Pipeline detection robot based on dual-motor driving

Abstract

The utility model relates to the technical field of pipeline robots, and discloses a pipeline detection robot based on dual-motor driving, which comprises a triangular block I. The inner side of the triangular block I is fixedly connected with a limiting rod, and the left side and the right side of the outer wall of the limiting rod are fixedly connected with triangular plates. Second servo motors are fixedly connected to the middles of the left side and the right side of the first triangular block, the output ends of the second servo motors penetrate through the corresponding triangular plates and are fixedly connected with lead screws, and T-shaped columns are connected to the outer walls of the lead screws in an engaged mode. According to the pipeline detection robot, a first triangular block is matched with a second servo motor to be fixed, when a sliding wheel connected to a long plate makes contact with the interior of a pipeline, the first servo motor is started to drive a rotating rod to be matched with a second bevel gear and a first bevel gear to rotate finally, and therefore it can be effectively guaranteed that in the use process of the pipeline detection robot, the pipeline detection robot can be fixed conveniently and rapidly; reasonable adjustment can be performed according to calibers of different specifications of pipelines, and daily use requirements are met.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, and in particular to a pipeline inspection robot based on dual-motor drive. Background Technology

[0002] A pipeline inspection robot is an integrated mechatronics system that can automatically walk inside or outside narrow pipes, carrying one or more sensors and operating machinery. Under the remote control of the operator and the automatic control of the computer, it performs a series of pipeline operations. It is equipped with lenses of different specifications and models, and is responsible for moving inside the pipeline and responding to the operating commands of the control system, such as moving forward, backward, turning, stopping, and adjusting speed.

[0003] Pipeline robots are automated devices that enable pipeline inspection or operation using patented technologies. Their designs encompass various structures to adapt to different pipe diameters. Common technologies include elastic telescopic arms, modular tracked travel devices, propeller reaction force drive, and wireless excitation control modes. Some patents focus on improving stability, such as the combination of symmetrical fixing mechanisms and underwater cameras. However, current robots cannot adapt to different pipe diameters, requiring frequent replacement of different robot models to match different pipes. This wastes a lot of time on equipment replacement, debugging, and transportation, resulting in low inspection efficiency and reduced equipment utilization efficiency. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a pipeline inspection robot based on dual motor drive, which aims to improve the problem that current robots cannot adapt to different diameters, requiring frequent replacement of different robot models to match different pipelines. This wastes a lot of time on equipment replacement, debugging and transportation, resulting in low inspection efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a pipeline inspection robot based on dual-motor drive, comprising a triangular block 1, with limit rods fixedly connected to the inner side of each triangular block 1, and triangular plates fixedly connected to the left and right sides of the outer wall of each limit rod. A servo motor 2 is fixedly connected to the middle of each of the left and right sides of the triangular block 1, the output end of the servo motor 2 passes through the corresponding triangular plate and is fixedly connected to a lead screw, a T-shaped column is meshed with the outer wall of the lead screw, a threaded plate is fixedly connected to the outer wall of the T-shaped column, an inclined plate is rotatably connected to the outer wall of each threaded plate, a rotating plate is rotatably connected to the outer wall of the inclined plate, a detection device is fixedly connected to the right end of the limit rod, and a moving component is provided at the other end of the rotating plate.

[0006] As a further description of the above technical solution:

[0007] The moving component includes a servo motor, the other end of which is fixedly connected to the top of the outer wall of the rotating plate. A rotating rod is fixedly connected to the output end of the servo motor, and a bevel gear is fixedly connected to the other end of the rotating rod. A bevel gear is meshed with the outer wall of the bevel gear, and a sliding wheel is fixedly connected to the other end of the bevel gear. Long plates are fixedly connected to the front and rear sides of the outer wall of the sliding wheel.

[0008] As a further description of the above technical solution:

[0009] A protective head is fixedly connected to the middle of the right end of the testing device.

[0010] As a further description of the above technical solution:

[0011] Triangular blocks are fixedly connected to the left end of each limiting rod near the edge.

[0012] As a further description of the above technical solution:

[0013] One adjacent side of the plurality of the long plates is fixedly connected to the other end of the outer wall of the rotating plate.

[0014] As a further description of the above technical solution:

[0015] The other end of the rotating plate is rotatably connected to the middle of the outer wall of the triangular plate.

[0016] As a further description of the above technical solution:

[0017] All of the aforementioned sliding wheels are positioned at the same horizontal height.

[0018] This utility model has the following beneficial effects:

[0019] 1. In this utility model, the first triangular block is fixed in conjunction with the second servo motor. Then, the second servo motor is started, which drives the lead screw, T-shaped column, and threaded plate to rotate along the outer wall. When the sliding wheel connected to the long plate contacts the inside of the pipe, the first servo motor is started to drive the rotating rod, which rotates in conjunction with the second bevel gear and the first bevel gear. This, along with the rotation of the sliding wheel on one side, allows the inspection equipment to inspect the inner wall of the pipe. Therefore, this invention effectively ensures that the pipe inspection robot can be reasonably adjusted according to the different diameters of the pipes during use, improving the usage effect and meeting daily usage needs. Attached Figure Description

[0020] Figure 1 This is a front perspective view of the pipeline inspection robot based on dual-motor drive proposed in this utility model;

[0021] Figure 2This is a partial structural diagram of the pipeline inspection robot based on dual-motor drive proposed in this utility model;

[0022] Figure 3 This is a partial structural diagram of the pipeline inspection robot based on dual-motor drive proposed in this utility model;

[0023] Figure 4 This is a partial structural exploded view of the pipeline inspection robot based on dual-motor drive proposed in this utility model;

[0024] Figure 5 This is a partial structural diagram of the pipeline inspection robot based on dual-motor drive proposed in this utility model.

[0025] Legend:

[0026] 1. Triangle plate; 2. Servo motor one; 3. Rotating rod; 4. Detection equipment; 5. Protective head; 6. Servo motor two; 7. Limiting rod; 8. Triangle block one; 9. Rotating plate; 10. Inclined plate; 11. Long plate; 12. Pulley; 13. Triangle block two; 14. Bevel gear one; 15. Bevel gear two; 16. Lead screw; 17. T-shaped column; 18. Threaded plate. Detailed Implementation

[0027] 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.

[0028] Please see the appendix Figure 1 - Appendix Figure 3 An embodiment of this utility model provides a pipeline inspection robot based on dual motor drive, including a triangular block 8. A limit rod 7 is fixedly connected to the inner side of the triangular block 8. Triangular plates 1 are fixedly connected to the left and right sides of the outer wall of the limit rod 7. Servo motors 6 are fixedly connected to the middle of the left and right sides of the triangular block 8. The output end of the servo motor 6 passes through the corresponding triangular plate 1 and is fixedly connected to a lead screw 16. A T-shaped column 17 is meshed with the outer wall of the lead screw 16. A threaded plate 18 is fixedly connected to the outer wall of the T-shaped column 17. An inclined plate 10 is rotatably connected to the outer wall of the threaded plate 18. A rotating plate 9 is rotatably connected to the outer wall of the inclined plate 10. A detection device 4 is fixedly connected to the right end of the limit rod 7. A moving component is provided at the other end of the rotating plate 9. A triangular block 13 is fixedly connected to the left end of the limit rod 7 near the edge.

[0029] Specifically, the triangular block 8 serves as an important support and connecting component in the entire mechanical structure. Servo motors 6 are firmly fixed to the middle of both its left and right sides. The servo motor 6 is a high-precision control device. The output end of the servo motor 6 passes through the corresponding triangular plate 1 to install bearings and ensure the smooth rotation of the output shaft of the servo motor 6. The T-shaped column 17 is a transmission component, which better adapts to the transmission of the lead screw 16 and subsequent connection requirements. The inner wall of the T-shaped column 17 has a threaded hole that matches the thread of the lead screw 16. When the lead screw 16 rotates under the drive of the servo motor 6, the T-shaped column 17 will move linearly along the axis of the lead screw 16. The rotational connection between the threaded plate 18 and the inclined plate 10 is realized, so that the inclined plate 10 can rotate at a certain angle relative to the threaded plate 18. The fixed connection between the limit rod 7 and the detection device 4 may adopt a threaded connection to ensure a firm connection between the two.

[0030] Please see the appendix Figure 3 - Appendix Figure 5 The moving component includes a servo motor 2, the other end of which is fixedly connected to the top of the outer wall of the rotating plate 9. The output end of the servo motor 2 is fixedly connected to a rotating rod 3. The other end of the rotating rod 3 is fixedly connected to a bevel gear 15. The outer wall of the bevel gear 15 is meshed with a bevel gear 14. The other end of the bevel gear 14 is fixedly connected to a sliding wheel 12. The front and rear sides of the outer wall of the sliding wheel 12 are fixedly connected to long plates 11. The middle of the right end of the detection device 4 is fixedly connected to a protective head 5. The adjacent side of the multiple long plates 11 is fixedly connected to the other end of the outer wall of the rotating plate 9. The other end of the rotating plate 9 is rotatably connected to the middle of the outer wall of the triangular plate 1. The multiple sliding wheels 12 are all set at the same horizontal height.

[0031] Specifically, the servo motor 12 serves as the power source for the entire system, providing high-precision control. The other end of the rotating rod 3 is fixedly connected to a bevel gear 15, which is a type of gear capable of transmitting power in the vertical direction to ensure smooth meshing with bevel gear 14. Bevel gear 14 is also manufactured using high-precision gear processing technology to ensure the meshing performance and service life of the two. The long plate 11 not only connects the sliding wheel 12 and the rotating plate 9, but also moves the long plate 11 when the sliding wheel 12 rotates under the drive of bevel gear 14, causing the rotating plate 9 to rotate around the rotation connection point between it and the middle of the outer wall of the triangular plate 1.

[0032] Working principle: When pipeline inspection is required, firstly, triangular block 8 is fixed in conjunction with servo motor 6. Then, servo motor 6 is started, which drives screw 16, T-shaped column 17, and threaded plate 18 to rotate along the outer wall. Simultaneously, limit rod 7 limits the rotation, ensuring that threaded plate 18 travels horizontally. At this time, rotating plate 9 connected to inclined plate 10 rotates along the outer wall of triangular block 1, thus adjusting according to the size of the inner wall of the pipeline. When sliding wheel 12 connected to long plate 11 contacts the inside of the pipeline, the servo motor 2 is started, driving rotating rod 3 to rotate in conjunction with bevel gear 15 and bevel gear 14. This, combined with the rotation of sliding wheel 12 on one side, pushes for limit adjustment. Finally, the inspection device 4 is used to inspect the inner wall of the pipeline. Therefore, the pipeline inspection robot can be reasonably adjusted according to different pipe diameters during use, improving the usage effect and meeting daily usage needs.

[0033] 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 inspection robot based on dual-motor drive, comprising a triangular block (8), characterized in that: The inner side of each triangular block (8) is fixedly connected to a limiting rod (7). The left and right sides of the outer wall of the limiting rod (7) are fixedly connected to triangular plates (1). The middle of the left and right sides of each triangular block (8) is fixedly connected to a servo motor (6). The output end of the servo motor (6) passes through the corresponding triangular plate (1) and is fixedly connected to a lead screw (16). The outer wall of the lead screw (16) is meshed with a T-shaped column (17). The outer wall of the T-shaped column (17) is fixedly connected to a threaded plate (18). The outer wall of the threaded plate (18) is rotatably connected to an inclined plate (10). The outer wall of the inclined plate (10) is rotatably connected to a rotating plate (9). The right end of the limiting rod (7) is fixedly connected to a detection device (4). The other end of the rotating plate (9) is provided with a moving component.

2. The pipeline inspection robot based on dual-motor drive according to claim 1, characterized in that: The moving component includes a servo motor (2), the other end of which is fixedly connected to the top of the outer wall of the rotating plate (9). The output end of the servo motor (2) is fixedly connected to a rotating rod (3). The other end of the rotating rod (3) is fixedly connected to a bevel gear (15). The outer wall of the bevel gear (15) is meshed with a bevel gear (14). The other end of the bevel gear (14) is fixedly connected to a sliding wheel (12). The front and rear sides of the outer wall of the sliding wheel (12) are both fixedly connected to long plates (11).

3. The pipeline inspection robot based on dual-motor drive according to claim 1, characterized in that: A protective head (5) is fixedly connected to the middle of the right end of the testing device (4).

4. The pipeline inspection robot based on dual-motor drive according to claim 1, characterized in that: Triangular blocks (13) are fixedly connected to the left end of the limiting rod (7) near the edge.

5. The pipeline inspection robot based on dual-motor drive according to claim 2, characterized in that: One adjacent side of each of the long plates (11) is fixedly connected to the other end of the outer wall of the rotating plate (9).

6. The pipeline inspection robot based on dual-motor drive according to claim 1, characterized in that: The other end of the rotating plate (9) is rotatably connected to the middle of the outer wall of the triangular plate (1).

7. The pipeline inspection robot based on dual-motor drive according to claim 2, characterized in that: All of the aforementioned sliding wheels (12) are set at the same horizontal height.

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