Pipeline inspection robot

Abstract

The utility model belongs to the technical field of pipeline inspection, and discloses a pipeline inspection robot which comprises a first clamping ring, a second clamping ring and a third clamping ring, the first clamping ring is connected with the second clamping ring through three first cross beams, and the second clamping ring is connected with the third clamping ring through three second cross beams. A monitoring device is installed on the first clamping ring, a first guide wheel is installed on the first cross beam, the installation angle between the first guide wheel and the first cross beam is adjustable, a second guide wheel is installed on the second cross beam, the installation angle between the second guide wheel and the second cross beam is adjustable, and a middle plate is installed between the first clamping ring and the third clamping ring. According to the utility model, through the design of the reducing guide wheels, the requirements of blockage removal and maintenance of different pipe diameters are met, the two manipulators are arranged inside, obstacles in a pipeline are cleaned in all directions through the manipulators, and the whole device is flexible and convenient, can be remotely operated, and can meet the requirements of pipeline inspection under multiple working conditions.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline inspection, and particularly relates to a pipeline inspection robot. Background Art

[0002] With the acceleration of urbanization, the importance of municipal drainage systems has become increasingly prominent. Like the arteries of modern cities, they constantly safeguard urban operations, development, and the safety of people and property. Poor drainage or blockages in municipal pipelines can lead to flooding, impacting urban development.

[0003] The current pipeline robots are mainly divided into the following categories:

[0004] (1) Creeping robot

[0005] The robot's outer shell is made of rubber, while its interior is constructed of thin plastic sheets. Its drive system is ingeniously designed, dividing the robot into segments and utilizing the contraction and extension of the front and rear segments to propel it forward and backward. The robot is characterized by its small size and complex structure. It lacks a steering system, so it can only move in a straight line, unable to turn. Its drive system makes it extremely slow.

[0006] (2) Foot-type pipeline robot

[0007] The robot adopts an external cable drive and a leg-type walking mechanism. It is supported on the pipeline by 6 leg-like mechanisms. The leg-like mechanisms are equipped with a connecting rod mechanism and a pressure wheel. By driving the movement of the connecting rod mechanism, the adhesion of the pressure wheel is controlled to ensure that the robot can walk normally in the pipeline and has a certain obstacle crossing ability. However, the obstacle crossing ability needs to be improved.

[0008] (3) Wheeled pipeline robot

[0009] This robot can use its own inspection equipment to inspect pipes of a certain diameter. Its design incorporates human-machine integration technology. By establishing a human-machine interactive interface, workers can observe the internal conditions of the pipeline in real time, ensuring real-time information and improving inspection effectiveness. It can respond to various emergencies and adapt to various complex and changing environments. The inspection equipment is equipped with a multi-link mechanism, enabling 360-degree inspection of the pipeline without blind spots. The robot features high power, high speed, and strong traction. However, due to its wheel-driven drive, it lacks basic adhesion when the pipeline environment is too slippery, which can easily cause slippage.

[0010] (4) Crawler pipeline robot

[0011] The innovation of this robot lies in the design of a deformable bracket structure, which has two postures: one is parallel to the construction pipe. This deformable bracket structure gives the robot a greater obstacle-crossing ability. The optimized design of the transmission mechanism gives the robot a certain degree of adaptability, and it can widely adapt to the diameter of the construction pipe and the size of obstacles, but its flexibility is poor.

[0012] At present, the main method of unblocking in my country is to use a high-pressure water gun to flush the blockage in the pipe to one side and clean it with a sewage suction truck. This method requires a lot of manual assistance during the unblocking process. When the municipal pipeline is seriously blocked and the blockage is mainly hard objects, the high-pressure water gun cannot flush the blockage. At this time, workers need to enter the pipeline to carry out unblocking operations. For municipal pipelines with smaller diameters, manual labor cannot enter the sewer pipes to work, and the sewer pipes are filled with a large amount of toxic gas and toxic water. The working environment of the unblocking personnel is very harsh. Moreover, manual unblocking is physically demanding and inefficient, and accidents such as explosions often occur. In addition, the diameter of some municipal pipelines is small, making it difficult for workers to reach the blocked parts and they can only perform local unblocking. Therefore, there is an urgent need for a remotely operated, flexible and fast robot. Utility Model Content

[0013] In order to solve the technical problems existing in the prior art, the utility model provides a pipeline inspection robot, which can realize inspection and unblocking operations in complex pipelines, and is flexible, fast and convenient to operate.

[0014] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a pipeline inspection robot, including a first clamp ring, a second clamp ring and a third clamp ring, the first clamp ring, the second clamp ring and the third clamp ring are arranged in parallel, the first clamp ring and the second clamp ring are connected by three first cross beams, the second clamp ring and the third clamp ring are connected by three second cross beams, the first clamp ring, the second clamp ring, the third clamp ring, the three first cross beams and the three second cross beams form a frame structure, the first clamp ring and the third clamp ring are connected by three arc-shaped cover plates, the arc-shaped cover plates buckle the three open spaces to prevent debris in the pipeline from directly entering the robot.

[0015] A monitoring bracket is installed on the first clamping ring, and a monitoring device is installed on the monitoring bracket. The monitoring device includes a radar, a camera and two searchlights. The searchlight provides good lighting effects, and the radar is used to assist in positioning and detecting the surrounding conditions of the robot. The camera captures the situation inside the pipeline in real time and promptly feeds back to the display device outside the pipeline.

[0016] A first guide shaft is mounted on the first crossbeam, a first slider is mounted on the first guide shaft, a first spring is pressed between the first slider and the second clamping ring, and under the elastic force of the first spring, the first slider can perform linear reciprocating motion on the first guide shaft.

[0017] A first axle is mounted on one end of the first guide frame, and the first axle is driven by a micro motor on the first guide frame. A first guide wheel is mounted on one end of the first axle, and a first fan wheel is mounted on the other end of the first axle. The other end of the first guide frame is hinged on the first holder, and the first holder is positioned on the first retaining ring by bolts. The middle part of the first guide frame is hinged to one end of the first support frame, and the other end of the first support frame is hinged to the top end of the first slider.

[0018] Among them, the installation position of the first support frame on the first guide frame is adjustable. By adjusting different installation positions, the installation angle of the first guide wheel relative to the first guide axis is realized, and then the outward expansion width of the first guide wheel is adjusted to adapt to the inspection needs of pipelines with different diameters.

[0019] A second guide shaft is mounted on the second crossbeam, a second slider is mounted on the second guide shaft, a second spring is pressed between the second slider and the second clamping ring, and under the elastic force of the second spring, the second slider can perform linear reciprocating motion on the second guide shaft.

[0020] A second axle is mounted on one end of the second guide frame, and the second axle is driven by a micro motor on the second guide frame. A second guide wheel is mounted on one end of the second axle, and a second fan wheel is mounted on the other end of the second axle. The other end of the second guide frame is hinged on the second holder, and the second holder is positioned on the third retaining ring by bolts. The middle part of the second guide frame is hinged to one end of the second guide frame, and the other end of the second guide frame is hinged to the top end of the second slider.

[0021] Among them, the installation position of the second support frame on the second guide frame is adjustable. By adjusting different installation positions, the installation angle of the second guide wheel relative to the second guide shaft is realized, and then the outward expansion width of the second guide wheel is adjusted to adapt to the inspection needs of pipelines with different diameters.

[0022] Under the rotation of the multiple first impellers and the multiple second impellers, and with the help of the thrust of the first impellers and the second impellers in the water, the robot is assisted to move in the pipeline to save power.

[0023] An intermediate plate is installed between the first and third retaining rings, and two manipulators are installed at the bottom of the intermediate plate. During normal movement, the two manipulators are hidden inside the robot. When unblocking is required, the two manipulators extend to the outside of the robot and use the movement of the manipulators to quickly clear debris or obstacles in the front direction of travel.

[0024] Two oxygen cylinders are installed on the top of the middle plate to provide emergency oxygen supply to pipeline maintenance personnel and ensure their safety.

[0025] Two guide rails are installed between the first and third retaining rings. The two guide rails are arranged symmetrically. One end of the guide rail is mounted on the third retaining bracket and fixed to the third retaining bracket via bolts. The other end of the guide rail is mounted on the fourth retaining bracket and fixed to the fourth retaining bracket via bolts. One end of the cleaning bracket is sleeved on the guide rail and fixed to the guide rail via bolts. The other end of the cleaning bracket is equipped with a cleaning brush, which is used to clean up debris trapped inside. The relative installation angle between the third and fourth retaining brackets and the guide rails is adjusted by bolts, and the installation position of the cleaning brush can be adjusted to meet different pipeline cleaning needs.

[0026] Preferably, the three first beams are arranged at equal angular intervals, and the three second beams are arranged at equal angular intervals.

[0027] The three arc-shaped covers are arranged at equal angles. When the arc-shaped covers are buckled, it is ensured that the debris in the pipeline will not directly enter the robot, preventing the vulnerable parts inside the robot from being damaged.

[0028] Compared with the prior art, the specific beneficial effects of the present invention are embodied in the following: the present invention adopts a variable diameter guide wheel design to adapt to the needs of pipeline blockage removal and maintenance of different diameters; the present invention arranges a fan wheel at the other end of the guide wheel, and the movement of the fan wheel blades can assist movement in the flushing pipe, saving travel power; the present invention arranges a monitoring device, and can monitor the situation in the pipeline in real time through the combination of searchlights and cameras, and realizes real-time and accurate positioning through radar, which is fast and convenient and can be applied to the inspection needs of long-distance pipelines; the present invention arranges two manipulators inside the robot, and can perform all-round cleaning of obstacles in the pipeline through the manipulators, thereby improving the efficiency of blockage removal and cleaning; the present invention is equipped with a compressed oxygen cylinder, which can provide breathing assistance to maintenance personnel entering the pipeline, ensuring the safety of maintenance personnel; the utility model is flexible and convenient as a whole, can be remotely operated, and can adapt to the pipeline inspection needs under multiple working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The three-dimensional Figure 1 .

[0030] Figure 2 The three-dimensional Figure 2 .

[0031] Figure 3 It is a front view of the utility model.

[0032] Figure 4 It is a top view of the utility model.

[0033] Figure 5 This is a schematic diagram of the internal structure of the present invention when the arc-shaped cover plate is not installed.

[0034] In the figure, 1 is the first snap ring, 2 is the second snap ring, 3 is the third snap ring, 4 is the first crossbeam, 5 is the second crossbeam, 6 is the arc cover, 7 is the monitoring bracket, 8 is the monitoring device, 9 is the first guide shaft, 10 is the first slider, 11 is the first spring, 12 is the first axle, 13 is the first guide wheel, 14 is the first fan wheel, 15 is the first holder, 16 is the first support frame, 17 is the first guide frame, 18 is the second guide shaft, 19 is the second slider, 20 is the second spring, 21 is the second axle, 22 is the second guide wheel, 23 is the second fan wheel, 24 is the second holder, 25 is the second support frame, 26 is the second guide frame, 27 is the middle plate, 28 is the manipulator, 29 is the oxygen cylinder, 30 is the guide rail, 31 is the third holder, 32 is the fourth holder, 33 is the cleaning bracket, and 34 is the cleaning brush. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] like Figure 1-5 As shown, the pipeline inspection robot includes a first clamping ring 1, a second clamping ring 2 and a third clamping ring 3. The first clamping ring 1, the second clamping ring 2 and the third clamping ring 3 are arranged in parallel. The first clamping ring 1 and the second clamping ring 2 are connected by three first cross beams 4, and the second clamping ring 2 and the third clamping ring 3 are connected by three second cross beams 5. The first clamping ring 1, the second clamping ring 2, the third clamping ring 3, the three first cross beams 4 and the three second cross beams 5 form a frame structure. The first clamping ring 1 and the third clamping ring 3 are connected by three arc-shaped cover plates 6. The arc-shaped cover plates 6 buckle the three open spaces to form a hollow cylindrical structure as a whole, which prevents debris in the pipeline from directly entering the robot and also prevents the internal wearing parts of the robot from being damaged.

[0037] A monitoring bracket 7 is installed on the first clamping ring 1, and a monitoring device 8 is installed on the monitoring bracket 7. The monitoring device 8 includes a radar, a camera and two searchlights. The searchlight provides good lighting effects, and the radar is used to assist in positioning and detecting the surrounding conditions of the robot. The camera captures the situation inside the pipeline in real time and promptly feeds back to the display device outside the pipeline.

[0038] A first guide shaft 9 is mounted on the first crossbeam 4 , a first slider 10 is mounted on the first guide shaft 9 , a first spring 11 is pressed between the first slider 10 and the second retaining ring 2 , and under the elastic force of the first spring 11 , the first slider 10 can perform linear reciprocating motion on the first guide shaft 9 .

[0039] One end of the first guide frame 17 is equipped with a first wheel shaft 12, and the first wheel shaft 12 is driven by a micro motor on the first guide frame 17. One end of the first wheel shaft 12 is equipped with a first guide wheel 13, and the other end of the first wheel shaft 12 is equipped with a first fan wheel 14. The other end of the first guide frame 17 is hinged to the first clamping seat 15, and the first clamping seat 15 is positioned on the first retaining ring 1 by bolts. The middle part of the first guide frame 17 is hinged to one end of the first support frame 16, and the other end of the first support frame 16 is hinged to the top end of the first slider 10.

[0040] Among them, the installation position of the first support frame 16 on the first guide frame 17 is adjustable. By setting a pulley clip device, three gears are set. The installation angle of the first guide wheel 13 relative to the first guide shaft 9 is realized through different installation positions, and then the outward expansion width of the first guide wheel 13 is adjusted to adapt to the inspection needs of pipelines with different diameters.

[0041] A second guide shaft 18 is mounted on the second crossbeam 5 , and a second slider 19 is mounted on the second guide shaft 18 . A second spring 20 is pressed between the second slider 19 and the second retaining ring 2 . Under the elastic force of the second spring 20 , the second slider 19 can perform linear reciprocating motion on the second guide shaft 18 .

[0042] One end of the second guide frame 26 is equipped with a second axle 21, and the second axle 21 is driven by a micro motor on the second guide frame 26. One end of the second axle 21 is equipped with a second guide wheel 22, and the other end of the second axle 21 is equipped with a second fan wheel 23. The other end of the second guide frame 26 is hinged to the second base 24, and the second base 24 is positioned on the third retaining ring 3 by bolts. The middle part of the second guide frame 26 is hinged to one end of the second guide frame 26, and the other end of the second guide frame 26 is hinged to the top of the second slider 19.

[0043] Among them, the installation position of the second support frame 25 on the second guide frame 26 is adjustable. By setting a pulley clip device, three gears are set. The installation angle of the second guide wheel 22 relative to the second guide shaft 18 is realized through different installation positions, and then the outward expansion width of the second guide wheel 22 is adjusted to adapt to the inspection needs of pipelines with different diameters.

[0044] Under the rotation of the multiple first impellers 14 and the multiple second impellers 23, and with the help of the thrust of the first impellers 14 and the second impellers 23 in the water, the robot is assisted in moving in the pipeline to save power.

[0045] An intermediate plate 27 is installed between the first and third retaining rings 1 and 3. Two manipulators 28 are mounted at the bottom of the intermediate plate 27. During normal operation, the two manipulators 28 remain hidden within the robot. When a blockage needs to be cleared, the two manipulators 28 extend outside the robot, leveraging their movement to quickly clear debris or obstacles in the forward direction of travel. Alternatively, a rotatable mechanism may be provided at the bottom of the intermediate plate 27, connected to the two manipulators 28. This mechanism assists the rotation of the two manipulators 28, allowing them to extend outward and comprehensively clear obstructions in the pipeline.

[0046] Two oxygen cylinders 29 are installed on the top of the middle plate 27 to provide emergency oxygen supply for pipeline maintenance personnel to ensure their safety.

[0047] Two guide rails 30 are installed between the first and third retaining rings 1 and 3. The two guide rails 30 are arranged symmetrically. One end of the guide rail 30 is mounted on the third retaining ring 31, which is fixed to the third retaining ring 31 via bolts. The third retaining ring 31 is mounted on the first retaining ring 1. The other end of the guide rail 30 is mounted on the fourth retaining ring 32, which is fixed to the fourth retaining ring 32 via bolts. The fourth retaining ring 32 is mounted on the third retaining ring 3. One end of the cleaning bracket 33 is sleeved on the guide rail 30 and fixed to the guide rail 30 via bolts. The other end of the cleaning bracket 33 is equipped with a cleaning brush 34, which is used to clean debris in the pipe. The relative installation angle between the third and fourth retaining rings 31 and 32 and the guide rail 30 can be adjusted by bolts, thereby adjusting the installation position of the cleaning brush 34 to meet different pipe cleaning requirements.

[0048] Preferably, the three first cross beams 4 are arranged at equal angular intervals, and the three second cross beams 5 are arranged at equal angular intervals.

[0049] The three arc-shaped cover plates 6 are arranged at equal angles. After the arc-shaped cover plates 6 are buckled, it is ensured that the debris in the pipeline will not directly enter the robot, thereby preventing the vulnerable parts inside the robot from being damaged.

[0050] The working process of the present invention is as follows: first, the installation angles of the first support frame 16 and the first guide frame 17, and the installation angles of the second support frame 25 and the second guide frame 26 are adjusted according to the diameter of the pipeline, and then the outer widths of the three first guide wheels 13 and the second guide wheels 22 are adjusted. The first spring 11 is in a compressed state, which can ensure that the multiple first guide wheels 13 are fully fitted with the pipeline, and the second spring 20 is in a compressed state, which can ensure that the multiple second guide wheels 22 are fully fitted with the pipeline. In addition, the first spring 11 and the second spring 20 have a good shock-absorbing effect, ensuring the stable operation of the entire robot.

[0051] The micro motor on the first guide frame 17 is started, the first guide wheel 13 rotates, the micro motor on the second guide frame 26 is started, the second guide wheel 22 rotates, the first guide wheel 13 and the inner wall of the pipe generate friction, the second guide wheel 22 and the inner wall of the pipe generate friction, thereby driving the robot to move in the pipe; during operation, the cleaning brush 34 moves along the inner wall of the pipe, and the cleaning brush 34 cleans the inner wall of the pipe; the grippers of the two manipulators 28 extend to the outside of the robot, and the manipulators 28 work and perform all-round cleaning of pipeline obstacles; two searchlights provide light for the robot, and the robot's position in the pipe is accurately located by radar. The camera collects images in the pipe and can transmit positioning information and images to an external display device in real time, which is convenient for remote control by personnel and realizes inspection.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. Pipeline inspection robot, characterized by: The invention comprises a first clasp (1), a second clasp (2) and a third clasp (3), wherein the first clasp (1), the second clasp (2) and the third clasp (3) are arranged in parallel, the first clasp (1) and the second clasp (2) are connected via three first crossbeams (4), the second clasp (2) and the third clasp (3) are connected via three second crossbeams (5), the first clasp (1) and the third clasp (3) are connected via three arc-shaped cover plates (6), the first clasp (1) is provided with a monitoring bracket (7), and the monitoring bracket (7) is provided with a monitoring device (8); The first crossbeam (4) is provided with a first guide shaft (9), the first guide shaft (9) is provided with a first slider (10), a first spring (11) is pressed between the first slider (10) and the second retaining ring (2), one end of the first guide frame (17) is provided with a first wheel shaft (12), one end of the first wheel shaft (12) is provided with a first guide wheel (13), the other end of the first wheel shaft (12) is provided with a first fan wheel (14), the other end of the first guide frame (17) is hinged to the first clamping seat (15), the first clamping seat (15) is positioned on the first retaining ring (1) by bolts, the middle part of the first guide frame (17) is hinged to one end of the first support frame (16), and the other end of the first support frame (16) is hinged to the top end of the first slider (10); A second guide shaft (18) is mounted on the second crossbeam (5), a second slider (19) is mounted on the second guide shaft (18), a second spring (20) is pressed between the second slider (19) and the second retaining ring (2), a second wheel shaft (21) is mounted on one end of the second guide frame (26), a second guide wheel (22) is mounted on one end of the second wheel shaft (21), a second fan wheel (23) is mounted on the other end of the second wheel shaft (21), the other end of the second guide frame (26) is hinged to the second clamping seat (24), the second clamping seat (24) is positioned on the third retaining ring (3) by bolts, the middle of the second guide frame (26) is hinged to one end of the second support frame (25), and the other end of the second support frame (25) is hinged to the top end of the second slider (19); An intermediate plate (27) is installed between the first clamping ring (1) and the third clamping ring (3), and two manipulators (28) are installed at the bottom of the intermediate plate (27); Two oxygen cylinders (29) are mounted on the top of the intermediate plate (27).

2. The pipeline inspection robot according to claim 1, characterized in that: Two guide rails (30) are installed between the first clamping ring (1) and the third clamping ring (3), and the two guide rails (30) are symmetrically arranged. One end of the guide rail (30) is installed on the third clamping seat (31), and the guide rail (30) is positioned on the third clamping seat (31) by bolts. The other end of the guide rail (30) is installed on the fourth clamping seat (32), and the guide rail (30) is positioned on the fourth clamping seat (32) by bolts. One end of the cleaning bracket (33) is sleeved on the guide rail (30), and the cleaning bracket (33) is positioned on the guide rail (30) by bolts. The other end of the cleaning bracket (33) is equipped with a cleaning brush (34).

3. The pipeline inspection robot according to claim 1, characterized in that: The three first cross beams (4) are arranged at equal angles, and the three second cross beams (5) are arranged at equal angles.

4. The pipeline inspection robot according to claim 1, characterized in that: The three arc-shaped cover plates (6) are arranged at equal angles and intervals.

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