Pipeline inner wall detection robot

Abstract

The utility model relates to the technical field of pipeline detection, and discloses a pipeline inner wall detection robot, which comprises a fixed cover, a moving mechanism is arranged at the bottom of the fixed cover close to the edge, the moving mechanism is used for walking, and a dismounting mechanism is arranged at the bottom of the fixed cover close to the middle. The dismounting mechanism is used for dismounting, a detection mechanism is arranged at the bottom of the fixing cover, a clamping mechanism is arranged on the outer wall of the fixing cover, a second fixing plate is fixedly connected to the top of the fixing cover, a power mechanism is arranged at the bottom of the second fixing plate, and the moving mechanism comprises a supporting column. According to the pipeline detection device, the bolt pushes the chuck to extrude the pipeline inwards until the pipeline is clamped, the arc wall is pressed at the moment, meanwhile, the traveling wheels can be tightly attached to the inner wall of the pipeline, and the infrared detection head can detect the inner wall, so that the pipeline detection device can adapt to pipelines of different specifications and sizes for detection.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to a pipeline inner wall inspection robot. Background Technology

[0002] Pipelines are systems composed of pipes, fittings, and valves used to transport fluids and loose solid materials. They are widely used in energy, chemical, and municipal industries. Based on their application, they can be divided into oil and gas pipelines, industrial pipelines, and municipal pipelines. Based on their material, they can be divided into metal pipelines, plastic pipelines, and composite pipelines. Pipeline transportation is an indispensable part of modern infrastructure. It is efficient, continuous, and safe. Compared with road and rail transportation, pipeline transportation is less affected by natural conditions, enabling uninterrupted transportation around the clock. It also has low energy consumption and less pollution, making it particularly suitable for long-distance transportation. Furthermore, pipeline transportation is highly concealed and safe. Intelligent monitoring systems can monitor the transportation status in real time, promptly detecting leaks, corrosion, and other problems, ensuring a stable and reliable transportation process. It is a crucial mode of energy and material transportation.

[0003] Pipeline internal wall inspection robots are intelligent devices specifically designed for detecting defects inside pipelines. Equipped with high-definition cameras, ultrasonic thickness gauges, and eddy current sensors, they can replace manual labor by entering narrow, confined, and hazardous pipeline interiors to accurately detect and analyze pipe wall corrosion, cracks, deformation, and scaling. The inspection results are transmitted to operators in real time via data transmission, greatly improving inspection efficiency and accuracy. However, during inspection, the robot often needs to move within the pipeline for better inspection. With technological advancements, a suitable walking mechanism is crucial for its stable operation, requiring it to meet requirements such as pipe diameter adaptation, obstacle crossing, and smooth movement. The design must consider different working conditions, achieving efficient movement on smooth inner walls while also being able to overcome complex obstacles, and ensuring long endurance with limited energy. Wheeled mechanisms are simple in structure and highly efficient in movement, suitable for large-diameter smooth pipes. Tracked mechanisms have strong traction and excellent obstacle-crossing ability, and can cope with silt and complex environments. Spiral mechanisms are specifically designed for liquid-filled pipes, relying on spiral propulsion. Bionic mechanisms mimic biological movement and flexibly adapt to small-diameter or curved pipes. However, such walking mechanisms often can only be adapted to a single type of pipe and cannot inspect pipes of various specifications, thus increasing costs and reducing inspection efficiency. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a pipe inner wall inspection robot, which aims to improve the problem that the existing walking mechanism can only be adapted to a single type of pipe and cannot inspect pipes of various specifications, thereby increasing costs and reducing inspection efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a pipe inner wall inspection robot, comprising a fixed cover, a motion mechanism provided at the bottom near the edge of the fixed cover for walking, a disassembly mechanism provided at the bottom near the middle of the fixed cover for disassembly, an inspection mechanism provided at the bottom of the fixed cover, a clamping mechanism provided on the outer wall of the fixed cover, a fixed plate two fixedly connected to the top of the fixed cover, and a power mechanism provided at the bottom of the fixed plate two;

[0006] The motion mechanism includes a support column, the top of which is slidably connected to the outer wall of the fixed cover, the bottom of which is slidably connected to a fixed cylinder, the outer wall of which is slidably connected to multiple limiting columns, the outer wall of which is slidably connected to a spring, a walking component is provided on the outward side of each of the multiple limiting columns, and a ring is slidably connected between adjacent limiting columns.

[0007] As a further description of the above technical solution:

[0008] The disassembly mechanism includes multiple fixing plates, each of which is fixedly connected to the bottom of the outer wall of the support column. An annular sleeve is slidably connected to the outer wall of each fixing plate. The outer wall of each annular sleeve has multiple circular holes, and the inner wall of each annular sleeve has multiple square grooves. A buckle assembly is provided on the outer wall of the annular sleeve.

[0009] As a further description of the above technical solution:

[0010] The walking assembly includes multiple arc-shaped walls, each of which is fixedly connected to the outer wall of a limiting post. Each arc-shaped wall is rotatably connected to multiple traveling wheels, and each arc-shaped wall is fixedly connected to multiple connecting plates at its upper and lower ends.

[0011] As a further description of the above technical solution:

[0012] The buckle assembly includes a locking post, the outer wall of which is slidably connected to the inner wall of the circular hole, and a threaded cap is threadedly connected to the rear side of the locking post.

[0013] As a further description of the above technical solution:

[0014] The detection mechanism includes a connecting column, the top of which is fixedly connected to the bottom of the fixed cylinder, and an infrared detection head is fixedly connected to the bottom of the connecting column.

[0015] As a further description of the above technical solution:

[0016] The clamping mechanism includes bolts, the outer wall of which is threadedly connected to the outer wall of the fixing cover, and clamps are fixedly connected between adjacent bolts.

[0017] As a further description of the above technical solution:

[0018] The power mechanism includes a cylinder. The cylinder is fixedly connected to the bottom of the second fixed plate near the middle, and a push rod is fixedly connected to the output end of the cylinder.

[0019] As a further description of the above technical solution:

[0020] The inner wall of each ring is fixedly connected with multiple fixing blocks, which are used for fixed support. The bottom of the fixing cover is slidably connected with a pipe.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, the pipe is first placed at the bottom of the fixed cover, and then the bolt is rotated. At this time, the bolt will move along the outer wall of the fixed cover, and at the same time, the bolt will push the clamp to squeeze the pipe inward until the pipe is clamped. Then, the arc wall is pressed, and the arc wall will drive the limiting post to move into the inside of the fixed cylinder, while squeezing the spring to deform it. At the same time, the traveling wheel will be in close contact with the inner wall of the pipe, and the infrared detection head will detect the inner wall, thus realizing the function of being able to detect pipes of different specifications and sizes.

[0023] 2. In this utility model, when a faulty part needs to be replaced, the threaded cap is first unscrewed. At this time, the threaded cap will leave the retaining post, and the retaining post can leave the annular sleeve. Then, the support post and the fixing plate are removed from the square groove in the annular sleeve. Then, the new part is installed along the support post and the fixing plate, which realizes the function of quickly replacing the part when a fault occurs. Attached Figure Description

[0024] Figure 1 This is a front perspective view of a pipe inner wall inspection robot proposed in this utility model;

[0025] Figure 2 This is a partial structural breakdown diagram of the support column of a pipeline inner wall inspection robot proposed in this utility model;

[0026] Figure 3 This is a partial structural breakdown diagram of the annular sleeve of a pipeline inner wall inspection robot proposed in this utility model;

[0027] Figure 4 This is a partial exploded view of the annular structure of a pipe inner wall inspection robot proposed in this utility model;

[0028] Figure 5 This is a partial structural breakdown of the arc-shaped wall of a pipeline inner wall inspection robot proposed in this utility model.

[0029] Legend:

[0030] 1. Fixed cover; 2. Motion mechanism; 201. Support column; 202. Fixed cylinder; 203. Limiting column; 204. Spring; 205. Walking assembly; 2051. Arc wall; 2052. Traveling wheel; 206. Ring; 3. Disassembly mechanism; 301. Circular hole; 302. Fixed plate one; 303. Square groove; 304. Annular sleeve; 305. Buckle assembly; 3051. Threaded cap; 3052. Clamping post; 4. Detection mechanism; 401. Connecting column; 402. Infrared detection head; 5. Clamping mechanism; 501. Clamp; 502. Bolt; 6. Power mechanism; 601. Cylinder; 602. Push rod; 7. Fixed plate two; 8. Connecting plate; 9. Fixed block; 10. Pipe. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Please see the appendix Figure 1 Appendix Figure 4 and attached Figure 5 An embodiment of this utility model provides a pipe inner wall inspection robot, including a fixed cover 1, a motion mechanism 2 is provided at the bottom of the fixed cover 1 near the edge, the motion mechanism 2 is used for walking, a disassembly mechanism 3 is provided at the bottom of the fixed cover 1 near the middle, the disassembly mechanism 3 is used for disassembly, an inspection mechanism 4 is provided at the bottom of the fixed cover 1, a clamping mechanism 5 is provided on the outer wall of the fixed cover 1, a fixed plate 7 is fixedly connected to the top of the fixed cover 1, and a power mechanism 6 is provided at the bottom of the fixed plate 7.

[0033] The motion mechanism 2 includes a support column 201. The top of the support column 201 is slidably connected to the outer wall of the fixed cover 1. The bottom of the support column 201 is slidably connected to a fixed cylinder 202. The outer wall of the fixed cylinder 202 is slidably connected to multiple limiting columns 203. The outer wall of the limiting columns 203 is slidably connected to a spring 204. A walking component 205 is provided on the outward side of each of the multiple limiting columns 203. A ring 206 is slidably connected between adjacent limiting columns 203. The walking component 205 includes multiple arc walls 2051. The adjacent arc walls 2051 are fixedly connected to the outer wall of the limiting columns 203. Multiple traveling wheels 2052 are rotatably connected to the outer wall of each arc wall 2051. Multiple connecting plates 8 are fixedly connected to the upper and lower ends of the arc walls 2051.

[0034] Specifically, the device uses a fixed cover 1 as its core component, with a motion mechanism 2 arranged near the edge of its bottom to provide mobility for the entire device. A dedicated disassembly mechanism 3 is located in the middle of the bottom of the fixed cover 1. Through its ingenious structural design and linkage device, it can quickly and conveniently complete the disassembly of related components, significantly improving operational efficiency. The bottom of the fixed cover 1 is also equipped with a detection mechanism 4, which is used to monitor various parameters of the working environment and target object in real time. The clamping mechanism 5 installed on its outer wall can firmly grasp and fix the object, ensuring the stability of the operation. At the top of the fixed cover 1, a fixed plate 7 is firmly fixedly connected, and the bottom of the fixed plate 7 is equipped with a power mechanism 6. This mechanism serves as the power source for the entire device, providing stable and sufficient power support for the operation of other mechanisms. The top of the support column 201 is connected to the outer wall of the fixed cover 1 with a high-precision sliding connection, ensuring that it can move flexibly and remain stable during movement. Its bottom is slidably connected to the fixed cylinder 202, forming a retractable base structure. Multiple limiting columns 203 are evenly distributed on the outer wall of the fixed cylinder 202. These limiting columns 203 not only limit the movement range of the components, but also cooperate with the spring 204 to play a role in buffering and shock absorption. When the device moves on uneven ground, the spring 204 can effectively alleviate vibration and protect the internal mechanism. Each limiting column 203 is equipped with a walking component 205 on one side. A ring 206 is also slidably connected between adjacent limiting columns 203. The ring 206 can help adjust the spacing of the limiting columns 203 to adapt to different terrain conditions. The walking component 205 is composed of multiple arc-shaped walls 2051. The arc-shaped walls 2051 are tightly fixed to the outer wall of the limiting post 203 in pairs to form a stable support structure. Multiple traveling wheels 2052 are evenly distributed on the outer wall of the arc-shaped wall 2051. These traveling wheels 2052 are connected by high-precision rotation and can roll freely under various ground conditions. At the same time, multiple connecting plates 8 are fixedly connected to the upper and lower ends of the arc-shaped walls 2051. The connecting plates 8 are used to further strengthen the connection between the walking component 205 and other components to ensure the reliability and stability of the entire motion mechanism 2.

[0035] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 3 The disassembly mechanism 3 includes multiple fixing plates 302. Each of the multiple fixing plates 302 is fixedly connected to the bottom of the outer wall of the support column 201. An annular sleeve 304 is slidably connected to the outer wall of the fixing plate 302. Multiple circular holes 301 are opened on the outer wall of the annular sleeve 304. Multiple square grooves 303 are opened on the inner wall of the annular sleeve 304. A buckle assembly 305 is provided on the outer wall of the annular sleeve 304. The buckle assembly 305 includes a buckle post 3052. The outer wall of the buckle post 3052 is slidably connected to the inner wall of the circular hole 301. A threaded cap 3051 is threadedly connected to the rear side of the buckle post 3052.

[0036] Specifically, the disassembly mechanism 3 includes a support column 201, on which multiple fixing plates 302 are evenly distributed and fixedly connected at the bottom outer wall. These fixing plates 302 are arranged radially, providing a stable support foundation for the entire disassembly mechanism 3. A slidable annular sleeve 304 is fitted onto the outer side of the fixing plates 302. The annular sleeve 304 and the fixing plates 302 slide smoothly through a precision slide rail structure, ensuring accurate alignment and application of stable force during disassembly. Multiple circular holes 301 are evenly formed on the outer wall of the annular sleeve 304. These circular holes 301 match the outer diameter of the locking pins 3052 in the snap-fit ​​assembly 305, forming a sliding fit. Multiple square grooves 303 are also formed on the inner wall of the annular sleeve 304. These grooves are used to engage with protruding structures on the component to be disassembled, providing necessary friction and torque transmission during disassembly. To ensure the annular sleeve 304 and the... The relative positions of the fixing plates 302 are stable. A snap-fit ​​assembly 305 is provided on the outer wall of the annular sleeve 304. The core component of the snap-fit ​​assembly 305 is the snap-fit ​​post 3052, whose outer wall is precisely slidably connected to the inner wall of the circular hole 301, ensuring that there will be no jamming during insertion and removal. The snap-fit ​​post 3052 has an external thread on its rear side, which is threadedly connected to the threaded cap 3051. When it is necessary to fix the annular sleeve 304, the snap-fit ​​post 3052 is inserted into the circular hole 301 and penetrates to the corresponding hole in the fixing plate 302. Then, the threaded cap 3051 is tightened. Through the self-locking property of the thread, the snap-fit ​​post 3052 tightly pulls the annular sleeve 304 and the fixing plate 302, forming a solid connection structure. After the disassembly operation is completed, the snap-fit ​​post 3052 can be easily pulled out by simply rotating the threaded cap 3051 in the opposite direction, releasing the locking state and allowing the annular sleeve 304 to slide freely, preparing for the next disassembly operation.

[0037] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 4The detection mechanism 4 includes a connecting column 401, the top of which is fixedly connected to the bottom of the fixed cylinder 202, and an infrared detection head 402 is fixedly connected to the bottom of the connecting column 401. The clamping mechanism 5 includes a bolt 502, the outer wall of which is threadedly connected to the outer wall of the fixed cover 1, and a clamp 501 is fixedly connected between adjacent bolts 502.

[0038] Specifically, the detection mechanism 4 consists of a connecting column 401 and an infrared detection head 402. The top of the connecting column 401 is tightly connected to the bottom of the fixed cylinder 202, providing support. The bottom of the connecting column 401 is fixedly connected to the infrared detection head 402, which scans and detects the surrounding environment. The clamping mechanism 5 consists of bolts 502 and chucks 501. Several bolts 502 are distributed on the outer wall of the fixed cover 1 and are tightly engaged with the fixed cover 1 through threads. A chuck 501 is connected between every two adjacent bolts 502. These chucks 501 are shaped like open crab claws and have fine textures on their surfaces to increase friction and ensure that objects will not easily fall off during the gripping process, providing strong clamping protection for various operations of the device.

[0039] Please see the appendix Figure 1 and attached Figure 2 The power mechanism 6 includes a cylinder 601. The cylinder 601 is fixedly connected to the bottom of the fixed plate 2 7 near the middle. The output end of the cylinder 601 is fixedly connected to a push rod 602. Multiple fixing blocks 9 are fixedly connected to the inner wall of the ring 206. The fixing blocks 9 are used for fixed support. The bottom of the fixed cover 1 is slidably connected to a pipe 10.

[0040] Specifically, the power mechanism 6 consists of a cylinder 601 and a push rod 602. The cylinder 601 is fixed to the center area of ​​the bottom of the fixed plate 7, and its output end is connected to the push rod 602 to transmit the linear motion of the cylinder 601 to the actuator. The other end of the push rod 602 is connected to a fixing block 9 on the inner wall of the ring 206. The fixing block 9 provides support for the ring 206 and transmits power. The fixing blocks 9 are evenly distributed along the circumference of the inner wall of the ring 206 to ensure force balance. The bottom of the fixed cover 1 is provided with a slidingly connected pipe 10, which is used to transport the working medium, such as compressed air, to provide a power source for the cylinder 601.

[0041] Working principle: First, place the pipe 10 at the bottom of the fixed cover 1, then rotate the bolt 502. At this time, the bolt 502 will move along the outer wall of the fixed cover 1, and at the same time, the bolt 502 will push the clamp 501 to squeeze the pipe 10 inward until the pipe 10 is clamped. At this time, press the arc wall 2051, and then the arc wall 2051 will drive the limit post 203 to move into the fixed cylinder 202, while squeezing the spring 204 to deform it. At the same time, the traveling wheel 2052 will be in close contact with the inner wall of the pipe 10. Then, start the cylinder 601. At this time, the cylinder 601 will drive the push rod 602 to push downward, and at the same time, the traveling wheel 2052 will rotate and move downward along the inner wall of the pipe 10. At the same time, the infrared detection head 402 will detect the inner wall, realizing the function of detecting pipes 10 of different specifications and sizes.

[0042] When a faulty part needs to be replaced, first unscrew the threaded cap 3051. At this time, the threaded cap 3051 will disengage from the retaining post 3052, and the retaining post 3052 can disengage from the annular sleeve 304. Then, the support post 201 will drive the fixing plate 302 to be removed from the square groove 303 in the annular sleeve 304. Then, the new part will be installed along the support post 201 and the fixing plate 302, and the retaining post 3052 and the threaded cap 3051 will be screwed on. This achieves the function of quickly replacing parts when a fault occurs.

[0043] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present 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 the present utility model should be included within the protection scope of the present utility model.

Claims

1. A pipeline inner wall inspection robot comprising a fixing cover (1), characterized in that: The bottom of the fixed cover (1) is provided with a motion mechanism (2) near the edge, which is used for walking. The bottom of the fixed cover (1) is provided with a disassembly mechanism (3) near the middle, which is used for disassembly. The bottom of the fixed cover (1) is provided with a detection mechanism (4). The outer wall of the fixed cover (1) is provided with a clamping mechanism (5). The top of the fixed cover (1) is fixedly connected with a second fixed plate (7). The bottom of the second fixed plate (7) is provided with a power mechanism (6). The motion mechanism (2) includes a support column (201), the top of which is slidably connected to the outer wall of the fixed cover (1), the bottom of which is slidably connected to a fixed cylinder (202), the outer wall of which is slidably connected to multiple limiting columns (203), the outer wall of which is slidably connected to a spring (204), the outer wall of which is slidably connected to a walking component (205) on the outward side of each of the multiple limiting columns (203), and a ring (206) slidably connected between adjacent of the multiple limiting columns (203).

2. The pipe inner wall inspection robot according to claim 1, characterized in that: The disassembly mechanism (3) includes multiple fixing plates (302), and each of the multiple fixing plates (302) is fixedly connected to the bottom of the outer wall of the support column (201). The outer wall of the fixing plate (302) is slidably connected to an annular sleeve (304). The outer wall of the annular sleeve (304) is provided with multiple circular holes (301), and the inner wall of the annular sleeve (304) is provided with multiple square grooves (303). The outer wall of the annular sleeve (304) is provided with a buckle assembly (305).

3. The pipe inner wall inspection robot according to claim 1, characterized in that: The walking assembly (205) includes multiple arc-shaped walls (2051), and each of the multiple arc-shaped walls (2051) is fixedly connected to the outer wall of the limiting post (203). Each arc-shaped wall (2051) is rotatably connected to multiple traveling wheels (2052), and each arc-shaped wall (2051) is fixedly connected to multiple connecting plates (8) at its upper and lower ends.

4. The pipe inner wall inspection robot according to claim 2, characterized in that: The buckle assembly (305) includes a snap post (3052), the outer wall of which is slidably connected to the inner wall of the circular hole (301), and a threaded cap (3051) is threadedly connected to the rear side of the snap post (3052).

5. The pipe inner wall inspection robot according to claim 1, characterized in that: The detection mechanism (4) includes a connecting column (401), the top of which is fixedly connected to the bottom of the fixed cylinder (202), and an infrared detection head (402) is fixedly connected to the bottom of the connecting column (401).

6. The pipe inner wall inspection robot according to claim 1, characterized in that: The clamping mechanism (5) includes a bolt (502), the outer wall of which is threadedly connected to the outer wall of the fixing cover (1), and a clamp (501) is fixedly connected between adjacent bolts (502).

7. The pipe inner wall inspection robot according to claim 1, characterized in that: The power mechanism (6) includes a cylinder (601), and the cylinder (601) is fixedly connected to the bottom of the fixed plate (7) near the middle. A push rod (602) is fixedly connected to the output end of the cylinder (601).

8. The pipe interior inspection robot of claim 1, wherein: The inner wall of the circular ring (206) is fixedly connected with a plurality of fixed blocks (9), the fixed blocks (9) are used for fixing and supporting, and the bottom of the fixed cover (1) is slidably connected with a pipeline (10).

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