Permanent magnet wheel type pipeline special detection wall-climbing robot
By employing an adaptive detection mechanism and a multi-diameter adaptability design, combined with high-friction rubber wheels and permanent magnets, the problems of insufficient multi-diameter adaptability and limited detection accuracy in existing technologies have been solved, enabling efficient and accurate detection in pipes of different diameters.
Patent Information
- Application Number
- CN202520562451.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-28
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2035-03-28
AI Technical Summary
Existing wheeled pipeline robots have insufficient adaptability to multiple pipe diameters and limited detection accuracy, while traditional manual inspection suffers from low efficiency and poor safety.
An adaptive detection mechanism is adopted, including a support component, a curvature adjustment component, and an angle adjustment component, combined with a high-friction rubber wheel and a permanent magnet block, to achieve adaptive and high-precision detection of multiple pipe diameters. LiDAR and vision sensors are used for detection.
It enables free passage and high-precision inspection within pipes ranging from Φ200mm to Φ800mm, adapts to different inspection conditions, and integrates lidar and vision sensors to achieve accurate detection of internal defects in pipes.
Smart Images
Figure CN223850716U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of pipeline inspection and maintenance technology, specifically relating to a permanent magnet wheel type special inspection wall-climbing robot for pipelines. Background Technology
[0002] With the acceleration of urbanization, pipeline systems (such as drainage, gas, and oil pipelines) are becoming increasingly large, leading to a significant increase in the demand for internal inspection and maintenance. Traditional inspection methods rely on manual entry into pipelines or the use of simple equipment, which suffers from low efficiency, poor safety, and inability to adapt to complex environments. Especially in narrow, corrosive, or high-risk pipelines, manual inspection is costly and risky. While existing wheeled pipeline robots can partially replace manual labor, they still have shortcomings such as insufficient adaptability to multiple pipe diameters and limited inspection accuracy. Summary of the Invention
[0003] This invention addresses the shortcomings of existing technologies by providing a wheeled pipeline inspection robot that features autonomous navigation, multi-diameter adaptation, and high-precision inspection.
[0004] The technical solution adopted in this utility model is as follows:
[0005] This utility model includes:
[0006] The wall-climbing robot body includes multiple drive wheels, a drive device, a fixed frame, and an adsorption assembly. The drive wheels are installed below the fixed frame, the drive device is connected to the drive wheels and is used to drive the drive wheels to move, and the adsorption assembly is installed on the fixed frame and is used to adsorb the robot onto the inner wall of the pipe.
[0007] An adaptive detection mechanism includes a support component, a curvature adjustment component, an angle adjustment component, and a detection sensor. The support component is connected to the fixed frame and is used to support the adaptive detection mechanism. The curvature adjustment component is connected to the support component and is used to adapt to pipe surfaces with different curvatures. The angle adjustment component is connected to the curvature adjustment component and is used to adjust the detection angle of the detection sensor. The detection sensor is mounted on the angle adjustment component and is used to detect the pipe.
[0008] Furthermore, the drive wheel is a high-friction rubber wheel, the drive device is a servo drive motor, and the adsorption component is a permanent magnet.
[0009] Furthermore, the support assembly includes a fixed bridge and a fixed guide rail. The fixed bridge is connected to the fixed frame, and the fixed guide rail is connected to the fixed bridge. The fixed guide rail is capable of telescopic movement along the fixed bridge.
[0010] Further, the curvature adjusting assembly comprises an adaptive curvature ring connected with the fixed guide rail and a variable curvature slider device matched with the adaptive curvature ring for adjusting the detection range of the detection sensor to adapt to pipes with different curvatures.
[0011] Further, the angle adjusting assembly comprises an angle adjusting slider connected with the variable curvature slider device and an adjustable fixing block connected with the angle adjusting slider for adjusting the detection angle of the detection sensor.
[0012] Further, the detection sensor comprises an infrared detection head mounted on the angle adjusting slider and a microwave head connected with the angle adjusting slider through a spherical base and a spherical connecting head, and the spherical base can realize multi-angle rotation.
[0013] Further, the fixed frame comprises a lower plate connected with the adsorption assembly and an upper plate connected with the support assembly, and the driving device is mounted between the lower plate and the upper plate.
[0014] Further, the detection sensor further comprises a visual sensor and a laser radar for high-precision detection of bubbles, cracks, corrosion and blockage inside the pipe.
[0015] Further, the adaptive detection mechanism can adapt to pipes with a diameter ranging from 200mm to 800mm.
[0016] Further, the angle adjusting assembly can adjust the angle range of the detection sensor to 0°-160° to adapt to different detection working conditions.
[0017] Compared with the prior art, the utility model has the following beneficial effects:
[0018] 1. Multi-pipe diameter adaptation, through the adaptive detection mechanism, free travel on the curvature surface of pipes with a diameter of Φ200mm-Φ800mm is realized, and no accessories need to be replaced.
[0019] 2. The adaptive detection mechanism can adjust different detection heights, spans and rotation amplitudes of the microwave head to adapt to different detection working conditions.
[0020] 3. High-precision detection: fusion of laser radar and visual sensor can detect multiple problems such as bubbles, cracks, corrosion and blockage inside the pipe. BRIEF DESCRIPTION OF DRAWINGS
[0021] Figure 1 It is a schematic view of the overall structure of the utility model example;
[0022] Figure 2 Structure diagram of wall-climbing robot example of the present application;
[0023] Figure 3 Structure diagram of adaptive detection mechanism example of the present application;
[0024] Figure 4 Structure diagram of variable curvature slider example of the present application. DETAILED DESCRIPTION
[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application. Rather than all the embodiments, based on the embodiments in the present application, all other descriptions obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0026] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0027] The present application will be further described in detail below with reference to the drawings and specific embodiments:
[0028] Referring to Figures 1 to 4 The permanent magnet wheel type pipeline special detection wall-climbing robot provided by the embodiments of the present application comprises a wall-climbing robot body I and an adaptive detection mechanism II. The wall-climbing robot body I is located on a pipeline III and detects the pipeline III through the adaptive detection mechanism II.
[0029] As a further optimization of the technical solution, as Figure 1 and Figure 2As shown, the wall-climbing robot body includes high-friction rubber wheels I-1 (i.e., driving wheels), wheel shafts I-2, permanent magnets I-3 (i.e., adsorption assemblies), lower car plates I-4, upper car plates I-6, and servo drive motors I-5 (i.e., driving devices); the high-friction rubber wheels I-1 have four corners arranged in a four-corner array under the robot body, are respectively threadedly fixed with front end steps of the wheel shafts I-2, rear ends of the wheel shafts I-2 are directly fixed on front end output flanges of the servo drive motors I-5, the servo drive motors I-5 below have threaded positioning holes respectively threadedly connected with the lower car plates I-4 through bolts, the lower car plates I-4 have positioning holes in four corners respectively bolted with through holes of the permanent magnets I-3, wherein the lower car plates I-4 and the upper car plates I-6 constitute the fixed frame in the embodiment.
[0030] As a further optimization of the technical solution, as shown in Figure 1 and Figure 3 As shown, the self-adaptive detection mechanism II includes a fixed bridge II-1, a fixed guide rail II-2, a reinforcing rib II-3, a self-adaptive C ring II-4, an annular rack II-5, a variable-curvature sliding block device II-6, a motor fixing plate II-7, a motor II-8, a motor shaft II-9, a pinion II-10, an angle adjustment sliding block II-11, an infrared detection head II-12, an adjustable fixing block II-13, a cross bar II-14, a spherical base II-15, a spherical connector II-16, and a microwave head II-17, wherein the fixed bridge II-1 and the fixed guide rail II-2 constitute the support assembly in the embodiment, the self-adaptive C ring II-4 and the variable-curvature sliding block device II-6 constitute the curvature adjustment assembly in the embodiment, the angle adjustment sliding block II-11 and the adjustable fixing block II-13 constitute the angle adjustment assembly in the embodiment.
[0031] The fixed bridge II-1 is a counter-bracing design, the through hole under the counter-bracing fixed bridge II-1 is bolted and fixed with the threaded hole corresponding to the upper plate I-6, the threaded hole above the fixed bridge II-1 is bolted and fixed with the through hole on the rear of the fixed guide rail II-2, the through hole in front of the fixed guide rail II-2 is connected with the threaded hole above the reinforcing rib II-3, the reinforcing rib II-3 is a counter-bracing design, the hole below the reinforcing rib II-3 is bolted and fixed with the threaded hole corresponding to the adaptive C ring II-4, the threaded hole on the adaptive C ring II-4 is bolted and fixed with the threaded hole of the ring gear II-5, the variable curvature sliding groove on the variable curvature sliding block device II-6 is matched with the sliding groove of the adaptive C ring II-4, the through hole below the motor fixed plate II-7 is bolted and fixed with the threaded hole corresponding to the left of the variable curvature sliding groove II-6 device, the threaded hole above the motor fixed plate II-7 is bolted and fixed with the through hole corresponding to the motor II-8, the motor shaft II-9 is connected with the output end of the motor II-8, and the right end of the motor shaft II-9 is fixedly connected with the pinion II-10.
[0032] Further, the right positioning hole of the variable curvature sliding block device II-6 is threadedly linked with the middle thread of the angle adjusting sliding block II-11, the middle threaded hole of the right side of the angle adjusting sliding block II-11 is bolted and fixed with the positioning hole of the left side of the infrared detection head II-12, the angle sliding grooves on both sides of the angle adjusting sliding block II-11 are bolted and fixed with the sliding grooves of the adjustable fixed block II-13, the lower threaded hole of the angle adjusting block II-13 is bolted and fixed with the middle corresponding through hole of the horizontal rod II-14, the corresponding adjustment holes at both ends of the horizontal rod II-14 are fixedly connected with the threaded holes above the spherical base II-15, the spherical recess below the spherical base II-15 is fixedly connected with the ball head of the spherical connector II-16, and the through hole below the spherical connector II-16 is fixedly connected with the upper threaded hole of the microwave head II-17.
[0033] Further, as shown in Figure 4 The variable curvature sliding block device II-6 includes a left sliding block II-6-1, a right sliding block II-6-2 and a roller II-6-3, the corresponding convex shaft on the left sliding block II-6-1 is matched with the inner control of the roller II-6-3 and is bolted and fixed, the lower threaded hole of the left sliding block II-6-1 is fixedly connected with the through hole below the right sliding block II-6-2, and the convex shaft on the right sliding block II-6-2 is matched with the roller II-6-3 and is bolted and fixedly connected.
[0034] Preferably, the fixed guide rail and the fixed bridge can be changed into telescopic motion to solve the problem that the robot cannot reach the deep hole or the slender tube detection.
[0035] Preferably, the adaptive C ring can be replaced with different curvature and 0-160° angle range detection.
[0036] Preferably, the angle adjustment slider can adapt to different microwave angles and different height detection.
[0037] Preferably, the adjustable fixing block can adapt to different height microwave detection.
[0038] Preferably, the spherical base can adapt to different rotation angle microwave detection.
[0039] Preferably, the servo drive motor adopts a DC brushless motor (model: 57BLF03), which provides high torque output, and each wheel is independently driven by a single motor.
[0040] The utility model discloses a working principle:
[0041] The utility model discloses a working principle:
[0042] When being the manual mode, the robot reaches the designated position to be detected, stops, and sends a pulse to the motor II-8 on the adaptive detection mechanism II to drive the pinion II-10 to rotate, so that the adaptive C ring II-4 rotates back and forth to detect the pipeline defects, and then moves to the next detection position, and the camera on the robot transmits data in real time.
[0043] When being the autonomous detection mode, the robot plans the path and detects autonomously, stops when detecting the weld or crack on the pipeline, sends a pulse to the motor II-8 on the adaptive detection mechanism II to drive the pinion II-10 to rotate, so that the adaptive C ring II-4 rotates back and forth to detect the pipeline defects, and then continues to detect the next position, and the camera on the robot transmits data in real time, and the operator detects in real time at the remote end.
[0044] The above only is the preferred implementation mode of the utility model, and it should be pointed out that for ordinary skilled person in the art, on the premise of not departing from the principle of the utility model, can make a number of improvements and refinements, and these improvements and refinements also should be regarded as the protection scope of the utility model.
Claims
1. A permanent magnet wheel type pipeline special detection wall-climbing robot, characterized in that, The utility model relates to a wall climbing robot, which comprises a robot body, an adaptive detection mechanism, a drive device and a suction assembly. The drive device is a servo drive motor, and the suction assembly is a permanent magnet block. The adaptive detection mechanism comprises a support assembly, a curvature adjustment assembly, an angle adjustment assembly and a detection sensor.
2. The special wall-climbing robot for pipeline detection according to claim 1, characterized in that, The support assembly comprises a fixed bridge and a fixed guide rail.
3. The special wall-climbing robot for detecting pipeline according to claim 1 or 2, characterized in that, The curvature adjustment assembly comprises an adaptive curvature ring and a variable curvature slider device.
4. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 3, characterized in that, The angle adjustment assembly comprises an angle adjustment slider and an adjustable fixed block.
5. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 4, characterized in that, The detection sensor comprises an infrared detection head and a microwave head.
6. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 5, characterized in that, The fixed frame comprises a lower plate and an upper plate.
7. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 1, characterized in that, The detection sensor further comprises a visual sensor and a laser radar.
8. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 1, characterized in that, The adaptive detection mechanism can adapt to pipes with a diameter ranging from 200mm to 800mm.
9. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 1, characterized in that, The angle adjustment assembly can adjust the angle of the detection sensor to a range of 0° to 160° to adapt to different detection conditions.
10. The permanent magnetic wheel type pipe special detection wall-climbing robot according to claim 1, characterized in that, The detection sensor can detect bubbles, cracks, corrosion and blockage in the pipe with high precision.