Detachable combined pipeline inspection robot

Abstract

The utility model provides a detachable combined pipeline inspection robot which comprises two shells, a controller and a battery pack connected with the controller are arranged in the shells respectively, four electric folding supports are symmetrically arranged on the side faces of the shells, and electric wheels connected with the controller are arranged at the tail ends of the electric folding supports. Connecting seats are coaxially arranged at one ends of the shells, the two connecting seats are connected through a detachable connecting frame, the connecting frame comprises two reinforcing seats, and the two ends of each reinforcing seat are perpendicularly connected with the middle of the corresponding connecting rod. When the shell is used independently, the robot formed by the shell can run in a plane, and when the two shells are connected together, the robot can run in a pipeline, and the electric wheels are in contact with the inner wall of the pipeline in an extending mode. And the multiple electric wheels make contact with the inner wall of the pipeline and drive the robot to run in the pipeline, so that the robot can stably run in the pipeline.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection robot technology, specifically a detachable and modular pipeline inspection robot. Background Technology

[0002] A pipeline inspection robot is a device that can automatically walk along the inside or outside of a pipeline. It is typically operated by workers and uses a variety of sensors to inspect pipelines. The conventional inspection method for pipeline inspection robots is to be lowered vertically into the pipeline through a manhole. While crawling in the pipeline, the robot uses installed cameras to record video in real time, allowing operators to observe the internal conditions of the pipeline through the video images it captures.

[0003] Existing pipeline robots are all one-piece designs and cannot be disassembled for use. Furthermore, they cannot switch between driving within a pipeline and driving in a plane. For example, a wheeled pipeline inspection robot proposed in document CN218972158U has large and small wheels on both sides of its body. While it can be placed inside a pipeline, the wheels cannot generate sufficient tension with the pipeline wall, limiting the robot's movement to a single plane.

[0004] For example, document number "CN216479625U" proposes a walking unit for a pipeline robot and a pipeline robot including the walking unit. Multiple walking wheels are installed around the robot through a "folding mechanism". When the robot is placed in the pipeline, the walking wheels are driven by the "folding mechanism" to make close contact with the inner wall of the pipeline, and then it can travel stably in the pipeline. However, this robot cannot travel in a plane.

[0005] In summary, robots that travel inside pipes or on a plane cannot switch modes, resulting in limited applications. Pipe-traveling robots can only move inside pipes and cannot travel on a plane, while plane-traveling robots cannot ensure their wheels make close contact with the pipe wall. Therefore, we propose a detachable, modular pipe inspection robot. Utility Model Content

[0006] This invention provides a detachable, modular pipeline inspection robot that can be used individually or in combination, thus solving the problems mentioned in the background section.

[0007] The technical solution of this utility model is implemented as follows: A detachable combined pipeline inspection robot includes two shells, each containing a controller and a battery pack connected to the controller. Four electrically folding supports are symmetrically arranged on the sides of the shells, and each electrically folding support has an electric wheel connected to the controller at its end. A connecting seat is coaxially provided at one end of each shell. When two connecting seats are placed coaxially, they are connected by a detachable connecting frame. The connecting frame includes two reinforcing seats, with both ends of the reinforcing seats perpendicularly connected to the middle of the connecting rod. A cylindrical seat is vertically provided at both ends of each connecting rod. Four annular seats are provided on the surface of each connecting seat, with the cylindrical seats placed inside the annular seats. The two reinforcing seats are connected by a fastening device. Each shell is equipped with an image acquisition device connected to the controller.

[0008] Preferably, the image acquisition device includes a camera disposed at one end of the housing away from the connector and on one side surface of the housing, and the camera is connected to the controller.

[0009] Preferably, the electric folding bracket includes four first supports disposed on the periphery of the housing near one end of the connecting seat. Each first support has a rotatable strip arm at its end. The ends of the strip arms are connected to electric wheels via telescopic devices. The strip arms are connected to the housing via a screw drive mechanism. Driven by the screw drive mechanism, the strip arms can be positioned on the side of the housing.

[0010] Preferably, the lead screw transmission mechanism includes a second transmission lead screw located on the side of the housing. The second transmission lead screw is threaded with a second lead nut. A support arm is rotatably provided on the side of the second lead nut near the strip-shaped support arm. The support arm is inclined and its other end is rotatably connected to the strip-shaped support arm. One end of the second transmission lead screw is connected to a second drive motor. The second drive motor is connected to a controller. The second drive motor is mounted on a first support. The other end of the second transmission lead screw is rotatably connected to the second support. The second support is mounted on the housing.

[0011] Preferably, the telescopic device includes a first transmission screw located on the side of the strip arm away from the second transmission screw, a first nut threaded onto the first transmission screw, an end of the first transmission screw near the first support connected to a first drive motor, the first drive motor connected to a controller and mounted on a first fixed base, an end of the first transmission screw away from the first drive motor rotatably connected to a second fixed base, both the second fixed base and the first fixed base being connected to the strip arm, a guide seat provided at the end of the second fixed base away from the strip arm, at least two parallel support shafts movable within the guide seat, an end of the support shafts near the first support mounted on the support seat, the support seat being mounted on the first nut, an end of the support shafts away from the first support connected to a mounting base, and an electric wheel mounted on the mounting base.

[0012] Preferably, the second nut is slidably disposed on the second slide rail on the side near the outer shell, and the second slide rail is disposed on the surface of the outer shell.

[0013] Preferably, the first nut is slidably disposed on the first slide rail on the side of the strip arm near the first slide rail, and the first slide rail is disposed on the surface of the strip arm.

[0014] Preferably, the first supports are symmetrically distributed on the diagonal of the outer shell.

[0015] Preferably, the fastening device includes a screw hole provided in the middle part of the reinforcing seat, and a screw rod provided in the screw hole, which is fastened by a nut.

[0016] Compared with the prior art, when the outer shell is used alone, the robot formed by the outer shell can travel in a plane. When the two outer shells are connected together, it can travel in a pipe. Moreover, the electric wheels extend and contact the inner wall of the pipe, so that multiple electric wheels contact the inner wall of the pipe and drive the robot to travel in the pipe, allowing the robot to travel smoothly in the pipe. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure after the two connectors of this utility model are connected.

[0019] Figure 2 This is a schematic diagram of the structure of part of this utility model. Figure 1 .

[0020] Figure 3 This is a schematic diagram of the structure of part of this utility model. Figure 2 .

[0021] Figure 4 This is the front view of the present utility model.

[0022] Figure 5 This is a schematic diagram of the present invention in conjunction with a pipeline.

[0023] Figure 6 This is a schematic diagram of the specific installation structure of the electric wheel of this utility model.

[0024] Figure 7 This is a schematic diagram of the connecting frame of this utility model.

[0025] In the diagram: 1. Electric wheel; 2. Support shaft; 3. First lead screw nut; 4. First transmission screw; 5. First drive motor; 6. First support; 7. Mounting seat; 8. First slide rail; 9. Strip arm; 10. Housing; 11. Camera; 12. Connecting seat; 13. First fixed seat; 14. Support seat; 15. Guide seat; 16. Second fixed seat; 17. Ring seat; 18. Connecting rod; 19. Screw; 20. Column seat; 21. Reinforcing seat; 22. Second drive motor; 23. Second transmission screw; 24. Support arm; 25. Second lead screw nut; 26. Second slide rail; 27. Second support. Detailed Implementation

[0026] The technical solution of this utility model will be clearly and completely described below with reference to its embodiments. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] Reference Figures 1 to 7 This utility model provides a technical solution: a detachable combined pipeline inspection robot, including two shells 10, each shell 10 having a connecting seat 12 at one end, and a controller and a battery pack connected to the controller respectively inside the shell 10 (the controller and battery pack are not shown in the figure).

[0028] The outer casing 10 has four symmetrically arranged electrically folding brackets on its sides. Each electrically folding bracket has an electrically driven wheel 1 at its end, connected to a controller. The electrically folding bracket includes four first supports 6 located on the periphery of the outer casing 10 near the connecting seat 12. Figure 5 As shown, during installation, the first supports 6 are symmetrically distributed on the diagonal of the outer casing 10. Each first support 6 has a rotatable strip arm 9 at its end. The ends of the strip arms 9 are connected to the electric wheel 1 through telescopic devices. The telescopic device includes a first transmission screw 4 located on the side of the strip arm 9 away from the second transmission screw 23. A first nut 3 is threaded on the first transmission screw 4. The end of the first transmission screw 4 near the first support 6 is connected to the first drive motor 5. The first drive motor 5 is mounted on the first fixed seat 13. The end of the first transmission screw 4 away from the first drive motor 5 is rotatably connected to the second fixed seat 16. Both the second fixed seat 16 and the first fixed seat 13 are connected to the strip arms 9.

[0029] A guide seat 15 is provided at the end of the second fixed seat 16 away from the strip arm 9. At least two parallel support shafts 2 are movable within the guide seat 15. The ends of the support shafts 2 closest to the first support 6 are all mounted on a support seat 14, which is located on the first nut 3. Figure 1 and Figure 2 As shown, the end of the support shaft 2 away from the first support 6 is connected to the mounting base 7, and the electric wheel 1 is specifically mounted on the mounting base 7. Therefore, when the first drive motor 5 rotates, it can drive the first transmission screw 4 to rotate. The first transmission screw 4 can drive the first screw nut 3 to move along its axial direction. Therefore, the first screw nut 3 can drive the support shaft 2 to extend and retract within the guide seat 15, thereby allowing the support shaft 2 to drive the electric wheel 1 to extend or retract.

[0030] Furthermore, the strip arm 9 is connected to the outer casing 10 via a screw drive mechanism. Driven by this mechanism, the strip arm 9 can be positioned on the side of the outer casing 10, and the screw drive mechanism can also rotate the strip arm 9 around the first support 6, allowing the strip arm 9 to open from the side of the outer casing 10. Figure 2 As shown, the lead screw transmission mechanism includes a second transmission lead screw 23 located on the side of the housing 10. A second lead screw nut 25 is threaded on the second transmission lead screw 23. A support arm 24 is rotatably provided on the side of the second lead screw nut 25 near the strip support arm 9. The support arm 24 is inclined and its other end is rotatably connected to the strip support arm 9.

[0031] One end of the second transmission screw 23 is connected to the second drive motor 22, which is mounted on the first support 6. The other end of the second transmission screw 23 is rotatably connected to the second support 27, which is mounted on the outer casing 10. When the second drive motor 22 rotates, it can drive the second transmission screw 23 to rotate, and the second transmission screw 23 drives the second screw nut 25 to move along its axis. Therefore, under the drive of the second screw nut 25, the support arm 24 can drive the strip support arm 9 to open or be placed around the outer casing 10.

[0032] Based on the above embodiments, in the lead screw transmission mechanism, the second drive motor 22 is connected to the controller, and the controller is also connected to the electric wheel 1 and the first drive motor 5 respectively, so that the controller controls the second drive motor 22 and the first drive motor 5 to work respectively.

[0033] like Figure 4 As shown, cameras 11 connected to the controller are also provided at one end of the housing 10 away from the connector 12 and on one side surface of the housing 10. Figure 1 As shown, when the two connecting seats 12 are placed coaxially, a connecting frame is provided between the two connecting seats 12. The two ends of the connecting frame are detachably connected to the connecting seats 12 respectively. The working method of this pipeline inspection robot is described in detail below: First, the two outer shells 10 each constitute a separate robot, as shown below. Figure 2As shown, one of the outer shells 10 can be removed separately, and then the four electric wheels 1 can be placed on the ground. The strip arm 9 can be opened or closed on the side of the outer shell 10 to adjust the span of the electric wheel 1. At the same time, the electric wheel 1 can also be adjusted in height by extending and retracting within the guide seat 15 through the support shaft 2.

[0034] Secondly, arrange the two outer casings 10 coaxially, at which point the two connecting seats 12 are in the following state: Figure 1 As shown, since the two connecting seats 12 are connected as one unit by the connecting frame, the two outer shells 10 at this time constitute a robot. The robot is equipped with electric wheels 1 at the four corners, and the electric wheels 1 can be opened and extended.

[0035] Therefore, when the outer shell 10 is used alone, the robot formed by the outer shell 10 can travel in a plane. When two outer shells 10 are connected together, it can travel in a pipe. Specifically, the electric wheels 1 extend and contact the inner wall of the pipe. Multiple electric wheels 1 contact the inner wall of the pipe and drive the robot to travel in the pipe. Moreover, the length and opening range of the electric wheels 1 can be adjusted, so the electric wheels 1 have a large range of motion, which enables the robot to travel in pipes of different sizes. Furthermore, the force of multiple electric wheels 1 driving at the same time is large, which allows the robot to travel smoothly in the pipe.

[0036] It should also be noted that the robot is connected to the remote control via an umbilical cable during use. Each camera on the shell 10 constitutes an image acquisition device. When two shells 10 are connected, the camera 11 located at the end of the shell 10 can acquire images. When the shell 10 is used alone, the camera 11 on its side acquires images.

[0037] Furthermore, such as Figure 4 and Figure 7 As shown, the connecting frame includes two reinforcing seats 21. The two ends of the reinforcing seats 21 are perpendicularly connected to the middle of the connecting rod 18. A columnar seat 20 is provided perpendicularly at both ends of each connecting rod 18. A screw hole is provided in the middle of the connecting rod 18, and a screw 19 is provided in the screw hole.

[0038] Each connecting seat 12 has four annular seats 17 on its surface, each corresponding to a cylindrical seat 20. The cylindrical seats 20 are placed inside the annular seats 17. The two reinforcing seats 21 are connected by a fastening device. The fastening device includes screw holes in the middle of the reinforcing seats 21, and screws 19 are installed in the screw holes. The screws 19 are fastened by nuts. In specific use, when the two connecting seats 12 are... Figure 1 When placing the robot, the cylindrical bases 20 are placed inside the annular bases 17, and then the screws 19 are passed through the screw holes to fix it. The connecting frame can also be used as a handle, so the operator can carry the connecting frame to move the robot.

[0039] Based on the above embodiments, further optimizations can be made. The second nut 25 is slidably disposed on the second slide rail 26 on the side near the outer shell 10. The second slide rail 26 is disposed on the surface of the outer shell 10, which makes the reciprocating movement of the second nut 25 more stable. At the same time, the first nut 3 is slidably disposed on the first slide rail 8 on the side near the strip support arm 9. The first slide rail 8 is disposed on the surface of the strip support arm 9, which makes the reciprocating movement of the first nut 3 more stable.

[0040] Based on the above embodiments, it should be further explained that the rubber tires with tire treads on the electric wheels can play a role in preventing slippage. The rubber tires are also elastic, which can generate pressure with the inside of the pipe to prevent slippage when driving inside the pipe.

[0041] Based on the above embodiments, it should be further noted that each housing 10 is provided with a connection port and a charging port that match the umbilical cable, and the charging port and connection port are connected to the controller.

[0042] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A detachable combined pipeline inspection robot comprising two housings (10), each of which is provided with a controller and a battery pack connected to the controller, characterized in that, The four electric folding supports are symmetrically arranged on the side of the shell (10), and the ends of the electric folding supports are provided with electric wheels (1) connected with the controller. The shell (10) is coaxially provided with a connecting seat (12) at one end, and when the two connecting seats (12) are coaxially placed, the two connecting seats (12) are connected through a detachable connecting frame. The connecting frame includes two reinforcing seats (21), the two ends of the reinforcing seat (21) are respectively connected with the middle part of the connecting rod (18) perpendicularly, and the cylindrical seat (20) is vertically arranged at the two ends of each connecting rod (18). Four annular seats (17) corresponding to the cylindrical seats (20) are arranged on the surface of each connecting seat (12), and the cylindrical seats (20) are arranged in the annular seats (17), and the two reinforcing seats (21) are connected through a fastening device. An image acquisition device connected with the controller is arranged on each shell (10).

2. The detachable combined pipe inspection robot according to claim 1, wherein, The image acquisition device includes a camera (11) arranged on the end of the shell (10) away from the connecting seat (12) and on the surface of one side of the shell (10), and the camera (11) is connected with the controller.

3. The detachable combined pipe inspection robot according to claim 1, wherein, The electric folding support includes four first supports (6) arranged on the side of the shell (10) near the end of the connecting seat (12), and the end of each first support (6) is rotatably provided with a strip-shaped support arm (9), and the end of the strip-shaped support arm (9) is connected with the electric wheel (1) through the telescopic device. The strip-shaped support arm (9) is connected with the shell (10) through a lead screw transmission mechanism, and under the driving of the lead screw transmission mechanism, the strip-shaped support arm (9) can be placed at the side of the shell (10).

4. The detachable combined pipe inspection robot according to claim 3, wherein, The lead screw transmission mechanism includes a second transmission lead screw (23) arranged at the side of the shell (10), a second nut (25) is threadedly arranged on the second transmission lead screw (23), a support arm (24) is rotatably arranged on the side of the second nut (25) close to the strip-shaped support arm (9), and the support arm (24) is obliquely arranged and the other end thereof is rotatably connected with the strip-shaped support arm (9). One end of the second transmission lead screw (23) is connected with a second drive motor (22), the second drive motor (22) is connected with the controller, the second drive motor (22) is installed on the first support (6), and the other end of the second transmission lead screw (23) is rotatably connected with a second support (27), and the second support (27) is installed on the shell (10).

5. The detachable combined pipe inspection robot according to claim 4, wherein, The telescopic device includes a first transmission lead screw (4) located on the side of the strip-shaped support arm (9) away from the second transmission lead screw (23), and a first nut (3) is threadedly arranged on the first transmission lead screw (4). One end of the first transmission lead screw (4) close to the first support (6) is connected with a first drive motor (5), the first drive motor (5) is connected with the controller and installed on a first fixed seat (13), one end of the first transmission lead screw (4) away from the first drive motor (5) is rotatably connected with a second fixed seat (16), and the second fixed seat (16) and the first fixed seat (13) are connected with the strip-shaped support arm (9). A guide seat (15) is arranged at the end of the second fixed seat (16) away from the strip-shaped supporting arm (9), and at least two parallel supporting shafts (2) are movably arranged in the guide seat (15), the ends of the supporting shafts (2) close to the first supporting seat (6) are all arranged on a supporting seat (14), and the supporting seat (14) is arranged on the first nut (3); The ends of the supporting shafts (2) away from the first supporting seat (6) are connected with a mounting seat (7), and the electric wheel (1) is arranged on the mounting seat (7).

6. The detachable combined pipe inspection robot according to claim 5, wherein, The second nut (25) is slidably arranged on a second sliding rail (26) close to the side of the shell (10), and the second sliding rail (26) is arranged on the surface of the shell (10).

7. The detachable combined pipe inspection robot according to claim 5, wherein, The first nut (3) is slidably arranged on a first sliding rail (8) close to the side of the strip-shaped supporting arm (9), and the first sliding rail (8) is arranged on the surface of the strip-shaped supporting arm (9).

8. The detachable combined pipe inspection robot of claim 1, wherein, The first supporting seats (6) are symmetrically arranged at the diagonal lines of the shell (10).

9. The detachable combined pipe inspection robot of claim 1, wherein, The fastening device comprises screw holes arranged in the reinforcing seats (21), and screw rods (19) arranged in the screw holes and fastened by nuts.

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