Pipeline inspection robot

Abstract

The utility model relates to the technical field of robots, and discloses a pipeline inspection robot which comprises a robot body, side supporting plates are arranged on the two sides of the robot body respectively, and the robot body, the side supporting plates, supporting grooves, second supporting holes, first fixing columns, first supporting plates and second fixing columns are used in cooperation. The effect of supporting the robot body can be achieved, the center of the robot body can be lowered, the top of the robot body can be supported, the robot body can be supported in three directions, and when the robot body inclines in a pipeline, the multiple moving wheels can still keep perpendicular to the pipe wall; and meanwhile, a second driving motor can be started to drive moving wheels to rotate so that the robot body can steer, the robot body can move in the pipeline conveniently, inspection work can be conducted conveniently, and the robot is practical.

Description

Technical Field

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

[0002] In-pipeline inspection refers to the use of pipeline media to drive detectors to operate in the pipeline, real-time detection and recording of pipeline deformation, corrosion and other damage, and accurate positioning. Most oil and gas pipelines are buried. Through in-pipeline inspection, various defects and damage can be discovered in advance, and the degree of danger of each pipe section can be understood. Accidents can be prevented and effectively reduced, and pipeline maintenance funds can be saved. It is an important measure to ensure pipeline safety. Pipeline inspection robots are one of the methods used for pipeline inspection.

[0003] An existing pipeline inspection robot (Announcement No.: CN219712726U) has at least the following drawbacks:

[0004] In the above patent, the robot is supported by the moving wheels and the guide wheels on the top of the robot trolley. However, the moving wheels and the guide wheels only support the top and bottom of the robot trolley. The inner wall of the pipe is circular, which makes the trolley prone to tilting during movement. The side faces are subjected to greater force due to the tilt and have no support, which in turn causes greater side pressure on the moving wheels and the guide wheels, reducing the friction with the pipe wall, making it inconvenient to move, and having certain limitations. Utility Model Content

[0005] The purpose of the utility model is to solve the shortcomings of the prior art and to propose a pipeline inspection robot.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A pipeline inspection robot includes a robot body, side support plates are respectively provided on both sides of the robot body, a PLC controller is fixedly installed on one side of the interior of the robot body, and a support assembly for supporting the robot body, the support assembly is arranged on one side of the side support plate, and the support assembly includes: a first rotating plate, which is arranged on one side of the side support plate.

[0008] As a further solution of the present invention, the support assembly also includes: a moving wheel is provided on one side of the side support plate, two moving wheels are provided on one side of the first rotating plate, support grooves are respectively provided on both sides of the robot body, the interior of the support grooves is movably sleeved with the side support plates, a second support hole is provided on one side of the side support plate, the inner circular wall surface of the second support hole is movably sleeved with a first fixing column, the first fixing column is fixedly sleeved with the support groove, a first support frame is fixedly installed on one side of the robot body, a first support plate is fixedly installed on one side of the side support plate, a second fixing column is fixedly sleeved on the interior of the first support plate, a first pen-type electric push rod is movably sleeved on the interior of the first support plate, and the connecting earrings of the first pen-type electric push rod are The second fixed column is movably socketed, the first support frame is movably socketed with the first pen-type electric push rod, the top surface of the robot body is provided with two circular grooves, the inner circular wall of the circular groove is fixedly socketed with the second pen-type electric push rod, the top surface of the robot body is provided with two second rotating plates, one side of the second rotating plate is fixedly installed with a hinge, the robot body and the second rotating plate are connected by a hinge, a fixing hole is provided on one side of the second rotating plate, the top surface of the robot body is provided with a second support frame, the second support frame is movably socketed with the fixing hole, the second support frame is fixedly installed with the top surface of the telescopic shaft of the second pen-type electric push rod, the top surface of the second rotating plate is provided with a rectangular through hole, and the inside of the rectangular through hole is fixedly socketed with a rotating wheel.

[0009] As a further solution of the present invention, a first circular through hole is opened on one side of the first rotating plate, and a first drive motor is fixedly sleeved on the inner circular wall of the first circular through hole. The first drive motor is electrically connected to the PLC controller, and one end of the drive shaft of the first drive motor is fixedly installed on the side support plate.

[0010] As a further solution of the present invention, a second circular through hole is provided on the top surface of the side support plate, and two second circular through holes are provided on the top surface of the first rotating plate. A second drive motor is fixedly sleeved on the inner circular wall of the second circular through hole, and the second drive motor is electrically connected to the PLC controller. A second support plate is fixedly installed on the bottom surface of the drive shaft of the second drive motor, and a third drive motor is fixedly installed on the inner bottom surface of the second support plate, and the third drive motor is electrically connected to the PLC controller. One end of the drive shaft of the second support plate is fixedly installed on the moving wheel.

[0011] As a further solution of the present invention, a battery is fixedly installed on one side of the interior of the robot body, and the battery is electrically connected to the PLC controller.

[0012] As a further solution of the present invention, the side support plate and the first rotating plate are V-shaped.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] By coordinating the use of the robot body, side support plate, first rotating plate, moving wheels, support groove, second support hole, first fixed column, first support plate, and second fixed column, the robot body can be supported, so that the center of the robot body can be lowered and the top can be supported, so that the robot body can be supported in three directions. When the robot body tilts in the pipeline, several moving wheels can still remain perpendicular to the pipe wall, so that the friction force is sufficient to drive the robot body to move. At the same time, the second drive motor can be started to drive the moving wheels to rotate so that the robot body can be turned, which is convenient for moving in the pipeline, facilitates the inspection work, and is more practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of a pipeline inspection robot proposed in the utility model;

[0016] Figure 2 This is a schematic diagram of the robot body structure of a pipeline inspection robot proposed in the utility model;

[0017] Figure 3 for Figure 2 Schematic diagram of the local structure of A;

[0018] Figure 4 This is a schematic diagram of the battery structure of a pipeline inspection robot proposed in the utility model.

[0019] In the figure, 1 is the robot body; 2 is the side support plate; 3 is the first rotating plate; 4 is the moving wheel; 5 is the support groove; 6 is the second supporting hole; 7 is the first fixing column; 8 is the first supporting plate; 9 is the second fixing column; 10 is the first pen-type electric push rod; 11 is the first support frame; 12 is the second rotating plate; 13 is the fixing hole; 14 is the rotating wheel; 15 is the second support frame; 16 is the second pen-type electric push rod; 17 is the first driving motor; 18 is the second driving motor; 19 is the second supporting plate; 20 is the third driving motor; 21 is the battery. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0023] Reference Figures 1-4A pipeline inspection robot includes a robot body 1, side support plates 2 are respectively provided on both sides of the robot body 1, a PLC controller is fixedly installed on one side of the interior of the robot body 1, and a support assembly is provided on one side of the side support plate 2, and the support assembly includes: a first rotating plate 3, the first rotating plate 3 is provided on one side of the side support plate 2, a moving wheel 4 is provided on one side of the side support plate 2, and two moving wheels 4 are provided on one side of the first rotating plate 3, support grooves 5 are respectively provided on both sides of the robot body 1, the interior of the support groove 5 is movably connected to the side support plate 2, a second support hole 6 is provided on one side of the side support plate 2, and the inner circular wall surface of the second support hole 6 is movably connected with a first fixing column 7, and the first fixing column 7 is fixedly connected with the support groove 5, a first supporting frame 11 is fixedly installed on one side of the robot body 1, a first supporting plate 8 is fixedly installed on one side of the side support plate 2, and a second fixing column 9 is fixedly connected inside the first support plate 8. The first support plate 8 is internally movably connected to the first pen-type electric push rod 10, and the connecting earring of the first pen-type electric push rod 10 is movably connected to the second fixed column 9. The first support frame 11 is movably connected to the first pen-type electric push rod 10. The top surface of the robot body 1 is provided with two circular grooves, and the inner circular wall of the circular groove is fixedly connected to the second pen-type electric push rod 16. The top surface of the robot body 1 is provided with two second rotating plates 12, and a hinge is fixedly installed on one side of the second rotating plate 12. The robot body 1 is connected to the second rotating plate 12 through a hinge. A fixing hole 13 is provided on one side of the second rotating plate 12. A second support frame 15 is provided on the top surface of the robot body 1. The second support frame 15 is movably connected to the fixing hole 13. The second support frame 15 is fixedly installed on the top surface of the telescopic shaft of the second pen-type electric push rod 16. A rectangular through hole is provided on the top surface of the second rotating plate 12, and a rotating wheel 14 is fixedly connected inside the rectangular through hole.

[0024] In this embodiment, a first circular through hole is provided on one side of the first rotating plate 3, and a first drive motor 17 is fixedly sleeved on the inner circular wall of the first circular through hole, and the first drive motor 17 is electrically connected to the PLC controller. One end of the drive shaft of the first drive motor 17 is fixedly installed with the side support plate 2, and a second circular through hole is provided on the top surface of the side support plate 2. Two second circular through holes are provided on the top surface of the first rotating plate 3, and a second drive motor 18 is fixedly sleeved on the inner circular wall of the second circular through hole, and the second drive motor 18 is electrically connected to the PLC controller. A second support plate 19 is fixedly installed on the bottom surface of the drive shaft of the second drive motor 18, and a third drive motor 20 is fixedly installed on the inner bottom surface of the second support plate 19, and the third drive motor 20 is electrically connected to the PLC controller. One end of the drive shaft of the second support plate 19 is fixedly installed with the moving wheel 4, and a battery 21 is fixedly installed on one side of the interior of the robot body 1, and the battery 21 is electrically connected to the PLC controller. The side support plate 2 and the first rotating plate 3 are V-shaped.

[0025] From the above description, it can be seen that the above-mentioned embodiment of the present invention achieves the following technical effects: through the setting of the robot body 1, when the user uses the robot body 1 to inspect the pipeline, the robot body 1 is placed inside the pipeline. At this time, since the inside of the pipeline is a curved surface, the robot body 1 is prone to tipping over during the forward movement. At this time, the first pen-type electric push rod 10 is set, and the first pen-type electric push rod 10 is started to pull the second fixed column 9 and the first support plate 8, so that the side support plate 2 rotates around the first fixed column 7, so that the side support plates 2 on both sides rotate and unfold, driving several moving wheels 4 to open to support the robot body 1, thereby increasing the support surface and making the center of the robot body 1 lower, which is not easy to tip over. Afterwards, the second pen-type electric push rod 16 is set, and the second pen-type electric push rod 16 is started to drive the second support frame 15 to push the second rotating plate 12 to rotate around the hinge, so that the second rotating plate 12 drives the rotating wheel 14 to press against the inner wall of the pipeline, thereby The top surface of the human body 1 is supported, so that the robot body 1 is supported on the upper, left and right sides by the left and right side support plates 2 and the second rotating plate 12 on the top surface, so that the robot body 1 can be effectively supported when it falls. At the same time, through the second drive motor 18, when it is necessary to adjust the steering of the robot body 1, the second drive motor 18 drives the second support plate 19 to drive the third drive motor 20 to rotate, adjust the forward direction of the moving wheel 4 and then adjust the forward direction, thereby comprehensively achieving the effect of supporting the robot body 1, so that the center of the robot body 1 can be lowered and the top can be supported, so that the robot body 1 can be supported in three directions. When the robot body 1 tilts in the pipeline, several moving wheels 4 can still remain perpendicular to the pipe wall, so that the friction force is sufficient to drive the robot body 1 to move. At the same time, the second drive motor 18 can be started to drive the moving wheel 4 to rotate so that the robot body 1 is turned, which is convenient for moving in the pipeline, convenient for inspection work, and more practical.

[0026] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements are intended to fall within the scope of the present invention. The scope of protection claimed in this invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline inspection robot, comprising a robot body (1), side support plates (2) are respectively provided on both sides of the robot body (1), and a PLC controller is fixedly installed on one side of the interior of the robot body (1), characterized in that: It also includes a support assembly for supporting the robot body (1), the support assembly is arranged on one side of the side support plate (2), and the support assembly includes: a first rotating plate (3), the first rotating plate (3) is arranged on one side of the side support plate (2).

2. A pipeline inspection robot according to claim 1, characterized in that: The support assembly further comprises: a moving wheel (4) is provided on one side of the side support plate (2), two moving wheels (4) are provided on one side of the first rotating plate (3), support grooves (5) are respectively provided on both sides of the robot body (1), the interior of the support groove (5) is movably sleeved with the side support plate (2), a second support hole (6) is provided on one side of the side support plate (2), the inner circular wall surface of the second support hole (6) is movably sleeved with a first fixing column (7), the first fixing column (7) is fixedly sleeved with the support groove (5), a first support frame (11) is fixedly installed on one side of the robot body (1), a first support plate (8) is fixedly installed on one side of the side support plate (2), a second fixing column (9) is fixedly sleeved on the interior of the first support plate (8), a first pen-type electric push rod (10) is movably sleeved on the interior of the first support plate (8), a connecting earring of the first pen-type electric push rod (10) is movably sleeved with the second fixing column (9) ) is movably connected, the first support frame (11) is movably connected with the first pen-type electric push rod (10), the top surface of the robot body (1) is provided with two circular grooves, the inner circular wall surface of the circular groove is fixedly connected with the second pen-type electric push rod (16), the top surface of the robot body (1) is provided with two second rotating plates (12), one side of the second rotating plate (12) is fixedly installed with a hinge, the robot body (1) and the second rotating plate (12) are connected through a hinge, one side of the second rotating plate (12) is provided with a fixing hole (13), the top surface of the robot body (1) is provided with a second support frame (15), the second support frame (15) is movably connected with the fixing hole (13), the second support frame (15) is fixedly installed with the top surface of the telescopic shaft of the second pen-type electric push rod (16), the top surface of the second rotating plate (12) is provided with a rectangular through hole, the interior of the rectangular through hole is fixedly connected with a rotating wheel (14).

3. The pipeline inspection robot according to claim 1, characterized in that: A first circular through hole is provided on one side of the first rotating plate (3); a first drive motor (17) is fixedly sleeved on the inner wall of the first circular through hole; the first drive motor (17) is electrically connected to the PLC controller; and one end of a drive shaft of the first drive motor (17) is fixedly mounted on the side support plate (2).

4. The pipeline inspection robot according to claim 2, characterized in that: A second circular through hole is provided on the top surface of the side support plate (2), two second circular through holes are provided on the top surface of the first rotating plate (3), a second drive motor (18) is fixedly sleeved on the inner circular wall surface of the second circular through hole, the second drive motor (18) is electrically connected to the PLC controller, a second support plate (19) is fixedly installed on the bottom surface of the drive shaft of the second drive motor (18), a third drive motor (20) is fixedly installed on the inner bottom surface of the second support plate (19), the third drive motor (20) is electrically connected to the PLC controller, and one end of the drive shaft of the second support plate (19) is fixedly installed on the moving wheel (4).

5. The pipeline inspection robot according to claim 1, characterized in that: A storage battery (21) is fixedly installed on one side of the interior of the robot body (1), and the storage battery (21) is electrically connected to the PLC controller.

6. The pipeline inspection robot according to claim 1, characterized in that: The side support plate (2) and the first rotating plate (3) are V-shaped.

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