A semi-automatic underground pipeline inspection robot

Abstract

The utility model discloses a kind of semi-automatic underground pipeline detection robots, including freely movable drive body and the receiver and acquisition component carried on drive body, drive body has four drive feet, each drive foot height variable setting;Receiver is connected with drive body by first fixed component, and first fixed component is used to realize the variable position connection of receiver and drive body, change the height of receiver contact end, to make receiver at least have vertical state;Acquisition component includes mounting bracket and two probes arranged on mounting bracket, and mounting bracket is connected with drive body by second fixed component, and second fixed component is used to realize the variable position connection of two probes and drive body, change the height of each probe bottom, to make each probe at least have vertical state.The utility model utilizes drive body to carry acquisition component and receiver, avoid the problem of heavy labor intensity caused by artificial load.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to a semi-automatic underground pipeline inspection robot. Background Technology

[0002] Regular inspection and evaluation of pipeline corrosion protection systems are crucial for timely and accurate understanding of the corrosion status of oil and gas pipelines, and are increasingly important for ensuring the safe operation of oil and gas pipelines.

[0003] Currently, PCM (Polymerized Corrosion Detection) equipment is the primary detection device for external corrosion of pipelines. PCM equipment mainly consists of a receiver and two probes used with it, which are fixed on a composite A-frame. During use, the PCM transmitter on the pipeline system emits a signal. The operator, carrying the composite A-frame and receiver, measures the ground magnetic field strength at regular intervals (e.g., 5-10 meters) along the pipeline route using the ground contact end of the receiver and the probes on the composite A-frame (placed perpendicular to the pipeline direction). When the pipeline is intact, the current attenuates slowly and uniformly as it travels along the pipeline. Where there is a damage to the pipeline, the current downstream of the damage point will show a sudden and significant attenuation, thus identifying the damage point.

[0004] However, existing testing equipment is handheld by staff, which poses problems such as high labor intensity for testing personnel when used in harsh conditions such as high temperature and extreme cold. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a semi-automatic underground pipeline inspection robot. It utilizes a drive body equipped with a composite A-frame and a receiver, eliminating the need for manual handling. During inspection, only manual assistance is required to complete the inspection operation, thus reducing the labor intensity of workers.

[0006] To achieve the above objectives, this utility model adopts the following technical solution: a semi-automatic underground pipeline inspection robot, comprising a freely movable drive body and a receiver and data acquisition components mounted on the drive body.

[0007] The drive body has four drive feet, and the height of each drive foot can be set to be variable.

[0008] The receiver is connected to the drive body through a first fixing component. The first fixing component is used to realize the variable position connection between the receiver and the drive body, and change the height of the receiver contact end so that the receiver is at least in a vertical state.

[0009] The acquisition component includes a mounting frame and two probes mounted on the mounting frame. The mounting frame is connected to the drive body via a second fixing component. The second fixing component is used to achieve a variable position connection between the two probes and the drive body, changing the height of the bottom of each probe so that each probe is at least in a vertical state.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The driving body of this utility model is equivalent to a quadrupedal driving robot (as shown in patent publication numbers CN116001948A, CN119099756A, CN118907264A, and CN119590529A). It has four driving legs, each of which adopts a mechanical arm structure with two connecting rods. Each driving leg can bend and rotate freely, so that the entire driving body can move freely in a preset direction. At the same time, the acquisition components and receiver mounted on the driving body can move freely without manual movement. The structure of the four driving feet can also bend simultaneously to change the height of the driving body. When the acquisition component and receiver are needed, the probe and receiver can be set vertically by manually controlling the first and second fixing components. At this time, the four driving feet bend simultaneously, and the ground contact ends of the probe and receiver fixed on the driving body can move down to contact the ground for data detection, thus achieving the purpose of pipeline damage testing. After the data detection, the driving body moves up, and the first and second fixing components are manually adjusted to change the position of the probe and receiver to avoid the receiver and probe affecting the movement of the driving body. This process is repeated to detect according to the pre-buried path of the pipeline.

[0012] This invention utilizes a drive body to carry the acquisition components and receiver, avoiding the problem of high labor intensity caused by manual weight-bearing. At the same time, during each test, the four drive legs of the drive body bend simultaneously to move the probe and receiver to the ground, ensuring that the downward movement distance is consistent each time. Compared with the method of manually inserting into the ground, this method can also ensure the accuracy of the test as much as possible.

[0013] Furthermore, the drive body is provided with a fixed frame, which has two mounting sides along the moving direction of the drive body. The mounting frame and the receiver are respectively located on the two mounting sides and connected to the fixed frame.

[0014] Furthermore, the mounting bracket is hinged to the fixed bracket, and the mounting bracket swings along the fixed bracket to set the probes on the mounting bracket vertically or horizontally. The second fixing component is used to lock the mounting bracket so that the probes on the mounting bracket are set horizontally.

[0015] Furthermore, the second fixing component includes two snap rings disposed opposite each other and a locking member for connecting the two snap rings. The two snap rings are unlocked to engage with the mounting bracket, and the locking member is used to lock the two snap rings and the mounting bracket so that the probe on the mounting bracket is set horizontally.

[0016] Furthermore, the locking element passes through the two snap rings to lock the two snap rings.

[0017] Furthermore, the first fixing component includes a fixing member for fixing the receiver and a clamping member used in conjunction with the fixing member. The fixing member has a rotating shaft, which is rotatably connected to the clamping member. The clamping member is provided with a fixing lock to restrict the rotation of the rotating shaft.

[0018] Furthermore, the snap-fit ​​component includes at least one set of two clamping seats that cooperate with each other, the two clamping seats are disposed on the fixed frame, and the rotating shaft is located inside the clamping seats, and the locking mechanism is used to tighten the two clamping seats.

[0019] Furthermore, a limiting element is provided on the rotating shaft to prevent the rotating shaft from separating from the two clamping seats along its length. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 for Figure 1 A structural diagram from another perspective;

[0022] Figure 3 for Figure 2 A structural diagram from another perspective;

[0023] Figure 4 This is a schematic diagram of the installation structure of the receiver, acquisition component, and mounting bracket in this utility model;

[0024] Figure 5 This is a diagram showing the connection structure between the rotating shaft and the fixed frame in this utility model;

[0025] Figure 6 This is a diagram showing the assembly of the auxiliary bracket, bolt assembly, and connecting plate in this utility model.

[0026] In the figure: drive body 100, mounting body 110, drive foot 120, fixing frame 130, receiver 200, acquisition component 300, mounting bracket 310, mounting foot 311, probe 320, auxiliary bracket 410, swing shaft 411, connecting plate 420, bolt assembly 430, snap ring 440, extension rod 441, rotating shaft 510, limiting component 511, fixing lock 520, fixing component 530, clamping seat 540. 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 of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0028] like Figure 1 , 2As shown in Figures 3, 4, 5, and 6, a semi-automatic underground pipeline inspection robot includes a freely movable drive body 100 and a receiver 200 and a data acquisition component 300 mounted on the drive body 100.

[0029] The driving body 100 is equivalent to a quadrupedal driven robot (as shown in patents with publication numbers CN116001948A, CN119099756A, CN118907264A, and CN119590529A), see reference. Figure 1 The drive body 100 of this utility model has a mounting body 110 and four drive feet 120 arranged in a rectangular pattern around the mounting body 110. Each of the four drive feet 120 adopts a mechanical arm structure with two thighs and two calves hinged together. The upper end (upper thigh) of each drive foot 120 is connected to the mounting body 110, and an electric motor drives the foot 120 to swing along the mounting body 110. Alternatively, the upper end of the drive foot 120 and the mounting body 110 can be hinged together, and then driven by a servo hydraulic cylinder (CN116001948A), allowing the drive foot 120 to swing along the mounting body 110. The interaction between the thighs and calves of the drive feet 120 can be driven by a servo hydraulic cylinder (CN116001948A) or by a linkage mechanism combined with a telescopic cylinder (CN118907264A), allowing each drive foot 120 to bend. The electric motors, such as servo motors, stepper motors, and brushless DC motors, are controlled by the control unit of the drive body 100. The robot can freely bend its four drive legs 120 according to commands (road conditions). The coordinated movement of the four drive legs 120 enables the entire drive body 100 to move freely. This allows the acquisition component 300 and receiver 200 mounted on the drive body 100 to move freely without manual support, reducing the labor intensity of manual operation. Simultaneously, the four drive legs 120 can bend simultaneously, lowering the height of the mounting body 110. The acquisition component 300 and receiver 200 can then be mounted on the mounting body 110, and their positions can be adjusted by changing the position of the mounting body 110, thus enabling signal detection.

[0030] However, when the driving body 100 moves, the ground may have uneven surfaces. If the acquisition component 300 and receiver 200 are simply connected to the mounting body 110 in a vertically fixed manner, damage may occur during the movement of the driving body 100. Therefore, in this application, the receiver 200 is connected to the driving body 100 via a first fixing component. This first fixing component enables a variable-position connection between the receiver 200 and the driving body 100, changing the height of the contact end of the receiver 200 so that the receiver 200 is at least in a vertical position. Correspondingly, the acquisition component 300 includes a mounting frame 310 and two probes 320 mounted on the mounting frame 310. The upper part of the mounting frame 310 is connected to the driving body 100 via a second fixing component. This second fixing component enables a variable-position connection between the two probes 320 and the driving body 100, changing the height of the bottom of each probe 320 so that each probe 320 is at least in a vertical position.

[0031] The receiver 200 can move up and down directly on the mounting body 110 via the first fixing component, which also allows for changes in the position of the receiver 200, preventing damage to the receiver 200 when the drive body 100 moves. However, due to the inherent length of the receiver 200 and the height limitations of the operator, it is inconvenient to directly lift the receiver 200, and lifting the receiver 200 requires applying greater external force, resulting in operational inconvenience. Therefore, in this utility model, considering the structure of the receiver 200, as follows... Figure 1-4 As shown, the receiver 200 is connected to the upper middle part of the first fixing component, allowing the receiver 200 to swing vertically, thus changing the connection position between the receiver 200 and the mounting body 110. Figure 1-4 As shown, the mounting bracket 310 has an A-shaped structure, including two mounting feet 311. Two probes 320 are fixed to the two mounting feet 311 respectively, with the bottom of the probes 320 higher than the bottom of the mounting feet 311. Theoretically, the mounting bracket 310 can adopt the same connection method as the receiver 200, allowing the mounting bracket 310 to swing vertically or move up and down directly in the vertical direction. This also enables a variable-position connection between the mounting bracket 310 and the drive body, thus avoiding damage to the probes 320 when the drive body 100 moves. However, the mounting bracket 310 has an increased width, basically covering the length of the mounting body 110. Using direct lifting or vertical swinging methods may affect the use of each drive foot 120. Therefore, if... Figure 1-4 As shown, the upper middle part of the mounting bracket 310 of this application cooperates with the second fixing component, so that the mounting bracket 310 can be flipped from vertical to horizontal along its upper part to change the connection position between the mounting bracket 310 and the mounting body 110, thereby realizing the change of the position between the probe 320 and the mounting body 110.

[0032] To facilitate the installation of the first and second fixing components on the mounting body 110, this utility model provides a fixing frame 130 on the drive body 100 (mounting body 110). The mounting body 110 has a rectangular structure, and four drive feet 120 are respectively located on the long side wall of the mounting body 110 and connected to the mounting body 110. The fixing frame 130 is mounted on the mounting body 110 along the width direction and fixed to the mounting body 110. The two ends of the fixing frame 130 extend out of the mounting body 110 along its length direction and are suspended, so that the fixing frame 130 has two mounting sides along the moving direction of the drive body 100. Correspondingly, the mounting frame 310 and the receiver 200 are respectively located on the two mounting sides. The first fixing component is set between the fixing frame 130 and the receiver 200, and the second fixing component is set between the mounting frame 310 and the fixing frame 130.

[0033] To enable the coordinated use of mounting bracket 310, the second fixing component, and fixing bracket 130, such as Figure 1-4 As shown, the upper middle part of the mounting bracket 310 is hinged to the fixed bracket 130. An auxiliary support 410 is provided inside the mounting bracket 310. The auxiliary support 410 has a horizontally set swing shaft 411. The swing shaft 411 is hinged to the mounting side connecting plate 420 on the fixed bracket 130 to realize the hinge between the mounting bracket 310 and the fixed bracket 130. The connecting plate 420 can also limit the swing angle of the mounting bracket 310 to ensure that the mounting bracket 310 can be set vertically. When an external force is applied to the mounting bracket 310, the mounting bracket 310 can swing along the fixed bracket 130 to set the probe 320 on the mounting bracket 310 vertically or horizontally. The second fixing component is located on the fixed bracket 130. When the mounting bracket 310 is moved to the horizontal position, the projection of the upper part of the mounting bracket 310 is inside the fixed bracket 130. At this time, the second fixing component is set in this position to lock the upper part of the mounting bracket 310 (which is a rod-shaped structure), so that the probe 320 on the mounting bracket 310 can be set horizontally.

[0034] Based on the structure of the upper part of the mounting bracket 310, the second fixing component of this utility model includes two oppositely arranged snap rings 440 and a locking member for connecting the two snap rings 440, such as... Figure 3 , 4As shown, each of the two snap-fit ​​rings 440 has an extension rod 441 at its bottom. The extension rod 441 is fixed to the fixing frame 130. The extension rod 441 raises the snap-fit ​​rings 440 so that when the upper part of the mounting frame 310 is horizontal, the upper part of the mounting frame 310 can be locked between the two snap-fit ​​rings 440. At the same time, the two extension rods 441 are made of sheet-like metal material (steel, etc.), which gives the two snap-fit ​​rings 440 a certain elasticity, allowing the two snap-fit ​​rings 440 to separate at a small distance and engage the rod-shaped structure on the upper part of the mounting frame 310. After the upper part of the mounting frame 310 is opened between the two snap-fit ​​rings 440, the two snap-fit ​​rings 440 and the mounting frame 310 are locked together by a locking device so that the probe 320 on the mounting frame 310 is set horizontally.

[0035] The locking component is either a locking bolt or a locking ring. As long as the locking component passes through the upper part of the two snap rings 440 to lock the two snap rings 440, the position of the mounting bracket 310 under gravity will not change, thus ensuring the effective use of the second fixing component.

[0036] When the locking element separates from the two latching rings 440, the mounting bracket 310 unlocks from the fixing bracket 130, and the mounting bracket 310 can rotate along the swing axis 411 from a horizontal state to a vertical state. The probes 320 located at the two mounting feet 311 of the mounting bracket 310 can then be vertically positioned. Once the probes 320 are vertically positioned, they can be inserted underground for signal acquisition. To prevent the mounting bracket 310 from shifting from a vertical state during the vertical insertion of the probes 320, this invention provides at least one bolt assembly 430 between the connecting plate 420 and the auxiliary bracket 410. Figure 1 , 6 As shown, the movable pin of the bolt assembly 430 is fixed to the connecting plate 420. A locking buckle is provided on the auxiliary bracket 410. When the mounting bracket 310 swings to the vertical position, the locking buckle is located at the moving end of the movable pin. Moving the movable pin can lock the movable pin and the locking buckle, ensuring that the mounting bracket 310 can remain vertical without other external forces. At this time, each drive foot 120 bends at the same time, which can insert the probe 320 vertically into the ground to achieve the purpose of collecting information.

[0037] Based on the swinging motion of the receiver 200 on the mounting body 110, the first fixing component of this utility model includes a fixing member 530 for fixing the receiver 200 and a clamping member that cooperates with the fixing member 530, such as... Figure 1 , 2 As shown in Figures 3, 4, and 5, the fixing member 530 is horizontally positioned, with one end snapped into the upper part of the receiver 200. The fixing member 530 has a horizontally positioned rotating shaft 510 on the side away from the receiver 200. The rotating shaft 510 is located within the fixing frame 130 and rotatably connected to the snap-fit ​​member. The snap-fit ​​member is equipped with a locking lock 520 to restrict the rotation of the rotating shaft 510. Figure 5 As shown, the snap-fit ​​component includes at least one set of two clamping seats 540 for cooperative use. This invention provides two sets of clamping seats 540, spaced apart along the length of the rotation shaft 510. Each set has two clamping seats 540 spaced apart on both sides along the length of the rotation shaft 510. Each clamping seat 540 is fixed to the fixing frame 130, and the rotation shaft 510 is located within the clamping seat 540. A locking bolt 520 is used to tighten the two clamping seats 540. The locking bolt 520 is a rotating bolt that passes through both clamping seats 540. One end of the rotating bolt has a limiting block that abuts against one of the clamping seats 540. The rotating bolt is threaded to the other clamping seat 540. Rotating the rotating bolt changes the gap between the two clamping seats 540, thereby locking or unlocking the rotation shaft 510, allowing the fixing component 530 and the receiver 200 on the fixing component 530 to rotate, changing the connection position between the receiver 200 and the mounting body 110. After the receiver 200 is rotated to the vertical position, the rotating bolts can be adjusted and the rotating shaft 510 can be locked to prevent the position of the receiver 200 from changing and to ensure that the ground contact end of the receiver 200 can bend vertically to the ground with each drive foot 120.

[0038] To prevent the rotating shaft 510 from separating from the two sets of clamping seats 540, this utility model provides a limiting member 511 on the rotating shaft 510 to prevent the rotating shaft 510 from separating from the two clamping seats 540 along its length. Figure 5 As shown, the limiting member 511 is a block structure located at the end of the rotating shaft 510 away from the fixing member 530. Two sets of clamping seats 540 are located between the limiting member 511 and the fixing member 530 and cooperate with the rotating shaft 510 to prevent the rotating shaft 510 from disengaging from the multiple clamping seats 540, thus ensuring the connection stability between the receiver 200 and the fixing frame 130.

[0039] The principle of this utility model:

[0040] The acquisition component 300 and receiver 200 are mounted on the drive body 100 according to the preset structure. At this time, neither the receiver 200 nor the probe 320 is in a vertical position. The drive body 100 moves a certain distance (5-10 meters) according to the pre-buried pipe direction. The position of the mounting bracket 310 and receiver 200 is manually adjusted so that the receiver 200 and probe 320 are set vertically. The driving feet 120 on the drive body 100 bend simultaneously. The probe 320 and receiver 200 cooperate to acquire signals to determine whether the pipe in this range is damaged. If there is no damage, the position of the mounting bracket 310 and receiver 200 is changed again to ensure that neither the receiver 200 nor the probe 320 is in a vertical position. The drive body 100 continues to move along the predetermined route. This cycle is repeated to inspect the pre-buried pipe to determine whether the pipe is damaged.

[0041] This invention utilizes a drive body 100 to carry a data acquisition component 300 and a receiver 200, avoiding the problem of high labor intensity caused by manual weight-bearing. At the same time, during each test, the four drive feet 120 of the drive body bend simultaneously to move the probe 320 and the receiver 200 to the ground, ensuring that the downward movement distance is consistent each time. Compared with the method of manually inserting into the ground, this method can also ensure the accuracy of the test as much as possible.

[0042] It is worth noting that the driving method of the robot's four drive legs (120) can refer to the content described in patents such as CN116001948A, CN119099756A, CN118907264A, and CN119590529A. Remote control of the robot can also be achieved through a controller (composed of a power management system, data acquisition system, navigation control system, motion control system, monitoring and detection equipment, and AI intelligent system). The acquisition component 300 is actually an existing composite A-frame with probes 320, and the receiver 200 is a PCM receiver 200. Its working principle is the same as existing ones. This utility model simply utilizes the corresponding installation structure to achieve load movement of the component and to use it as accurately as possible (ensuring the insertion depth underground is as consistent as possible each time). The signal transmission and data analysis involved in components such as the receiver 200 are not described in detail in this utility model.

[0043] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0044] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. 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. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0045] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A semi-automatic underground pipeline inspection robot, characterized in that: It includes a freely movable drive unit (100) and a receiver (200) and a data acquisition component (300) mounted on the drive unit (100). The drive body (100) has four drive feet (120), and the height of each drive foot (120) can be set variably; The receiver (200) is connected to the drive body (100) through a first fixing component. The first fixing component is used to realize the variable position connection between the receiver (200) and the drive body (100) and change the height of the contact end of the receiver (200) so that the receiver (200) has at least a vertical state. The acquisition component (300) includes a mounting bracket (310) and two probes (320) mounted on the mounting bracket (310). The mounting bracket (310) is connected to the drive body (100) through a second fixing component. The second fixing component is used to realize the variable position connection between the two probes (320) and the drive body (100) and change the height of the bottom of each probe (320) so that each probe (320) has at least a vertical state.

2. The semi-automatic underground pipeline inspection robot according to claim 1, characterized in that: The drive body (100) is provided with a fixed frame (130), which has two mounting sides along the moving direction of the drive body (100). The mounting bracket (310) and the receiver (200) are respectively located on the two mounting sides and connected to the fixed frame (130).

3. The semi-automatic underground pipeline inspection robot according to claim 2, characterized in that: The mounting bracket (310) is hinged to the fixing bracket (130). The mounting bracket (310) swings along the fixing bracket (130) to make the probe (320) on the mounting bracket (310) vertically or horizontally set. The second fixing component is used to lock the mounting bracket (310) so that the probe (320) on the mounting bracket (310) is horizontally set.

4. The semi-automatic underground pipeline inspection robot according to claim 3, characterized in that: The second fixing component includes two snap rings (440) arranged opposite each other and a locking member for connecting the two snap rings (440). The two snap rings (440) are unlocked to engage the mounting bracket (310), and the locking member is used to lock the two snap rings (440) and the mounting bracket (310) so that the probe (320) on the mounting bracket (310) is set horizontally.

5. The semi-automatic underground pipeline inspection robot according to claim 4, characterized in that: The locking element passes through the two snap rings (440) to lock the two snap rings (440).

6. The semi-automatic underground pipeline inspection robot according to any one of claims 2-5, characterized in that: The first fixing component includes a fixing member (530) for fixing the receiver (200) and a clamping member for cooperating with the fixing member (530). The fixing member (530) has a rotating shaft (510) that is rotatably connected to the clamping member. The clamping member is provided with a fixing lock (520) that restricts the rotation of the rotating shaft (510).

7. The semi-automatic underground pipeline inspection robot according to claim 6, characterized in that: The snap-fit ​​component includes at least one set of two clamping seats (540) for use in conjunction. The two clamping seats (540) are disposed on the fixed frame (130), and the rotating shaft (510) is located inside the clamping seats (540). A locking lock (520) is used to tighten the two clamping seats (540).

8. The semi-automatic underground pipeline inspection robot according to claim 7, characterized in that: A limiting member (511) is provided on the rotating shaft (510) to prevent the rotating shaft (510) from separating from the two clamping seats (540) along its length direction.

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