Variable-diameter high-load inspection robot in pipeline

Abstract

The utility model relates to the technical field of pipeline robots, and discloses a variable-diameter high-load pipeline interior inspection robot which comprises a supporting body, the supporting body is at least provided with a driving joint and a sensing joint, and the driving joint comprises a driving assembly and a telescopic assembly; the plurality of driving assemblies and the plurality of telescopic assemblies are annularly arranged in the axial direction of the supporting main body, the plurality of driving assemblies are rotatably connected with the supporting main body, the plurality of driving assemblies are connected with the plurality of telescopic assemblies, one end of the supporting main body is provided with a camera module, and the other end of the supporting main body is provided with a camera module. The camera module, the driving section and the sensing section are electrically connected with a control box located in the supporting main body, and the control box is connected with communication equipment through a cable; according to the robot, the telescopic assembly is matched with the driving assembly and the camera module, so that the robot can efficiently inspect various working conditions and various environments in pipelines with different diameters, and safe operation of the pipelines is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline robots, and particularly relates to a variable-diameter high-load pipeline internal inspection robot. BACKGROUND

[0002] The pipeline robot is an automatic device capable of walking or moving inside a pipeline; when the pipeline needs to be repaired, the pipeline robot can carry tools to the designated position to provide accurate fault position and condition information for the repair personnel.

[0003] However, in a complex pipeline network, the connection and layout of the pipeline are various, and there may be cross-connection of different pipe diameters; the pipeline robot with a fixed diameter in the prior art has poor maneuverability in such a complex network and can only move in a single pipe diameter, which is poor in flexibility and difficult to reach all areas that need to be detected or maintained.

[0004] Therefore, a variable-diameter high-load pipeline internal inspection robot is urgently needed to solve the above problems.

[0005] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. CONTENT OF THE UTILITY MODEL

[0006] The main purpose of the present application is to provide a variable-diameter high-load pipeline internal inspection robot to solve the problem of single applicable pipe diameter and poor flexibility of the existing pipeline robot.

[0007] To achieve the above purpose, the present application provides a variable-diameter high-load pipeline internal inspection robot, which comprises a support main body, at least one driving section and one sensing section are arranged on the support main body, the driving section comprises a driving assembly and a telescopic assembly, a plurality of driving assemblies and a plurality of telescopic assemblies are arranged in the axial direction of the support main body, the plurality of driving assemblies are rotationally connected with the support main body, the plurality of driving assemblies are connected with the plurality of telescopic assemblies, one end of the support main body is provided with a camera module, the camera module, the driving section and the sensing section are electrically connected with a control box located in the support main body, and the control box is connected with a communication device through a cable.

[0008] As a preferred scheme of the present application, the other end of the support main body is provided with a cleaning assembly, the cleaning assembly comprises a mounting seat, a motor and a brush, the other end of the support main body is connected with the motor through the mounting seat, and the output shaft of the motor is connected with the brush.

[0009] As a preferred scheme of the present application, the sensing section comprises a support, a cow eye wheel and a detection head, the support body is axially annularly provided with a plurality of supports, at least one of the supports is provided with the detection head, and the detection head is arranged along the radial direction of the support body, the detection head is electrically connected with the control box, and the other supports are provided with the cow eye wheel.

[0010] As a preferred scheme of the present application, the camera module comprises a holder, an illumination assembly and a miniature camera, the rotation shaft of the holder is connected with the miniature camera, and the illumination assembly is integrated on the miniature camera.

[0011] As a preferred scheme of the present application, the driving assembly comprises a fixing seat, a rotating plate and a self-driving wheel, the fixing seat is connected with the support body, the rotating plate is annularly arranged on the fixing seat, and the rotating plate is rotationally connected with the fixing seat, and the self-driving wheel is arranged at one end of the rotating plate away from the fixing seat.

[0012] As a preferred scheme of the present application, the telescopic assembly comprises a sliding ring and a gas spring, the sliding ring is connected with the support body, and the gas spring is annularly arranged on the sliding ring, one end of the gas spring is rotationally connected with the sliding ring, and the other end of the gas spring is connected with the driving assembly.

[0013] As a preferred scheme of the present application, the telescopic assembly comprises a sliding ring and a gas spring, the sliding ring is connected with the support body, and the gas spring is annularly arranged on the sliding ring, one end of the gas spring is rotationally connected with the sliding ring, and the other end of the gas spring is connected with the driving assembly.

[0014] As a preferred scheme of the present application, the telescopic assembly comprises a sliding ring and a gas spring, the sliding ring is connected with the support body, and the gas spring is annularly arranged on the sliding ring, one end of the gas spring is rotationally connected with the sliding ring, and the other end of the gas spring is connected with the driving assembly.

[0015] As a preferred scheme of the present application, the telescopic assembly comprises a sliding ring and a gas spring, the sliding ring is connected with the support body, and the gas spring is annularly arranged on the sliding ring, one end of the gas spring is rotationally connected with the sliding ring, and the other end of the gas spring is connected with the driving assembly.

[0016] As a preferred scheme of the present application, the telescopic assembly comprises a sliding ring and a gas spring, the sliding ring is connected with the support body, and the gas spring is annularly arranged on the sliding ring, one end of the gas spring is rotationally connected with the sliding ring, and the other end of the gas spring is connected with the driving assembly.

[0017] The variable-diameter high-load pipeline internal inspection robot provided by the application can realize efficient inspection of various working conditions and various environments in different diameter pipelines by using the telescopic assembly matched with the driving assembly, guaranteeing safe operation of the pipeline. When entering the variable-diameter pipeline, the robot adjusts the diameter by using the telescopic action and compression action of the telescopic assembly, realizes that the driving assembly is always close to the inner wall of the pipeline, and thus realizes movement inside the pipeline. In the movement process, the camera module is used to take images of the internal environment of the pipeline, and then the control box is used to transmit the taken image information to the communication equipment through the cable. At the same time, the sensing node can sense the shape of the internal obstacles of the pipeline and the shape of the pipeline, and then the control box is used to transmit the sensing data to the communication equipment through the cable. The whole pipeline robot can be applied to the inspection of pipelines with complex shapes, and is more widely applicable and flexible in movement. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a structural schematic diagram of a variable-diameter high-load pipeline internal inspection robot according to an embodiment of the application;

[0019] Figure 2 FIG. 3 is a structural schematic diagram of a telescopic assembly in a variable-diameter high-load pipeline internal inspection robot according to an embodiment of the application;

[0020] Figure 3 FIG. 4 is a structural schematic diagram of a driving assembly in a variable-diameter high-load pipeline internal inspection robot according to an embodiment of the application;

[0021] Figure 4 FIG. 5 is a structural schematic diagram of a cleaning assembly in a variable-diameter high-load pipeline internal inspection robot according to an embodiment of the application.

[0022] BRIEF DESCRIPTION OF DRAWINGS

[0023] 1, support body; 2, driving assembly; 3, telescopic assembly; 4, sensing node; 5, cleaning assembly; 201, fixed seat; 202, rotating plate; 203, self-driven wheel; 301, sliding ring; 302, gas spring; 401, support; 402, bull's eye wheel; 403, detection head; 501, mounting seat; 502, motor; 503, brush. DETAILED DESCRIPTION

[0024] The embodiments of the application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the application, and cannot be understood as a limitation of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the application.

[0025] In addition, if the description in the present application involves "first", "second", etc., it is only for the purpose of description (such as for distinguishing the same or similar elements), and cannot be understood as indicating or implying the relative importance of the indicated technical features or implying the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the fact that a person skilled in the art can realize it, and when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0026] Please refer to Figure 1 In an embodiment, a variable-diameter high-load pipeline inspection robot includes a support body 1, at least one driving section and one sensing section 4 are arranged on the support body 1, the driving section includes a driving assembly 2 and a telescopic assembly 3, a plurality of driving assemblies 2 and a plurality of telescopic assemblies 3 are arranged around the support body 1 in the axial direction, the plurality of driving assemblies 2 are rotationally connected with the support body 1, the plurality of driving assemblies 2 are connected with the plurality of telescopic assemblies 3, one end of the support body 1 is provided with a camera module, the camera module, the driving section and the sensing section 4 are electrically connected with a control box located inside the support body 1, and the control box is connected with a communication device through a cable.

[0027] It can be understood that a variable-diameter high-load pipeline inspection robot can realize efficient inspection of various working conditions and various environments in different diameter pipes by using the telescopic assembly 3 in combination with the driving assembly 2, and can ensure safe operation of the pipeline. When entering the variable-diameter pipe, the robot adjusts the diameter of the robot by using the telescopic assembly 3 to extend and compress, so that the driving assembly 2 is always in close contact with the inner wall of the pipe, thereby realizing movement inside the pipe. During movement, the camera module is used to take images of the internal environment of the pipe, and then the control box is used to transmit the captured image information to the communication device through the cable. At the same time, the sensing section 4 can sense the shape of the obstacles inside the pipe and the shape of the pipe, and then transmit the sensing data to the communication device through the cable through the control box. The entire pipeline robot can be used for inspection of complex-shaped pipes, and has a wider application range and flexible movement.

[0028] Specifically, please refer to Figure 1 , Figure 4 On the basis of the above embodiment, the other end of the support body 1 is provided with a cleaning assembly 5, the cleaning assembly 5 includes a mounting seat 501, a motor 502 and a brush 503, the other end of the support body 1 is connected with the motor 502 through the mounting seat 501, and the output shaft of the motor 502 is connected with the brush 503.

[0029] It can be understood that the motor 502 is electrically connected with the control box, and the rotation of the motor 502 is controlled to drive the brush 503 to rotate, so that the brush 503 can clean the small sundries in the pipeline during the pipeline inspection of the robot. The outer diameter of the brush 503 is large enough to fully contact the inner wall of the pipeline and clean the small sundries attached to the inner wall. For example, when there are many small sundries in the pipeline, the clarity of the image captured by the camera module may be affected; after the cleaning assembly 5 cleans these sundries, the miniature camera and the infrared camera can capture clearer images of the inside of the pipeline, which helps to more accurately detect the damage, corrosion, leakage and other conditions of the pipeline.

[0030] Specifically, please refer to Figure 1 , Figure 3 On the basis of the above embodiment, the sensing section 4 includes a support 401, a cow eye wheel 402, and a detection head 403. The support main body 1 is axially provided with a plurality of supports 401, at least one of which is provided with a detection head 403, and the direction of the detection head 403 is arranged along the radial direction of the support main body 1. The detection head 403 is electrically connected with the control box, and the other supports 401 are provided with the cow eye wheel 402.

[0031] It should be noted that the cow eye wheel 402 can play an auxiliary supporting role when the robot enters a pipeline with a smaller diameter for inspection. Specifically, the cow eye wheel 402 is attached to the inner wall of the smaller pipeline to achieve auxiliary support, and in a pipeline with a larger diameter, the cow eye wheel 402 does not contact the inner wall of the larger diameter.

[0032] It can be understood that the detection head 403 uses an ultrasonic sensor, which works by emitting ultrasonic waves and then receiving the reflected ultrasonic waves. When ultrasonic waves encounter the interface of different media, they will be reflected. According to the time difference between the emission and reception of ultrasonic waves, the distance to the reflection interface can be calculated. When detecting the internal structure of the pipeline, ultrasonic waves can penetrate a certain thickness of the pipeline wall material, thereby detecting the thickness change of the pipeline wall and other conditions. For obstacle detection, when ultrasonic waves encounter an obstacle, they will be reflected back, and the distance of the obstacle can be determined according to the reflection time.

[0033] Specifically, on the basis of the above embodiment, the camera module (not shown in the figure) includes a gimbal, an illumination assembly, and a miniature camera. The rotation axis of the gimbal is connected with the miniature camera, and the miniature camera is integrated with the illumination assembly.

[0034] It can be understood that the gimbal and the miniature camera can be used for multi-angle shooting of the inside of the pipeline, and the miniature camera can be used to capture images of the inside of the pipeline, including the condition of the inner wall of the pipeline (such as corrosion, cracks, scaling, etc.). This helps to discover the damage of the pipeline in a timely manner, so that appropriate repair measures can be taken.

[0035] Further, the lighting assembly is composed of a plurality of high-brightness LED lights, and the plurality of high-brightness LED lights are integrated around the miniature camera to provide sufficient light for the camera shooting. In some darker pipeline environments, the white LED lights can illuminate the inside of the pipeline, so that the camera can clearly shoot the details of the pipeline.

[0036] In the control box, the control box receives the miniature camera signal for further processing (such as signal integration, format conversion, etc.); then, the processed signal is transmitted to the communication equipment outside the pipeline through a cable (such as a network cable, an optical fiber, etc., depending on the requirements of the communication equipment and actual transmission distance and other factors); after the communication equipment receives the signal, the signal is decoded, decompressed, etc., and finally the picture is displayed; specifically, the communication equipment is a computer, which processes the received signal through corresponding software, and then displays the pipeline internal picture shot by the miniature camera on the display.

[0037] Specifically, please refer to Figure 1 , Figure 2 , Figure 3 On the basis of the above embodiment, the driving assembly 2 includes a fixed seat 201, a rotating plate 202, and a self-driving wheel 203, the fixed seat 201 is connected with the support body 1, the rotating plate 202 is annularly arranged on the fixed seat 201, and the rotating plate 202 is rotationally connected with the fixed seat 201, and the self-driving wheel 203 is arranged at an end of the rotating plate 202 away from the fixed seat 201.

[0038] It can be understood that the self-driving wheel 203 is a wheel with self-powered driving, and the plurality of self-driving wheels 203 are electrically connected with the control box, and when started, the plurality of self-driving wheels rotate simultaneously to realize the crawling in the pipeline.

[0039] Specifically, please refer to Figure 1 , Figure 2 On the basis of the above embodiment, the telescopic assembly 3 includes a sliding ring 301 and a gas spring 302, the sliding ring 301 is connected with the support body 1, and the gas spring 302 is annularly arranged on the sliding ring 301, and one end of the gas spring 302 is rotationally connected with the sliding ring 301, and the other end of the gas spring 302 is connected with the driving assembly 2.

[0040] It can be understood that when the pipeline robot enters a pipeline with a smaller diameter, the gradually smaller inner wall of the pipeline will compress the gas spring 302, so that the gas spring 302 is attached to the inner wall of the pipeline. Similarly, when entering a pipeline with a larger diameter, in order to realize the attachment to the inner wall of the pipeline, the gas spring 302 will gradually extend to make the driving assembly 2 contact the inner wall of the pipeline, thereby realizing the crawling movement of the robot in the pipeline.

[0041] Specifically, on the basis of the above embodiment, an adjusting assembly (not shown in the figure) is further included, the sliding ring 301 is in sliding connection with the support body 1, and the connecting position of the sliding ring 301 and the support body 1 is provided with the adjusting assembly.

[0042] Specifically, on the basis of the above embodiment, the adjusting assembly includes a shaft sleeve, a guide rod and a motor, the shaft sleeve is arranged on the support body 1, the middle part of the shaft sleeve is provided with a first thread, the sliding ring 301 is provided with a second thread, the first thread is matched with the second thread, the guide rod is connected with both ends of the shaft sleeve through the sliding ring 301, and the sliding ring 301 is connected with the motor arranged on the shaft sleeve.

[0043] It can be understood that by controlling the motor to drive the movement of the sliding ring 301 along the guide rod, the position of the telescopic assembly 3 can be accurately moved, so that the variable diameter of the driving assembly 2 is realized, and after the adjustment is completed, the positioning can be realized by closing the motor and using the self-locking characteristics between the first thread and the second thread, so that the telescopic assembly 3 is ensured not to move after being moved to the specified position.

[0044] Specifically, on the basis of the above embodiment, an infrared camera (not shown in the figure) is further included, and the back of the miniature camera is integrated with the infrared camera.

[0045] It can be understood that in the embodiment, the infrared camera is electrically connected with the control box, in some pipeline environments, the light may be very weak or even completely without light, for example, underground drainage pipelines or some closed industrial pipeline interiors; in this case, the ordinary miniature camera may not be able to shoot a clear image; while the infrared camera uses the principle of infrared imaging, can emit infrared rays and receive the infrared rays reflected by the object, so as to form a clear image in low-light or no-light environment; this enables the robot to effectively monitor the internal environment in the dark pipeline, for example, to find out whether there are foreign matters, cracks and the like in the pipeline.

[0046] Specifically, on the basis of the above embodiment, the support body 1 is a cylindrical pipeline, and the support body 1 is made of a flexible material.

[0047] It can be understood that the support body 1 is made of a flexible material, for example, a rubber material, so that the pipeline robot can bend, turn and the like in the pipeline to be inspected, and the robot can crawl.

[0048] It should be noted that, in the present document, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a", "comprising", or "comprises" does not, without further restriction, exclude the existence of additional elements of the process, method, article, or apparatus that comprises the element.

[0049] The preferred embodiments of the present application have been described above with the intent to enable those skilled in the art to make and use it. Various modifications to these embodiments will occur to those skilled in the art and are intended to be encompassed by the appended claims. Nothing in this specification should be considered as presenting a restriction to the scope of the present application as defined in the appended claims.

Claims

1. A variable diameter high load in-pipe inspection robot, characterized by, Including support body, at least one drive node and one sensing node are arranged on the support body; The drive node comprises a drive assembly and a telescopic assembly, and a plurality of drive assemblies and a plurality of telescopic assemblies are arranged on the support body in the axial direction; A plurality of drive assemblies are rotatably connected to the support body, a plurality of drive assemblies are connected to a plurality of telescopic assemblies, and a camera module is arranged at one end of the support body; The camera module, the drive node and the sensing node are electrically connected to the control box inside the support body, and the control box is connected to the communication equipment through the cable.

2. The variable diameter high load in-pipe inspection robot of claim 1, wherein, The other end of the support body is provided with a cleaning assembly, the cleaning assembly comprises a mounting seat, a motor and a brush, the other end of the support body is rotatably connected with the motor through the mounting seat, and the output shaft of the motor is connected with the brush.

3. The variable diameter high load in-pipe inspection robot of claim 2, wherein, The sensing node comprises a support, a cow eye wheel and a detection head, a plurality of supports are arranged on the support body in the axial direction, at least one of the supports is provided with the detection head, and the direction of the detection head is arranged along the radial direction of the support body, the detection head is electrically connected with the control box, and the other supports are provided with the cow eye wheel.

4. The variable diameter high load in-pipe inspection robot of claim 1, wherein, The camera module comprises a gimbal, an illumination assembly and a miniature camera, the rotation shaft of the gimbal is connected with the miniature camera, and the illumination assembly is integrated on the miniature camera.

5. The variable diameter high load in-pipe inspection robot of claim 1, wherein, The drive assembly comprises a fixed seat, a rotating plate and a self-driving wheel, the fixed seat is connected with the support body, the rotating plate is arranged on the fixed seat, and the rotating plate is rotatably connected with the fixed seat, and the self-driving wheel is arranged at one end of the rotating plate away from the fixed seat.

6. The variable diameter high load in-pipe inspection robot of claim 5, wherein, The telescopic assembly comprises a sliding ring and a gas spring, the sliding ring is connected with the support body, the gas spring is arranged on the sliding ring, one end of the gas spring is rotatably connected with the sliding ring, and the other end of the gas spring is connected with the drive assembly.

7. The variable diameter high load in-pipe inspection robot of claim 6, wherein, Further comprising an adjusting assembly, the sliding ring is slidably connected with the support body, and the adjusting assembly is arranged at the connection part of the sliding ring and the support body.

8. The variable diameter high load in-pipe inspection robot of claim 7, wherein, The adjusting assembly comprises a shaft sleeve, a guide rod and a motor, the shaft sleeve is arranged on the support body, a first thread is arranged in the middle of the shaft sleeve, a second thread is arranged on the sliding ring, the first thread is matched with the second thread, the guide rod passes through the sliding ring and is connected with both ends of the shaft sleeve, and the sliding ring is connected with the motor arranged on the shaft sleeve.

9. The variable diameter high load in-pipe robot of claim 4, wherein, Further comprising an infrared camera, the infrared camera is integrated on the back of the miniature camera.

10. The variable diameter high load in-pipe inspection robot of claim 8, wherein, The support body is a cylindrical pipe, and the support body is made of flexible material.

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