Pipeline detection robot

Abstract

The pipeline detection robot comprises a first connecting seat, a second connecting seat, a third connecting seat and a fourth connecting seat which are sequentially and rotatably connected through three steering engines, a first clamping mechanism is arranged on the first connecting seat, a second clamping mechanism is arranged on the fourth connecting seat, and a detector is arranged on the first connecting seat; a guide rail of the first clamping mechanism is arranged on the first connecting base, a first sliding block and a second sliding block are arranged on the guide rail in a sliding mode, a first clamping arm is rotationally connected with the first sliding block, and a second clamping arm is rotationally connected with the second sliding block; the rotation among the first connecting seat, the second connecting seat, the third connecting seat and the fourth connecting seat is controlled by the three steering engines, so that the angle of each section of the detection robot can be changed at will, the robot can smoothly pass through a flange and a bend on a pipeline by controlling the angle and the distance between the first clamping mechanism and the second clamping mechanism, and the detection efficiency is improved. The obstacle crossing ability of the detection robot is improved, and the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection technical field especially relates to a pipeline detection robot. BACKGROUND

[0002] The pipeline is connected with the device for conveying gas, liquid or fluid with solid particles by pipe, pipe coupling and valve. Due to the influence of chemical corrosion of conveying medium, weathering and its own defects, pipeline is extremely likely to cause serious accidents such as environmental pollution, flammable material explosion, energy waste caused by leakage of conveying material, and needs to be checked regularly outside the pipeline to avoid the harm caused by leakage.

[0003] The traditional leakage detection mode is artificial detection, artificial operation is time-consuming and labor-consuming, and the efficiency is low, and the labor intensity is big, and many pipelines are difficult to reach by manpower, and some institutions have developed robots walking along the outside of the pipeline, but the robot can only walk on the smooth surface of the pipeline, and the connecting flange and the curved way of different angles exist on the pipeline in the real situation, and the robot cannot pass through effectively. UTILITY MODEL CONTENT

[0004] In view of the deficiencies in the prior art, the utility model aims at providing a pipeline detection robot to solve the problems in the background art. In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] The pipeline detection robot, including the first connecting seat, the second connecting seat, the third connecting seat and the fourth connecting seat connected in turn through three steering engines, the first clamping mechanism is arranged on the first connecting seat, the second clamping mechanism is arranged on the fourth connecting seat, and the detector is arranged on the first connecting seat.

[0006] The first clamping mechanism includes a guide rail, a first sliding block, a second sliding block, a driving assembly, a first clamping arm and a second clamping arm, the guide rail is arranged on the first connecting seat, the first sliding block and the second sliding block are slidably arranged on the guide rail, the driving assembly is used to drive the first sliding block and the second sliding block to approach or move away from each other, the first clamping arm and the second clamping arm are rotatably arranged on the two sides of the fixed frame, and the first clamping arm is rotatably connected with the first sliding block, and the second clamping arm is rotatably connected with the second sliding block.

[0007] Optionally, the driving assembly includes a first servo motor, a second servo motor, a first screw rod and a second screw rod, the first screw rod is arranged on the working end of the first servo motor and is spirally connected with the first sliding block, and the second screw rod is arranged on the working end of the second servo motor and is spirally connected with the second sliding block.

[0008] Optionally, the second clamping mechanism and the first clamping mechanism are structurally identical.

[0009] Optionally, an outer side end of the first clamping arm is provided with a first clamping part, and an outer side end of the second clamping arm is provided with a second clamping part, and the first clamping part and the second clamping part are symmetrical.

[0010] Optionally, anti-skid pieces are detachably arranged on the first clamping part and the second clamping part.

[0011] Optionally, a battery compartment is arranged in the third connecting seat, and a battery is arranged in the battery compartment, and the battery is electrically connected with the three steering engines, the first servo motor and the second servo motor.

[0012] Optionally, mounting holes and positioning holes are arranged on the first clamping part and the second clamping part.

[0013] The beneficial effects of the prior art are that, by adopting the above scheme, the utility model makes the detection robot segments arbitrarily change angles through the rotation of the first connecting seat, the second connecting seat, the third connecting seat and the fourth connecting seat controlled by the three steering engines, and the first clamping mechanism and the second clamping mechanism control the angle and distance between the first clamping arm and the second clamping arm through the driving assembly, so that the first clamping arm and the second clamping arm clamp or release the pipeline, so that the robot can smoothly pass through the flange and the bend on the pipeline when the robot travels along the pipeline, the obstacle crossing ability of the detection robot is improved, the detection robot can adapt to pipelines with different diameters, and the pipeline is detected through the detector, the pipeline detection robot is stable and reliable, has strong adaptability, can detect pipeline positions difficult for manpower to reach, and greatly improves work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a whole structure schematic view of the utility model;

[0015] Figure 2 It is a first clamping mechanism structure schematic view of the utility model;

[0016] Figure 3 It is a driving assembly and first clamping arm and second clamping arm structure schematic view of the utility model;

[0017] Figure 4 It is a first clamping arm and anti-skid piece structure schematic view of the utility model;

[0018] Explanation of reference signs: 1, first connecting seat; 2, second connecting seat; 3, third connecting seat; 4, fourth connecting seat; 10, first steering engine; 20, second steering engine; 30, third steering engine; 5, first clamping mechanism; 6, second clamping mechanism; 51, guide rail; 52, first sliding block; 53, second sliding block; 54, driving assembly; 55, first clamping arm; 56, second clamping arm; 11, first servo motor; 12, second servo motor; 13, first screw rod; 14, second screw rod; 551, first clamping part; 561, second clamping part; 7, anti-skid piece; 31, battery compartment; 8, mounting hole; 9, positioning hole. DETAILED DESCRIPTION

[0019] In order to facilitate the understanding of the present application, the present application will be described in more detail below in conjunction with the drawings and specific embodiments; the preferred embodiments of the present application are shown in the drawings; however, the present application can be implemented in many different forms, and is not limited to the embodiments described in the specification; on the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0020] It should be noted that, unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication inside two elements; for those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances; the terms "vertical", "horizontal", "left", "right", "front", "back" and similar expressions used in the specification are only for the purpose of illustration.

[0021] At the same time, it should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence; it should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0022] Unless otherwise defined, all technical and scientific terms used in the specification are the same as those commonly understood by those skilled in the art to which the present application belongs, and the terms used in the specification are only for the purpose of describing the specific embodiments, and are not used to limit the present application.

[0023] As Figures 1-2As shown in the utility model, an embodiment of the utility model is: the pipeline detection robot, including through three rudders rotation connection's first connecting seat 1, second connecting seat 2, third connecting seat 3 and fourth connecting seat 4;Three rudders include first rudder 10, second rudder 20 and third rudder 30, first rudder 10 sets up on first connecting seat 1, and its working end connects second connecting seat 2, is used for controlling the rotation angle between first connecting seat 1 and second connecting seat 2, second rudder 20 sets up on second connecting seat 2, and its working end connects third connecting seat 3, is used for controlling the rotation angle between second connecting seat 2 and third connecting seat 3, third rudder 30 sets up on fourth connecting seat 4, and its working end is connected with third connecting seat 3, is used for controlling the rotation angle between fourth connecting seat 4 and third connecting seat 3;First connecting seat 1 is provided with first clamping mechanism 5, and fourth connecting seat 4 is provided with second clamping mechanism 6, and first clamping mechanism 5 and second clamping mechanism 6 are used for clamping pipeline, and first connecting seat 1 is provided with detector, and the detector is used for detecting pipeline;

[0024] When advancing along the pipeline, the first clamping mechanism 5 clamps the pipeline, at this time, the first connecting seat 1 is stationary, and the three rudders cooperate to adjust the rotation of the second connecting seat 2, the third connecting seat 3 and the fourth connecting seat 4, so that the second clamping mechanism 6 approaches the first clamping mechanism 5, and then the second clamping mechanism 6 clamps the pipeline, at this time, the fourth connecting seat 4 is stationary, the first clamping mechanism 5 releases the pipeline, and the three rudders cooperate to adjust the rotation of the first connecting seat 1, the second connecting seat 2 and the third connecting seat 3, so that the first clamping mechanism 5 moves away from the second clamping mechanism 6 and clamps the pipeline, and the first clamping mechanism 5 and the second clamping mechanism 6 alternate clamping, so that the robot advances along the pipeline.

[0025] The first clamping mechanism 5 includes a guide rail 51, a first sliding block 52, a second sliding block 53, a driving assembly 54, a first clamping arm 55 and a second clamping arm 56. The guide rail 51 is arranged on the first connecting seat 1. The first sliding block 52 and the second sliding block 53 are slidingly arranged on both sides of the guide rail 51, respectively. The driving assembly 54 is used to drive the first sliding block 52 and the second sliding block 53 to move closer to or away from each other. The middle parts of the first clamping arm 55 and the second clamping arm 56 are rotatably arranged on both sides of a fixed frame, respectively. The inner side of one end of the first clamping arm 55 is rotatably connected with the first sliding block 52, and the inner side of one end of the second clamping arm 56 is rotatably connected with the second sliding block 53. When the clamping mechanism works, the first sliding block 52 and the second sliding block 53 are driven by the driving assembly 54 to move closer to or away from each other along the guide rail 51, so as to drive the inner sides of one end of the first clamping arm 55 and the second clamping arm 56 to move closer to or away from each other, and then the outer sides of one end of the first clamping arm 55 and the second clamping arm 56 clamp or release the pipeline.

[0026] The application controls the rotation among the first connecting seat 1, the second connecting seat 2, the third connecting seat 3 and the fourth connecting seat 4 through three steering gears, so that each section of the detection robot can be arbitrarily changed in angle, the angle and distance between the first clamping mechanism 5 and the second clamping mechanism 6 are controlled, the clamping mechanism controls the first slider 52 and the second slider 53 to move close to or away from each other along the guide rail 51 through the driving assembly 54, so that the first clamping arm 55 and the second clamping arm 56 clamp or release the pipeline, so that the robot can smoothly pass through the flange and the bend on the pipeline when moving along the pipeline, the obstacle crossing ability of the detection robot is improved, the detection robot can adapt to pipelines with different diameters, and the pipeline can be detected through the detector. The pipeline detection robot is stable and reliable, has strong adaptability, can detect the pipeline position difficult to reach by manpower, and greatly improves the work efficiency.

[0027] In one embodiment, as shown in Figure 3 the driving assembly 54 includes a first servo motor 11, a second servo motor 12, a first screw rod 13 and a second screw rod 14. The first servo motor 11 and the second servo motor 12 are arranged in the middle of the guide rail 51, the first screw rod 13 is arranged at the working end of the first servo motor 11 and is screw-connected with the first slider 52, and the second screw rod 14 is arranged at the working end of the second servo motor 12 and is screw-connected with the second slider 53.

[0028] The first servo motor 11 rotates to drive the first screw rod 13 to rotate, thereby controlling the first slider 52 to slide along the guide rail 51 and further controlling the movement of the first clamping arm 55. The second servo motor 12 controls the second slider 53 to slide along the guide rail 51 through the second screw rod 14, thereby controlling the movement of the second clamping arm 56. The first servo motor 11 and the second servo motor 12 work simultaneously to control the first clamping arm 55 and the second clamping arm 56 to clamp or release the pipeline.

[0029] In one embodiment, as shown in Figure 1 the second clamping mechanism 6 is arranged on the fourth connecting seat 4, and the second clamping mechanism 6 and the first clamping mechanism 5 have the same structure.

[0030] In one embodiment, as shown in Figure 3 the outer side of one end of the first clamping arm 55 is provided with a first clamping part 551, and the outer side of one end of the second clamping arm 56 is provided with a second clamping part 561. The first clamping part 551 and the second clamping part 561 are symmetrical, the inner side surfaces of the first clamping part 551 and the second clamping part 561 are arc-shaped and oppositely arranged to increase the contact area with the pipeline.

[0031] In one embodiment, as shown in Figure 3As shown, the first clamping part 551 and the second clamping part 561 are detachably provided with anti-skid pieces 7, the anti-skid pieces 7 can increase the friction between the first clamping part 551, the second clamping part 561 and the pipeline, the anti-skid pieces 7 can be detachably connected with the first clamping part 551 and the second clamping part 561 through bolts, and the anti-skid pieces 7 are convenient to replace.

[0032] In one embodiment, as shown in Figure 1 As shown, the third connecting seat 3 is provided with a battery compartment 31, and the battery compartment 31 is provided with a battery, and the battery supplies power to the three steering machines and the first servo motor 11 and the second servo motor 12.

[0033] In one embodiment, as shown in Figure 4 As shown, the first clamping part 551 and the second clamping part 561 are provided with mounting holes 8 and positioning holes 9, the mounting holes 8 are used for bolts to pass through, the anti-skid pieces are provided with positioning columns, the positioning columns and the positioning holes 9 are matched, the positioning holes 9 are used for positioning the anti-skid pieces in cooperation with the mounting holes 8, and thus only one bolt is needed to fix the anti-skid pieces 7.

[0034] It should be noted that each of the above technical features can be combined with each other to form various embodiments not listed above, which are all considered to be within the scope of the present application. Furthermore, for those skilled in the art, the above description can be improved or changed, and all these improvements and changes shall fall within the protection scope of the appended claims of the present application.

Claims

1. A pipe inspection robot, characterized by, Including through three steering wheel in turn rotate the first connecting seat, second connecting seat, third connecting seat and fourth connecting seat, the first connecting seat is provided with the first clamping mechanism, the fourth connecting seat is provided with the second clamping mechanism, the first connecting seat is provided with detection instrument; The first clamping mechanism includes a guide rail, a first slider, a second slider, a drive assembly, a first clamping arm and a second clamping arm, the guide rail is arranged on the first connecting seat, the first slider and the second slider are respectively arranged on the guide rail, the drive assembly is used to drive the first slider and the second slider to move close to or away from each other, the first clamping arm and the second clamping arm are respectively arranged on the two sides of the fixed frame, and the first clamping arm is rotatably connected with the first slider, and the second clamping arm is rotatably connected with the second slider.

2. The pipe inspection robot of claim 1, wherein, The drive assembly includes a first servo motor, a second servo motor, a first screw rod and a second screw rod, the first screw rod is arranged on the working end of the first servo motor and is screw connected with the first slider, the second screw rod is arranged on the working end of the second servo motor and is screw connected with the second slider.

3. The pipe inspection robot of claim 1, wherein, The second clamping mechanism and the first clamping mechanism are the same structure.

4. The pipe inspection robot of claim 1, wherein, The first clamping arm is provided with a first clamping part at one end of the outer side, the second clamping arm is provided with a second clamping part at one end of the outer side, and the first clamping part and the second clamping part are symmetrical.

5. A pipe inspection robot according to claim 4, wherein The first clamping part and the second clamping part are respectively provided with anti-skid pieces.

6. The pipe inspection robot of claim 1, wherein, The third connecting seat is provided with a battery compartment, the battery compartment is provided with a battery, and the battery is electrically connected with the three steering wheels, the first servo motor and the second servo motor.

7. The pipe inspection robot of claim 5, wherein, The first clamping part and the second clamping part are provided with mounting holes and positioning holes.

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