Multi-degree-of-freedom machine vision pipeline elbow inspection robot

Abstract

The utility model discloses a multi-degree-of-freedom machine vision pipeline elbow inspection robot, relates to pipeline inspection technical field, including first support plate and second support plate, the first support plate is located the outside of second support plate and is symmetrically provided with three first mounting plate, the right side of first support plate is hinged with three sets of first connecting rod, the right side of second support plate is hinged with three sets of second connecting rod. Three groups of second connecting rods are hinged to the left side of each second supporting plate, moving wheels are arranged on the outer sides of the first mounting plates, three mounting sleeves are fixedly mounted on the left side of each first supporting plate, a detection end is arranged on the left side of each first supporting plate, and a camera is connected and mounted at each detection end to form a multi-degree-of-freedom rotating structure. The multi-degree-of-freedom machine vision pipeline elbow inspection robot can achieve high-definition shooting of pitching by + / -90 degrees and rotating by 360 degrees at the elbow, detection blind areas are reduced, the robot is suitable for automatic inspection of oil and gas pipelines, water supply and drainage pipelines and the like, and the detection efficiency and safety are improved.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, specifically a multi-degree-of-freedom machine vision pipeline bend inspection robot. Background Technology

[0002] Pipeline inspection robots are intelligent devices used for internal inspection of industrial pipelines. Equipped with cameras, sensors, and other devices, they autonomously move within the pipeline and collect data. Their bodies often employ a modular design, relying on tracked, wheeled, or helical drive structures to traverse complex terrains such as bends and inclines. The equipment can monitor pipeline defects such as corrosion, cracks, and blockages in real time, simultaneously transmitting images and data to a terminal system. It supports 3D modeling and defect analysis. Modern inspection robots integrate AI recognition technology, automatically marking damage locations. They are widely used in the periodic maintenance of oil and gas, water supply and drainage, and chemical pipelines, replacing manual labor in confined spaces and improving inspection efficiency and safety. However, existing pipeline inspection robots still have certain problems in use:

[0003] For example, the pipeline inspection robot with application number 202422156731.7 has the following technical solution: it includes an installation platform, with ultrasonic detectors symmetrically fixed on both sides above the installation platform. Circular holes are symmetrically opened on both sides of the installation platform, and rubber sleeves are fixedly installed inside the circular holes. A sleeve is fitted inside the rubber sleeve, and threaded holes are opened through the top and bottom of the sleeve. An adjusting rod is threadedly connected to the threaded hole, and an ultrasonic probe is fixedly connected to the lower end of the adjusting rod. An adjusting gear is fixedly installed at the upper end of the adjusting rod. An adjustable platform is hinged above the installation platform, and an inspection camera is fixedly installed above the adjustable platform. An adjustable-height travel component is fixedly installed above the installation platform. However, in the existing technology, when the inspection robot encounters a pipe bend, it is difficult to flexibly adjust its posture and detection angle, resulting in blind spots in image acquisition of key areas such as welds and corrosion at the bend, affecting the comprehensiveness of the inspection. In addition, most inspection robots have fixed external dimensions and cannot adapt to changes in pipe diameter. In complex pipe networks, when facing pipes with changing diameters or narrow pipe sections, there is a risk of jamming.

[0004] In view of this, in-depth research was conducted on the above issues, which led to the creation of this case.

[0005] To address the aforementioned issues, an innovative design was developed based on the existing pipeline inspection robot. Utility Model Content

[0006] The purpose of this invention is to provide a multi-degree-of-freedom machine vision pipeline bend inspection robot to solve the problems mentioned in the background art, such as the inability to acquire images of pipeline bend positions with multiple degrees of freedom and the inability to adapt to changes in pipe diameter.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A multi-degree-of-freedom machine vision pipeline bend inspection robot includes a first support plate and a second support plate. The first support plate is located to the left of the second support plate, and three sliding rods are symmetrically connected at the middle edge of the first and second support plates. Three first mounting plates are symmetrically arranged on the outer sides of both the first and second support plates. Three sets of first connecting rods are hinged to the right side of the first support plate, and three sets of second connecting rods are hinged to the left side of the second support plate. The first and second connecting rods are hinged to the left and right sides of the first mounting plates. The outer side of each first mounting plate is provided with a moving wheel. Three mounting sleeves are fixedly installed on the left side of each first support plate, and the mounting sleeves are installed at an angle to the left side of the first support plate. A detection end is provided on the left side of the first support plate, and a camera is connected to the detection end to form a multi-degree-of-freedom rotation structure.

[0009] Preferably, four spring shock absorbers are connected to the outer side of the first mounting plate, and a travel drive box is connected to the outer side of each spring shock absorber. The travel drive box is externally connected to a control device, and the travel drive box is connected to four moving wheels.

[0010] Using the above technical solution, the first mounting plate is connected to the travel drive box through a spring shock absorber, which can absorb the vibration caused by the unevenness of the inner wall of the pipe, so that the moving wheel maintains stable contact with the pipe wall. When traveling in pipes of different diameters, the vibration amplitude is reduced, avoiding image blurring caused by bumps.

[0011] Preferably, a first servo motor is fixedly installed on the right side of the second support plate, and the first servo motor is controlled by a remote controller. A first threaded rod is connected to the left output end of the first servo motor, and the left side of the first threaded rod is rotatably connected to the right side of the first support plate.

[0012] Using the above technical solution, the first servo motor drives the first threaded rod to rotate, and through the linkage of the triangular plate and the third connecting rod, the distance between the first mounting plate and the inner wall of the pipe can be adjusted, so that the robot can adapt to changes in pipe diameter and solve the jamming problem of traditional fixed-size robots.

[0013] Preferably, a triangular plate is threadedly connected to the outer side of the first threaded rod, and the triangular plates are all slidably connected to the outer side of the slide rod. The three sides of the triangular plates are all hinged to a third connecting rod, and the third connecting rod is hinged to the middle position of the second connecting rod.

[0014] Using the above technical solution, the triangular plate slides on the slide bar and pushes the second link through the third link, so that the moving wheel is evenly pressed against the pipe wall. At the bend, the robot's central axis can be kept consistent with the curvature of the pipe, ensuring that the contact pressure between the moving wheel and the pipe wall is uniform and avoiding slippage.

[0015] Preferably, a second servo motor is fixedly installed on the right side of each mounting sleeve, and the second servo motor is controlled by a remote controller. A second threaded rod is connected to the left output end of each second servo motor, and the left end of the second threaded rod is rotatably connected to the left side of the inside of the mounting sleeve.

[0016] Using the above technical solution, the second servo motor drives the second threaded rod to rotate, causing the moving block to slide in the outer groove of the mounting sleeve. The angle of the rotating head is adjusted by the fourth connecting rod, so that the camera at the detection end can achieve ±90° pitch and 360° rotation, eliminating the detection blind spot at the bend.

[0017] Preferably, each of the second threaded rods is threadedly connected to a movable block on its outer side, and each movable block is slidably connected to a sliding groove on the outer side of the mounting sleeve, and each movable block is hinged to a fourth connecting rod on its outer side.

[0018] Using the above technical solution, the moving block pushes the rotating head to rotate in the circular groove of the second mounting plate through the fourth connecting rod, so that the detection end can adjust the shooting angle with an accuracy of 0.1°, and can clearly capture weld details at pipe bends, thus improving the defect recognition rate.

[0019] Preferably, each of the fourth connecting rods has a rotating head on its left side, and the rotating head is rotatably connected to the second mounting plate. Each of the second mounting plates has three circular grooves on its right side, and the rotating head is rotatably connected to the inside of the circular grooves.

[0020] Using the above technical solution, the rotating head can rotate freely in the circular groove of the second mounting plate. With the linkage of the fourth link, the detection end can simultaneously acquire 360° images of the inner wall of the pipe, improving the coverage of a single detection and reducing the number of repeated detections.

[0021] Compared with existing technologies, the beneficial effects of this utility model are: this multi-degree-of-freedom machine vision pipeline bend inspection robot,

[0022] 1. Multi-degree-of-freedom adaptive pipe diameter and elbow detection: By adjusting the support plate spacing through a triangular plate driven by the first servo motor, the robot can adaptively deform in pipes with diameters of 50-200mm. The moving wheels evenly abut against the pipe wall through a linkage mechanism, and the passing radius error at a 90° elbow is ≤5mm. The detection end achieves multi-degree-of-freedom adjustment of ±90° pitch and 360° rotation through the linkage of the second servo motor and the fourth linkage. At elbows, it can perform all-round high-definition imaging of welds and corrosion areas, reducing blind spots.

[0023] 2. Vibration-damping drive and precise attitude control: The spring shock absorber ensures stable contact between the moving wheel and the rough pipe wall, with a travel speed of up to 0.5m / s and a vibration amplitude of <0.1mm, ensuring clear images. The multi-degree-of-freedom connection between the second mounting plate and the rotating head, combined with the remotely controlled servo motor, allows the detection end to be precisely aligned with any position on the inner wall of the pipe. It automatically adjusts the shooting angle at bends, achieving precise location and quantitative analysis of defects, and improving detection efficiency compared to traditional equipment. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall left side structure of this utility model;

[0025] Figure 2 This is a schematic diagram of the overall right side structure of this utility model;

[0026] Figure 3 This is a schematic diagram of the walking drive box structure of this utility model;

[0027] Figure 4 This is a schematic diagram of the mounting sleeve structure of this utility model;

[0028] Figure 5 This is a schematic diagram of the triangular plate connection structure of this utility model.

[0029] In the diagram: 1. First support plate; 2. Second support plate; 3. Slide rod; 4. First connecting rod; 5. Second connecting rod; 6. First mounting plate; 7. Spring shock absorber; 8. Walking drive box; 9. Moving wheel; 10. First servo motor; 11. First threaded rod; 12. Triangular plate; 13. Third connecting rod; 14. Mounting sleeve; 15. Second servo motor; 16. Second threaded rod; 17. Moving block; 18. Fourth connecting rod; 19. Rotating head; 20. Second mounting plate; 21. Detector end. Detailed Implementation

[0030] 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.

[0031] Please see Figure 1-5 This utility model provides a technical solution:

[0032] A multi-degree-of-freedom machine vision pipeline bend inspection robot includes a first support plate 1 and a second support plate 2. The first support plate 1 is located to the left of the second support plate 2, and three sliding rods 3 are symmetrically connected at the middle edge of the first support plate 1 and the second support plate 2. Three first mounting plates 6 are symmetrically arranged on the outer sides of the first support plate 1 and the second support plate 2. Three sets of first connecting rods 4 are hinged to the right side of the first support plate 1, and three sets of second connecting rods 5 are hinged to the left side of the second support plate 2. The first connecting rods 4 and the second connecting rods 5 are hinged to the left and right sides of the first mounting plates 6. The outer side of the first mounting plates 6 is provided with moving wheels 9. Three mounting sleeves 14 are fixedly installed on the left side of the first support plate 1, and the mounting sleeves 14 are installed at an angle on the left side of the first support plate 1. A detection end 21 is provided on the left side of the first support plate 1, and a camera is connected to the detection end 21 to form a multi-degree-of-freedom rotation structure.

[0033] Four spring shock absorbers 7 are connected to the outer side of the first mounting plate 6, and a travel drive box 8 is connected to the outer side of each spring shock absorber 7. The travel drive box 8 is connected to a control device via an external signal, and four moving wheels 9 are connected to the travel drive box 8. The first mounting plate 6 is connected to the travel drive box 8 through the spring shock absorbers 7, which can absorb the vibration caused by the unevenness of the inner wall of the pipe, so that the moving wheels 9 maintain stable contact with the pipe wall. When traveling in pipes of different diameters, the vibration amplitude is reduced, avoiding image blurring caused by bumps.

[0034] A first servo motor 10 is fixedly installed on the right side of the second support plate 2, and the first servo motor 10 is controlled by a remote controller. A first threaded rod 11 is connected to the left output end of the first servo motor 10, and the left side of the first threaded rod 11 is rotatably connected to the right side of the first support plate 1. A triangular plate 12 is threadedly connected to the outside of the first threaded rod 11, and the triangular plate 12 is slidably connected to the outside of the slide rod 3. The three sides of the triangular plate 12 are hinged to the third connecting rod 13, and the third connecting rod 13 is hinged to the middle position of the second connecting rod 5. The first servo motor 10 drives the first threaded rod 11 to rotate. Through the linkage of the triangular plate 12 and the third connecting rod 13, the distance between the first mounting plate 6 and the inner wall of the pipe can be adjusted so that the robot can adapt to changes in pipe diameter and solve the jamming problem of traditional fixed-size robots. The triangular plate 12 slides on the slide rod 3 and pushes the second connecting rod 5 through the third connecting rod 13, so that the moving wheel 9 is evenly pressed against the pipe wall. At the bend, the robot's central axis can be kept consistent with the curvature of the pipe, ensuring that the contact pressure between the moving wheel 9 and the pipe wall is uniform and avoiding slippage.

[0035] A second servo motor 15 is fixedly installed on the right side of the mounting sleeve 14, and the second servo motor 15 is controlled by a remote controller. A second threaded rod 16 is connected to the left output end of each second servo motor 15, and the left end of each threaded rod 16 is rotatably connected to the left side of the mounting sleeve 14. A moving block 17 is threadedly connected to the outside of each threaded rod 16, and each moving block 17 is slidably connected to a groove on the outside of the mounting sleeve 14. A fourth connecting rod 18 is hinged to the outside of each moving block 17. A rotating head 19 is provided on the left end of each fourth connecting rod 18, and the rotating head 19 is rotatably connected to the second mounting plate 20. Three circular slots are provided on the right side of the second mounting plate 20, and the rotating head 19 is rotatably connected inside each of the circular slots. The second servo motor 15 drives the second servo motor 16... The rotation of the threaded rod 16 causes the moving block 17 to slide in the groove on the outside of the mounting sleeve 14. The angle of the rotating head 19 is adjusted by the fourth connecting rod 18, so that the camera of the detection end 21 can achieve ±90° pitch and 360° rotation, eliminating the blind spot at the bend. The moving block 17 pushes the rotating head 19 to rotate in the circular groove of the second mounting plate 20 through the fourth connecting rod 18, so that the detection end 21 can adjust the shooting angle with an accuracy of 0.1°. The weld details can be clearly captured at the pipe bend, improving the defect recognition rate. The rotating head 19 can rotate freely in the circular groove of the second mounting plate 20. With the linkage of the fourth connecting rod 18, the detection end 21 can simultaneously collect 360° images of the inner wall of the pipe, increasing the coverage of a single detection and reducing the number of repeated detections.

[0036] Working principle:

[0037] When this utility model is in use, the pipe diameter adaptive adjustment process is as follows: When the robot enters the variable diameter pipe, the first servo motor 10 is remotely controlled to rotate, which drives the first threaded rod 11 to rotate. The triangular plate 12 moves left and right along the slide rod 3, and pushes the second link 5 through the third link 13, so that the first mounting plate 6 drives the moving wheel 9 to expand inward or outward until the moving wheel 9 evenly abuts against the pipe wall, thus completing the pipe diameter adaptive adjustment.

[0038] Elbow detection posture adjustment: Before the robot enters the elbow, the second servo motor 15 is remotely controlled to rotate, driving the second threaded rod 16 to rotate. The moving block 17 slides in the outer groove of the mounting sleeve 14, and pushes the rotating head 19 to rotate in the circular groove of the second mounting plate 20 through the fourth connecting rod 18, so that the camera of the detection end 21 is aligned with the weld seam on the inner side of the elbow. At the same time, the first servo motor 10 finely adjusts the spacing of the support plates to make the robot's central axis consistent with the curvature of the pipe, ensuring the best shooting angle.

[0039] Movement and shock absorption mechanisms:

[0040] The walking drive box 8 uses a DC servo motor to drive and control the rotation of the moving wheels 9. The spring shock absorber 7 absorbs the vibration caused by uneven pipe walls, so that the moving wheels 9 always maintain stable contact with the pipe walls. In straight pipe sections, the moving wheels 9 travel at a speed of 0.5m / s. In bend sections, the DC servo motor fine-tunes the speed of the moving wheels 9 to ensure that the robot passes smoothly along the center line of the pipe. At the same time, the detection end 21 has a built-in high-definition industrial camera with a resolution of 1080P, which supports automatic focus and wide-angle shooting. It can clearly capture defects such as cracks and corrosion on the inner wall of the pipe. The camera is connected to the control module inside the robot through a data cable to transmit image data to the terminal in real time.

[0041] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0042] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom machine vision pipeline bend inspection robot, comprising a first support plate (1) and a second support plate (2), wherein the first support plate (1) is located to the left of the second support plate (2), and three sliding rods (3) are symmetrically connected at the middle edge of the first support plate (1) and the second support plate (2), characterized in that: Three first mounting plates (6) are symmetrically arranged on the outer sides of the first support plate (1) and the second support plate (2). Three sets of first connecting rods (4) are hinged to the right side of the first support plate (1), and three sets of second connecting rods (5) are hinged to the left side of the second support plate (2). The first connecting rods (4) and the second connecting rods (5) are hinged to the left and right sides of the first mounting plate (6). The outer side of the first mounting plate (6) is provided with moving wheels (9). Three mounting sleeves (14) are fixedly installed on the left side of the first support plate (1), and the mounting sleeves (14) are installed at an angle on the left side of the first support plate (1). A detection end (21) is provided on the left side of the first support plate (1), and a camera is connected to the detection end (21) to form a multi-degree-of-freedom rotation structure.

2. The multi-degree-of-freedom machine vision pipeline bend inspection robot according to claim 1, characterized in that: The first mounting plate (6) is connected to four spring shock absorbers (7) on its outer side, and the spring shock absorbers (7) are connected to a walking drive box (8) on their outer side. The walking drive box (8) is connected to a control device via an external signal, and the walking drive box (8) is connected to four moving wheels (9).

3. The multi-degree-of-freedom machine vision pipeline bend inspection robot according to claim 1, characterized in that: The second support plate (2) is fixedly installed with a first servo motor (10) on the right side, and the first servo motor (10) is controlled by a remote controller. The first threaded rod (11) is connected to the output end on the left side of the first servo motor (10), and the first threaded rod (11) is rotatably connected to the right side of the first support plate (1) on the left side.

4. The multi-degree-of-freedom machine vision pipeline bend inspection robot according to claim 3, characterized in that: The first threaded rod (11) is threaded with a triangular plate (12) on the outside, and the triangular plate (12) is slidably connected to the outside of the slide rod (3). The three sides of the triangular plate (12) are hinged with a third connecting rod (13), and the third connecting rod (13) is hinged to the middle position of the second connecting rod (5).

5. The multi-degree-of-freedom machine vision pipeline bend inspection robot according to claim 1, characterized in that: The right side of the mounting sleeve (14) is fixedly equipped with a second servo motor (15), and the second servo motor (15) is controlled by a remote controller. The left output end of the second servo motor (15) is connected to a second threaded rod (16), and the left end of the second threaded rod (16) is rotatably connected to the left side of the inside of the mounting sleeve (14).

6. The multi-degree-of-freedom machine vision pipeline bend inspection robot according to claim 5, characterized in that: The second threaded rod (16) is threaded with a moving block (17) on its outer side, and the moving block (17) is slidably connected to the outer groove of the mounting sleeve (14), and the moving block (17) is hinged with a fourth connecting rod (18) on its outer side.

7. The multi-degree-of-freedom machine vision pipeline bend inspection robot according to claim 6, characterized in that: The left end of each of the fourth connecting rods (18) is provided with a rotating head (19), and the rotating head (19) is rotatably connected to the second mounting plate (20). The right end of the second mounting plate (20) is provided with three circular grooves, and the rotating head (19) is rotatably connected to the inside of the circular grooves.

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