Pipeline nondestructive testing crawling robot

Abstract

The utility model discloses a pipeline nondestructive testing crawling robot, which relates to the technical field of pipeline testing and comprises a robot body and an adjusting unit. An adjusting groove is formed in the top face of the robot body, and an anti-lost unit is arranged on the left side face of the robot body; the adjusting unit comprises electric telescopic rods, an adjusting frame, a placement seat and a rack, the adjusting frame is in sliding fit with the interior of the adjusting groove, the electric telescopic rods are fixed to the two sides of the top face of the adjusting frame, the top ends of the electric telescopic rods are connected with one side of the bottom face of the placement seat, and the rack is rotationally connected into the placement seat. An industrial camera is placed in the rack; according to the pipeline nondestructive testing crawling robot, the angle of the industrial camera can be adjusted in all directions by matching the main motor with the auxiliary motor, so that detection dead angles are prevented, and the arranged anti-lost rope can be automatically pulled out by personnel for maintenance when the robot turns on one side and breaks down.

Description

Technical Field

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

[0002] A pipeline is a device connected by pipes, pipe connectors, and valves for transporting gases, liquids, or fluids containing solid particles. Typically, fluids are pressurized by blowers, compressors, pumps, and boilers, flowing from high-pressure to low-pressure areas within the pipeline. Alternatively, the fluid's own pressure or gravity can be used for transport. A pipeline robot is an integrated mechanical, electrical, and instrumentation system that can autonomously travel along the inside or outside of a small pipeline, carrying one or more sensors and operating mechanisms. It performs a series of pipeline operations under remote control or computer-controlled operations. Traditional crawling robots often have fixed detection probes, making them difficult to adjust in all directions. This can lead to blind spots in detection. Furthermore, due to the deep interior of the pipeline, the robot is difficult to retrieve in the event of a rollover. Therefore, we propose a pipeline non-destructive testing crawling robot. Utility Model Content

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a pipeline non-destructive inspection crawling robot. The main motor and the auxiliary motor can adjust the angle of the industrial camera in all directions to prevent the occurrence of blind spots in detection. The anti-lost rope set can be automatically pulled out by personnel for maintenance when the robot rolls over or fails, which can effectively solve the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the present utility model provides the following technical solutions: a pipeline non-destructive testing crawling robot, comprising a robot body and an adjustment unit;

[0005] Robot body: An adjustment slot is provided on the top surface, and an anti-lost unit is provided on the left side of the robot body;

[0006] Adjustment unit: includes an electric telescopic rod, an adjustment frame, a placement seat and a rack. The adjustment frame slides in cooperation with the inside of the adjustment slot. Electric telescopic rods are fixed on both sides of the top surface of the adjustment frame. The top of the electric telescopic rod is connected to one side of the bottom surface of the placement seat. The inside of the placement seat is rotatably connected to the rack. The industrial camera is placed inside the rack.

[0007] It also includes a controller, which is arranged on one side of the top surface of the robot body. The input ends of the robot body, the electric telescopic rod and the industrial camera are electrically connected to the output end of the controller, and the input end of the controller is electrically connected to the output end of the external power supply.

[0008] Start the electric telescopic rod to adjust the height of the industrial camera inside the rack, and start the robot body to drive the industrial camera to detect damage inside the pipeline.

[0009] Furthermore, the adjustment unit also includes a main motor and an auxiliary motor. The main motor is installed on the side of the placement seat, the output shaft of the main motor is connected to the side of the frame, the auxiliary motor is fixed inside the robot body, and the output shaft of the auxiliary motor is connected to the middle of the bottom surface of the adjustment frame. The input ends of the main motor and the auxiliary motor are electrically connected to the output end of the controller. Starting the main motor and the auxiliary motor can adjust the angle of the industrial camera in all directions to prevent detection blind spots.

[0010] Furthermore, the anti-loss unit includes a winding roller, a box, an anti-loss rope and a hook. The box is fixed on the left side of the robot body. The interior of the box is rotatably connected to the winding roller. The outer side of the winding roller is connected to one end of the anti-loss rope. The other end of the anti-loss rope is equipped with a hook. The hook is hung on the outside of the pipe and unwinds the anti-loss rope as the winding roller rotates. In this way, when the robot rolls over or fails, personnel can automatically pull it out for maintenance.

[0011] Furthermore, the anti-loss unit also includes a motor, a worm gear and a worm. The motor is fixed on the top surface of the box, the output shaft of the motor is connected to the top of the worm, the worm gear is fixed on the rear side of the winding roller, the worm gear is engaged with the worm, and the input end of the motor is electrically connected to the output end of the controller. The motor drives the worm gear to engage with the worm gear and drive the winding roller to rotate, thereby winding and unwinding the anti-loss rope.

[0012] Furthermore, it also includes a fixing sleeve, a spring and a transparent protective plate. There are two fixing sleeves and they are respectively fixed on the left and right sides of the frame. A spring is installed inside the fixing sleeve. The front end of the spring is connected to one end of the rear side of the transparent protective plate. The spring contracts and rebounds to cover the surface of the industrial camera, thereby preventing the industrial camera from being bumped and damaged.

[0013] Furthermore, it also includes lighting lamps and obstacle avoidance cameras. There are two lighting lamps and they are fixed on the front side of the transparent protective plate on the left and right sides respectively. The obstacle avoidance camera is installed on the right side of the robot body. The input ends of the lighting lamps and the obstacle avoidance camera are electrically connected to the output end of the controller. The lighting lamps can illuminate the inside of the pipeline, thereby improving the accuracy of pipeline damage detection, and the obstacle avoidance camera can effectively enable the robot to avoid obstacles.

[0014] Compared with the existing technology, the beneficial effects of the present invention are: the pipeline non-destructive testing crawling robot has the following advantages:

[0015] 1. The height of the industrial camera inside the frame is adjusted by activating the electric telescopic rod. The main motor and the auxiliary motor can adjust the angle of the industrial camera in all directions to prevent blind spots in detection. Finally, the robot body drives the industrial camera to detect damage inside the pipeline.

[0016] 2. Fix the robot by hanging it on the outside of the pipe, start the motor to drive the winding roller to rotate and unwind the anti-lost rope. In this way, when the robot rolls over or fails, personnel can automatically pull it out for maintenance.

[0017] 3. The transparent protective plate covers the surface of the industrial camera through the contraction and rebound of the spring, thereby preventing the industrial camera from being damaged by bumps. The lighting can illuminate the inside of the pipeline, thereby improving the accuracy of pipeline damage detection, and the obstacle avoidance camera can effectively enable the robot to avoid obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the adjustment unit of the utility model;

[0020] Figure 3 For this utility model Figure 1 Schematic diagram of the locally enlarged structure at point A in the middle.

[0021] In the figure: 1 robot body, 2 adjustment unit, 21 electric telescopic rod, 22 adjustment frame, 23 placement seat, 24 frame, 25 main motor, 26 auxiliary motor, 3 anti-loss unit, 31 winding roller, 32 box, 33 anti-loss rope, 34 hook, 35 motor, 36 worm gear, 37 worm, 4 adjustment slot, 5 industrial camera, 6 fixing sleeve, 7 spring, 8 transparent protective plate, 9 lighting, 10 obstacle avoidance camera, 11 controller. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] See also Figure 1-3 ,This embodiment provides a technical solution: a pipeline non-destructive inspection crawling robot, comprising a robot body 1 and an adjustment unit 2;

[0024] The robot body 1: The top surface is provided with an adjustment slot 4, and the left side of the robot body 1 is provided with an anti-lost unit 3, which includes a winding roller 31, a box 32, an anti-lost rope 33 and a hook 34. The box 32 is fixed to the left side of the robot body 1, and the interior of the box 32 is rotatably connected to the winding roller 31. The outer side of the winding roller 31 is connected to one end of the anti-lost rope 33, and the other end of the anti-lost rope 33 is installed with a hook 34. The hook 34 is hung on the outside of the pipe and rotates with the winding roller 31 to unwind the anti-lost rope 33, so that the anti-lost rope 33 can be unwound in the machine. When the robot rolls over or fails, personnel are automatically pulled out for maintenance. The anti-loss unit 3 also includes a motor 35, a worm gear 36 and a worm 37. The motor 35 is fixed to the top surface of the box 32, and the output shaft of the motor 35 is connected to the top of the worm 37. The worm gear 36 is fixed to the rear side of the winding roller 31. The worm gear 36 is meshed with the worm 37. The input end of the motor 35 is electrically connected to the output end of the controller 11. The motor 35 drives the worm 37 to mesh with the worm gear 36 and drives the winding roller 31 to rotate, thereby winding and unwinding the anti-loss rope 33;

[0025] Adjustment unit 2: includes an electric telescopic rod 21, an adjustment frame 22, a placement seat 23 and a frame 24. The adjustment frame 22 slides in cooperation with the inside of the adjustment slot 4. Electric telescopic rods 21 are fixed on both sides of the top surface of the adjustment frame 22. The top of the electric telescopic rod 21 is connected to one side of the bottom surface of the placement seat 23. The internal rotation of the placement seat 23 is connected to the frame 24. The industrial camera 5 is placed inside the frame 24. The adjustment unit 2 also includes a main motor 25 and an auxiliary motor 26. The main motor 25 is installed on the side of the placement seat 23. The output shaft of the main motor 25 is connected to the side of the frame 24. The auxiliary motor 26 is fixed to the inside of the robot body 1. The output shaft of the auxiliary motor 26 is connected to the middle part of the bottom surface of the adjustment frame 22. The input ends of the main motor 25 and the auxiliary motor 26 are electrically connected to the output end of the controller 11. Starting the main motor 25 and cooperating with the auxiliary motor 26 can adjust the angle of the industrial camera 5 in all directions to prevent detection blind spots.

[0026] Among them, it also includes a controller 11, which is arranged on one side of the top surface of the robot body 1. The input ends of the robot body 1, the electric telescopic rod 21 and the industrial camera 5 are electrically connected to the output end of the controller 11. The input end of the controller 11 is electrically connected to the output end of the external power supply. The electric telescopic rod 21 is started to adjust the height of the industrial camera 5 inside the frame 24. The robot body 1 is started to drive the industrial camera 5 to detect damage inside the pipeline. It also includes a fixed sleeve 6, a spring 7 and a transparent protective plate 8. There are two fixed sleeves 6 and they are fixed on the left and right sides of the frame 24 respectively. The spring 7 is installed inside the fixed sleeve 6. The front end of the spring 7 It is connected to one end of the rear side of the transparent protective plate 8, and the spring 7 contracts and rebounds to cover the surface of the transparent protective plate 8, thereby preventing the industrial camera 5 from being bumped and damaged. It also includes a lighting lamp 9 and an obstacle avoidance camera 10. There are two lighting lamps 9 and they are fixed on the front side of the transparent protective plate 8 on the left and right. The obstacle avoidance camera 10 is installed on the right side of the robot body 1. The input ends of the lighting lamp 9 and the obstacle avoidance camera 10 are electrically connected to the output end of the controller 11. The lighting lamp 9 can illuminate the inside of the pipeline, thereby improving the accuracy of pipeline damage detection, and the obstacle avoidance camera 10 can effectively enable the robot to avoid obstacles.

[0027] The working principle of the pipeline non-destructive inspection crawling robot provided by the present invention is as follows: first, the hook 34 is hung on the outside of the pipeline, and the motor 35 drives the worm 37 to engage with the worm gear 36 to drive the winding roller 31 to rotate, thereby winding and unwinding the anti-lost rope 33, so that when the robot rolls over or fails, personnel can automatically pull it out for maintenance, then the industrial camera 5 is placed inside the frame 24, the spring 7 contracts and rebounds to make the transparent protective plate 8 cover the surface of the industrial camera 5, thereby preventing the industrial camera 5 from being bumped and damaged, and the auxiliary motor 26 is started to drive the adjustment frame 22 to rotate inside the adjustment slot 4. At the same time, the main motor 25 drives the frame 24 to rotate to adjust the industrial camera 5 in all directions, and at the same time, the electric telescopic rod 21 is started to adjust the height of the industrial camera 5 inside the frame 24. Finally, the robot body 1 drives the industrial camera 5 to detect damage inside the pipeline. The set lighting 9 can illuminate the inside of the pipeline, thereby improving the accuracy of pipeline damage detection, and the obstacle avoidance camera 10 can effectively enable the robot to avoid obstacles.

[0028] It is worth noting that the controller 11 disclosed in the above embodiment uses the S7-200 model. The industrial camera 5 can be freely configured according to the actual application scenario. The recommended model is the GX2500-C industrial camera, and the obstacle avoidance camera 10 can be the D435 obstacle avoidance camera. The controller 11 controls the electric telescopic rod 21, main motor 25, auxiliary motor 26, motor 35, industrial camera 5, lighting 9, and obstacle avoidance camera 10 using methods commonly used in the prior art.

[0029] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. Pipeline non-destructive testing crawling robot, characterized by: It comprises a robot body (1) and an adjustment unit (2); The robot body (1) has an adjustment slot (4) on its top surface, and an anti-lost unit (3) on its left side. The adjustment unit (2) comprises an electric telescopic rod (21), an adjustment frame (22), a placement seat (23) and a frame (24); the adjustment frame (22) slides in cooperation with the inside of the adjustment slot (4); the electric telescopic rod (21) is fixed on both sides of the top surface of the adjustment frame (22); the top of the electric telescopic rod (21) is connected to one side of the bottom surface of the placement seat (23); the inside of the placement seat (23) is rotatably connected to the frame (24); the inside of the frame (24) is provided with an industrial camera (5); The invention further comprises a controller (11), wherein the controller (11) is arranged on one side of the top surface of the robot body (1), the input ends of the robot body (1), the electric telescopic rod (21) and the industrial camera (5) are electrically connected to the output end of the controller (11), and the input end of the controller (11) is electrically connected to the output end of an external power supply.

2. The pipeline non-destructive testing crawling robot according to claim 1, characterized in that: The regulating unit (2) further comprises a main motor (25) and an auxiliary motor (26), wherein the main motor (25) is mounted on the side of the placement seat (23), the output shaft of the main motor (25) is connected to the side of the frame (24), the auxiliary motor (26) is fixed inside the robot body (1), the output shaft of the auxiliary motor (26) is connected to the middle of the bottom surface of the regulating frame (22), and the input ends of the main motor (25) and the auxiliary motor (26) are electrically connected to the output end of the controller (11).

3. The pipeline non-destructive testing crawling robot according to claim 1, characterized in that: The anti-lost unit (3) comprises a winding roller (31), a box (32), an anti-lost rope (33) and a hook (34); the box (32) is fixed on the left side of the robot body (1); the interior of the box (32) is rotatably connected to the winding roller (31); the outer side of the winding roller (31) is connected to one end of the anti-lost rope (33); and the other end of the anti-lost rope (33) is installed with a hook (34).

4. The pipeline non-destructive testing crawling robot according to claim 3, characterized in that: The anti-lost unit (3) further comprises a motor (35), a worm gear (36) and a worm (37); the motor (35) is fixed on the top surface of the box (32); the output shaft of the motor (35) is connected to the top end of the worm (37); the worm gear (36) is fixed on the rear side of the winding roller (31); the worm gear (36) and the worm (37) are meshed; the input end of the motor (35) is electrically connected to the output end of the controller (11).

5. The pipeline non-destructive testing crawling robot according to claim 1, characterized in that: The invention also includes a fixing sleeve (6), a spring (7) and a transparent protective plate (8). The fixing sleeves (6) are two and are fixed to the left and right sides of the frame (24) respectively. The fixing sleeves (6) are internally installed with a spring (7). The front end of the spring (7) is connected to one end of the rear side of the transparent protective plate (8).

6. The pipeline non-destructive testing crawling robot according to claim 5, characterized in that: The robot also includes a lighting lamp (9) and an obstacle avoidance camera (10), wherein two lighting lamps (9) are fixed on the front side of the transparent protective plate (8) on the left and right sides respectively, and the obstacle avoidance camera (10) is installed on the right side of the robot body (1), and the input ends of the lighting lamp (9) and the obstacle avoidance camera (10) are electrically connected to the output end of the controller (11).

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