Pipeline obstacle crossing robot and pipeline detection system
The pipe obstacle-crossing robot, driven by a crab-claw-type clamping assembly and omnidirectional ball wheels, solves the problems of insufficient obstacle-crossing ability and poor pipe adaptability of existing encircling robots, and achieves stable movement and efficient detection.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- ZHUHAI ANYES TECH CO LTD
- Filing Date
- 2025-07-17
- Publication Date
- 2026-05-19
AI Technical Summary
Existing encircling pipeline robots lack the ability to overcome obstacles such as pipe bends, flanges, tees, and reducers, and have poor adaptability to pipe sizes, making the robot prone to detachment or slipping while spinning idly, posing safety hazards.
Design a pipe-crossing robot that uses a crab-claw gripping assembly and omnidirectional ball wheels, combined with spring support rods and electric hinges, to achieve stable gripping and movement of the pipe. By connecting modules, the crawling body is lifted to cross obstacles, enhancing stability and adaptability.
It achieves stable movement in complex pipeline environments, avoiding detachment and idle spinning, improving the efficiency and safety of pipeline inspection, and can smoothly pass through various obstacles.
Smart Images
Figure CN224255337U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of pipeline robot technology, and in particular to a pipeline obstacle-crossing robot and a pipeline inspection system. Background Technology
[0002] Traditional pipeline robots can attach to or be installed inside pipelines, and move along them to complete pipeline inspection tasks. Pipeline robots that attach to the outside of pipelines typically use electromagnetic or negative pressure adsorption to adhere to the outer surface. Robots crawling inside pipelines require downtime, resulting in significant economic losses. Adsorption-based pipeline crawling robots are significantly affected by their adhesion capacity, leading to unstable gripping forces, inability to move stably along the pipeline, or even robot detachment, posing safety hazards. Therefore, some have adopted wraparound pipeline robots; however, existing wraparound pipeline robots have the following problems:
[0003] 1. Insufficient obstacle-crossing ability: Existing loop-type pipe robots can overcome pipe bends by adjusting the telescopic rod and create openings by adjusting the clamping assembly's telescopic arm to pass through some simple obstacles. However, in reality, most pipes have flanges, tees, reducers, and large supports, making it difficult or impossible for existing loop-type pipe robots to pass through smoothly.
[0004] 2. Poor adaptability to pipe size: Existing ring-type pipe clamping robots achieve pipe clamping by fixing eight sets of Mecanum wheels to an arc-shaped clamping assembly. However, when the pipe diameter and curvature change, the Mecanum wheels are prone to insufficient contact with the pipe and insufficient friction because the curvature of the clamping assembly cannot be adjusted, causing the robot to fall off or slip. Utility Model Content
[0005] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a pipeline obstacle-crossing robot and a pipeline inspection system, which, when encountering obstacles while crawling on a pipeline, can cross the obstacles and continue moving forward, thereby improving pipeline inspection efficiency.
[0006] On one hand, this utility model embodiment provides a pipeline obstacle-crossing robot, including:
[0007] The first crawling body includes a body, a clamping assembly, and a drive wheel set. The clamping assembly is a crab claw type and includes a large arm and a gripper. The large arm is mounted on the body, and the gripper is connected to the large arm. The drive wheel set is used to drive the first crawling body to crawl.
[0008] The second crawling body has the same structure as the first crawling body;
[0009] A connecting module, wherein a first end of the connecting module is connected to the first crawling body, and a second end of the connecting module is connected to the second crawling body, the connecting module being used to connect and lift the first crawling body or the second crawling body.
[0010] According to some embodiments of the present invention, a first mounting plate and a second mounting plate are respectively provided on both sides of the main body, and the large arm is installed between the first mounting plate and the second mounting plate.
[0011] According to some embodiments of the present invention, the clamping assembly further includes a first joint shaft, a second joint shaft, and a third joint shaft. The upper arm is mounted between the first mounting plate and the second mounting plate via the first joint shaft and the second joint shaft, and the gripper is connected to the upper arm via the third joint shaft.
[0012] According to some embodiments of the present invention, the drive wheel assembly includes a driving wheel and a driven wheel. The driven wheel is installed on the inner side of the gripper. The driven wheel is a swivel wheel. The driving wheel drives the driven wheel to rotate.
[0013] According to some embodiments of the present invention, the connecting module includes a spring support rod and an electric hinge.
[0014] According to some embodiments of the present invention, the spring support rod is an electric spring support rod, the first end of the spring support rod is connected to the first crawling body, and the second end of the spring support rod is connected to the second crawling body.
[0015] According to some embodiments of the present invention, a support plate is provided on the main body, and the spring support rod is connected to the support plate.
[0016] According to some embodiments of the present invention, the electric hinge is located between the first crawling body and the second crawling body, and the electric hinge is used to lift the first crawling body or the second crawling body.
[0017] According to some embodiments of the present invention, a vision module is installed on the main body, and the vision module is an RGB-D camera or a depth sensor.
[0018] On the other hand, this utility model embodiment provides a pipeline inspection system, which includes the pipeline obstacle-crossing robot described above.
[0019] The embodiments of this utility model have at least the following beneficial effects:
[0020] This utility model provides a pipeline obstacle-crossing robot, comprising a first crawling body, a second crawling body, and a connecting module. The first crawling body provides overall structural support through its main body. The crab-claw-like arms and grippers in the clamping assembly effectively grasp the surface of the pipeline, ensuring stable movement in complex environments and preventing slippage or free-spinning. A drive wheel assembly propels the first crawling body forward. The second crawling body has the same structure as the first, also possessing gripping and movement capabilities to enhance overall stability and obstacle-crossing ability. The connecting module connects and lifts either the first or second crawling body. When facing large obstacles, the connecting module, in conjunction with the drive wheel assembly, can be used to lift and overcome them, enabling smooth passage through various complex environments and ensuring the successful completion of pipeline inspection tasks. Through the coordinated work of the clamping assembly and the drive wheel assembly, the first crawling body can stably contact and move along the pipeline surface. When encountering obstacles, the connecting module and the drive wheel assembly work together to lift either the first or second crawling body, allowing it to overcome obstacles and continue moving forward, improving pipeline inspection efficiency.
[0021] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0022] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:
[0023] Figure 1 This is one of the structural schematic diagrams of the pipeline obstacle-crossing robot according to an embodiment of this utility model;
[0024] Figure 2 This is a second structural schematic diagram of the pipeline obstacle-crossing robot according to an embodiment of this utility model;
[0025] Figure 3 This is the third structural schematic diagram of the pipeline obstacle-crossing robot according to an embodiment of this utility model;
[0026] Figure 4 for Figure 1 A schematic diagram of the structure of the first crawling body of the pipeline obstacle-crossing robot is shown.
[0027] Figure 5 This is a schematic diagram of the pipe obstacle-crossing robot of this utility model during pipe crawling according to an embodiment of the present invention;
[0028] Figure 6 This is a schematic diagram of the structure of the pipeline obstacle-crossing robot according to an embodiment of the present invention when crossing a pipeline obstacle.
[0029] Figure label:
[0030] The system comprises: a first crawling body 100, a main body 110, a first mounting plate 111, a second mounting plate 112, a clamping assembly 120, a large arm 121, a gripper 122, a drive wheel assembly 130, a drive wheel 131, a driven wheel 132, a vision module 140, a support plate 150, a first joint axis 161, a second joint axis 162, and a third joint axis 163.
[0031] The second crawling body 200, the connecting module 300, the spring support rod 310, the electric hinge 320, and the pipe 400. Detailed Implementation
[0032] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.
[0033] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.
[0034] In the description of this utility model, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. If "first," "second," etc., are used in the description, they are only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the sequential relationship of the indicated technical features.
[0035] In the description of this utility model, unless otherwise explicitly defined, the terms "setting", "installing", "connecting" and "connected" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in combination with the specific content of the technical solution.
[0036] The technical solution of this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0037] Please see Figures 1 to 3This embodiment discloses a pipeline obstacle-crossing robot, including a first crawling body 100, a second crawling body 200, and a connecting module 300. The first crawling body 100 includes a main body 110, a clamping assembly 120, and a drive wheel set 130. The clamping assembly 120 is a crab claw type, including a large arm 121 and a gripper 122. The large arm 121 is mounted on the main body 110, and the gripper 122 is connected to the large arm 121. The drive wheel set 130 is used to drive the first crawling body 100 to crawl. The structure of the second crawling body 200 is the same as that of the first crawling body 100. The first end of the connecting module 300 is connected to the first crawling body 100, and the second end of the connecting module 300 is connected to the second crawling body 200. The connecting module 300 is used to connect and lift the first crawling body 100 or the second crawling body 200.
[0038] The first crawling body 100 is supported by the main body 110. The crab claw-like arms 121 and grippers 122 in the clamping assembly 120 can effectively grip the surface of the pipe 400, ensuring stable movement in complex environments and preventing slippage or free-spinning. The drive wheel set 130 is responsible for propelling the first crawling body 100 forward. The second crawling body 200 has the same structure as the first crawling body 100, also possessing gripping and movement capabilities to enhance overall stability and maneuverability. The connecting module 300 is used to connect and lift the first crawling body 100 or the second crawling body 200. When facing large obstacles, the connecting module 300 can be used in conjunction with the drive wheel set 130 to lift and overcome them, thus enabling smooth passage through various complex environments and ensuring the successful completion of pipe inspection tasks. Through the coordinated operation of the clamping assembly 120 and the drive wheel set 130, the first crawling body 100 can stably contact and move along the surface of the pipe 400; when encountering an obstacle, the first crawling body 100 or the second crawling body 200 can be lifted by the cooperation of the connecting module 300 and the drive wheel set 130, so that it can cross the obstacle and continue to move forward, thereby improving the efficiency of pipe inspection.
[0039] Please see Figure 4 The main body 110 has a first mounting plate 111 and a second mounting plate 112 on both sides, and a large arm 121 is installed between the first mounting plate 111 and the second mounting plate 112. The main body 110 serves as the basic component of the mechanical structure, with the first mounting plate 111 and the second mounting plate 112 installed on both sides for fixing and connecting other components. A pair of large arms 121 are installed between the first mounting plate 111 and the second mounting plate 112, which serve to bear weight and provide support. Through the fixed support of the first mounting plate 111 and the second mounting plate 112, the large arm 121 can powerfully drive the gripper 122 to clamp the pipe 400.
[0040] Please see Figure 4 The clamping assembly 120 also includes a first joint shaft 161, a second joint shaft 162, and a third joint shaft 163. The upper arm 121 is mounted between the first mounting plate 111 and the second mounting plate 112 via the first joint shaft 161 and the second joint shaft 162. The gripper 122 is connected to the upper arm 121 via the third joint shaft 163. The first joint shaft 161 allows the upper arm 121 to rotate about its axis, thereby achieving flexible steering capability and increasing operational flexibility. The second joint shaft 162 provides a relative swing function between the upper arm 121 and the second mounting plate 112, enabling the upper arm 121 to adapt to angle changes in different working environments. The third joint shaft 163 allows the gripper 122 to rotate relative to the upper arm 121, increasing the convenience of gripping and operation. The first joint shaft 161, the second joint shaft 162, and the third joint shaft 163 cooperate with each other to form a triangular stable structure, achieving stable encirclement and quick assembly and disassembly; and can adapt to pipes 400 of different diameters according to different opening and closing angles. Through the coordinated action of the first joint shaft 161, the second joint shaft 162 and the third joint shaft 163, the clamping assembly 120 can flexibly adjust its posture and position, thereby flexibly clamping the pipe 400 and adapting to various pipe diameter specifications.
[0041] Please see Figure 2 The drive wheel assembly 130 includes a drive wheel 131 and a driven wheel 132. The driven wheel 132 is mounted on the inner side of the gripper 122 and is a swivel ball wheel. The drive wheel 131 drives the driven wheel 132 to rotate. The drive wheel 131 serves as a rotational power source, rotating through an external force drive device, which in turn drives the meshing driven wheel 132 to rotate synchronously. The driven wheel 132 transmits the rotation and is designed as a swivel ball wheel, allowing for flexible adjustment of the rotation direction and angle to ensure that the gripper 122 can move smoothly along various complex paths. For example, the driven wheel 132 may be made of high-silicon content swivel rubber, which has good flexibility and strong friction; it can closely fit the pipe without damaging the pipe's anti-corrosion coating. By adjusting the direction of the drive wheel 131, different directions of crawling can be achieved, including straight crawling along the pipe 400 and rotation around the pipe. For example, when encountering a T-junction or pipe support, the direction of the drive wheel 131 can be adjusted to rotate the first crawling body 100 to an unobstructed area, so that the obstacle is located between the grippers of the first crawling body 100 and the second crawling body 200, thus achieving obstacle avoidance.
[0042] Please see Figure 3The connecting module 300 includes a spring support rod 310 and an electric hinge 320. The spring support rod 310 connects and supports the first crawling body 100 and the second crawling body 200, while the electric hinge 320 is used to lift either the first crawling body 100 or the second crawling body 200, allowing one of the crawling bodies to be raised from 0° to 180°. Through the cooperation of the spring support rod 310 and the electric hinge 320, the device can move and operate more freely in complex environments, improving its mobility and adaptability.
[0043] Please see Figure 3 The spring support rod 310 is an electrically operated spring support rod. The first end of the spring support rod 310 is connected to the first crawling body 100, and the second end of the spring support rod 310 is connected to the second crawling body 200. A support plate 150 is provided on the body 110, and the spring support rod 310 is connected to the support plate 150. The spring support rod 310 is connected to the support plate 150 on the first crawling body 100 via its first end, and to the second crawling body 200 via its second end, thus forming an elastic connection with the second crawling body 200.
[0044] Please see Figure 3 An electric hinge 320 is located between the first crawling body 100 and the second crawling body 200. The electric hinge 320 is used to lift either the first crawling body 100 or the second crawling body 200. Installed between the first crawling body 100 and the second crawling body 200, the electric hinge 320, under electric control, allows the first crawling body 100 or the second crawling body 200 to be raised and lowered via mechanical movement, improving overall flexibility and adaptability. The spring support rod 310, through its elastic connection, ensures stability and cushioning between the two crawling bodies. The electric hinge 320 provides the first crawling body 100 and the second crawling body 200 with lifting and lowering control capabilities. Working together, the two enable the crawling device to move and operate more freely in complex environments, improving the device's passability and adaptability.
[0045] Please see Figure 3 The main body 110 is equipped with a vision module 140, which is an RGB-D camera or a depth sensor. The vision module 140 is used to take pictures and analyze whether the obstacle is small or large when the pipe obstacle-crossing robot encounters an obstacle while crawling on the pipe 400, so as to take different actions to cross the obstacle.
[0046] This embodiment also discloses a pipeline inspection system, including the aforementioned pipeline obstacle-crossing robot. The pipeline obstacle-crossing robot is equipped with corresponding inspection instruments.
[0047] Please see Figure 5When the pipe obstacle-crossing robot crawls on the pipe 400, the first crawling body 100 and the second crawling body 200 move side by side and grip the pipe 400. They then move in a straight line or around the pipe via the drive wheel set 130, thus achieving pipe detection. If a small obstacle is encountered, the rotation angle of the drive wheel 131 is adjusted to drive the first crawling body 100 and the second crawling body 200 to move around the pipe. When there is no obstacle ahead or the obstacle can pass through the gap between the grippers 122, the first crawling body 100 and the second crawling body 200 crawl forward, thus successfully passing through the small obstacle.
[0048] Please see Figure 6 When encountering large obstacles, such as elbows, flanges, tees, or reducers, the grippers 122 of the first crawling body 100 open, the electric hinge 320 raises the first crawling body 100 to a suitable angle, and the spring support rod 310 retracts. The drive wheel assembly 130 of the first crawling body 100 remains stationary, the grippers 122 of the second crawling body 200 increase their clamping force, and the drive wheel assembly 130 slows down, slowly propelling the first crawling body 100 forward. After the first crawling body 100 overcomes the obstacle, the drive wheel assembly 130 of the second crawling body 200 stops, the electric hinge 320 slowly lowers, and the spring support rod 310 extends. When the first crawling body 100 is completely pressed against the pipe 400, its grippers 122 hold the pipe 400 tightly. At this time, the grippers 122 of the second crawling body 200 open, the electric hinge 320 raises the second crawling body 200 to a suitable angle, and the spring support rod 310 retracts. The drive wheel of the first crawling body 100 slowly accelerates, dragging the second crawling body 200. After the second crawling body 200 passes an obstacle, the electric hinge 320 slowly returns, and the spring support rod 310 extends. When the second crawling body 200 is pressed tightly against the pipe 400, its grippers 122 clamp the pipe 400, and the drive wheel assembly 130 of the second crawling body 200 runs at the same speed, continuing to crawl, and finally completing the pipe inspection. With flexible joints, it can smoothly pass through pipe components such as elbows and tees, and easily overcome obstacles such as flanges and supports; through autonomous crawling and integration of multiple types of sensors, it can achieve comprehensive inspection of the outer wall of the pipe, which has significant advantages in improving pipeline inspection efficiency and reducing safety risks.
[0049] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.
Claims
1. A pipe climbing robot, characterized by, The utility model relates to a double-clawed climbing robot, which comprises a first climbing body (100), a second climbing body (200) and a connecting module (300). The first climbing body (100) comprises a body (110), a clamping assembly (120) and a drive wheel set (130). The clamping assembly (120) is crab claw type. The clamping assembly (120) comprises a large arm (121) and a clamping jaw (122).
2. The pipe traversing robot of claim 1, wherein, The large arm (121) is mounted on the body (110).
3. The pipe traversing robot of claim 2, wherein, The clamping jaw (122) is connected to the large arm (121).
4. The pipe traversing robot of claim 1, wherein, The drive wheel set (130) is used for driving the first climbing body (100) to climb.
5. The pipe traversing robot of claim 1, wherein, The second climbing body (200) has the same structure as the first climbing body (100).
6. The pipe traversing robot of claim 5, wherein, The connecting module (300) is connected to the first end of the first climbing body (100).
7. The pipe traversing robot of claim 6, wherein, The second end of the connecting module (300) is connected to the second climbing body (200).
8. The pipe traversing robot of claim 5, wherein, The connecting module (300) is used for connecting and lifting the first climbing body (100) or the second climbing body (200).
9. The pipe traversing robot of claim 1, wherein, The body (110) is provided with a first mounting plate (111) and a second mounting plate (112) on both sides. The large arm (121) is mounted between the first mounting plate (111) and the second mounting plate (112). The clamping assembly (120) further comprises a first joint shaft (161), a second joint shaft (162) and a third joint shaft (163). The large arm (121) is mounted between the first mounting plate (111) and the second mounting plate (112) through the first joint shaft (161) and the second joint shaft (162). The clamping jaw (122) is connected to the large arm (121) through the third joint shaft (163). The drive wheel set (130) comprises a driving wheel (131) and a driven wheel (132). The driven wheel (132) is installed on the inner side of the clamping jaw (122). The driven wheel (132) is a universal ball wheel. The driving wheel (131) drives the driven wheel (132) to rotate. The connecting module (300) comprises a spring support rod (310) and an electric hinge (320). The spring support rod (310) is an electric spring support rod. The first end of the spring support rod (310) is connected to the first climbing body (100). The second end of the spring support rod (310) is connected to the second climbing body (200). The body (110) is provided with a support plate (150). The spring support rod (310) is connected to the support plate (150). The electric hinge (320) is located between the first climbing body (100) and the second climbing body (200). The electric hinge (320) is used for lifting the first climbing body (100) or the second climbing body (200). The body (110) is provided with a visual module (140). The visual module (140) is an RGB-D camera or a depth sensor.
10. A pipe inspection system characterised in that, The pipeline detection system comprises the pipeline obstacle crossing robot according to any one of claims 1 to 9. The pipeline detection system comprises the pipeline obstacle crossing robot according to any one of claims 1 to 9.