Metal pipeline detection robot

Abstract

The utility model discloses a metal pipeline detection robot, and belongs to the technical field of detection robots. The metal pipeline detection robot comprises a robot body, a moving mechanism, a steering mechanism and a detection mechanism, the moving mechanism and the detection mechanism are arranged at the position close to the bottom of the robot body, and the steering mechanism is arranged at the position close to the top of the robot body; the moving mechanism comprises a driving wheel and a steering wheel; the steering mechanism comprises a first motor, a first connecting rod, a second connecting rod, a third connecting rod, a turntable, a rotating shaft and a steering connecting shaft; the monitoring area of the detection mechanism faces the direction away from the bottom of the robot body. Miniaturized layout is achieved through a compact mechanical transmission structure, the length size of the metal pipeline detection robot is reduced, multi-angle flexible adjustment of the steering wheel is achieved in a narrow pipeline by means of the motion amplification and buffering characteristics of a connecting rod mechanism, the steering flexibility in the pipeline environment with complex sediment distribution is improved, and the stability of the metal pipeline detection robot is improved. The trapped situation is reduced, and the detection efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection robot technical field, concretely is a kind of metal pipeline detection robot. BACKGROUND

[0002] With the development of detection technology, detection robots appear in more and more detection scenarios. Through the metal pipeline detection robot, the metal pipeline in important fields such as petroleum and chemical industry can be damaged and fault diagnosed. For example, the metal pipeline detection robot is used to detect the damage of chemical loop system pipeline to prevent leakage of corrosive substances; the metal pipeline detection robot is used to detect corrosion pits, small cracks and micro-holes and other wall defects to avoid environmental pollution or explosion accidents caused by oil leakage.

[0003] However, the existing metal pipeline detection robot is usually large in size, which is difficult to be applied to small metal pipelines. Even if the size of the existing metal pipeline detection robot is reduced, it is easy to be trapped in the working condition of complex sediment distribution of small metal pipelines, resulting in low detection efficiency. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of metal pipeline detection robot to solve the problem of low detection efficiency of the existing metal pipeline detection robot.

[0005] In view of the above problems, the technical scheme provided by the utility model is as follows:

[0006] The utility model embodiment provides a kind of metal pipeline detection robot, comprising: robot body, moving mechanism, steering mechanism and detection mechanism, the moving mechanism and the detection mechanism are arranged at the position close to the bottom of the robot body, the steering mechanism is arranged at the position close to the top of the robot body;

[0007] The moving mechanism includes driving wheel and steering wheel, the driving wheel is located at the first end of the robot body, the steering wheel is located at the second end of the robot body, and the size of the driving wheel is greater than that of the steering wheel;

[0008] The steering mechanism comprises a first motor, a first connecting rod, a second connecting rod, a third connecting rod, a rotating disc, a rotating shaft and a steering connecting shaft, the first end of the first connecting rod is sleeved on the output shaft of the first motor, the second end of the first connecting rod is rotationally connected with the first end of the second connecting rod, the second end of the second connecting rod is rotationally connected with the rotating disc through the third connecting rod, the rotating disc is coaxially arranged with the first end of the rotating shaft, the second end of the rotating shaft is connected with the steering connecting shaft, the steering wheel is arranged on the steering connecting shaft, in the case that the first motor drives the rotating disc to rotate forward through the first connecting rod, the second connecting rod and the third connecting rod, the rotating disc drives the steering connecting shaft to move towards a first direction through the rotating shaft, when the steering connecting shaft moves towards the first direction, the steering wheel deflects towards a deflection angle corresponding to the first direction.

[0009] The monitoring area of the detection mechanism faces away from the bottom of the robot body.

[0010] Optionally, the moving mechanism further comprises a support wheel, the support wheel is arranged opposite to the driving wheel at the first end of the robot body, and two steering wheels are arranged opposite to each other at the second end of the robot body.

[0011] Optionally, the moving mechanism further comprises a second motor, a first belt pulley, a second belt pulley and a belt, the output shaft of the second motor is coaxially arranged with the first belt pulley, the second belt pulley is coaxially arranged with the driving wheel, and the first belt pulley and the second belt pulley are driven through the belt.

[0012] Optionally, the moving mechanism further comprises a third belt pulley, the third belt pulley is located between the first belt pulley and the second belt pulley, and at least one of the first belt pulley and the second belt pulley is a variable speed pulley.

[0013] At least two belt tracks are arranged on the outer diameter of the variable speed pulley, the diameters of the at least two belt tracks change in the axial direction of the variable speed pulley, and the third belt pulley is used to adjust the position of the belt on the belt track on the outer diameter of the variable speed pulley.

[0014] Optionally, the third belt pulley is arranged on one side of the robot body through a telescopic rod, and the third belt pulley is rotationally connected with the telescopic rod, wherein, in the case that the telescopic rod drives the third belt pulley to move towards the robot body, the third belt pulley drags the belt to move from a first belt track to a second belt track, the first belt track and the second belt track are different belt tracks in the at least two belt tracks, and the distance between the first belt track and the robot body is greater than the distance between the second belt track and the robot body.

[0015] Optionally, a first protective cover is arranged near the top of the robot body and covers the steering mechanism.

[0016] Optionally, the driving wheel is a magnetic wheel.

[0017] Optionally, the detection mechanism includes a visual detection mechanism, a physical detection mechanism and an environmental monitoring mechanism.

[0018] Optionally, a control mechanism is arranged in the robot body and is electrically connected to the moving mechanism, the steering mechanism and the detection mechanism.

[0019] Optionally, the deflection angle ranges from 0 to 45 degrees.

[0020] In the embodiment of the utility model, the moving mechanism and the detection mechanism are arranged near the bottom of the robot body, and the steering mechanism is arranged near the top of the robot body; and the steering mechanism converts the rotary motion of the first motor into the linear reciprocating motion of the steering connecting shaft through the cooperation of the multi-stage connecting rod and the turntable, and then controls the deflection angle of the steering wheel. In this way, the compact mechanical transmission structure realizes miniaturization layout, reduces the length of the metal pipeline detection robot, and utilizes the motion amplification and buffering characteristics of the connecting rod mechanism to realize multi-angle flexible adjustment of the steering wheel in the narrow pipeline, so as to adapt to the path planning requirements under the complex working conditions of the sediment, avoid the problem of being trapped due to the steering dead angle or insufficient driving force, and accurately control the moving direction of the steering connecting shaft and the deflection angle of the steering wheel by driving the turntable to rotate in the corresponding direction through the first motor, thereby improving the flexibility of steering in the pipeline environment with complex sediment distribution, reducing the situation of being trapped, and then improving the detection efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creating creative labor.

[0022] Figure 1 Structure diagram of the metal pipeline detection robot disclosed in the embodiment of the utility model Figure One ;

[0023] Figure 2 Structure diagram of the metal pipeline detection robot disclosed in the embodiment of the utility model Figure Two ;

[0024] Figure 3 The structural diagram of the metal pipeline detection robot is disclosed in the utility model embodiment Figure Three ;

[0025] Figure 4 The structural diagram of the metal pipeline detection robot is disclosed in the utility model embodiment Figure Four . DETAILED DESCRIPTION

[0026] The technical solutions in the utility model embodiments will be clearly and completely described below with reference to the drawings in the utility model embodiments. 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 the other embodiments obtained by the person skilled in the art without creative labor fall within the protection scope of the utility model.

[0027] The terms "first", "second" and the like in the description and claims of the utility model are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the structures used in this way can be interchanged under appropriate circumstances, so that the embodiments of the utility model can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second" and the like are generally a category, not limited to the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship.

[0028] As shown in Figures 1 to 4 The utility model embodiment provides a metal pipeline detection robot, which comprises a robot body 10, a moving mechanism 20, a steering mechanism 30 and a detection mechanism 40, the moving mechanism 20 and the detection mechanism 40 are arranged at the position close to the bottom of the robot body 10, and the steering mechanism 30 is arranged at the position close to the top of the robot body 10.

[0029] The moving mechanism 20 comprises a driving wheel 201 and a steering wheel 202, the driving wheel 201 is located at the first end of the robot body 10, the steering wheel 202 is located at the second end of the robot body 10, and the size of the driving wheel 201 is greater than the size of the steering wheel 202.

[0030] The steering mechanism 30 comprises a first motor 301, a first connecting rod 302, a second connecting rod 303, a third connecting rod 304, a rotating disc 305, a rotating shaft 306, and a steering connecting shaft. The first end of the first connecting rod 302 is sleeved on the output shaft of the first motor 301. The second end of the first connecting rod 302 is rotationally connected with the first end of the second connecting rod 303. The second end of the second connecting rod 303 is rotationally connected with the rotating disc 305 through the third connecting rod 304. The rotating disc 305 is coaxially arranged with the first end of the rotating shaft 306. The second end of the rotating shaft 306 is connected with the steering connecting shaft. The steering wheel 202 is arranged on the steering connecting shaft. In the case that the first motor 301 drives the rotating disc 305 to rotate forward through the first connecting rod 302, the second connecting rod 303, and the third connecting rod 304, the rotating disc 305 drives the steering connecting shaft to move towards a first direction through the rotating shaft 306. When the steering connecting shaft moves towards the first direction, the steering wheel 202 deflects towards a deflection angle corresponding to the first direction.

[0031] The monitoring area of the detection mechanism 40 faces away from the bottom of the robot body 10.

[0032] In this embodiment, the moving mechanism 20 and the detection mechanism 40 are arranged close to the bottom of the robot body 10, and the steering mechanism 30 is arranged close to the top of the robot body 10. The steering mechanism converts the rotary motion of the first motor 301 into the linear reciprocating motion of the steering connecting shaft through the cooperation of the multi-stage connecting rod and the rotating disc 305, thereby controlling the deflection angle of the steering wheel 202. In this way, the compact mechanical transmission structure realizes miniaturization layout, reduces the length of the metal pipeline detection robot, and utilizes the motion amplification and buffering characteristics of the connecting rod mechanism to realize multi-angle flexible adjustment of the steering wheel in a narrow pipeline, so as to adapt to the path planning requirements under complex sediment conditions, avoid the problem of being trapped due to steering dead angle or insufficient driving force, and accurately control the moving direction of the steering connecting shaft and the deflection angle of the steering wheel 202 by driving the rotating disc in the corresponding direction through the first motor 301, thereby improving the flexibility of steering in the pipeline environment with complex sediment distribution, reducing the situation of being trapped, and improving the detection efficiency.

[0033] The driving wheel 201 in the moving mechanism 20 is used as the power output end, and the size of the driving wheel 201 is set to be larger than that of the steering wheel 202, for example, the diameter and width are set to be larger, so as to increase the contact area between the driving wheel 201 and the inner wall of the pipeline, and improve the friction and grip. On the rough surface covered with sediments (such as silt and gravel accumulation), the large-size driving wheel 201 can provide stronger propulsion force, avoid power failure caused by slipping, and is especially suitable for continuous movement when the sediments at the bottom of the pipeline hinder the movement. In addition, when encountering obstacles such as protruding sediments or pipeline interfaces, the larger driving wheel 201 can overcome the obstacles by virtue of the diameter advantage, reduce the risk of bottom touch or jamming, and improve the passing ability of complex terrain. At the same time, in cooperation with the small-size steering wheel 202, a single-wheel driving structure is formed, which reduces the size of the moving mechanism 20 as a whole, can reduce the turning radius of the robot, and improves the flexibility of turning.

[0034] The monitoring area of the detection mechanism 40 is directed away from the bottom of the robot body 10, and the detection components (such as cameras and sensors) are installed on the bottom of the body to be close to the inner wall of the pipeline, so as to shorten the detection distance, improve the accuracy, avoid the obstruction of the sediments (silt, water accumulation, etc.) at the bottom, and focus on the areas prone to corrosion, cracks and weld defects in the inner wall of the pipeline. In this way, the bottom space is utilized to realize compact installation, and the sediments are avoided by adjusting the direction, so as to ensure that the detection equipment obtains a clear view and unobstructed signal in the narrow space, effectively improves the defect identification rate, reduces the direct contact between the detection components and the sediments at the bottom, reduces the pollution or jamming risk, and realizes efficient and reliable detection operation in small pipelines.

[0035] The first motor 301 drives the rotating disc to rotate in the corresponding direction, accurately controls the moving direction of the steering connecting shaft and the deflection angle of the steering wheel 202, and specific descriptions can be referred to as follows:

[0036] In an example, the first connecting rod 302, the second connecting rod 303 and the third connecting rod 304 are combined into a multi-stage connecting rod, and the transmission path of the driving force is optimized to achieve multi-angle flexible adjustment of the steering wheel in a narrow pipeline. In the case that the first motor 301 drives the rotating disc 305 to rotate forward (for example, clockwise) through the first connecting rod 302, the second connecting rod 303 and the third connecting rod 304, the rotating disc 305 drives the steering connecting shaft to move towards the first direction (for example, left) through the rotating shaft 306, and when the steering connecting shaft moves towards the first direction, the steering wheel 202 deflects towards the deflection angle corresponding to the first direction. In the case that the first motor 301 drives the rotating disc 305 to rotate reversely (for example, counterclockwise) through the first connecting rod 302, the second connecting rod 303 and the third connecting rod 304, the rotating disc 305 drives the steering connecting shaft to move towards the second direction (for example, right) through the rotating shaft 306, and when the steering connecting shaft moves towards the second direction, the steering wheel 202 deflects towards the deflection angle corresponding to the second direction.

[0037] Optionally, the range of the deflection angle is 0 to 45 degrees. In other words, when the metal pipeline detection robot travels straight towards the front through the moving mechanism 20, the deflection angle of the steering wheel 202 is the reference (i.e. the deflection angle is 0 degree at this time), the deflection angle of the steering wheel 202 towards the first direction is the positive direction, and the deflection angle of the steering wheel 202 towards the second direction is the negative direction. Then, the range of the deflection angle corresponding to the first direction can be 0 to +45 degrees, and the range of the deflection angle corresponding to the second direction can be -45 to 0 degrees.

[0038] Optionally, the moving mechanism 20 further comprises a support wheel 203, which is arranged opposite to the driving wheel 201 at the first end of the robot body 10, and two steering wheels 202 are arranged opposite to each other at the second end of the robot body 10.

[0039] In the first end (driving end) of the robot body 10, the supporting wheel 203 is arranged opposite to the driving wheel 201 (i.e. symmetrically distributed left and right), forming a double fulcrum structure of driving wheel + supporting wheel. Compared with the scheme of arranging only the driving wheel 201 at the driving end, the double fulcrum structure adopted in the embodiment can evenly share the load at the driving end of the body, enhance the contact stability during driving, and avoid side turning or slipping caused by single wheel driving. At the second end (turning end) of the robot body 10, the two steering wheels 202 are arranged opposite to each other (i.e. symmetrically left and right), constituting a double steering wheel guiding structure, which is convenient for steering control. In this way, through one driving wheel 201, one supporting wheel 203 and two steering wheels 202, the robot forms a four-wheel stable structure in the small pipeline, which can not only disperse the sediment resistance through multi-wheel contact, but also balance the gravity center by using the symmetrical layout, so as to improve the moving stability and anti-trapping ability in the complex pipeline wall environment such as unevenness and sediment accumulation, and ensure the continuity and reliability of the detection operation.

[0040] Among them, the supporting wheel 203 can adopt the same size structure as the steering wheel 202, so as to reduce the size of the whole metal pipeline detection robot.

[0041] Optionally, the moving mechanism 20 further comprises a second motor 204, a first belt pulley 205, a second belt pulley 206 and a belt 207. The output shaft of the second motor 204 is coaxially arranged with the first belt pulley 205, the second belt pulley 206 is coaxially arranged with the driving wheel 201, and the first belt pulley 205 and the second belt pulley 206 are driven by the belt 207.

[0042] In the embodiment, the output shaft of the second motor 204 is coaxially connected with the first belt pulley 205, and the power is transmitted to the second belt pulley 206 coaxial with the driving wheel 201 through the belt 207. The elastic property of the belt 207 transmission can buffer the instantaneous overload when the sediment in the pipeline is impacted or blocked, so as to avoid the direct damage of the motor. At the same time, the belt pulley transmission can allow a certain installation axis deviation, adapt to the compact layout requirement of the small robot, and the structure is lightweight and low noise, which is suitable for running in the narrow space of the metal pipeline. By adjusting the diameter ratio of the belt pulleys (such as the first belt pulley 205 is smaller than the second belt pulley 206), the effect of speed reduction and torque increase can be realized, so that the driving wheel 201 obtains greater torque to cope with the sediment resistance. Combined with the large size design of the driving wheel 201 itself, the driving force and anti-slip ability of the robot in complex working conditions are further enhanced, so as to ensure that the moving mechanism stably and reliably outputs power.

[0043] Optionally, the moving mechanism 20 further comprises a third pulley 208, which is located between the first pulley 205 and the second pulley 206, at least one of the first pulley 205 and the second pulley 206 being a variable-speed pulley;

[0044] At least two belt tracks are arranged on the outer diameter of the variable-speed pulley, the diameters of the at least two belt tracks varying in the axial direction of the variable-speed pulley, and the third pulley 208 is used to adjust the position of the belt 207 on the belt tracks on the outer diameter of the variable-speed pulley.

[0045] In this embodiment, at least two belt tracks with varying diameters in the axial direction are arranged on the outer diameter of the variable-speed pulley (for example, the diameters increase from 20 mm to 30 mm), and different tracks correspond to different transmission ratios. When the belt 207 is placed on the small-diameter track, the drive wheel 201 obtains high rotational speed (suitable for fast movement in flat pipes); when switched to the large-diameter track, the drive wheel obtains large torque (suitable for climbing or passing through sediment accumulation areas). In the case where the first pulley 205 and the second pulley 206 are both variable-speed pulleys, the range of transmission ratios is further increased, and more levels of speed change are realized.

[0046] For example, when the metal pipe detection robot encounters sediment blockage or pipe protrusions, the control system automatically detects the change in drive motor current, switches the belt 207 to the large-diameter track of the variable-speed pulley through the third pulley 208, increases the transmission ratio (for example, from 1:1 to 1:1.5), and can increase the torque of the drive wheel by more than 50%, effectively overcoming resistance to prevent stalling; when passing through a flat area, switch back to the small-diameter track to increase the movement speed to 1 m / s, balancing detection efficiency and power consumption. The small-diameter track corresponds to high rotational speed and low torque, suitable for fast detection when the inner wall of the pipe is clean; the large-diameter track corresponds to low rotational speed and high torque, suitable for increasing friction on the sediment surface to avoid drive wheel idling and slipping, especially in the sludge layer at the bottom of the pipe, which can be used to achieve peristaltic escape through torque enhancement. In this way, intelligent speed change is achieved using a simple mechanical structure, taking into account compact layout and working condition adaptability, so that the robot can pass through harsh environments with high torque and complete efficient detection at high speed in small pipes, further reducing the risk of being trapped from the power level and improving operation reliability.

[0047] Optionally, the third belt pulley 208 is arranged on one side of the robot body 10 through a telescopic rod, and the third belt pulley 208 is rotationally connected with the telescopic rod, wherein, in the case that the telescopic rod drives the third belt pulley 208 to move close to the robot body 10, the third belt pulley 208 drags the belt 207 to move from the first belt rail to the second belt rail, the first belt rail and the second belt rail are different belt rails in the at least two belt rails, and the distance between the first belt rail and the robot body 10 is greater than the distance between the second belt rail and the robot body 10.

[0048] In the embodiment, the telescopic rod can be a micro electric push rod or a screw nut mechanism, which is installed on the side of the robot body 10, and the third belt pulley 208 is rotationally connected with the end of the telescopic rod. When the telescopic rod is shortened (i.e., the third belt pulley 208 is driven to move close to the robot body 10), the third belt pulley 208 moves transversely and drags the belt 207 to slide from the first belt rail away from the body to the second belt rail close to the body; on the contrary, when the telescopic rod is lengthened, the belt pulley moves away from the body. For example, when the robot detects that the resistance of the sediment in the pipeline increases (such as a sudden drop in the rotation speed of the driving wheel), the telescopic rod is automatically shortened, the belt is switched to the small-diameter rail on the inner side, and the rotation speed of the driving wheel is increased to quickly pass through the loose sediment; if high-resistance working conditions (such as blockage of the sediment) are encountered, the telescopic rod is lengthened, the belt is switched to the large-diameter rail on the outer side, and the torque of the driving wheel is increased by more than 50%, realizing slow peristaltic propulsion and avoiding slipping or being stuck.

[0049] In addition, the third belt pulley 208 can also adjust the tightness of the belt 207, realizing the dual functions of rail switching and tension adjustment through the same telescopic rod, reducing independent tension pulleys and driving components compared with the traditional transmission system, reducing the radial space occupation by 15%-20%, and adapting to the compactness requirement of small robots.

[0050] Optionally, a first protective cover is further included, which is arranged at a position close to the top of the robot body 10, and the first protective cover covers the steering mechanism 30.

[0051] In the embodiment, the first protective cover can effectively block pollutants such as sludge, water droplets and metal debris in the pipeline from invading the motor, connecting rod and turntable of the steering mechanism 30, thereby avoiding transmission jamming or motor failure caused by sediment accumulation. Meanwhile, the first protective cover can absorb the impact of the top collision through high-strength materials (such as engineering plastics or lightweight alloys) to protect the steering mechanism from mechanical damage caused by the protrusions of the pipeline wall or hard sediment blocks, and the inner wall is pre-arranged with a connecting rod swing gap to ensure flexible steering action without interference. The design can significantly improve the anti-pollution capability and impact resistance of the steering mechanism with only a slight increase in the top space occupation, and is suitable for harsh working conditions such as high dust, moisture and many obstacles in small pipelines, thereby ensuring the stability and long-term operation reliability of the robot steering control from the structural level.

[0052] Optionally, the driving wheel 201 is a magnetic wheel.

[0053] In the embodiment, the magnetic wheel (such as an electromagnetic wheel or a permanent magnet wheel) can utilize the magnetic field and the attraction force of the metal pipeline wall to generate an additional normal force between the driving wheel and the inner wall of the pipeline, thereby significantly improving the contact friction force (30%-50% higher than that of a traditional rubber wheel). The magnetic wheel is particularly suitable for vertical pipelines, inclined pipelines or inverted working conditions (such as pipeline top detection), thereby avoiding slipping or falling caused by the gravity component force. The magnetic attraction force of the magnetic wheel can be automatically adjusted according to the pipeline wall thickness and material (the electromagnetic wheel controls the magnetic force through the current), thereby avoiding damage to the inner wall caused by excessive adsorption in a thin-walled pipeline and providing sufficient grip to cross the sediment accumulation area in a thick-walled pipeline. In combination with the large size design of the driving wheel itself, the robot can stably travel in a metal pipeline at any inclination angle of 0° to 90°, thereby breaking through the limitations of traditional wheeled robots relying on gravity contact and greatly expanding the application scenarios of complex spatial pipeline detection.

[0054] Optionally, the detection mechanism 40 includes a visual detection mechanism, a physical detection mechanism and an environmental monitoring mechanism.

[0055] In an example, the visual detection mechanism can adopt a miniature high-definition camera (resolution ≥ 1080P) combined with an LED ring light source to collect 360° panoramic images in real time towards the upper part of the inner wall of the pipeline (away from the bottom of the body), automatically mark surface features such as cracks, weld defects and corrosion pits through image recognition algorithms, and the detection accuracy can reach the level of 0.1 mm, thereby supporting real-time video feedback and defect position labeling.

[0056] In an example, the physical detection mechanism can integrate an ultrasonic thickness sensor (detecting changes in pipe wall thickness), an eddy current flaw detection sensor (identifying metal surface and near-surface cracks), and a laser ranging module (measuring the height of protruding deposits), with the sensor probe facing the top of the pipeline, using ultrasonic penetration and eddy current electromagnetic induction principles to achieve quantitative detection of internal defects (such as delamination, stress concentration area) and external obstacles, and the data is processed in real time by the integrated processor to generate a three-dimensional map of pipeline defects.

[0057] In an example, the environmental monitoring mechanism can be configured with a temperature and humidity sensor, a combustible gas (such as methane) detector, and an oxygen concentration sensor to monitor real-time environmental parameters in the pipeline. When the concentration of flammable and explosive gases is detected to be above the safety threshold or the oxygen content is below the safety threshold, the robot operation strategy is automatically adjusted (such as reducing speed, switching detection mode) to provide safety assurance for detection operations in complex conditions.

[0058] In this way, the detection mechanism 40 includes a visual detection mechanism, a physical detection mechanism, and an environmental monitoring mechanism, which are modularly integrated at the bottom of the robot body, and can realize multi-level detection capabilities such as surface defect visualization, internal defect accurate quantification, and environmental risk real-time warning, to ensure efficient identification of typical diseases such as corrosion, cracks, and blockages in small pipelines and safety assessment of working conditions.

[0059] Optionally, a control mechanism is further included, which is arranged in the robot body 10 and electrically connected with the movement mechanism 20, the steering mechanism 30, and the detection mechanism 40.

[0060] In the present embodiment, the control mechanism can be designed with a PCB, integrating a processor, a memory, a communication module, and a power management in a cavity in the middle of the robot body, arranged adjacent to the motor drive modules of the steering mechanism and the movement mechanism to shorten the wire length and reduce signal delay and electromagnetic interference. The control mechanism is electrically connected with the movement mechanism 20, the steering mechanism 30, and the detection mechanism 40 to realize intelligent pipeline detection.

[0061] It should be noted that in the present text, the terms “include”, “contain” or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement “includes a…” does not exclude the presence of another identical element in the process, method, article or device that includes the element.

[0062] The embodiments of the present application are described above with reference to the drawings; however, the present application is not limited to the specific embodiments described above, but the specific embodiments described above are merely illustrative rather than restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection of the present application.

Claims

1. A metal pipe inspection robot characterized by comprising: The robot body, a moving mechanism, a steering mechanism and a detection mechanism, the moving mechanism and the detection mechanism are arranged at a position close to the bottom of the robot body, the steering mechanism is arranged at a position close to the top of the robot body; The moving mechanism comprises a driving wheel and a steering wheel, the driving wheel is located at the first end of the robot body, the steering wheel is located at the second end of the robot body, the size of the driving wheel is larger than that of the steering wheel; The steering mechanism comprises a first motor, a first connecting rod, a second connecting rod, a third connecting rod, a rotating disc, a rotating shaft and a steering connecting shaft, the first end of the first connecting rod is sleeved on the output shaft of the first motor, the second end of the first connecting rod is rotationally connected with the first end of the second connecting rod, the second end of the second connecting rod is rotationally connected with the rotating disc through the third connecting rod, the rotating disc is coaxially arranged with the first end of the rotating shaft, the second end of the rotating shaft is connected with the steering connecting shaft, the steering wheel is arranged on the steering connecting shaft, in the case that the first motor drives the rotating disc to rotate forward through the first connecting rod, the second connecting rod and the third connecting rod, the rotating disc drives the steering connecting shaft to move towards a first direction through the rotating shaft, when the steering connecting shaft moves towards the first direction, the steering wheel deflects towards a deflection angle corresponding to the first direction; The monitoring area of the detection mechanism faces away from the bottom of the robot body. The moving mechanism further comprises a supporting wheel, the supporting wheel is arranged at the first end of the robot body opposite to the driving wheel, and the two steering wheels are arranged at the second end of the robot body opposite to each other.

2. The metal pipe inspection robot according to claim 1, wherein The moving mechanism further comprises a second motor, a first pulley, a second pulley and a belt, the output shaft of the second motor is coaxially arranged with the first pulley, the second pulley is coaxially arranged with the driving wheel, and the first pulley and the second pulley are driven by the belt.

3. The metal pipe inspection robot of claim 1, wherein, The moving mechanism further comprises a third pulley, the third pulley is located between the first pulley and the second pulley, and at least one of the first pulley and the second pulley is a variable speed pulley; 4. The metal pipe inspection robot according to claim 3, wherein At least two belt tracks are arranged on the outer diameter of the variable speed pulley, the diameters of the at least two belt tracks change along the axial direction of the variable speed pulley, and the third pulley is used for adjusting the position of the belt on the belt tracks on the outer diameter of the variable speed pulley. The third pulley is arranged on one side of the robot body through a telescopic rod, and the third pulley is rotationally connected with the telescopic rod, wherein, in the case that the telescopic rod drives the third pulley to move towards the robot body, the third pulley drags the belt to move from a first belt track to a second belt track, the first belt track and the second belt track are different belt tracks in the at least two belt tracks, and the distance between the first belt track and the robot body is greater than the distance between the second belt track and the robot body.

5. The metal pipe inspection robot according to claim 4, wherein ​ 6. The metal pipe inspection robot of claim 1, wherein, A first protective cover is arranged near the top of the robot body and covers the steering mechanism.

7. The metal pipe inspection robot according to any one of claims 1 to 6, characterized by, The driving wheel is a magnetic wheel.

8. The metal pipe inspection robot according to any one of claims 1 to 6, characterized by, The detection mechanism includes a visual detection mechanism, a physical detection mechanism and an environmental monitoring mechanism.

9. The metal pipe inspection robot according to any one of claims 1 to 6, characterized by, A control mechanism is arranged in the robot body and is electrically connected with the moving mechanism, the steering mechanism and the detection mechanism respectively.

10. The metal pipe inspection robot according to any one of claims 1 to 6, characterized by, The deflection angle ranges from 0 degree to 45 degrees.

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