Pipeline inspection robot

Abstract

The utility model discloses a pipeline inspection robot, and relates to the technical field of pipeline inspection. Comprising a bearing column body used as a pipeline inspection robot body; the plurality of groups of driving parts are uniformly mounted outside the bearing column body and are used for being attached to the inner wall of the pipeline and driving the bearing column body to move in the pipeline during operation; and the electronic camera is mounted at one end in the bearing column body and is used for monitoring the environment in the pipeline. Through the design of a plurality of groups of driving parts, the robot is more stable when moving in the pipeline and can adapt to pipelines with different diameters and shapes, and meanwhile, the height of the electric pulley block can be adjusted according to needs through the adoption of the telescopic part; therefore, a simple structure replaces a complex structure, and flexible movement of the robot in the pipeline is completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline inspection technical field, concretely is pipeline inspection robot. BACKGROUND

[0002] In the pipeline inspection field, especially in some complex pipeline systems, manual inspection is difficult to cover all inspection points, and it is difficult to accurately monitor the internal environment of the pipeline. In order to solve this problem, the research and application of pipeline inspection robots have gradually become a research hotspot.

[0003] After searching, the Chinese invention patent with publication number "CN115508378A" discloses a "pipeline inspection robot". The application allows the first arc-shaped part to be fixed on one side of the arc-shaped plate, the second arc-shaped part to be arranged on one side of the first arc-shaped part, and the first arc-shaped part and the second arc-shaped part to be respectively provided with a first groove on one side. Two moving assemblies are arranged in the corresponding first grooves. In this way, the pipeline can be fully detected, the risk of pipeline leakage is reduced, and more manpower and resources are saved. Moreover, the robot can walk on the outer wall of the pipeline to be detected without entering the inside of the pipeline, which makes the application range wider and ensures the production capacity of the factory.

[0004] However, the above-mentioned device has high complexity as a whole due to the large number of arc-shaped plates arranged, and has high requirements for the shape and diameter of the pipeline. For pipelines with different diameters and shapes, the arc-shaped plates need to be frequently replaced and adjusted, which undoubtedly increases the complexity and cost of the inspection work. At the same time, the above-mentioned device also has certain limitations in terms of movement and adaptability inside the pipeline, especially when facing some complex and variable pipeline environments, the inspection effect may be greatly affected. Therefore, the applicant proposes a new type of pipeline inspection robot to solve the above-mentioned problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a pipeline inspection robot to solve the problems raised in the background art.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a pipeline inspection robot, comprising:

[0007] A bearing column is used as the main body of the pipeline inspection robot.

[0008] A plurality of driving components are uniformly installed on the outside of the bearing column to fit the inner wall of the pipeline and move the bearing column inside the pipeline during operation.

[0009] An electronic camera is installed at one end inside the bearing column and used for monitoring the environment inside the pipeline, and the lens end of the electronic camera is arranged outside the bearing column.

[0010] A plurality of assembly grooves are arranged on the outer surface of the bearing column and matched with the number and positions of the driving components, and a telescopic component is arranged inside the assembly grooves, and a telescopic damping rod is hinged between the moving end of the telescopic component and the driving component.

[0011] The driving component comprises:

[0012] An arm is hinged at one end of the bearing column close to the end of the electronic camera, and an electric pulley is arranged at the other end of the arm.

[0013] When the telescopic component operates, the arm is raised or pulled on the surface of the bearing column by the telescopic damping rod, so as to adjust the height of the electric pulley.

[0014] As a further preferred embodiment of the present application, the telescopic component is any one of a threaded screw rod structure or an electric telescopic rod.

[0015] The threaded screw rod structure comprises a micro rotary motor, a threaded screw rod and a threaded block.

[0016] The micro rotary motor is arranged at one end inside the assembly groove, the output end of the micro rotary motor is fixed to one end of the threaded screw rod, the other end of the threaded screw rod is rotatably connected to the bearing body at the other end of the assembly groove, the threaded block is matched with the assembly groove, the inside of the threaded block is screwed with the outside of the threaded screw rod, and the top of the threaded block is hinged to the end of the telescopic damping rod away from the arm.

[0017] As a further preferred embodiment of the present application, a telescopic rod is arranged at the end of the bearing column away from the electronic camera, a universal joint is arranged at the end of the telescopic rod away from the bearing column, and the universal joint is used to connect two pipeline inspection robots.

[0018] As a further preferred embodiment of the present application, a water storage bin is arranged at the position of the outer surface of the bearing column away from the assembly groove, and an assembly cover plate is clamped and arranged at the opening of the water storage bin.

[0019] A micro electric water pump is arranged at one end of the top of the assembly cover plate, a liquid guide pipe is arranged at the water discharge end of the micro electric water pump, and the end of the liquid guide pipe away from the micro electric water pump faces the surface of the lens end of the electronic camera and is used to clean the lens end of the electronic camera.

[0020] As the further preferable of the technical solution, the top of the assembling cover plate is provided with a liquid injection valve pipe at the end far from the micro electric water pump, and the liquid injection valve pipe and the micro electric water pump are both connected with the inside of the water storage bin.

[0021] As the further preferable of the technical solution, the screw rod structure comprises a screw rod and a screw block, the screw block is matched with the assembling groove, the inside of the screw block is screwed with the outside of the screw rod, one end of the screw rod is rotationally connected with one end of the inside assembling groove of the bearing column body, and the other end of the screw rod penetrates through the assembling groove and is fixed with a driven gear;

[0022] The bearing column body is provided with a planetary gear groove at the end close to the driven gear, the driven gear is arranged in the planetary gear groove, a driving gear disc for driving the driven gears is arranged between the driven gears, the inside of the bearing column body is hollow, a motor is arranged at the position close to the planetary gear groove of the bearing column body, and the rotating shaft of the motor is fixed with the center point of the planetary gear groove.

[0023] Compared with the prior art, the utility model has the advantages of:

[0024] The pipeline inspection robot is more stable when moving in the pipeline, can adapt to pipelines with different diameters and shapes, the height of the electric pulley set can be adjusted as required, so that the flexible movement of the robot in the pipeline is realized by replacing a complex structure with a relatively simple structure, and the electronic camera can monitor the internal environment of the pipeline in real time, thereby providing strong technical support for pipeline inspection and maintenance.

[0025] During the pipeline inspection, the spring in the telescopic damping rod can realize small-range automatic diameter change to adapt to the change of the pipeline diameter, and can realize shock absorption and buffering during obstacle crossing, the telescopic arm can be driven by the screw rod structure to adjust the large-range working radius, thereby increasing the adaptability of the whole equipment.

[0026] Moreover, the plurality of planetary driven gears driven by the driving gear disc can ensure synchronous rotation of the plurality of screw rods during diameter change, so as to achieve synchronous diameter change. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is the isometric view of the utility model;

[0028] Figure 2 is the sectional view of the utility model inspection component;

[0029] Figure 3 Structure composition diagram of the patrol component embodiment one of the utility model;

[0030] Figure 4 Structure composition diagram of the patrol component embodiment two of the utility model.

[0031] In the drawing: 1, patrol component; 101, bearing column body; 102, water storage bin; 103, assembly cover plate; 104, micro electric water pump; 105, liquid guide pipe; 106, electronic camera; 107, threaded screw structure; 108, support arm; 109, telescopic damping rod; 110, electric pulley; 111, liquid injection valve pipe; 112, auxiliary wheel; 113, driving gear plate; 114, planetary gear groove; 115, driven gear; 2, universal joint. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0033] The pipeline patrol robot provided by the utility model is used in the complex pipeline environment with variable diameter and shape, and the pipeline patrol robot of the utility model realizes flexible movement and adaptability in the pipeline by the cooperation of multiple groups of driving components and telescopic components.

[0034] Embodiment one, as Figures 1-3The utility model provides a technical scheme: pipeline inspection robot, include: inspection component 1, inspection component 1 include: bearing cylinder 101, for acting as pipeline inspection robot main part, multiple groups of driving components, even install in the outside of bearing cylinder 101, for and the inside wall of pipeline are pasted together, and drive bearing cylinder 101 to move in the inside of pipeline when running, electronic camera 106, install in the inside one end of bearing cylinder 101, for to the inside environment monitoring of pipeline, electronic camera 106 lens end setting in the outside of bearing cylinder 101, the outside of bearing cylinder 101 is equipped with and driving component number and position are all matched with assembly groove, the inside installation of assembly groove has telescopic component, and the telescopic component is hinged with telescopic damper 109 between the moving end and driving component, in the process of carrying out the inspection of pipeline, rely on the spring in telescopic damper 109, can realize small -range automatic change in diameter to adapt to the change of pipeline diameter, also can realize shock absorption and obstacle, in the process of obstacle, rely on the cooperation of spring and damper rod and realize buffering, can carry out the adjustment of large -range working radius through driving support arm 108, thereby increase the adaptability of whole equipment.

[0035] Wherein reference Figure 2 And Figure 3 It is known that the driving component includes: support arm 108, one end of support arm 108 is hinged with the end of the surface of bearing cylinder 101 close to electronic camera 106, the other end of support arm 108 is provided with electric pulley 110, when the telescopic component operates, support arm 108 is raised or pulled on the surface of bearing cylinder 101 by telescopic damper 109, so as to adjust the height of electric pulley 110.

[0036] It needs to be supplemented that in the embodiment, the telescopic component is any one of screw rod structure 107 or electric telescopic rod.

[0037] It needs to be supplemented that reference Figure 2 And Figure 3 It is known that the screw rod structure 107 mentioned in the embodiment includes: micro rotary motor, screw rod and screw block, wherein the micro rotary motor is installed at one end inside the assembly groove, the output end of the micro rotary motor is fixed with one end of the screw rod, the other end of the screw rod is rotatably connected with the bearing cylinder 101 at the other end of the assembly groove, the screw block is matched with the assembly groove, the inside of the screw block is screwed with the outside of the screw rod, and the top of the screw block is hinged with the end of the telescopic damper 109 away from the support arm 108.

[0038] Embodiment two, as Figure 4As shown, the threaded screw structure 107 in this embodiment includes a threaded screw and a threaded block that matches the assembly groove, the inside of which is connected to the outside of the threaded screw. One end of the threaded screw is rotationally connected to one end of the assembly groove in the bearing column 101, and the other end passes through the assembly groove and is fixed with a driven gear 115. In addition, the bearing column 101 is provided with a planetary gear groove 114 at the end close to the driven gear 115, and the driven gear 115 is located in the planetary gear groove 114. A driving gear disc 113 for driving the driven gear 115 is arranged between the driven gears 115. The inside of the bearing column 101 is designed to be hollow, and a motor is installed at the position close to the planetary gear groove 114. The rotating shaft of the motor is fixed to the center point position of the planetary gear groove 114. The plurality of planetary driven gears 115 driven by the driving gear disc 113 can ensure the synchronous rotation of the threaded screw structure 107 during the variable-diameter process, achieving the effect of synchronous variable-diameter.

[0039] It should be noted that, in order to further enhance the stability of the support arm 108, in Embodiment Two, an auxiliary wheel 112 is installed at the middle segment of the support arm 108. The auxiliary wheel 112 is used to support and stabilize the support arm 108, ensuring that it can move smoothly during the inspection process and reducing shaking caused by uneven ground or obstacles.

[0040] As a preferred embodiment, reference is made to Figure 1 It can be seen that, in this embodiment, a telescopic rod is installed at the end of the bearing column 101 away from the electronic camera 106. The end of the telescopic rod away from the bearing column 101 is installed with a universal joint 2, which is used to connect two pipeline inspection robots.

[0041] It should be noted that, in this embodiment, the pipeline inspection robot can connect another pipeline inspection robot through the universal joint 2. This arrangement allows multiple pipeline inspection robots to work cooperatively, improving inspection efficiency and range. Through the connection of the universal joint 2, the relative positions between the robots can be flexibly adjusted to adapt to pipelines of different diameters and shapes. In addition, when one robot encounters a narrow area that is difficult to pass through, it can be pulled or supported by the adjacent robot, thereby overcoming the obstacle.

[0042] As a preferred embodiment, reference is made to Figure 2 and Figure 3It can be known that in the embodiment, the water storage bin 102 is arranged at the position of the outer surface of the bearing column 101 away from the assembly groove, the assembly cover plate 103 is clamped and installed at the bin opening of the water storage bin 102, one end of the top of the assembly cover plate 103 is installed with the micro electric water pump 104, the drainage end of the micro electric water pump 104 is installed with the liquid guide pipe 105, the end of the liquid guide pipe 105 away from the micro electric water pump 104 faces the surface of the lens end of the electronic camera 106, and is used for cleaning the lens end of the electronic camera 106, the end of the top of the assembly cover plate 103 away from the micro electric water pump 104 is installed with the liquid injection valve pipe 111, and the liquid injection valve pipe 111 and the micro electric water pump 104 are both connected with the inside of the water storage bin 102.

[0043] It should be noted that in the embodiment, through the arrangement of the water storage bin 102, the assembly cover plate 103, the micro electric water pump 104 and the liquid guide pipe 105, the automatic cleaning function of the lens end of the electronic camera 106 can be realized.

[0044] Specifically, when the electronic camera 106 detects stains or within a certain time interval, the micro electric water pump 104 will start, and the appropriate amount of cleaning liquid is extracted from the water storage bin 102, and the cleaning liquid is delivered to the lens end surface through the liquid guide pipe 105. It should be noted that in the actual operation of the embodiment, the end of the liquid guide pipe 105 can be designed as a nozzle shape to ensure that the cleaning liquid is evenly covered on the lens surface.

[0045] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the attached embodiments and their equivalents.

Claims

1. A pipeline inspection robot, characterized by, The utility model provides a pipeline inspection robot, which comprises a bearing column (101) serving as a pipeline inspection robot body; a plurality of driving components are uniformly arranged on the outer surface of the bearing column (101) and are used to be in close contact with the inner wall of the pipeline and drive the bearing column (101) to move in the pipeline during operation; an electronic camera (106) is arranged at one end of the bearing column (101) and is used to monitor the environment in the pipeline; the lens end of the electronic camera (106) is arranged on the outer surface of the bearing column (101); a plurality of assembly grooves are formed on the outer surface of the bearing column (101) and are matched with the number and positions of the driving components; a telescopic component is arranged in each assembly groove; a telescopic damping rod (109) is arranged between the moving end of the telescopic component and the driving component; the telescopic component is any one of a screw rod structure (107) or an electric telescopic rod; the driving component comprises a supporting arm (108) which is hingedly connected to the end of the bearing column (101) close to the end of the electronic camera (106) and is provided with an electric pulley (110) at the other end; when the telescopic component operates, the supporting arm (108) is lifted or pulled to rotate on the surface of the bearing column (101) by means of the telescopic damping rod (109), so that the height of the electric pulley (110) is adjusted. The screw rod structure (107) comprises a micro rotating motor, a screw rod and a screw block; the micro rotating motor is arranged at one end of the assembly groove; the output end of the micro rotating motor is fixed to one end of the screw rod; the other end of the screw rod is rotatably connected to the bearing column (101) at the other end of the assembly groove; the screw block is matched with the assembly groove; the screw block is screwed with the outer surface of the screw rod; the top of the screw block is hingedly connected to the end of the telescopic damping rod (109) away from the supporting arm (108). The end of the bearing column (101) away from the electronic camera (106) is provided with a telescopic rod; the end of the telescopic rod away from the bearing column (101) is provided with a universal joint (2); the universal joint (2) is used to connect two pipeline inspection robots. The outer surface of the bearing column (101) is provided with a water storage bin (102) at a position away from the assembly groove; the water storage bin (102) is provided with an assembly cover plate (103) at the opening; the top of the assembly cover plate (103) is provided with a micro electric water pump (104); the drainage end of the micro electric water pump (104) is provided with a liquid guide pipe (105); the end of the liquid guide pipe (105) away from the micro electric water pump (104) faces the surface of the lens end of the electronic camera (106) and is used to clean the lens end of the electronic camera (106). The end of the top of the assembly cover plate (103) away from the micro electric water pump (104) is provided with a liquid injection valve pipe (111); the liquid injection valve pipe (111) and the micro electric water pump (104) are both connected to the inside of the water storage bin (102). ​ ​ ​ 2. The pipeline inspection robot of claim 1, wherein; ​ ​ 3. The pipeline inspection robot of claim 1, wherein: ​ 4. The pipeline inspection robot of claim 1, wherein: ​ ​ 5. The pipeline inspection robot of claim 4, wherein: ​ 6. The pipeline inspection robot of claim 1, wherein: The threaded screw structure (107) comprises a threaded screw and a screwing block, the screwing block is matched with an assembly groove, the inside of the screwing block is screwed with the outside of the threaded screw, one end of the threaded screw is rotationally connected with one end of the inside assembly groove of the bearing column body (101), the other end of the threaded screw penetrates through the assembly groove and is fixed with a driven gear (115); The bearing column body (101) is provided with a planetary gear groove (114) at one end close to the driven gear (115), the driven gear (115) is arranged in the planetary gear groove (114), a driving gear disc (113) for driving the driven gear (115) is arranged between the driven gears (115), the inside of the bearing column body (101) is provided with a hollow structure, a motor is arranged on the bearing column body (101) at a position close to the planetary gear groove (114), and the rotating shaft of the motor is fixed with the center point position of the planetary gear groove (114).

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