High-pressure-resistant oil and gas pipeline detection robot

Abstract

The utility model relates to the technical field of pipeline detection, and discloses a high-pressure-resistant oil and gas pipeline detection robot which comprises a supporting box, a double-head motor is fixedly connected to the inner wall of the supporting box, an adjusting mechanism is arranged at the output end of the left side of the double-head motor, and a cleaning mechanism is arranged at the output end of the right side of the double-head motor. The cleaning mechanism is used for cleaning, auxiliary mechanisms are arranged on the front side and the rear side of the supporting box correspondingly, and moving mechanisms are arranged on the front sides and the rear sides of the auxiliary mechanisms correspondingly. The adjusting mechanism comprises a protective cover. According to the device, the asynchronous motor is started, the driving wheel and the crawler belt are driven to move along the inner wall of the pipeline, the left output end of the double-end motor is started, so that the sleeves on the two sides get close to each other and get away from each other, when the sleeves get close to each other, the U-shaped plates move outwards, and when the sleeves get away from each other, the U-shaped plates on the two sides move inwards; and the function of detecting pipelines with different sizes is achieved.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to a high-pressure oil and gas pipeline inspection robot. Background Technology

[0002] High-pressure oil and gas pipelines, as critical infrastructure for oil and gas transportation, have a complex structure. Traditionally, the main body of the pipeline is mostly made of steel pipe, with pipe sections connected by welding and an anti-corrosion layer installed on the outer wall. With the increasing pressure requirements for oil and gas transportation and the promotion of energy conservation and emission reduction policies, pipelines are developing towards higher steel grades and thinner pipe walls. However, higher steel grades and thinner pipe walls bring many challenges. Simply relying on increasing the steel grade to reduce costs is becoming increasingly difficult. In crude oil transportation, heat treatment is used for high-viscosity and high-pour-point crude oil, but steel media has poor heat insulation capabilities, resulting in serious energy consumption. Furthermore, the external anti-corrosion coating of the pipeline only acts on the outer surface of the pipe material, which is easily damaged during construction and backfilling, greatly shortening the service life of the pipe material and causing incalculable losses to the project. Therefore, high-pressure oil and gas pipeline inspection robots have emerged.

[0003] High-pressure oil and gas pipeline inspection robots generally consist of a mechanical structure, a drive system, a control system, and a sensor system. Traditional inspection robots have limited sensor performance, making it difficult to accurately detect minute cracks and microscopic defects inside pipeline materials. Due to limitations in sensor resolution and sensitivity, some early and minor damage cannot be detected in time, leading to an inaccurate assessment of the pipeline's actual condition. To address this shortcoming, existing technologies utilize multiple sensors to accurately detect corrosion on the pipeline's inner wall, identifying potential corrosion hazards early and enabling timely repair measures to reduce the risk of pipeline leaks caused by corrosion. However, existing technologies cannot inspect pipelines of different diameters, resulting in low practicality, and they cannot clean pipelines, leading to low efficiency. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a high-pressure resistant oil and gas pipeline inspection robot, which aims to improve the problem that the existing technology cannot inspect pipelines of different diameters.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a high-pressure oil and gas pipeline inspection robot, including a support box, a dual-head motor fixedly connected to the inner wall of the support box, an adjustment mechanism provided at the left output end of the dual-head motor, a cleaning mechanism provided at the right output end of the dual-head motor, the cleaning mechanism being used for cleaning, auxiliary mechanisms provided at both the front and rear of the support box, and moving mechanisms provided at both the front and rear sides of the auxiliary mechanisms.

[0006] The adjustment mechanism includes a protective cover, the right side of which is fixedly connected to the left side of the dual-head motor, and a camera is fixedly connected to the left side of the protective cover. A moving component is provided at the left output end of the dual-head motor, and a rotating component is provided on the outer wall of the moving component.

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

[0008] The cleaning mechanism includes a rotating shaft, the left side of which is fixedly connected to the output end of a dual-head motor. Multiple slide rails are provided on the outer wall of the rotating shaft, and a slide rod is slidably connected to the top of each slide rail. Multiple brush assemblies are provided on the outer wall of the rotating shaft, and an adsorption assembly is provided on the right side of the outer wall of the rotating shaft.

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

[0010] The moving component includes a bidirectional threaded rod, the output end of the dual-head motor is fixedly connected to the inner wall of the bidirectional threaded rod, and a sleeve is threadedly connected to the outer wall of the bidirectional threaded rod. Multiple rotating components are provided on the outer wall of the sleeve.

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

[0012] The rear rotating assembly includes a first rotating plate, the front side of which is rotatably connected to the outer wall of the sleeve, and a second rotating plate is rotatably connected to the rear side of the first rotating plate.

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

[0014] The brush assembly includes connecting posts, and multiple connecting posts are fixedly connected to the outer wall of the rotating shaft. A brush head is fixedly connected to the right side of each connecting post.

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

[0016] The adsorption assembly includes an adsorption ball, the left side of which is fixedly connected to the right side of the rotating shaft, and a plurality of short columns are fixedly connected to the outer wall of the adsorption ball.

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

[0018] The auxiliary mechanism includes a sliding column one, and the front and rear sides of the support box are fixedly connected to the sliding column one. The inner wall of the front sliding column one is slidably connected to a sliding column two, and the front and rear sides of the sliding column two are provided with a moving mechanism.

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

[0020] The moving mechanism includes a U-shaped plate, the front and rear sides of which are fixedly connected to the front and rear sides of the sliding column two. An asynchronous motor is fixedly connected to the bottom of the inner wall of the U-shaped plate. A drive wheel is fixedly connected to the output end of the asynchronous motor. A track is rotatably connected to the outer wall of the drive wheel. A driven wheel is rotatably connected to the left inner wall of the track.

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

[0022] 1. In this utility model, by turning on the asynchronous motor, the drive wheel and track move along the inner wall of the pipe, and at the same time, the front and rear side structures of the support box move. Turning on the left output end of the double-headed motor causes the left and right sides of the bidirectional threaded rod to rotate in opposite directions, causing the sleeves on both sides to move closer and further away from each other. When they move closer, rotating plate one rotates, and rotating plate two causes the U-shaped plate to move outward, while sliding column one slides outward. Similarly, when they move further away, the U-shaped plates on both sides move inward, thus achieving the function of detecting pipes of different sizes and enhancing practicality.

[0023] 2. In this utility model, by turning on the dual-head motor on the right side, the rotating shaft drives multiple connecting columns to rotate. At the same time, the brush head cleans the inner wall, and the short columns adsorb odors and impurities in the pipe. When different pipe diameters need to be cleaned, the slide bar is slid to the right, causing multiple brush heads to retract. Conversely, when the slide bar is slid to the left, multiple brush heads open, thus achieving the function of cleaning pipes of different diameters and enhancing the maintenance effect. Attached Figure Description

[0024] Figure 1 This is a perspective view of the front track of the high-pressure oil and gas pipeline inspection robot proposed in this utility model.

[0025] Figure 2 This is a partial structural disassembly diagram of the support box of the high-pressure oil and gas pipeline inspection robot proposed in this utility model.

[0026] Figure 3 This is a partial structural diagram of the dual-head motor of the high-pressure oil and gas pipeline inspection robot proposed in this utility model;

[0027] Figure 4 This is a partial structural diagram of the slide rail of the high-pressure oil and gas pipeline inspection robot proposed in this utility model.

[0028] Figure 5 This is a schematic diagram of the short column structure of the high-pressure oil and gas pipeline inspection robot proposed in this utility model.

[0029] Legend:

[0030] 1. Support box; 2. Adjustment mechanism; 201. Protective cover; 202. Camera; 203. Moving component; 2031. Bidirectional threaded rod; 2032. Sleeve; 204. Rotating component; 2041. Rotating plate one; 2042. Rotating plate two; 3. Cleaning mechanism; 301. Rotating shaft; 302. Slide rail; 303. Slide rod; 304. Brush assembly; 3041. Connecting column; 3042. Brush head; 305. Adsorption assembly; 3051. Adsorption ball; 3052. Short column; 4. Dual-head motor; 5. Auxiliary mechanism; 501. Sliding column one; 502. Sliding column two; 6. Moving mechanism; 601. U-shaped plate; 602. Asynchronous motor; 603. Drive wheel; 604. Track; 605. Driven wheel. 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 3 An embodiment of this utility model provides a high-pressure oil and gas pipeline inspection robot, including a support box 1. A dual-head motor 4 is fixedly connected to the inner wall of the support box 1. An adjustment mechanism 2 is provided at the left output end of the dual-head motor 4. The adjustment mechanism 2 is used to adjust the position and angle of related components to adapt to different pipeline inspection scenarios. A cleaning mechanism 3 is provided at the right output end of the dual-head motor 4. The cleaning mechanism 3 is used for cleaning. Auxiliary mechanisms 5 are provided at both the front and rear of the support box 1. The auxiliary mechanisms 5 play a role in auxiliary support and adjustment to ensure the stability of the robot's movement in the pipeline. Moving mechanisms 6 are provided at both the front and rear sides of the auxiliary mechanisms 5.

[0033] The adjustment mechanism 2 includes a protective cover 201. The right side of the protective cover 201 is fixedly connected to the left side of the dual-head motor 4. A camera 202 is fixedly connected to the left side of the protective cover 201. The camera 202 is used to capture images of the inside of the pipe, providing operators with an intuitive view of the inside of the pipe, making it easier to detect problems in the pipe in a timely manner. A moving component 203 is provided at the left output end of the dual-head motor 4, and a rotating component 204 is provided on the outer wall of the moving component 203.

[0034] Specifically, the support box 1 serves as the main load-bearing structure of the entire robot. A dual-head motor 4 is fixedly connected to its inner wall. The dual-head motor 4 provides power to multiple functional modules of the robot. An adjustment mechanism 2 is located at the left output end of the dual-head motor 4, and a cleaning mechanism 3 is located at the right output end. The main function of the cleaning mechanism 3 is to clean the inner wall of the pipe, removing impurities and dirt adhering to it, ensuring the cleanliness of the inner wall and facilitating subsequent inspection work. Moving mechanisms 6 are located on both the front and rear sides of the auxiliary mechanism 5. The moving mechanisms 6 are key components enabling the robot to move within the pipe; their operation drives the entire robot to move within the pipe. The section mechanism 2 includes a protective cover 201. The right side of the protective cover 201 is fixedly connected to the left side of the dual-head motor 4. The protective cover 201 can protect the internal components from the harsh environment inside the pipeline, such as high pressure and corrosive gases. A camera 202 is fixedly connected to the left side of the protective cover 201. A moving component 203 is provided at the left output end of the dual-head motor 4. The moving component 203 moves the relevant components through its own movement. A rotating component 204 is provided on the outer wall of the moving component 203. The rotating component 204 can make the relevant components rotate, thereby adjusting their angle to better adapt to the complex environment inside the pipeline and improve the accuracy and comprehensiveness of the detection.

[0035] Please see the appendix Figure 4 - Appendix Figure 5 The cleaning mechanism 3 includes a rotating shaft 301. The left side of the rotating shaft 301 is fixedly connected to the output end of the dual-head motor 4. Multiple slide rails 302 are provided on the outer wall of the rotating shaft 301. A slide rod 303 is slidably connected to the top of each slide rail 302. The slide rod 303 can slide within the slide rail 302 to adjust the distance between the cleaning components and the inner wall of the pipe, adapting to the cleaning needs of pipes with different diameters. Multiple brush assemblies 304 are provided on the outer wall of the rotating shaft 301. An adsorption assembly 305 is provided on the right side of the outer wall of the rotating shaft 301. Each brush assembly 304 includes a connecting post 3041. Multiple brush assemblies 304 are fixedly connected to the outer wall of the rotating shaft 301. The connecting column 3041 has a brush head 3042 fixedly connected to its right side. The brush head 3042 is the part that directly contacts the inner wall of the pipe for cleaning. Its shape and material can be designed according to the actual situation of the inner wall of the pipe to achieve the best cleaning effect. The adsorption component 305 includes an adsorption ball 3051. The left side of the adsorption ball 3051 is fixedly connected to the right side of the rotating shaft 301. Multiple short columns 3052 are fixedly connected to the outer wall of the adsorption ball 3051. The short columns 3052 further increase the adsorption capacity of the adsorption ball 3051, and can also play a certain role in blocking some larger impurities.

[0036] Specifically, the cleaning mechanism 3 includes a rotating shaft 301. The left side of the rotating shaft 301 is fixedly connected to the output end of the dual-head motor 4. The dual-head motor 4 drives the rotating shaft 301 to rotate, thereby driving the entire cleaning mechanism 3 to operate. Multiple slide rails 302 are provided on the outer wall of the rotating shaft 301, providing tracks for the sliding rod 303. Multiple brush assemblies 304 are provided on the outer wall of the rotating shaft 301. The brush assemblies 304 directly contact the inner wall of the pipe and clean the inner wall of the pipe by rotating. An adsorption assembly is provided on the right side of the outer wall of the rotating shaft 301. 305, the adsorption component 305 can adsorb dust and impurities generated during the cleaning process, preventing them from flying in the pipe and affecting the cleaning effect and subsequent inspection. The brush component 304 includes connecting posts 3041. Multiple connecting posts 3041 are fixedly connected to the outer wall of the rotating shaft 301. The connecting posts 3041 play a role in connection and support. The adsorption component 305 includes adsorption balls 3051. The left side of the adsorption ball 3051 is fixedly connected to the right side of the rotating shaft 301. The adsorption ball 3051 has a large surface area, which can increase the area for adsorbing dust and impurities.

[0037] Please see the appendix Figure 2 - Appendix Figure 3 The moving component 203 includes a bidirectional threaded rod 2031. The output end of the dual-head motor 4 is fixedly connected to the inner wall of the bidirectional threaded rod 2031. A sleeve 2032 is threadedly connected to the outer wall of the bidirectional threaded rod 2031. Multiple rotating components 204 are provided on the outer wall of the sleeve 2032. The sleeve 2032 rotates while moving, driving related components to adjust their angles. The rear rotating component 204 includes a first rotating plate 2041. The front side of the first rotating plate 2041 is rotatably connected to the outer wall of the sleeve 2032. The rear side of the first rotating plate 2041 is rotatably connected to a second rotating plate 2042.

[0038] Specifically, the moving component 203 includes a bidirectional threaded rod 2031. The output end of the dual-head motor 4 is fixedly connected to the inner wall of the bidirectional threaded rod 2031. The dual-head motor 4 drives the bidirectional threaded rod 2031 to rotate. A sleeve 2032 is threadedly connected to the outer wall of the bidirectional threaded rod 2031. When the bidirectional threaded rod 2031 rotates, the sleeve 2032 moves on the bidirectional threaded rod 2031 due to the thread action, thereby realizing the position adjustment of related components. The rear rotating component 204 includes a first rotating plate 2041. The front side of the first rotating plate 2041 is rotatably connected to the outer wall of the sleeve 2032. The first rotating plate 2041 can rotate around the connection point with the sleeve 2032. A second rotating plate 2042 is rotatably connected to the rear side of the first rotating plate 2041. The second rotating plate 2042 and the first rotating plate 2041 can rotate relative to each other. Through this rotating connection method, multi-angle adjustment of related components can be realized to adapt to the complex environment inside the pipeline.

[0039] Please see the appendix Figure 1 - Appendix Figure 2 The auxiliary mechanism 5 includes a sliding column 501. The front and rear sides of the support box 1 are fixedly connected to the sliding column 501. The inner wall of the front sliding column 501 is slidably connected to a sliding column 502. The sliding column 502 can slide inside the sliding column 501 to adjust the overall length of the auxiliary mechanism 5 to adapt to pipes of different diameters. The front and rear sides of the sliding column 502 are provided with a moving mechanism 6. The moving mechanism 6 includes a U-shaped plate 601. The front and rear sides of the U-shaped plate 601 are fixedly connected to the front and rear sides of the sliding column 502. The bottom of the inner wall of the U-shaped plate 601 is fixedly connected to an asynchronous motor 602. The asynchronous motor 602 is the power source of the moving mechanism 6. The output end of the asynchronous motor 602 is fixedly connected to a drive wheel 603. The outer wall of the drive wheel 603 is rotatably connected to a track 604. The left inner wall of the track 604 is rotatably connected to a driven wheel 605. The driven wheel 605 plays a supporting and guiding role, so that the track 604 can run smoothly, thereby driving the robot to move in the pipe.

[0040] Specifically, the auxiliary mechanism 5 includes a sliding column 501. The front and rear sides of the support box 1 are fixedly connected to the sliding column 501, which serves as a support and connection. A moving mechanism 6 is provided on both the front and rear sides of the sliding column 502. The moving mechanism 6 provides power for the robot's movement within the pipe. The moving mechanism 6 includes a U-shaped plate 601, whose front and rear sides are fixedly connected to the front and rear sides of the sliding column 502. The U-shaped plate 601 provides a mounting base for other components of the moving mechanism 6. A drive wheel 603 is fixedly connected to the output end of the asynchronous motor 602, which drives the drive wheel 603 to rotate. A track 604 is rotatably connected to the outer wall of the drive wheel 603, and the track 604 rotates under the drive of the drive wheel 603. A driven wheel 605 is rotatably connected to the left inner wall of the track 604.

[0041] Working principle: By turning on the asynchronous motor 602, the drive wheel 603 and the track 604 move along the inner wall of the pipe, and at the same time, the front and rear structures of the support box 1 move. Turning on the left output end of the double-headed motor 4 causes the left and right sides of the bidirectional threaded rod 2031 to rotate in opposite directions, causing the sleeves 2032 on both sides to move closer and further away from each other. When they move closer, the rotating plate 1 2041 rotates, and the rotating plate 2042 causes the U-shaped plate 601 to move outward, while the sliding column 501 slides outward. Similarly, when they move further away, the U-shaped plates 601 on both sides move inward, thus achieving the function of detecting pipes of different sizes and enhancing practicality.

[0042] By activating the dual-head motor 4 on the right, the rotating shaft 301 drives multiple connecting columns 3041 to rotate. At the same time, the brush head 3042 cleans the inner wall, and the short column 3052 adsorbs odors and impurities in the pipe. When cleaning different pipe diameters is required, the slide bar 303 is slid to the right, causing the multiple brush heads 3042 to retract. Conversely, when the slide bar 303 is slid to the left, the multiple brush heads 3042 open, achieving the function of cleaning pipes of different diameters and enhancing the maintenance effect.

[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. High pressure oil and gas pipeline inspection robot comprising a support box (1), characterized in that: A dual-head motor (4) is fixedly connected to the inner wall of the support box (1). An adjustment mechanism (2) is provided at the left output end of the dual-head motor (4), and a cleaning mechanism (3) is provided at the right output end of the dual-head motor (4). The cleaning mechanism (3) is used for cleaning. An auxiliary mechanism (5) is provided at both the front and rear of the support box (1). A moving mechanism (6) is provided at both the front and rear sides of the auxiliary mechanism (5). The adjustment mechanism (2) includes a protective cover (201). The right side of the protective cover (201) is fixedly connected to the left side of the dual-head motor (4). A camera (202) is fixedly connected to the left side of the protective cover (201). A moving component (203) is provided at the left output end of the dual-head motor (4). A rotating component (204) is provided on the outer wall of the moving component (203).

2. The high pressure oil and gas pipeline inspection robot of claim 1, wherein: The cleaning mechanism (3) includes a rotating shaft (301), the left side of which is fixedly connected to the output end of a dual-head motor (4), the outer wall of the rotating shaft (301) is provided with multiple slide rails (302), the top of the slide rails (302) is slidably connected with a slide rod (303), the outer wall of the rotating shaft (301) is provided with multiple brush assemblies (304), and the right side of the outer wall of the rotating shaft (301) is provided with an adsorption assembly (305).

3. The high pressure oil and gas pipeline inspection robot of claim 1, wherein: The moving component (203) includes a bidirectional threaded rod (2031), the output end of the dual-head motor (4) is fixedly connected to the inner wall of the bidirectional threaded rod (2031), and a sleeve (2032) is threadedly connected to the outer wall of the bidirectional threaded rod (2031). Multiple rotating components (204) are provided on the outer wall of the sleeve (2032).

4. The high pressure oil and gas pipeline inspection robot of claim 3, wherein: The rear rotating assembly (204) includes a first rotating plate (2041), the front side of which is rotatably connected to the outer wall of the sleeve (2032), and a second rotating plate (2042) is rotatably connected to the rear side of the first rotating plate (2041).

5. The high pressure oil and gas pipeline inspection robot of claim 2, wherein: The brush assembly (304) includes a connecting post (3041), and a plurality of connecting posts (3041) are fixedly connected to the outer wall of the rotating shaft (301). A brush head (3042) is fixedly connected to the right side of the connecting post (3041).

6. The high pressure oil and gas pipeline inspection robot of claim 2, wherein: The adsorption assembly (305) includes an adsorption ball (3051), the left side of which is fixedly connected to the right side of the rotating shaft (301), and a plurality of short columns (3052) are fixedly connected to the outer wall of the adsorption ball (3051).

7. The high pressure oil and gas pipeline inspection robot of claim 1, wherein: The auxiliary mechanism (5) includes a sliding column one (501), and the front and rear sides of the support box (1) are fixedly connected to the sliding column one (501). The inner wall of the front sliding column one (501) is slidably connected to a sliding column two (502), and the front and rear sides of the sliding column two (502) are provided with a moving mechanism (6).

8. The high pressure oil and gas pipeline inspection robot of claim 7, wherein: Said mobile mechanism (6) includes U-shaped board (601), the front and back sides of U-shaped board (601) are fixedly connected with the front and back sides of sliding column two (502), the inner wall bottom of U-shaped board (601) is fixedly connected with asynchronous motor (602), the output of asynchronous motor (602) is fixedly connected with driving wheel (603), the outer wall of driving wheel (603) is rotatably connected with track (604), the left side inner wall of track (604) is rotatably connected with driven wheel (605).

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