Pipeline robot capable of walking along line
By setting up a swing arm with physical contact on the pipeline robot to monitor the difference in rotation angle, the problem of the robot deviating from the center in the bending pipe scenario is solved, and efficient and reliable pipeline inspection is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-25
- Publication Date
- 2026-03-24
AI Technical Summary
Existing pipeline robots are prone to deviating from the center of the pipeline in curved pipe scenarios, and the accuracy of non-contact probes is reduced when covered by silt, leading to driving errors.
Two swing arms are used to physically contact the two sides of the pipeline. The difference in the rotation angle of the swing arms is monitored. The robot returns to the center of the pipeline by differential speed control, and the driving status is monitored by physical contact.
It improves the accuracy and reliability of the robot's movement in pipelines, reduces false alarms and wear, and adapts to pipelines of different diameters.
Smart Images
Figure CN224033357U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of pipeline detection, and specifically relates to a pipeline robot capable of walking along a line. BACKGROUND
[0002] In order to improve the utilization rate of land resources, the state construction department usually buries various types of conveying pipelines, such as natural gas, oil, chemical, power, and metallurgical industrial pipelines, underground. In order to maintain the normal operation of the pipeline, it is generally necessary to detect the damage, blockage, and other problems in the pipeline through various means. The traditional method is to dig the pipeline for manual inspection, which is low in work efficiency, and manual methods have certain difficulties for narrow pipeline space. Therefore, it is necessary to use a pipeline detection robot.
[0003] At present, some pipeline robots have a straight-line function, but in the context of a curved pipe, the robot is prone to deviating from the center of the pipeline. For this reason, related patents measure the distance between the body and the inner wall of the pipeline through non-contact probes (such as laser ranging, sound wave ranging, etc.) installed on the left and right sides of the robot, determine the deviation of the body, and automatically control the robot to adjust its movement trajectory to ensure that the body can always walk along the center of the pipeline. However, there is silt inside the pipeline, which will affect the accuracy of the ranging when the silt covers the non-contact probe, and errors are likely to occur. SUMMARY
[0004] Based on the above description, the utility model provides a pipeline robot capable of walking along a line, which is physically contacted with the two sides of the pipeline by setting two swing arms, and the rotation angles of the two swing arms are monitored respectively. When the robot is in the center of the pipeline, the rotation angles of the two swing arms are the same, and when the robot deviates, the rotation angles of the swing arms on both sides have a difference value. The yaw value of the robot and the center line of the pipeline can be obtained through the difference value of the rotation angles of the swing arms on both sides, so as to control the robot to return to the center of the pipeline.
[0005] The technical scheme for solving the above technical problems is as follows: a pipeline robot capable of walking along a line, comprising a robot body, a visual detection mechanism, and two swing arm detection mechanisms, the visual detection mechanism is installed on the robot body; the swing arm detection mechanism comprises a swing arm, a rotating shaft, and an angle sensor; the rotating shaft is vertically arranged, the swing arm is rotatably connected to the robot body through the rotating shaft, and the two swing arms are symmetrically extended from the left and right sides of the robot body and are respectively used to abut against the inner walls of the two sides of the pipeline, and the angle sensor is used to detect the rotation angle of the swing arm.
[0006] On the basis of the above technical scheme, the utility model can also be improved as follows.
[0007] Further, two bearing seats are symmetrically arranged on the top of the robot body, the rotating shaft is rotatably connected with the bearing seats through bearings, and the swing arm is connected with the top of the rotating shaft.
[0008] Further, the bottom of the rotating shaft is sleeved with a limiting sleeve, and the limiting sleeve and the rotating shaft are connected through a flat key; a first limiting baffle is arranged on one side of the bottom of the limiting sleeve, and a second limiting baffle is arranged on the inner wall of the top of the robot body; a torsional spring is further sleeved on the bottom of the rotating shaft, one end of the torsional spring abuts against the first limiting baffle, and the other end of the torsional spring abuts against the second limiting baffle.
[0009] Further, the bottom of the first limiting baffle is provided with a torsional spring anti-falling baffle abutting against the bottom of the torsional spring.
[0010] Further, the angle sensor is an encoder, and the encoder is connected with the bottom of the rotating shaft through a shaft coupling.
[0011] Further, the visual detection mechanism comprises a detection camera, and the detection camera is connected with the top of the robot body through a lifting support.
[0012] Further, two walking mechanisms are symmetrically arranged on the left and right sides of the robot body; each walking mechanism comprises a gear box and at least two driving wheels, at least two column gears are arranged in the gear box, the column gears are meshed with each other, so that the driving wheels on the same side are sequentially connected, and two driving mechanisms are further arranged in the robot body, and the two driving mechanisms are used for driving the walking mechanisms on the two sides.
[0013] Further, the driving mechanism comprises a speed reducer and a transmission half shaft, and the speed reducer and the transmission half shaft are connected through meshed bevel gears; and two transmission half shafts are connected with any one column gear on the same side.
[0014] Compared with the prior art, the technical scheme has the following beneficial technical effects:
[0015] 1. The two swing arms are in physical contact with the pipeline on both sides, and the rotation angles of the two swing arms are monitored, respectively, when the robot is in the center of the pipeline, the rotation angles of the two swing arms are the same, when the robot deviates, the rotation angles of the swing arms on both sides have a difference value, the yaw value of the robot and the center line of the pipeline can be obtained through the difference value of the rotation angles of the swing arms on both sides, so that the robot can be controlled to return to the center of the pipeline.
[0016] 2. The driving state of the robot is monitored through the physical contact mode, compared with the existing non-contact probe, the method is more reliable, and is not easy to damage and misreport.
[0017] 3、 The embodiment has simple structure, can adapt to different pipe diameters, and is suitable for popularization and use. BRIEF DESCRIPTION OF DRAWINGS
[0018] Figure 1 A structure schematic diagram of a pipeline robot capable of line patrol walking is provided for the embodiment of the utility model;
[0019] Figure 2 As Figure 1 Another view of the structure schematic diagram;
[0020] Figure 3 An explosion schematic diagram of the swing arm detection mechanism in the embodiment of the utility model;
[0021] Figure 4 An installation mode schematic diagram of the swing arm detection mechanism in the embodiment of the utility model;
[0022] Figure 5 As Figure 4 Another view of the structure schematic diagram;
[0023] Figure 6 An installation mode schematic diagram of the walking mechanism and the driving mechanism in the embodiment of the utility model;
[0024] Figure 7 A connection mode schematic diagram of the walking mechanism and the driving mechanism in the embodiment of the utility model;
[0025] In the drawings, the component list represented by each sign is as follows:
[0026] 1, robot body; 11, bearing seat; 12, second limit baffle; 2, visual detection mechanism; 21, detection camera; 22, lifting support; 23, cable joint; 3, swing arm detection mechanism; 31, swing arm; 32, rotating shaft; 33, shaft coupling; 34, encoder; 35, roller; 36, bearing; 37, flat key; 38, limit sleeve; 381, first limit baffle; 382, torsional spring anti-falling baffle; 39, torsional spring; 4, walking mechanism; 41, driving wheel; 42, fault wheel; 43, gear box; 44, column gear; 5, driving mechanism; 51, speed reducer motor; 52, transmission half shaft; 53, bevel gear. DETAILED DESCRIPTION
[0027] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the related drawings. The embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.
[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing particular embodiments only and is not intended to be limiting of the application.
[0029] It will be understood that the spatially relative terms "beneath", "below", "lower", "under", "above", "upper" and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device is inverted or rotated by 90 degrees, the descriptions of "below" or "under" or "beneath" an element or feature can be interpreted as "above" or "over" the element or feature, respectively. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can also be oriented in other ways (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
[0030] A pipeline robot capable of line inspection walking includes a robot body 1, a visual detection mechanism 2, two swing arms 31 detection mechanisms 3, two walking mechanisms 4 and two driving mechanisms 5.
[0031] The visual detection mechanism 2 includes a detection camera 21 connected to the top front side of the robot body 1 through a lifting bracket 22. The lifting bracket 22 lifts the detection camera 21 to a certain height, which is used for line inspection inside the pipeline. The rear side of the detection camera 21 is provided with a cable joint 23 for reading the inspection data of the detection camera 21.
[0032] The swing arm 31 detection mechanism 3 includes a swing arm 31, a rotating shaft 32 and an angle sensor. The top left and right sides of the robot body 1 are symmetrically provided with two bearing seats 11, and the rotating shaft 32 is vertically arranged. The two rotating shafts 32 are respectively rotatably connected to the two bearing seats 11 through bearings 36. The two ends of the bearing seat 11 are also provided with a retainer, which presses the bearing 36 tightly in the bearing seat 11.
[0033] The two swing arms 31 are horizontally arranged, and one end of each of the two swing arms 31 is connected to the top end of the two rotating shafts 32 through a cross shaft connecting block, so as to realize the rotatable connection of the swing arm 31 and the robot body 1. The other end of each of the two swing arms 31 symmetrically extends from the left and right sides of the robot body 1 and is used for abutting against the inner walls of the two sides of the pipeline. In this embodiment, the end of the swing arm 31 extending out of the robot body 1 is rotatably provided with a roller 35, so that the swing arm 31 and the inner wall of the pipeline are rollingly matched through the roller 35, which can reduce the abrasion of the swing arm 31.
[0034] The bottom of the rotating shaft 32 is sleeved with a limiting sleeve 38, and the rotating shaft 32 and the limiting sleeve 38 are connected through a flat key 37, so that the limiting sleeve 38 rotates synchronously with the rotating shaft 32. A first limiting baffle wall 381 is arranged at the bottom of one side of the limiting sleeve 38, and a second limiting baffle wall 12 is arranged on the inner wall of the top of the robot body 1. The bottom of the rotating shaft 32 is also sleeved with a torsional spring 39, one end of the torsional spring 39 abuts against the first limiting baffle wall 381, and the other end of the torsional spring 39 abuts against the second limiting baffle wall 12. A torsional spring anti-falling baffle wall 382 is arranged at the bottom of the first limiting baffle wall 381, and abuts against the bottom of the torsional spring 39, so as to prevent the torsional spring 39 from falling downward.
[0035] In the embodiment, the angle sensor is an encoder 34, which is arranged in the interior of the robot body 1 and is connected to the bottom of the rotating shaft 32 through a shaft coupling 33. Preferably, the shaft coupling 33 can be a hollow rotating electromagnet.
[0036] In the embodiment, the torsional spring 39 is arranged to press the swing arm 31, so that the two swing arms 31 are kept in physical contact with the two sides of the pipeline, and the rotation angles of the two swing arms 31 are monitored through the two encoders 34 respectively. When the robot is in the center of the pipeline, the rotation angles of the two swing arms 31 are the same. When the robot deviates, the rotation angles of the two swing arms 31 on the two sides have a difference, and the yaw value of the robot relative to the center line of the pipeline can be obtained through the difference between the rotation angles of the two swing arms 31.
[0037] The two walking mechanisms 4 and the two driving mechanisms 5 are arranged on the left and right sides of the robot body 1 respectively, and the same side walking mechanism 4 is controlled through the two driving mechanisms 5 respectively. When the robot deviates, the driving mechanisms 5 on the two sides control the walking mechanisms 4 on the two sides to walk at different speeds, so as to change the walking direction of the robot through differential control, so as to control the robot to return to the center of the pipeline.
[0038] Specifically, each side walking mechanism 4 includes a gear box 43 and at least two drive wheels 41. In the embodiment, each side walking mechanism 4 includes two drive wheels 41 and a failure wheel 42, and the two drive wheels 41 are arranged on the front and rear sides of the failure wheel 42. At least two column gears 44 are arranged in the gear box 43, and the column gears 44 are meshed with each other, so that the drive wheels 41 and the failure wheel 42 on the same side are connected in sequence.
[0039] The driving mechanism 5 includes a speed reducer motor 51 and a transmission half shaft 52, and the speed reducer motor 51 and the transmission half shaft 52 are connected through meshing bevel gears 53. The two transmission half shafts 52 are connected to any one column gear 44 on the same side.
[0040] The embodiment monitors the running state of the robot through physical contact, is more reliable than the prior non-contact probe, and is not easy to be damaged and misreported.
[0041] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A pipeline robot capable of following a pipeline path, characterized in that, The system includes a robot body, a vision inspection mechanism, and two swing arm inspection mechanisms. The vision inspection mechanism is mounted on the robot body. Each swing arm inspection mechanism includes a swing arm, a rotating shaft, and an angle sensor. The rotating shaft is vertically arranged, and the swing arm is rotatably connected to the robot body through the rotating shaft. The two swing arms extend symmetrically from the left and right sides of the robot body and are used to abut against the inner walls of the pipe on both sides. The angle sensor is used to detect the rotation angle of the swing arm.
2. The pipeline robot capable of following a pipeline path according to claim 1, characterized in that, The robot body has two bearing seats symmetrically arranged on the top left and right sides. The rotating shaft is rotatably connected to the bearing seats through the bearings, and the swing arm is connected to the top of the rotating shaft.
3. A pipeline robot capable of following a pipeline path according to claim 2, characterized in that, A limiting sleeve is fitted at the bottom of the rotating shaft, and the limiting sleeve and the rotating shaft are connected by a flat key; a first limiting wall is provided on one bottom side of the limiting sleeve, and a second limiting wall is provided on the top inner wall of the robot body; a torsion spring is also fitted at the bottom of the rotating shaft, one end of the torsion spring abuts against the first limiting wall, and the other end of the torsion spring abuts against the second limiting wall.
4. A pipeline robot capable of following a pipeline path according to claim 3, characterized in that, The bottom of the first limiting barrier is provided with a torsion spring anti-disengagement barrier, which abuts against the bottom of the torsion spring.
5. A pipeline robot capable of following a pipeline path according to claim 2, characterized in that, The angle sensor is an encoder, and the encoder is connected to the bottom of the rotating shaft via a coupling.
6. A pipeline robot capable of following a pipeline path according to claim 1, characterized in that, The visual inspection mechanism includes a detection camera, which is connected to the top of the robot body via a lifting bracket.
7. A pipeline robot capable of following a pipeline path according to claim 1, characterized in that, The robot body has two walking mechanisms symmetrically arranged on its left and right sides; each walking mechanism includes a gearbox and at least two drive wheels, and the gearbox contains at least two spur gears that mesh with each other so that the drive wheels on the same side are connected in sequence; the robot body also has two drive mechanisms, which are used to drive the walking mechanisms on both sides.
8. A pipeline robot capable of following a pipeline path according to claim 7, characterized in that, Each drive mechanism includes a geared motor and a transmission half-shaft, and the geared motor and the transmission half-shaft are connected by meshing bevel gears; the two transmission half-shafts are connected to any one of the spur gears on the same side.