A pipeline inspection robot

Abstract

The utility model relates to pipeline detection, specifically disclose a pipeline detection robot, including the horizontal arrangement car body, a plurality of be located car body both sides' gyro wheel, be used to drive gyro wheel rotation's power mechanism, be located car body upside middle part's cover body, be located cover body upside middle part's camera head and be located car body's escape device, the escape device includes horizontal arrangement car body's pivot, with pivot fixed connection's connecting rod, with connecting rod fixed connection's lever, and be used to drive pivot rotation's drive arrangement, pivot, connecting rod and lever combination into U shape structure around cover body side, the length direction parallel car body's length direction of connecting rod. The utility model discloses a pipeline detection robot, its can be in the pipeline detection process and fall into the pit, have certain self -rescue ability, can effectively improve the pipeline detection efficiency.

Description

Technical Field

[0001] This utility model relates to the technical field of pipeline inspection, and more specifically, to a pipeline inspection robot. Background Technology

[0002] Large-diameter pipelines are widely used in industrial production and urban infrastructure construction, such as oil pipelines and natural gas pipelines. As their service life increases, pipeline maintenance becomes particularly important, and regular internal inspections are indispensable. Pipelines with a diameter exceeding 6 inches (approximately 150 mm) should undergo comprehensive endoscopic inspections regularly, as recommended by the American Petroleum Institute. The purpose of these inspections includes checking for rust, corrosion, cracks, dirt buildup, and collapse.

[0003] Currently, automated crawling or walking equipment is typically used to enter pipelines for inspection. However, when the bottom of a pipeline collapses, it creates craters. Due to limitations in their structure and movement, ordinary crawling or walking equipment often struggles to cross these craters, becoming trapped. This not only prevents the equipment from continuing its inspection work but also requires additional time and effort to free the equipment, significantly impacting pipeline inspection efficiency, delaying overall pipeline condition assessments and potential risk identification, and potentially leading to safety hazards. Therefore, there is an urgent need to design a self-propelled device capable of efficiently traversing craters or obstacles to ensure the smooth progress of pipeline inspection work. Utility Model Content

[0004] The purpose of this invention is to provide a pipeline inspection robot that has a certain self-extrication ability when it gets stuck in a pit during pipeline inspection, which can effectively improve pipeline inspection efficiency.

[0005] This utility model is achieved through the following technical solution: The pipeline inspection robot of this utility model includes a horizontally arranged body, multiple rollers arranged on both sides of the body, a power mechanism for driving the rollers to rotate, a cover arranged on the upper middle part of the body, a camera arranged on the upper middle part of the cover, and an escape device arranged on the body; the escape device includes a rotating shaft arranged horizontally on the body, a connecting rod fixedly connected to the rotating shaft, a lever fixedly connected to the connecting rod, and a driving device for driving the rotating shaft to rotate; the rotating shaft, the connecting rod, and the lever are combined into a U-shaped structure surrounding the side of the cover; the length direction of the connecting rod is parallel to the length direction of the body.

[0006] Furthermore, the escape device also includes a sleeve fixedly disposed on the upper side of the vehicle body; the rotating shaft is rotatably disposed in the sleeve.

[0007] Furthermore, the drive device includes a driven wheel located at the end of the rotating shaft away from the connecting rod, a motor fixedly mounted on the upper side of the vehicle body, a driving wheel located on the output shaft of the motor, and a transmission belt for connecting the driving wheel and the driven wheel.

[0008] Furthermore, an auxiliary wheel is rotatably mounted on the lever.

[0009] Furthermore, the auxiliary wheels are provided in multiple ways, and the multiple auxiliary wheels are distributed along the length direction of the lever.

[0010] Furthermore, the lever is located near the end of the vehicle body; the escape device also includes multiple grooves located at the end of the vehicle body, and one of the auxiliary wheels is engaged in one of the grooves.

[0011] Furthermore, the connecting rod has a U-shaped bend in the middle; the closest distance between the rotating shaft and the bend is L, the closest distance between the rotating shaft and the adjacent roller is greater than L, the bend is located on the outside of the vehicle body, the length of the bend is greater than the diameter of the roller, the width of the bend is greater than the width of the roller, and the bend is used for the connecting rod to pass around the roller.

[0012] Furthermore, a gimbal is provided in the middle of the upper side of the cover, the camera is located on the upper side of the gimbal, and a light is provided on the side of the gimbal; the orientation of the light is the same as the orientation of the camera.

[0013] Furthermore, the escape device is provided in pairs, and the pair of escape devices are centrally symmetrically distributed with the camera as the center.

[0014] The technical solution of this utility model has at least the following advantages and beneficial effects: When in use, the pipeline inspection robot of this utility model places its body inside the pipeline. A motor structure drives the rollers to rotate, allowing the body to move within the pipeline. A camera above the casing allows observation of the pipeline's interior. When the rollers get stuck in a pit within the pipeline, an escape device can be used to assist in freeing them. A drive device drives a rotating shaft to rotate, which in turn drives a lever to swing. During rotation, the lever rests on the edge of the pit, lifting the body so that the rollers can contact the pipeline and provide power, allowing it to escape from the pit. The structure of the rotating shaft, connecting rod, and lever allows the connecting rod to be longer and the lever to extend and reach further. When not in use, it rests close to the upper side of the body, without occupying excessive space or affecting other structures on the body. Attached Figure Description

[0015] Figure 1A structural schematic diagram of a pipeline inspection robot in one state and from one perspective provided in an embodiment of this utility model;

[0016] Figure 2 A two-view structural schematic diagram of a pipeline inspection robot in one state provided in an embodiment of this utility model;

[0017] Figure 3 A schematic diagram of the pipeline inspection robot in two states from one perspective provided in an embodiment of this utility model;

[0018] Figure 4 A two-view structural schematic diagram of a pipeline inspection robot in two states provided in an embodiment of this utility model;

[0019] Figure 5 A structural schematic diagram of the pipeline inspection robot in three states from one perspective provided in an embodiment of this utility model;

[0020] Figure 6 A two-view structural schematic diagram of the pipeline inspection robot in three states provided in this embodiment of the utility model;

[0021] Figure 7 This is a schematic diagram of the structure of the escape device provided in an embodiment of the present utility model.

[0022] Icons: 10-Body body, 11-Roller, 12-Cover, 13-Gimbal, 14-Camera, 15-Lighting lamp, 16-Groove, 20-Escape device, 21-Shaft, 22-Connecting rod, 23-Lever, 24-Drive device, 241-Driven wheel, 242-Motor, 243-Drive wheel, 244-Transmission belt, 25-Sleeve, 26-Bend, 27-Auxiliary wheel. Detailed Implementation

[0023] Example

[0024] The following description, in conjunction with specific embodiments, further illustrates the point, as shown in the appendix. Figure 1 - Appendix Figure 7As shown, the pipeline inspection robot of this embodiment includes a horizontally arranged body 10, multiple rollers 11 arranged on both sides of the body 10, a power mechanism for driving the rollers 11 to rotate, a cover 12 arranged in the middle of the upper side of the body 10, a camera 14 arranged in the middle of the upper side of the cover 12, and an escape device 20 arranged on the body 10. The escape device 20 includes a rotating shaft 21 horizontally arranged on the body 10, a connecting rod 22 fixedly connected to the rotating shaft 21, a lever 23 fixedly connected to the connecting rod 22, and a drive device 24 for driving the rotating shaft 21 to rotate. The rotating shaft 21, the connecting rod 22 and the lever 23 are combined into a U-shaped structure surrounding the side of the cover 12. The length direction of the connecting rod 22 is parallel to the length direction of the body 10. Specifically, during use, the vehicle body 10 is placed inside the pipe, and the roller 11 is driven to rotate by the motor structure, allowing the vehicle body 10 to move inside the pipe. The camera 14 above the cover 12 can observe the situation inside the pipe. When the roller 11 gets stuck in a pit inside the pipe, the escape device 20 can be used to assist in getting out of the pit. The drive device 24 drives the rotating shaft 21 to rotate, which in turn drives the lever 23 to swing through the connecting rod 22. The lever 23 rests on the edge of the pit during rotation, and then the vehicle body 10 is partially lifted, so that the roller 11 can contact the pipe and provide power, and then it can get out of the pit. The structure of the rotating shaft 21, connecting rod 22 and lever 23 makes the connecting rod 22 longer and the lever 23 can extend and reach further. When not in use, it is close to the upper side of the vehicle body 10, without taking up too much space or affecting other structures on the vehicle body 10. It should be noted that the structure of the vehicle body 10 and the rollers 11 is similar to that of a traditional car. The steering and other structures of the rollers 11 can use conventional structures. They can be powered by batteries and their movement can be controlled by remote signals. Alternatively, they can be connected to the vehicle body 10 using connecting ropes and wires. The wires can be used to power the vehicle body 10, control its movement, and transmit video signals. The above functions can be achieved using conventional structures. This embodiment is designed only for the traction structure.

[0025] The escape device 20 in this embodiment also includes a sleeve 25 fixedly disposed on the upper side of the vehicle body 10; the rotating shaft 21 is rotatably disposed in the sleeve 25. Specifically, the sleeve 25 can effectively restrict the rotation of the rotating shaft 21, making its rotation more stable.

[0026] The drive device 24 in this embodiment includes a driven wheel 241 located at the end of the rotating shaft 21 away from the connecting rod 22, a motor 242 fixedly mounted on the upper side of the vehicle body 10, a driving wheel 243 located on the output shaft of the motor 242, and a transmission belt 244 connecting the driving wheel 243 and the driven wheel 241. Specifically, the motor 242 can drive the rotating shaft 21 to rotate via the transmission belt 244, or the output shaft of the motor 242 can be directly connected to the rotating shaft 21 for power transmission, or a gear connection can be used for power transmission. Preferably, the motor 242 is a servo motor 242 to precisely control the rotation angle.

[0027] In this embodiment, an auxiliary wheel 27 is rotatably mounted on the lever 23. Multiple auxiliary wheels 27 are provided, distributed along the length of the lever 23. The lever 23 is positioned near the end of the vehicle body 10. The escape device 20 also includes multiple grooves 16 located at the ends of the vehicle body 10, with each auxiliary wheel 27 engaged in one groove 16. Specifically, the auxiliary wheels 27 assist movement, making the movement smoother and preventing jamming when the lever 23 contacts the inner wall of the pipe. Furthermore, the lever 23 and the pivot 21 are positioned as close as possible to both ends of the vehicle body 10, thus extending the reach of the lever 23.

[0028] In this embodiment, the connecting rod 22 has a U-shaped bend 26 in the middle; the closest distance between the rotating shaft 21 and the bend 26 is L, and the closest distance between the rotating shaft 21 and the adjacent roller 11 is greater than L. The bend 26 is located on the outside of the vehicle body 10, and the length of the bend 26 is greater than the diameter of the roller 11, and the width of the bend 26 is greater than the width of the roller 11. The bend 26 is used to connect the rod 22 to pass around the roller 11. Specifically, see attached... Figure 3-6 As shown, by providing a bend 26 on the connecting rod 22, the connecting rod 22 can bypass the roller 11 and enter the lower side of the vehicle body 10 during the swinging process, thus lifting the vehicle body 10. This increases the operability range of the connecting rod 22 and the lever 23, enabling better escape operations in various situations.

[0029] In this embodiment, a gimbal 13 is provided on the upper center of the housing 12, and a camera 14 is located on the upper side of the gimbal 13. An illumination lamp 15 is provided on the side of the gimbal 13; the orientation of the illumination lamp 15 is the same as the orientation of the camera 14. Specifically, the gimbal 13 itself is a structure with a rotation function, so it can drive the camera 14 and the illumination lamp 15 to rotate within a certain range for better observation.

[0030] In this embodiment, the escape device 20 is provided in pairs, and the pair of escape devices 20 are centrally symmetrically distributed with the camera 14 as the center. Specifically, the pair of escape devices 20 can act on the front and rear ends of the vehicle body 10 respectively, which can better help to get out of trouble, and the pair of escape devices will not affect each other and can operate independently.

[0031] In summary, the pipeline inspection robot of this embodiment places the vehicle body 10 inside the pipeline during use. The motor structure drives the roller 11 to rotate, allowing the vehicle body 10 to move within the pipeline. The camera 14 above the cover 12 can observe the inside of the pipeline. When the roller 11 gets stuck in a pit inside the pipeline, the escape device 20 can be used to assist in escaping. The drive device 24 drives the rotating shaft 21 to rotate, which in turn drives the lever 23 to swing through the connecting rod 22. During the rotation, the lever 23 rests on the edge of the pit, lifting the vehicle body 10 so that the roller 11 can contact the pipeline and provide power, thus escaping from the pit. The structure of the rotating shaft 21, connecting rod 22, and lever 23 allows the connecting rod 22 to be longer and the lever 23 to extend and reach further. When not in use, it is close to the upper side of the vehicle body 10, without occupying too much space or affecting other structures on the vehicle body 10.

[0032] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A pipeline inspection robot, characterized in that: The vehicle includes a horizontally arranged vehicle body (10), a plurality of rollers (11) on both sides of the vehicle body (10), a power mechanism for driving the rollers (11) to rotate, a cover (12) located in the middle of the upper side of the vehicle body (10), a camera (14) located in the middle of the upper side of the cover (12), and an escape device (20) located on the vehicle body (10). The escape device (20) includes a rotating shaft (21) horizontally disposed on the vehicle body (10), a connecting rod (22) fixedly connected to the rotating shaft (21), a lever (23) fixedly connected to the connecting rod (22), and a driving device (24) for driving the rotating shaft (21) to rotate. The rotating shaft (21), the connecting rod (22) and the lever (23) are combined into a U-shaped structure surrounding the side of the cover (12); the length direction of the connecting rod (22) is parallel to the length direction of the vehicle body (10).

2. The pipeline inspection robot according to claim 1, characterized in that: The escape device (20) also includes a sleeve (25) fixedly disposed on the upper side of the vehicle body (10); the rotating shaft (21) is rotatably disposed in the sleeve (25).

3. The pipeline inspection robot according to claim 2, characterized in that: The drive device (24) includes a driven wheel (241) located at the end of the shaft (21) away from the connecting rod (22), a motor (242) fixedly mounted on the upper side of the vehicle body (10), a drive wheel (243) located on the output shaft of the motor (242), and a transmission belt (244) for connecting the drive wheel (243) and the driven wheel (241).

4. The pipeline inspection robot according to claim 1, characterized in that: An auxiliary wheel (27) is rotatably mounted on the lever (23).

5. The pipeline inspection robot according to claim 4, characterized in that: The auxiliary wheels (27) are provided in multiple ways, and the multiple auxiliary wheels (27) are distributed along the length direction of the lever (23).

6. The pipeline inspection robot according to claim 5, characterized in that: The lever (23) is located near the end of the vehicle body (10); The escape device (20) also includes a plurality of grooves (16) provided at the end of the vehicle body (10), and an auxiliary wheel (27) is engaged in one of the grooves (16).

7. The pipeline inspection robot according to claim 1, characterized in that: The connecting rod (22) has a U-shaped bend (26) in the middle; the closest distance between the rotating shaft (21) and the bend (26) is L, the closest distance between the rotating shaft (21) and the adjacent roller (11) is greater than L, the bend (26) is located on the outside of the vehicle body (10), the length of the bend (26) is greater than the diameter of the roller (11), the width of the bend (26) is greater than the width of the roller (11), and the bend (26) is used for the connecting rod (22) to pass around the roller (11).

8. The pipeline inspection robot according to claim 1, characterized in that: A gimbal (13) is provided on the upper middle part of the cover (12), and the camera (14) is located on the upper side of the gimbal (13). A lighting lamp (15) is provided on the side of the gimbal (13); the orientation of the lighting lamp (15) is the same as the orientation of the camera (14).

9. The pipeline inspection robot according to any one of claims 1-8, characterized in that: The escape device (20) is provided in pairs, and the pair of escape devices (20) are centrally symmetrically distributed with the camera (14) as the center.

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