Multi-foot wall-climbing robot for pipeline detection

Abstract

The utility model relates to the technical field of detection robots, and discloses a multi-foot wall-climbing robot for pipeline detection, a middle groove channel is arranged in the middle of the inner side of a movable rod, a glue inlet communicated with the middle groove channel is arranged on one side of the top of the movable rod, and a sliding plug is connected to the top end of the movable rod. A driving magnetic block is connected to the top of the sliding plug, a supporting spring is connected to the position, located on the outer side of the driving magnetic block, of the top of the sliding plug, and an electromagnet is connected to the top of the inner side of the sleeve. By arranging the stabilizing disc, the attaching block at the end of the stabilizing disc can be stably attached to the detection position, the robot body can be kept stable when staying at the position for detection for a long time, the detection precision is improved, meanwhile, the phenomenon that the robot body loosens and falls off due to long-time staying is prevented, and the robot is protected.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection robot technical field, concretely is a kind of multi-legged wall-climbing robot for pipeline detection. BACKGROUND

[0002] Pipeline detection robot is a kind of automation equipment for detecting and fault diagnosis to pipeline inside, currently mainly based on visual detection and ultrasonic detection means to realize detection, visual detection includes camera, can provide the clear image of pipeline inside, the situation of all-around observation pipeline inner wall, and some advanced robots are also equipped with laser scanning equipment, construct the three-dimensional model of pipeline inside by laser ranging technology, more accurately measure pipeline internal diameter, deformation degree and other parameters, ultrasonic detection is the thickness and internal defect of pipe wall by the reflection and refraction characteristics of ultrasonic wave in pipe wall, and multi-legged wall-climbing robot is the robot that can walk on vertical wall or other complex surface, China patent 202210999942.X, discloses a wall-climbing robot and ship detection device, the wall-climbing robot not only can be adhered to the stable movement of ship body flat surface, and adopt multi-legged walking mode can cross the convex obstacle of ship body surface, not prone to falling accident;

[0003] However, the multi-legged wall-climbing robot for pipeline detection in the prior art lacks reinforcing means when the robot needs to stay at the designated detection position for a long time during actual detection, so that the robot can only maintain the position by its climbing legs, which cannot guarantee the stability of the robot during detection, and the robot is prone to loosening and falling due to long-time staying. SUMMARY

[0004] (I) Technical problem solved

[0005] To solve the problems of the prior art, the utility model provides a multi-legged wall-climbing robot for pipeline detection, which solves the problem that the multi-legged wall-climbing robot for pipeline detection in the prior art lacks reinforcing means when the robot needs to stay at the designated detection position for a long time during actual detection, so that the robot can only maintain the position by its climbing legs, which cannot guarantee the stability of the robot during detection, and the robot is prone to loosening and falling due to long-time staying.

[0006] (II) Technical solution

[0007] To achieve the above object, the utility model provides following technical scheme: a kind of multi-legged wall-climbing robot for pipeline detection, including robot main body, the top middle part of robot main body is equipped with mounting seat, the top of mounting seat is fixedly installed with laser scanner, the four side corners of robot main body are all connected with climbing foot mechanism by connecting arm, and climbing foot mechanism drives robot main body to move on wall;

[0008] The four installation discs are installed in a central symmetric manner on the four sides of the bottom of the robot main body, the sleeve is installed in an embedded manner to the inner side of the bottom of the robot main body through the installation disc, the bottom of the sleeve is provided with a sealing disc, and the inner sides of the sleeve and the sealing disc are movably connected with movable rods, a middle groove is formed in the inner side middle part of the movable rod, a glue inlet is formed in one side of the top of the movable rod and communicates with the middle groove, the top of the movable rod is connected with a sliding plug, the top of the sliding plug is connected with a driving magnetic block, a supporting spring is connected to the outside of the driving magnetic block at the top of the sliding plug, and an electromagnet is connected to the inner top of the sleeve.

[0009] The bottom end of the movable rod is fixedly connected with a stabilizing disc, the inner side of the bottom of the stabilizing disc is embeddedly connected with a matching block, the inner side of the matching block is uniformly provided with a glue outlet, and the inner side of the stabilizing disc is embeddedly connected with a distribution box.

[0010] As a preferred technical scheme of the multi-legged wall-climbing robot for pipeline detection of the utility model, the climbing foot mechanism comprises a top connecting frame, a rudder, a bottom connecting frame, a foot and a suction magnetic disc.

[0011] The top of one side of the connecting arm is hingedly connected with the top connecting frame, the bottom of one side of the connecting arm is hingedly connected with the bottom connecting frame, and the inner side of the connecting arm is provided with the rudder, the top connecting frame and the bottom connecting frame are hingedly connected to the inner side of the foot away from the connecting arm, and the bottom of the foot is provided with the suction magnetic disc.

[0012] As a preferred technical scheme of the multi-legged wall-climbing robot for pipeline detection of the utility model, the installation disc is installed on the edge of the sleeve, the bottom of the robot main body is provided with an embedded hole, the sleeve is connected in the embedded hole, and the installation disc and the bottom of the robot main body are connected through bolts.

[0013] As a preferred technical scheme of the multi-legged wall-climbing robot for pipeline detection of the utility model, the electromagnet is electrified and has the same magnetic pole as the driving magnetic block, the driving magnetic block drives the sliding plug to slide along the inner wall of the sleeve, and the inside of the sleeve is filled with adhesive liquid with certain viscous resistance at the position of the bottom of the sliding plug.

[0014] As a preferred technical solution of the multi-legged wall-climbing robot for pipeline inspection according to this utility model, the glue inlet is connected to the inside of the sleeve, the middle channel is connected to the inside of the stabilizing disk, and the distribution box is uniformly provided with distribution holes inside.

[0015] As a preferred technical solution of the multi-legged wall-climbing robot for pipeline inspection according to this utility model, the robot body has a fitting groove on the side in the forward direction, a liquid storage tank is embedded and connected to the inner side of the fitting groove, and pump outlet pipes connected to the liquid storage tank are connected to both sides of the robot body.

[0016] One end of the pump outlet pipe is connected to an adapter, and the bottom of the adapter is connected to an infusion hose. The outlet end of the infusion hose is connected to a spray strip box. Both sides of the adapter are rotatably connected to connecting brackets. The end of the connecting bracket is connected to a collar, which is sleeved on the outside of the infusion hose. The edge of the connecting bracket can be limited and connected to the edge of the adapter by a locking bolt.

[0017] As a preferred technical solution of the multi-legged wall-climbing robot for pipeline inspection according to this utility model, the liquid storage tank is equipped with a micro booster pump, the outlet end of the micro booster pump is connected to the inlet end of the pump outlet pipe, and the top of the liquid storage tank is equipped with a water inlet valve.

[0018] (III) Beneficial Effects

[0019] Compared with the prior art, this utility model provides a multi-legged wall-climbing robot for pipeline inspection, which has the following beneficial effects:

[0020] 1. Through the sealing disc, movable rod, central channel, glue inlet, and sliding plug, when the robot body needs to stay at a designated detection position, the movement of the sliding plug forces the adhesive in the sleeve into the glue inlet by compression, and then delivers it to the stabilizing disc through the central channel, achieving precise delivery of the adhesive. At the same time, the bonding block, glue outlet, and distribution box allow the adhesive to enter the stabilizing disc more evenly from the distribution box and finally be discharged through the glue outlet. This ensures that the bonding block at the end of the stabilizing disc can be stably attached to the detection position, allowing the robot body to remain stable when it stays at the detection position for a long time, improving the detection accuracy, and preventing the robot body from loosening and falling off due to prolonged stay, thus protecting the robot.

[0021] Furthermore, based on the driving magnetic block, support spring, and electromagnet on the top of the inner side of the sleeve, the magnetism of the electromagnet can be changed by activating it, so that the electromagnet and the driving magnetic block have the same magnetism. This allows the repulsive force between them to drive the sliding plug to move, making the driving of the sliding plug more convenient. The support spring facilitates the reset of the sliding plug, thereby blocking the delivery of adhesive liquid. This makes the robot easier to move after the inspection is completed, improving the convenience of operation.

[0022] 2. The pump outlet pipe, adapter, infusion hose, and spray bar box facilitate the spraying of cleaning fluid from the pump outlet pipe onto the robot's forward direction. The position of the spray bar box corresponds to the position of the climbing mechanism in the robot's forward direction. The cleaning fluid is used to clean the contact area between the climbing mechanism and the pipe wall, preventing dust from adhering to the pipe wall and causing insufficient gripping force of the climbing mechanism, which may lead to loosening. This allows the climbing mechanism to adhere more tightly to the pipe wall, thus improving the stability of the climbing mechanism's movement.

[0023] The combination of the connecting bracket, collar, and locking bolt facilitates the deflection of the collar and infusion tubing via the connecting bracket, thereby adjusting the curvature of the infusion tubing. This further facilitates the adjustment of the spray angle of the spray bar box, ensuring that the spray direction of the spray bar box is aligned with the crawling trajectory of the foot-crawling mechanism, thus guaranteeing the accuracy of the cleaning fluid in cleaning the crawling trajectory of the foot-crawling mechanism. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of this utility model.

[0025] Figure 2 This is a schematic diagram of the bottom structure of this utility model.

[0026] Figure 3 This is a schematic diagram of the structure of the sleeve of this utility model.

[0027] Figure 4 This is a schematic diagram of the structure of the movable rod of this utility model.

[0028] Figure 5 This is a schematic diagram of the pump outlet pipe of this utility model.

[0029] in:

[0030] 1-Robot body; 2-Mounting base; 3-Laser scanner; 4-Connecting arm; 5-Top connecting frame; 6-Servo motor; 7-Bottom connecting frame; 8-Legs; 9-Adsorption disk; 10-Mounting plate; 11-Sleeve; 12-Sealing plate; 13-Moving rod; 14-Central channel; 15-Glue inlet; 16-Sliding plug; 17-Drive magnet; 18-Support spring; 19-Electromagnet; 20-Stabilizing plate; 21-Adhesive block; 22-Glue outlet; 23-Distribution box; 24-Matching groove; 25-Reservoir tank; 26-Pump outlet pipe; 27-Adapter; 28-Infusion hose; 29-Spray strip box; 30-Connecting bracket; 31-Loop ring; 32-Locking bolt Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit its scope. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0032] In the description of this utility model, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0033] In the description of this utility model, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0034] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Example

[0035] Please see Figures 1-5 The present invention provides the following technical solution: a multi-legged wall-climbing robot for pipeline inspection, comprising a robot body 1, a mounting base 2 installed at the top center of the robot body 1, a laser scanner 3 fixedly installed at the top of the mounting base 2, and climbing mechanisms connected to the four corners of the robot body 1 via connecting arms 4. The climbing mechanisms drive the robot body 1 to climb the wall. The climbing mechanisms include a top connecting frame 5, a servo motor 6, a bottom connecting frame 7, feet 8, and an adsorption disk 9.

[0036] A top connecting frame 5 is hinged to the top of one side of the connecting arm 4, and a bottom connecting frame 7 is hinged to the bottom of one side of the connecting arm 4. A servo motor 6 is installed on the inner side of the connecting arm 4. The ends of the top connecting frame 5 and the bottom connecting frame 7 away from the connecting arm 4 are both hinged to the inner side of the foot 8. An adsorption disk 9 is provided at the bottom of the foot 8. Through the joint linkage of the four sets of climbing foot mechanisms, the robot body 1 is driven to crawl and move within the pipe network.

[0037] Four mounting plates 10 are centrally symmetrically mounted on the four sides of the bottom of the robot body 1. The sleeve 11 is embedded into the inner bottom of the robot body 1 via the mounting plates 10. The mounting plates 10 are installed on the edges of the sleeve 11. An embedding hole is provided at the bottom of the robot body 1, and the sleeve 11 is connected to the embedding hole. The mounting plates 10 are bolted to the bottom of the robot body 1. The mounting plates 10 facilitate the detachable installation of the sleeve 11 onto the bottom of the robot body 1. A sealing plate 12 is provided at the bottom of the sleeve 11, and a movable rod 13 is movably connected to the inner side of both the sleeve 11 and the sealing plate 12. A central groove 14 is provided in the middle of the inner side of the movable rod 13, and a groove is provided on one side of the top of the movable rod 13. The inlet 15 is connected to the channel 14. The top of the movable rod 13 is connected to the sliding plug 16. The top of the sliding plug 16 is connected to the driving magnet 17. The top of the sliding plug 16 is connected to the support spring 18 at the position outside the driving magnet 17. The top of the inner side of the sleeve 11 is connected to the electromagnet 19. When the electromagnet 19 is energized, it has the same magnetic pole as the driving magnet 17. The driving magnet 17 drives the sliding plug 16 to slide along the inner wall of the sleeve 11. The inside of the sleeve 11 is filled with adhesive with a certain viscous resistance at the bottom position of the sliding plug 16. The repulsive force between the electromagnet 19 and the driving magnet 17 is used to drive the sliding plug 16 to move. The movement of the sliding plug 16 is used to squeeze the adhesive in the sleeve 11.

[0038] A stabilizing plate 20 is fixedly connected to the bottom end of the movable rod 13. An adhesive block 21 is embedded in the inner side of the bottom of the stabilizing plate 20. An adhesive outlet 22 is evenly arranged on the inner side of the adhesive block 21. A distribution box 23 is embedded in the inner side of the stabilizing plate 20. The adhesive inlet 15 is connected to the inside of the sleeve 11. The central channel 14 is connected to the inside of the stabilizing plate 20. Distribution holes are evenly opened inside the distribution box 23. The adhesive in the sleeve 11 is squeezed into the adhesive inlet 15. It can be quickly transported to the stabilizing plate 20 through the central channel 14 and discharged through the adhesive outlet 22, so that the adhesive block 21 at the end of the stabilizing plate 20 can be stably attached to the detection position.

[0039] The robot body 1 has a fitting groove 24 on its forward-moving side. A liquid storage tank 25 is embedded and connected to the inner side of the fitting groove 24. Both sides of the robot body 1 are connected to a pump outlet pipe 26 that communicates with the liquid storage tank 25. The liquid storage tank 25 is equipped with a micro booster pump. The outlet end of the micro booster pump is connected to the inlet end of the pump outlet pipe 26. A water inlet valve is provided on the top of the liquid storage tank 25. The micro booster pump in the liquid storage tank 25 is used to deliver the cleaning liquid in the liquid storage tank 25 to the pump outlet pipe 26 at a certain pressure. The water inlet valve makes it convenient to replenish the liquid storage tank 25.

[0040] One end of the pump outlet pipe 26 is connected to an adapter 27, and the bottom of the adapter 27 is connected to an infusion hose 28. The outlet end of the infusion hose 28 is connected to a spray strip box 29. Both sides of the adapter 27 are rotatably connected to a connecting bracket 30. The end of the connecting bracket 30 is connected to a collar 31, which is sleeved on the outside of the infusion hose 28. The edge of the connecting bracket 30 can be limited and connected to the edge of the adapter 27 by a locking bolt 32.

[0041] The working principle and usage process of this utility model are as follows: First, the connecting arm 4, the top connecting frame 5, the servo motor 6, the bottom connecting frame 7, the foot 8, and the adsorption disk 9 together form the climbing foot mechanism of the robot body 1. The climbing foot mechanism is connected to the four corners of the robot body 1 in a centrally symmetrical manner. Through the joint linkage of the four sets of climbing foot mechanisms, the robot body 1 is driven to crawl and move in the pipeline. When the robot body 1 crawls and moves on the pipeline wall, the laser scanner 3 installed on its top is used to scan and detect the pipeline.

[0042] While the robot body 1 is crawling and moving through the climbing mechanism, the micro booster pump in the liquid storage tank 25 delivers the cleaning fluid in the liquid storage tank 25 to the pump outlet pipe 26 at a certain pressure. The cleaning fluid is then delivered to the spray bar box 29 through the adapter 27 and the infusion hose 28. The cleaning fluid is further sprayed onto the robot body 1 in the forward direction through the spray bar box 29. The position of the spray bar box 29 corresponds to the position of the climbing mechanism in the forward direction of the robot body 1. The cleaning fluid is used to clean the contact position between the climbing mechanism and the pipe wall, so as to avoid the phenomenon of insufficient gripping force of the climbing mechanism due to the dust on the pipe wall, and to enable the climbing mechanism to adhere more tightly to the pipe wall.

[0043] When it is necessary to adjust the spray direction of the spray box 29, it is only necessary to drive the collar 31 and the infusion tubing 28 to deflect by connecting the bracket 30, thereby adjusting the curvature of the infusion tubing 28, which further facilitates the adjustment of the spray angle of the spray box 29, so that the spray direction of the spray box 29 can be aligned with the crawling trajectory of the crawling mechanism. In addition, the fitting groove 24 facilitates the insertion and embedding of the liquid storage tank 25, reducing its space occupation.

[0044] When the robot body 1 needs to stay at the designated detection position for a long time for detection, the magnetism of the electromagnet 19 is changed by activating it, so that the magnetism of the electromagnet 19 is the same as that of the drive magnetic block 17. The repulsive force between the electromagnet 19 and the drive magnetic block 17 is used to drive the sliding plug 16 to move. The movement of the sliding plug 16 causes the adhesive in the sleeve 11 to be squeezed into the glue inlet 15 by extrusion, and then transported to the stabilizing plate 20 through the central channel 14, thus realizing the precise delivery of the adhesive.

[0045] During the process of the adhesive entering the stabilizing disk 20, the adhesive block 21, the dispensing port 22 and the distribution box 23 are used to make the adhesive enter the stabilizing disk 20 more evenly from the distribution box 23 and finally discharge it through the dispensing port 22. This allows the adhesive block 21 at the end of the stabilizing disk 20 to be stably attached to the detection position, so that the robot body 1 can remain stable when it stays in the position for detection for a long time.

[0046] After the robot body 1 finishes its stationary inspection, the sliding plug 16 is reset by the support spring 18, thereby blocking the delivery of adhesive liquid. This makes the robot easier to move after the inspection is completed, improving the ease of movement of the robot body 1.

[0047] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-legged wall-climbing robot for pipeline inspection, comprising a robot body (1), characterized in that: The top middle of the robot body (1) is provided with a mounting seat (2), and the top of the mounting seat (2) is fixedly provided with a laser scanner (3); four corners of the robot body (1) are connected with a climbing foot mechanism through a connecting arm (4), and the climbing foot mechanism drives the robot body (1) to move on the wall. Four mounting discs (10) are symmetrically arranged at the bottom of the robot body (1), a sleeve (11) is embeddedly arranged in the inner side of the bottom of the robot body (1) through the mounting disc (10), the bottom of the sleeve (11) is provided with a sealing disc (12), the inner sides of the sleeve (11) and the sealing disc (12) are movably connected with a movable rod (13), the inner middle of the movable rod (13) is provided with a middle groove (14), the top side of the movable rod (13) is provided with a glue inlet (15) communicated with the middle groove (14), the top of the movable rod (13) is connected with a sliding plug (16), the top of the sliding plug (16) is connected with a driving magnetic block (17), the top of the sliding plug (16) is connected with a supporting spring (18) at the position outside the driving magnetic block (17), and the inner top of the sleeve (11) is connected with an electromagnet (19). The bottom of the stabilizing disc (20) is embeddedly connected with a matching block (21), the inner side of the matching block (21) is uniformly provided with a glue outlet (22), and the inner side of the stabilizing disc (20) is embeddedly connected with a distribution box (23).

2. The multi-legged wall-climbing robot for pipeline inspection according to claim 1, characterized in that: The climbing foot mechanism comprises a top connecting frame (5), a rudder (6), a bottom connecting frame (7), a foot (8) and a suction magnetic disc (9). The top of one side of the connecting arm (4) is hingedly connected with the top connecting frame (5), the bottom of one side of the connecting arm (4) is hingedly connected with the bottom connecting frame (7), and the inner side of the connecting arm (4) is provided with the rudder (6); the top connecting frame (5) and the bottom connecting frame (7) are hingedly connected to the inner side of the foot (8) away from the connecting arm (4), and the bottom of the foot (8) is provided with the suction magnetic disc (9).

3. The multi-legged wall-climbing robot for pipeline inspection according to claim 1, characterized in that: The mounting disc (10) is arranged at the edge of the sleeve (11), the bottom of the robot body (1) is provided with an embedded hole, and the sleeve (11) is connected in the embedded hole; the mounting disc (10) and the bottom of the robot body (1) are connected through bolts.

4. The multi-legged wall-climbing robot for pipeline inspection according to claim 1, characterized in that: The electromagnet (19) has the same magnetic pole as the driving magnetic block (17) after being electrified, the driving magnetic block (17) drives the sliding plug (16) to slide along the inner wall of the sleeve (11), and the inner part of the sleeve (11) is filled with a viscous liquid with certain viscous resistance at the position of the bottom of the sliding plug (16).

5. The multi-legged wall-climbing robot for pipeline inspection according to claim 1, wherein: The glue inlet (15) is communicated with the inner part of the sleeve (11), the middle groove (14) is communicated with the inner part of the stabilizing disc (20), and the distribution box (23) is uniformly provided with distribution holes in the inner part.

6. The multi-legged wall-climbing robot for pipeline inspection according to claim 1, wherein: The advancing direction edge of the robot body (1) is provided with a fitting groove (24), the inner side of the fitting groove (24) is connected with a liquid storage tank (25) by embedding, the two side edges of the robot body (1) are both connected with a pump-out liquid pipe (26) which is communicated with the liquid storage tank (25); One end of the pump-out liquid pipe (26) is connected with an adapter (27), the bottom of the adapter (27) is connected with a transfusion hose (28), the liquid outlet end of the transfusion hose (28) is connected with a spraying strip box (29), the two side edges of the adapter (27) are both rotatably connected with a connecting support (30), the end of the connecting support (30) is connected with a sleeve ring (31), the sleeve ring (31) is sleeved on the outer side of the transfusion hose (28), the side edge of the connecting support (30) is limitingly connected on the side edge of the adapter (27) through a locking bolt (32).

7. The multi-legged wall-climbing robot for pipeline inspection according to claim 6, characterized in that: The liquid storage tank (25) is provided with a micro booster pump, the liquid outlet end of the micro booster pump is connected with the liquid inlet end of the pump-out liquid pipe (26), the top of the liquid storage tank (25) is provided with a water inlet valve.

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