Moving mechanism for pipeline flaw detection robot

Abstract

The utility model provides a moving mechanism for a pipeline flaw detection robot. The moving mechanism comprises a mounting plate, two supporting plates, two buffer supporting mechanisms and four advancing devices, the two supporting plates are symmetrically arranged on the front side and the rear side of the mounting plate, the left end and the right end of each supporting plate are each correspondingly provided with one advancing device, and the two advancing devices located on the same side are arranged in a bilateral symmetry mode. The end face of the outer side of each supporting plate is correspondingly provided with one buffering supporting mechanism, and the two advancing devices located on the same side are connected with one buffering supporting mechanism. The moving mechanism for the pipeline flaw detection robot solves the problem that the pipeline flaw detection robot in the prior art is prone to deviating from a cruising route or is not clear in shooting due to the fact that the obstacle crossing capacity of the pipeline flaw detection robot in some pipelines of complex structures is insufficient.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline detection technology, and in particular relates to a mobile mechanism for a pipeline flaw detection robot. Background Technology

[0002] Pipeline flaw detection robots are essential tools for modern pipeline inspection and maintenance. In complex systems such as wastewater treatment and oil extraction, there are numerous pipelines used to transport water, gas, and oil. These pipelines typically have various diameters, locations, and varying curvatures. To ensure these pipelines are in good working order, regular external and internal inspections are required.

[0003] The internal environment of pipelines is complex and variable, requiring robots to operate stably under various uncertain conditions. Pipelines may contain numerous adverse factors, such as confined spaces, winding routes, and unstable ground, all of which can affect robot operation. In practical applications, these robots face numerous technical and operational challenges.

[0004] Currently developed pipeline inspection robots, including wheeled, legged, and tracked types, mostly use electromagnetic motors to drive their motion mechanisms, which are suitable for simple pipeline structures but lack adaptability to pipelines of different diameters. Furthermore, pipeline flaw detection robots in related technologies often lack the ability to overcome obstacles in complex pipeline structures, easily leading to deviations from their patrol routes or unclear images. Consequently, they fail to meet the requirements for accuracy and adaptability in pipeline flaw detection. Summary of the Invention

[0005] In view of this, the present invention aims to at least partially solve one of the related technical problems.

[0006] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0007] A mobile mechanism for a pipeline flaw detection robot includes a mounting plate, two support plates, two buffer support mechanisms, and four traveling devices.

[0008] The two support plates are symmetrically arranged on the front and rear sides of the mounting plate. Each support plate has a corresponding travel device at its left and right ends. The two travel devices on the same side are symmetrically arranged.

[0009] Each of the support plates has a corresponding buffer support mechanism on its outer end face, and the two traveling devices on the same side are connected to one of the buffer support mechanisms.

[0010] The traveling device comprises a magnetic roller structure, a track, a fixed plate assembly, a driving mechanism, a roller support plate, a driving wheel and two driven wheels, the top of the roller support plate is connected with the end of the support plate, the bottom of the roller support plate is connected with the driving wheel through the magnetic roller structure, the driving mechanism drives the magnetic roller structure and the driving wheel to rotate, the two driven wheels are symmetrically arranged at the left and right ends of the fixed plate assembly, the fixed plate assembly is arranged on the roller support plate, the fixed plate assembly is connected with the buffer support mechanism, the driving wheel and the two driven wheels are used for driving the track, and the magnetic roller structure can adsorb a pipeline to be detected.

[0011] Further, the fixed plate assembly comprises a first fixed plate and a second fixed plate, the inner side ends of the first fixed plate and the second fixed plate are connected with the roller support plate, and the outer side ends of the first fixed plate and the second fixed plate are each provided with one driven wheel.

[0012] Further, the driving mechanism comprises a driving motor and two synchronous wheels, one synchronous wheel is arranged at the output end of the driving motor, the other synchronous wheel is connected with the magnetic roller structure, and the two synchronous wheels are connected through a synchronous belt.

[0013] Further, the magnetic roller structure comprises two side plates and a plurality of magnet blocks, the inner side edges of the two side plates are each provided with a limiting edge for limiting the magnet blocks, the magnet blocks are uniformly arranged in a circle between the two side plates, the two side plates are connected through bolts, one side plate is connected with the driving wheel, and the other side plate is connected with the roller support plate.

[0014] Further, the buffer support mechanism comprises a guide slide rod, two guide slide sleeves, two telescopic rod structures and two elastic devices, the guide slide rod is arranged at the side end face of the support plate, the two guide slide sleeves are slidingly arranged on the guide slide rod, one end of the telescopic rod structure is hingedly connected with one guide slide sleeve, the other end of the telescopic rod structure is hingedly connected with one first fixed plate, and each telescopic rod structure is externally sleeved with one elastic device.

[0015] Further, the elastic device is a buffer spring.

[0016] Further, the side plate is provided with a plurality of counterweight holes.

[0017] Further, the track is in an inverted triangular structure, and the magnetic roller structure is located at the bottom of the track.

[0018] Compared with the prior art, the moving mechanism of the pipeline flaw detection robot has the following advantages:

[0019] 1. The configuration of four travel devices enables the robot to move flexibly within pipes, effectively handling horizontal, vertical, and inclined pipes. This multi-directional adaptability improves the robot's overall work efficiency.

[0020] 2. By placing the magnetic roller structure at the bottom of the track, the center of gravity of the entire locomotive is lowered. This optimized center of gravity distribution further enhances the robot's stability, making its movement smoother. The magnetic roller structure at the bottom can adhere closely to the pipe surface, making full use of magnetism to enhance the adhesion between the robot and the metal pipe. This design ensures that the robot maintains good adhesion in various postures, reducing slippage. The inverted triangular track design can better adapt to the unevenness and narrow spaces inside the pipe, allowing the robot to smoothly pass through various obstacles. The magnetic roller structure can use magnetism to adhere to the surface of the metal pipe, ensuring the robot's stable adhesion inside the pipe and preventing slippage or loss of control during movement, making it particularly suitable for metal pipe surfaces.

[0021] 3. The buffer support mechanism effectively absorbs and attenuates vibrations and impacts during robot movement. Through the cooperation of elastic devices (such as buffer springs) and telescopic rod structures, it reduces friction and vibration transmission between mechanical parts, ensuring smoother robot movement and preventing excessive vibration from interfering with sensors, cameras, and other equipment, thus improving the accuracy of flaw detection results. The buffer support mechanism provides more stable support for the robot, especially when encountering uneven pipe surfaces or obstacles during movement. It effectively adjusts the position of the support points, maintains the robot's balance, and prevents tilting or tipping due to imbalance. Attached Figure Description

[0022] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0023] Figure 1 This is a schematic diagram of a moving mechanism for a pipeline flaw detection robot according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the buffer support mechanism structure described in an embodiment of the present utility model;

[0025] Figure 3 This is a schematic diagram of the magnetic roller structure described in an embodiment of the present invention;

[0026] Figure 4 This is a schematic diagram of the combined structure of the side baffle and the magnet block according to an embodiment of the present invention.

[0027] Explanation of reference signs:

[0028] 100, pipeline to be detected; 200, electric control box; 201, mounting plate; 301, track; 401, driving wheel; 402, driven wheel; 501, first fixed plate; 502, second fixed plate; 601, guide sliding rod; 602, guide sliding sleeve; 700, magnetic roller structure; 701, side baffle; 702, magnet block; 801, driving motor; 802, synchronous belt. DETAILED DESCRIPTION

[0029] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0030] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element 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. In addition, the terms "first", "second" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0031] In the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounting", "connection", "connection" 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, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0032] The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0033] A moving mechanism for a pipeline flaw detection robot, like Figure 1As shown, the robot includes a mounting plate 201, two support plates, two buffer support mechanisms, and four traveling devices. The mounting plate 201 is used to mount the electrical control box 200. The two support plates are symmetrically arranged on the front and rear sides of the mounting plate 201. Each support plate has a traveling device at its left and right ends, and the two traveling devices on the same side are symmetrically arranged. Each support plate has a buffer support mechanism on its outer end face, and the two traveling devices on the same side are connected to a buffer support mechanism. The configuration of four traveling devices allows the robot to move flexibly inside the pipe, effectively handling horizontal, vertical, and inclined pipes. This multi-directional adaptability improves the robot's overall working efficiency.

[0034] like Figures 2-3 As shown, the traveling device includes a magnetic roller structure 700, a track 301, a fixed plate assembly, a drive mechanism, a roller support plate, a drive wheel 401, and two driven wheels 402. The top of the roller support plate is connected to the end of a support plate, and the bottom of the roller support plate is connected to the drive wheel 401 via the magnetic roller structure 700. The drive mechanism drives the magnetic roller structure 700 and the drive wheel 401 to rotate. The two driven wheels 402 are symmetrically arranged at the left and right ends of the fixed plate assembly, which is mounted on the roller support plate and connected to a buffer support mechanism. The drive wheel 401 and the two driven wheels 402 drive the track 301. The magnetic roller structure 700 can attract the pipe 100 to be tested. The track 301 has an inverted triangular structure, and the magnetic roller structure 700 is located at the bottom of the track 301.

[0035] The fixing plate assembly includes a first fixing plate 501 and a second fixing plate 502. The inner ends of the first fixing plate 501 and the second fixing plate 502 are connected to the roller support plate, and the outer ends of the first fixing plate 501 and the second fixing plate 502 are respectively provided with a driven wheel 402.

[0036] The drive mechanism includes a drive motor 801 and two synchronous pulleys. One synchronous pulley is set at the output end of the drive motor 801, and the other synchronous pulley is connected to the magnetic roller structure 700. The two synchronous pulleys are connected by a synchronous belt 802.

[0037] like Figure 4As shown, the magnetic roller structure 700 includes two side baffles 701 and a plurality of magnet blocks 702, the inner side of the outer edge of the two side baffles 701 is provided with a stop edge for limiting the magnet blocks 702, the magnet blocks 702 are arranged uniformly in the circumferential direction between the two side baffles 701, the magnet blocks 702 are arc-shaped structures, the two side baffles 701 are connected by bolts, one side baffle 701 is connected with the driving wheel 401, and the other side baffle 701 is connected with the roller support plate. The side baffle 701 is provided with a plurality of counterweight holes. By placing the magnetic roller structure 700 at the bottom of the track 301, the center of gravity of the entire traveling device is lowered. This optimized center of gravity distribution further improves the stability of the robot, making it more stable during movement. The magnetic roller structure 700 at the bottom can closely adhere to the surface of the pipeline, fully utilizing the magnetic force to enhance the adhesion between the robot and the metal pipeline. This design ensures that the robot can maintain good adhesion effect in various postures, reducing the phenomenon of slipping. The design of the inverted triangular track 301 can better adapt to the uneven and narrow space in the pipeline, enabling the robot to smoothly pass through various obstacles. The magnetic roller structure 700 can be attracted to the surface of the metal pipeline by magnetic force, ensuring the stable adhesion of the robot in the pipeline, avoiding slipping or losing control during movement, and being particularly suitable for the surface of the metal pipeline.

[0038] The buffer support mechanism includes a guide slide rod 601, two guide slide sleeves 602, two telescopic rod structures, and two elastic devices. The guide slide rod 601 is arranged on the side end face of the support plate, the two guide slide sleeves 602 are slidingly arranged on the guide slide rod 601, one end of the telescopic rod structure is hinged to one guide slide sleeve 602, the other end of the telescopic rod structure is hinged to one first fixed plate 501, and one elastic device is sleeved outside each telescopic rod structure. The elastic device is a buffer spring. The buffer support mechanism can effectively absorb and attenuate the vibration and impact of the robot during movement. Through the cooperation of the elastic device (such as a buffer spring) and the telescopic rod structure, the friction and vibration transmission between mechanical components can be reduced, thereby ensuring that the robot moves more stably, avoiding interference with sensors, cameras, and other equipment caused by excessive vibration, and improving the accuracy of the flaw detection result. The buffer support mechanism can provide more stable support for the robot, especially when the robot encounters uneven pipeline surfaces or obstacles during movement, it can effectively adjust the position of the support point to maintain the balance of the robot and prevent tilting or overturning due to imbalance.

[0039] The above is only a preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A mobile mechanism for a pipeline inspection robot, characterized by: It comprises a mounting plate (201), two supporting plates, two buffer supporting mechanisms and four traveling devices; The two supporting plates are symmetrically arranged on the front and back sides of the mounting plate (201), and one traveling device is arranged on the left and right ends of each supporting plate. The outer side end surface of each supporting plate is provided with a buffer supporting mechanism, and the two traveling devices on the same side are connected with one buffer supporting mechanism. The traveling device comprises a magnetic roller structure (700), a track (301), a fixed plate assembly, a driving mechanism, a roller support plate, a driving wheel (401) and two driven wheels (402). The top of the roller support plate is connected with the end of the supporting plate, and the bottom of the roller support plate is connected with the driving wheel (401) through the magnetic roller structure (700). The driving mechanism drives the magnetic roller structure (700) and the driving wheel (401) to rotate. The two driven wheels (402) are symmetrically arranged on the left and right ends of the fixed plate assembly. The fixed plate assembly is arranged on the roller support plate and connected with the buffer supporting mechanism. The driving wheel (401) and the two driven wheels (402) are used to drive the track (301), and the magnetic roller structure (700) can attract the pipeline (100) to be tested.

2. The mobile mechanism for a pipeline inspection robot according to claim 1, wherein: The fixed plate assembly comprises a first fixed plate (501) and a second fixed plate (502). The inner side ends of the first fixed plate (501) and the second fixed plate (502) are connected with the roller support plate, and the outer side ends of the first fixed plate (501) and the second fixed plate (502) are provided with one driven wheel (402) respectively.

3. The mobile mechanism for a pipeline inspection robot of claim 1, wherein: The driving mechanism comprises a driving motor (801) and two synchronous wheels. The output end of the driving motor (801) is provided with one synchronous wheel, and the other synchronous wheel is connected with the magnetic roller structure (700). The two synchronous wheels are connected through a synchronous belt (802).

4. A mobile mechanism for a pipeline inspection robot according to any one of claims 1-3, characterized in that: The magnetic roller structure (700) comprises two side plates (701) and a plurality of magnet blocks (702). The inner side outer edges of the two side plates (701) are provided with a stop edge for limiting the magnet blocks (702). The magnet blocks (702) are arranged uniformly in the circumferential direction between the two side plates (701). The two side plates (701) are connected through bolts. One side plate (701) is connected with the driving wheel (401), and the other side plate (701) is connected with the roller support plate.

5. The mobile mechanism for a pipeline inspection robot of claim 2, wherein: The buffer support mechanism comprises a guide sliding rod (601), two guide sliding sleeves (602), two telescopic rod structures and two elastic devices, the guide sliding rod (601) is arranged at the side end face of the support plate, the two guide sliding sleeves (602) are slidingly arranged on the guide sliding rod (601), one end of the telescopic rod structure is hinged to one of the guide sliding sleeves (602), the other end of the telescopic rod structure is hinged to one of the first fixed plates (501), and the outer part of each telescopic rod structure is sleeved with one of the elastic devices.

6. The mobile mechanism for a pipeline inspection robot of claim 5, wherein: The elastic device is a buffer spring.

7. The mobile mechanism for a pipeline inspection robot of claim 4, wherein: The side baffle (701) is provided with a plurality of counterweight holes.

8. The mobile mechanism for a pipeline inspection robot of claim 4, wherein: The track (301) is in an inverted triangular structure, and the magnetic roller structure (700) is located at the bottom of the track (301).

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