Crawler-type pipeline deruster robot

Abstract

The utility model discloses a caterpillar band formula pipeline derusting robot, the robot includes car body, image acquisition subassembly, cleaning component, wind suction subassembly and ultrasonic device, and car body is driven through caterpillar wheel, and image acquisition subassembly is located at the front end of car body, and cleaning component is connected in the front of car body through wind suction subassembly, and wind suction subassembly is communicated to the inside of car body, and ultrasonic device is located at the front end of car body, and still be equipped with signal interface on the car body, and signal interface has wired connection with external control system, the utility model discloses through the fusion of multiple sensing device, obtains various information in the inside of pipeline comprehensively, drives through caterpillar, guarantees the stability in the driving of pipeline, and the core technology such as magnetic attraction - negative pressure cooperation removes silk, can remove the rust in the pipeline fast and efficiently realizes the " detection - implementation - acceptance " whole process intellectualization of pipeline derusting operation.

Description

Technical Field

[0001] This utility model relates to the field of pipeline internal rust removal technology, and in particular to an intelligent tracked pipeline internal rust removal robot. Background Technology

[0002] Pipeline transportation, along with road, air, rail, and sea transport, is one of the five major modes of transportation in my country. Rust and iron filings inside pipelines can affect the detection instruments in pipeline transportation systems and increase impurities in transported materials. Manual entry into pipelines for rust removal is prone to missed detections, has low cleaning efficiency, and the rust residue can harm workers' health. Most existing pipeline rust removal robots are wheeled, which are prone to slipping and tipping over while moving through pipelines, preventing them from continuing to complete monitoring and cleaning tasks. Furthermore, existing robots cannot obtain information about the inside of the pipeline, making it impossible to perform targeted cleaning based on the pipeline's condition. Additionally, current technologies mostly use water guns or lasers for cleaning, which have limited cleaning ranges and result in low work efficiency. Summary of the Invention

[0003] In view of the shortcomings of the prior art, the purpose of this utility model is to provide a tracked pipeline rust removal robot, which aims to solve the problems of wheeled robots being inconvenient to move into the pipeline, inaccurate detection, and inefficient rust removal in the prior art.

[0004] This utility model provides a tracked pipe rust removal robot. The robot includes a vehicle body, an image acquisition component, a cleaning component, a suction component, and an ultrasonic device. The vehicle body is driven by tracked wheels. The image acquisition component is located at the front end of the vehicle body. The cleaning component is connected to the front of the vehicle body through the suction component, which is connected to the interior of the vehicle body. The ultrasonic device is located at the front end of the vehicle body. The vehicle body is also equipped with a signal interface, which is wired to an external control system.

[0005] Furthermore, the robot body is equipped with at least two drive motors, which are electrically connected to the signal interface. The drive end of the drive motor is connected to the drive gear through a rotating shaft. Driven gears are also provided on both sides of the body. Tracks are connected to the outer periphery of the drive gear and the driven gear. The drive gear is also equipped with a protective shell. A cable management rack is also provided at the rear of the body, and a U-shaped handle is also provided on the body.

[0006] Furthermore, the image acquisition component consists of at least two sets of cameras and lighting, one set of cameras and lighting is mounted on the top of the vehicle body via a camera platform, and the other set of cameras and lighting is located at the rear of the vehicle body, and the image acquisition component is electrically connected to a signal interface.

[0007] The camera includes camera one and camera two, and the lighting includes lighting one and lighting two. Camera one and lighting one are mounted on the top of the vehicle body via a camera platform, while camera two and lighting two are located at the rear of the vehicle body.

[0008] Furthermore, the cleaning assembly includes a cleaning base, an electric brush, and anti-collision wheels. The cleaning base is connected to the front of the vehicle body via a suction assembly. The electric brush is located on both sides of the bottom of the cleaning base and is electrically connected to a signal interface. The anti-collision wheels are located on both sides of the cleaning base and extend outward.

[0009] Furthermore, the air suction assembly includes an air inlet, an air inlet pipe, and an air outlet. The air inlet is located at the bottom of the cleaning base, the air inlet pipe is connected between the air inlet and the vehicle body, and the air outlet is located at the rear of the vehicle body and is connected to the outside through an air pipe.

[0010] Furthermore, the ultrasonic device is electrically connected to the signal interface.

[0011] Furthermore, the robot also includes a magnetic attraction device located at the bottom of the vehicle body, and the magnetic attraction device contains at least 8 electromagnets electrically connected to the signal interface.

[0012] Compared with the prior art, the technical solution adopted by this utility model has the following beneficial effects:

[0013] In this application, the tracked vehicle body with a protective shell increases the contact area between the robot and the pipeline, ensuring the stability and safety of the vehicle body's movement within the pipeline and adapting to complex pipeline environments. The image acquisition component can clearly acquire video information inside the pipeline, enabling better control of the robot's movement and cleaning within the pipeline. An ultrasonic device can assist in detecting rust thickness information, adjusting the cleaning strategy based on the degree of rust and the amount of iron filings, improving rust removal efficiency. The cleaning component uses an electric brush to sweep large areas of iron filings to the vicinity of the air inlet, efficiently removing iron filings from inside the pipeline; the anti-collision wheels protect the cleaning component. A magnetic suction component at the bottom of the vehicle body can further adsorb and remove more stubborn rust, ensuring overall removal quality. The signal interface ensures communication between the robot's internal components and the external environment via wired transmission. It also includes a U-shaped handle and a cable management rack; the U-shaped handle facilitates the operator's handling of the entire device, and the cable management rack reduces tension on the communication cables and signal interfaces, protecting the interfaces. Attached Figure Description

[0014] Figure 1 A first-view structural diagram of an intelligent tracked pipe rust removal robot provided by this utility model;

[0015] Figure 2 A second-view structural diagram of an intelligent tracked pipe rust removal robot provided by this utility model;

[0016] Figure 3 A top-view cross-sectional structural diagram of an intelligent tracked pipe rust removal robot provided by this utility model;

[0017] Figure 4 Exploded view of a camera platform, camera 1, and lighting lamp 1 of an intelligent tracked pipe rust removal robot provided by this utility model;

[0018] Figure 5 Exploded view of the cleaning base, electric brush, and anti-collision wheels of an intelligent tracked pipe rust removal robot provided by this utility model;

[0019] 1. Vehicle body; 11. Drive motor; 12. Drive gear; 13. Track; 14. Driven gear; 15. Protective shell; 16. Cable management rack; 17. Signal interface; 2. Image acquisition component; 21. Camera platform; 22. Camera 1; 23. Lighting lamp 1; 24. Camera 2; 25. Lighting lamp 2; 3. Sweeping component; 31. Sweeping base; 32. Electric brush; 33. Anti-collision wheel; 4. Air suction component; 41. Air inlet; 42. Air inlet pipe; 43. Air outlet; 5. Magnetic suction device; 6. Ultrasonic device; 7. U-shaped handle. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical applications of the present invention, and to enable those skilled in the art to understand the present invention and design various embodiments with various modifications suitable for a particular purpose.

[0021] A tracked pipe rust removal robot, such as Figures 1-5 As shown, the robot includes a vehicle body 1, an image acquisition component 2, a cleaning component 3, a suction component 4, and an ultrasonic device 5. The vehicle body 1 is driven by tracked wheels. The image acquisition component 2 is located at the front end of the vehicle body 1. The cleaning component 3 is connected to the front of the vehicle body 1 through the suction component 4, which is connected to the interior of the vehicle body 1. The ultrasonic device 5 is located at the front end of the vehicle body 1. The vehicle body 1 is also equipped with a signal interface 17, which is wired to an external control system.

[0022] The robot body 1 is equipped with at least two drive motors 11. The drive motors 11 are electrically connected to the signal interface 15. The drive end of the drive motor 11 is connected to the drive gear 12 through the rotating shaft. The two sides of the body 1 are also equipped with driven gears 14. The drive gear 12 and the driven gear 14 are connected to the outer periphery of the track 13. The drive gear 12 is equipped with a protective shell 15. The rear of the body 1 is also equipped with a cable rack 14. The body 1 is also equipped with a U-shaped handle 7.

[0023] The vehicle body 1 is welded from high-strength aluminum alloy. In this embodiment of the utility model, the drive motor 11 is a DC brushless metal motor. The speed difference between the left and right wheels is controlled by the DC brushless metal motor, which can turn and better adapt to the environment of pipelines with many curves and narrow roads. It is distributed inside the vehicle body 1 and drives the track 13 through the drive gear 12. The specific transmission structure is the prior art.

[0024] like Figure 2 As shown. Due to the dust splashing during the cleaning process, the gear is equipped with a protective shell 15, which is filled with high-temperature resistant grease to adapt to the humid environment inside the pipeline.

[0025] The signal interface 17 can transmit video streams and sensor data back to the external control terminal via a wired connection. In order to better ensure the stability of the connection between the signal interface 15 and the external cable, the cable management rack 16 is located at the rear of the vehicle body 1 and uses a multi-group round hole design to ensure the stability of the external cable.

[0026] like Figure 3 As shown, the image acquisition component 2 is equipped with a high-definition camera 22 and at least two lighting lamps 3, which are mounted on the top of the vehicle body 1 via a camera platform 21. The image acquisition component 2 is connected to an external control system via a signal interface 17. The external control system employs an intelligent detection algorithm to assist in the movement of the pipeline and identify the location of rust.

[0027] Meanwhile, the image acquisition component 2 is equipped with a high-definition camera 24 and at least one lighting lamp 4 located at the rear of the vehicle body 1, which can detect whether there are any residues in the pipes after the rust has been cleaned.

[0028] like Figure 4 As shown, the cleaning assembly 3 includes a cleaning base 31, an electric brush 32, and anti-collision wheels 33. The cleaning base 31 is located at the front of the vehicle body 1, and the electric brush 32 is located on both sides of the bottom of the cleaning base 31. In order to prevent the cleaning assembly 3 from rubbing against the pipe during the cleaning process, the anti-collision wheels 33 are located on the arcs on both sides of the cleaning base to protect the robot.

[0029] Among them, the electric brush 32 is a brush on a disc driven by an electric motor. It is a commonly used electric brush device in the prior art, which can realize rotation cleaning and rust removal, and improve the rust removal effect inside the pipe.

[0030] The air suction assembly includes an air inlet 41, an air inlet pipe 42, and an air outlet 43. The air inlet 41 is located between the electric brushes 32 at the bottom 31 of the cleaning base to remove rust debris and other impurities from the pipes after cleaning. The air inlet pipe 42 connects the air inlet 41 to the vehicle body 1, that is, it connects the upper end of the cleaning base 31 and the front end of the vehicle body 1. The air outlet 43 is located at the rear of the vehicle body 1 and is connected to an external negative pressure fan device, which can directly suck the rust out of the pipes to prevent residue.

[0031] To more accurately detect the distribution and thickness of rust inside the pipe in real time, an ultrasonic device 5 is installed at the front of the vehicle body 1. The ultrasonic device 5 is an existing structure that can detect the distribution of rust inside the pipe in real time. At the same time, the ultrasonic device 5 is connected to an external control system through a signal interface, which can customize a better cleaning strategy for the robot.

[0032] To further enhance the robot's rust removal capabilities, a magnetic suction device 7 is located under the vehicle body 1. Through the magnetic suction device with at least 8 electromagnets, after being powered on, it can strongly attract residual rust that the air suction device has not cleaned, achieving a deep cleaning effect.

[0033] The U-shaped handles are located on both sides of the vehicle body and can rotate 180°. They are made of aluminum alloy and are easy to handle manually.

[0034] In operation, the robot is manually inserted into the pipe using a U-shaped handle, and external power and communication cables are connected. Cable management racks secure the cables. The robot is remotely controlled via an image acquisition unit. An ultrasonic scanner generates a thermal map of rust thickness to assist in adjusting the cleaning strategy. The electric cleaning brushes rotate at 400 rpm, contacting the pipe wall, while a simultaneous suction system draws rust and iron filings out of the pipe using an external negative pressure device. An electromagnet is energized to attract residual particles, and a rear-view camera monitors the cleaning effect in real time. After a collision signal is triggered by the anti-collision frame, the robot uses differential steering to avoid obstacles.

[0035] This invention utilizes core technologies such as multi-sensor fusion, adaptive track drive, and magnetic suction-air suction collaborative cleaning to achieve intelligent operation of the entire process of "detection-execution-acceptance" for pipeline rust removal, achieving breakthrough progress in efficiency, accuracy, and safety.

[0036] Other embodiments of the present invention will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

Claims

1. A tracked pipe rust removal robot, characterized in that, The robot includes a vehicle body (1), an image acquisition component (2), a cleaning component (3), a suction component (4), and an ultrasonic device (5). The vehicle body (1) is driven by track wheels. The image acquisition component (2) is located at the front end of the vehicle body (1). The cleaning component (3) is connected to the front of the vehicle body (1) through the suction component (4). The suction component (4) is connected to the interior of the vehicle body (1). The ultrasonic device (5) is located at the front end of the vehicle body (1). The vehicle body (1) is also equipped with a signal interface (17), which is wired to an external control system.

2. The tracked pipe rust removal robot according to claim 1, characterized in that, The vehicle body (1) is also equipped with at least two drive motors (11). The drive motors (11) are electrically connected to the signal interface (17). The drive end of the drive motor (11) is connected to the drive gear (12) through the shaft. The vehicle body (1) is also equipped with driven gears (14) on both sides. The drive gears (12) and driven gears (14) are connected to the outer periphery of the track (13). The drive gear (12) is equipped with a protective shell (15). The vehicle body (1) is also equipped with a cable rack (16) at the rear. The vehicle body (1) is also equipped with a U-shaped handle (7).

3. The tracked pipe rust removal robot according to claim 1, characterized in that, The image acquisition component (2) consists of at least two sets of cameras and lighting lamps. One set of cameras and lighting lamps is located on the top of the vehicle body (1) via a camera platform (21), and the other set of cameras and lighting lamps is located at the rear of the vehicle body (1). The image acquisition component (2) is electrically connected to the signal interface (17).

4. The tracked pipe rust removal robot according to claim 1, characterized in that, The cleaning assembly (3) includes a cleaning base (31), an electric brush (32), and anti-collision wheels (33). The cleaning base (31) is connected to the front of the vehicle body (1) through a suction assembly (4). The electric brush (32) is located on both sides of the bottom of the cleaning base (31) and is electrically connected to the signal interface (17). The anti-collision wheels (33) are located on both sides of the cleaning base and extend outward.

5. A tracked pipe rust removal robot according to claim 4, characterized in that, The air suction assembly includes an air inlet (41), an air inlet pipe (42), and an air outlet (43). The air inlet (41) is located at the bottom of the cleaning base (31), the air inlet pipe (42) is connected between the air inlet (41) and the vehicle body (1), and the air outlet (43) is located at the rear of the vehicle body (1) and is connected to the outside through the air pipe.

6. The tracked pipe rust removal robot according to claim 1, characterized in that, The ultrasonic device (5) is electrically connected to the signal interface (17).

7. The tracked pipe rust removal robot according to claim 1, characterized in that, The robot also includes a magnetic suction device (6), which is located at the bottom of the vehicle body (1) and includes at least 8 electromagnets electrically connected to the signal interface (17).

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