on the front side and the rear side of the connecting bearing ring 3013 through a second bolt. A first processor 3022 is fixedly installed on the front side of the first mounting plate 3021. A first ultrasonic sensor 3023 is fixedly installed on the front side of the first processor 3022. Second ultrasonic sensors 3024 are fixedly installed on the top and the bottom of the first processor 3022. The setting of the first ultrasonic sensor 3023 is used to detect the direction of the overall forward movement, scan the obstacles in the forward direction and record them. The setting of the second ultrasonic sensor 3024 is used to detect the pipeline.

[0031] Referring to Figure 2 andFigure 5 At the rear side of the second mounting plate 3026, a second processor 3025 is fixedly mounted. A data interface is embedded at the rear side of the second processor 3025. The second processor 3025 is provided for controlling the whole, and at the same time for processing the data scanned by the first ultrasonic sensor 3023, so as to determine the subsequent driving path. The second bolt is provided for facilitating the disassembly of the first mounting plate 3021, so as to realize the replacement of corresponding detection devices under different usage requirements.

[0032] Refer to Figure 2 and Figure 5 As shown in FIGS. and, the direction adjusting device 303 includes a punching mounting frame 3037. The punching mounting frame 3037 is fixedly mounted at the bottom of the connecting bearing ring 3013. At the top of the punching mounting frame 3037, two fourth mounting plates 3036 are fixedly mounted. A second servo motor 3035 is fixedly mounted between the fourth mounting plates 3036. Connecting rods 3033 are fixedly mounted on both sides of the second servo motor 3035. The fourth mounting plates 3036 and the second servo motor 3035 are provided for driving the mounting shell 3031 to swing to both sides, so as to change the overall center of gravity, and then drive the whole to turn, so as to realize the detection of pipes with more branches.

[0033] Refer to Figure 2 and Figure 5 As shown in FIGS. and, a third mounting plate 3034 is fixedly mounted inside the punching mounting frame 3037. The bottom of the third mounting plate 3034 and the top of the second servo motor 3035 are fixedly connected by a second bolt. The third mounting plate 3034 is provided for mounting the second servo motor 3035.

[0034] Refer to Figure 2 and Figure 5 As shown in FIGS. and, a mounting shell 3031 is fixedly mounted at the bottom of the connecting rod 3033. A storage battery 3032 is inserted inside the mounting shell 3031. The storage battery 3032 is provided for supplying power to the whole.

[0035] Refer to Figure 2 and Figure 3 As shown in FIGS. and, a limiting ring 6 is fixedly mounted inside the second outer shell 2. The front side of the mounting rod 5 penetrates into the inside of the limiting ring 6. The limiting ring 6 is provided for limiting the front side of the mounting rod 5 and increasing the stability of the mounting rod 5.

[0036] Refer to Figure 1 、 Figure 2 and Figure 3, four connection through-holes 4 are provided on the outer sides of the first outer shell 1 and the second outer shell 2, and four third bolts are inserted inside the connection through-holes 4. The connection between the first outer shell 1 and the second outer shell 2 is realized through the arrangement of the connection through-holes 4 and the third bolts. Meanwhile, it is convenient to remove the second outer shell 2 relative to the first outer shell 1, thereby realizing the replacement of the storage battery 3032 and copying the detection data for personnel to check.

[0037] Working principle: Install the storage battery 3032 inside the installation shell 3031, place the whole inside the pipeline. The inside of the pipeline is scanned by the first ultrasonic sensor 3023 and the relevant data is sent to the inside of the second processor 3025 for processing. The walking path is determined by the second processor 3025. The first servo motor 3012 is controlled by the second processor 3025 to start. The second gear 3015 is driven to rotate by the first servo motor 3012. Under the action of the first gear 3014, the connecting bearing ring 3013 drives the direction adjusting device 303 to rotate, thereby making the center of gravity of the whole move forward, and the first outer shell 1 and the second outer shell 2 roll under the action of the center of gravity. The inside of the pipeline is detected by the second ultrasonic sensor 3024, and the detected data is sent to the inside of the second processor 3025 for processing and storage. According to the walking path, the second servo motor 3035 drives the two sides of the installation shell 3031 to swing and tilt, thereby making the center of gravity shift and the first outer shell 1 and the second outer shell 2 tilt to both sides. After the detection is completed, the storage battery 3032 is taken out and replaced for charging by removing the third bolt, and at the same time, the detection data is copied through the data interface for personnel to detect.

[0038] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed.

Claims

1. A spherical gravity propulsion pipeline inspection robot, characterized in that: It includes a first outer shell (1), a second outer shell (2) is arranged on the right side of the first outer shell (1), a mounting rod (5) is fixedly installed inside the first outer shell (1), a driving device (3) is arranged on the outer side of the mounting rod (5), a camera (7) is embedded in the inner cavity of the second outer shell (2), and a counterweight (8) corresponding to the camera (7) is fixedly installed inside the first outer shell (1); The driving device (3) includes a forward device (301), the forward device (301) is arranged on the outer side of the mounting rod (5), detection devices (302) are arranged on the front side and the rear side of the forward device (301), a direction adjustment device (303) is arranged at the bottom of the forward device (301), and the forward device (301) includes a connecting bearing ring (3013) which is sleeved on the outer side of the mounting rod (5).

2. The spherical gravity propulsion pipeline detection robot according to claim 1, characterized in that: A U-shaped mounting frame (3011) is fixedly installed at the top of the connecting bearing ring (3013), two first servo motors (3012) are fixedly installed inside the U-shaped mounting frame (3011), the output end of the first servo motor (3012) penetrates through the U-shaped mounting frame (3011) and is fixedly installed with a second gear (3015), and first gears (3014) are fixedly installed on both sides of the connecting bearing ring (3013) on the outer side of the mounting rod (5), and the first gear (3014) meshes with the second gear (3015).

3. The spherical gravity propulsion pipeline inspection robot according to claim 1, characterized in that: The detection device (302) includes a first mounting plate (3021) and a second mounting plate (3026), the first mounting plate (3021) and the second mounting plate (3026) are fixedly installed on the front side and the rear side of the connecting bearing ring (3013) through a second bolt, a first processor (3022) is fixedly installed on the front side of the first mounting plate (3021), a first ultrasonic sensor (3023) is fixedly installed on the front side of the first processor (3022), and second ultrasonic sensors (3024) are fixedly installed on the top and the bottom of the first processor (3022).

4. The spherical gravity propulsion pipeline detection robot according to claim 3, characterized in that: A second processor (3025) is fixedly installed on the rear side of the second mounting plate (3026), and a data interface is embedded in the rear side of the second processor (3025).

5. The spherical gravity propulsion pipeline inspection robot according to claim 1, characterized in that: The direction adjustment device (303) includes a punching mounting frame (3037), the punching mounting frame (3037) is fixedly installed at the bottom of the connecting bearing ring (3013), two fourth mounting plates (3036) are fixedly installed at the top of the punching mounting frame (3037), a second servo motor (3035) is fixedly installed between the fourth mounting plates (3036), and connecting rods (3033) are fixedly installed on both sides of the second servo motor (3035).

6. The spherical gravity propulsion pipeline detection robot according to claim 5, characterized in that: A third mounting plate (3034) is fixedly installed inside the punching mounting frame (3037), and the bottom of the third mounting plate (3034) and the top of the second servo motor (3035) are fixedly connected through a second bolt.

7. A spherical gravity propulsion pipeline inspection robot according to claim 5, characterized in that: The bottom of the connecting rod (3033) is fixedly installed with a mounting shell (3031), and a storage battery (3032) is inserted inside the mounting shell (3031).

8. The spherical gravity propulsion pipeline inspection robot according to claim 1, characterized in that: A limiting ring (6) is fixedly installed inside the second outer shell (2), and the front side of the mounting rod (5) penetrates into the inside of the limiting ring (6).

9. The spherical gravity propulsion pipeline inspection robot according to claim 1, characterized in that: Four connecting through holes (4) are formed in the outer sides of the first outer shell (1) and the second outer shell (2), and four third bolts are inserted inside the connecting through holes (4).

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