A pipeline inner wall wheel type inspection robot

Abstract

The utility model relates to the technical field of inspection robot, and disclose a pipeline inner wall wheel type inspection robot, including robot body, robot body fixedly connected on the base, the both sides of base are all set up with two first recess, and the first recess is rotatably connected with first pivot, and the first pivot is fixedly connected with support rod, and the both sides of fixedly connected with connecting rod between two support rods of same side, and the lower extreme of base is fixedly connected with fixed plate, and the both sides of fixed plate are all fixedly connected with push mechanism, and one end of push mechanism is fixedly connected with connecting rod, and the bottom of support rod is set up with second recess, and second recess is fixedly connected with steering mechanism, and steering mechanism is fixedly connected with drive mechanism on, the utility model can change the inclination angle of second gyro wheel, and the wheel of inclined arrangement can provide better support and balance, especially in the part that pipeline is curved or inclined, help to prevent the robot from sliding in the pipeline.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically a wheeled inspection robot for the inner wall of a pipeline. Background Technology

[0002] The emergence of inspection robots is a product of industrial automation, intelligence, and digitalization. With the rapid development of modern industry, energy, transportation, and other fields, higher demands are being placed on equipment inspection and maintenance. Traditional inspection methods suffer from low efficiency, high cost, and significant safety hazards, making them unsuitable for the needs of modern production. Therefore, inspection robots have emerged, gradually replacing traditional manual inspection methods with their unique advantages.

[0003] The patent with publication number CN221367252U discloses a wheeled inspection robot for continuous inspection. It includes a vehicle body, a radar navigation system fixedly mounted on the top of the vehicle body, an electric lifting column rotatably mounted on the top of the vehicle body, a protective cover fixedly mounted on the top of the electric lifting column, a monitoring probe installed inside the protective cover, a transparent plate fixedly mounted on one side of the protective cover, a cleaning component mounted on the top of the protective cover, a chassis frame fixedly mounted on the bottom of the vehicle body, lifting rods fixedly mounted at the four corners of the chassis frame, and rollers rotatably mounted at the bottom of each of the four lifting rods. A drive component is installed inside the chassis frame. By setting up the drive component, when road conditions are poor, the drive component can be used to raise and lower the vehicle body via the lifting rods, improving the vehicle's passability. By setting up the cleaning component, the transparent plate on the protective cover can be cleaned, making the monitoring probe's view clearer.

[0004] However, the above technology still has the following problems:

[0005] When inspecting the inner wall of a pipeline, the wheeled inspection robot has a small contact area with the pipeline wall, resulting in poor stability and making it easy for the robot to slip inside the pipeline. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a wheeled inspection robot for pipeline inner walls, which can improve the stability of the wheeled inspection robot's movement inside pipelines.

[0007] This utility model provides the following technical solution: a wheeled inspection robot for the inner wall of a pipeline, comprising a robot body fixedly connected to a base. Two first grooves are formed on both sides of the base, and a first rotating shaft is rotatably connected within each groove. A support rod is fixedly connected to the first rotating shaft, and a connecting rod is fixedly connected between the two support rods on the same side. A fixing plate is fixedly connected to the lower end of the base, and a pushing mechanism is fixedly connected to both sides of the fixing plate. One end of the pushing mechanism is fixedly connected to the connecting rod. A second groove is formed at the bottom of the support rod, and a steering mechanism is fixedly connected within the second groove. A drive mechanism is fixedly connected to the steering mechanism. The robot body has a built-in central controller, which is electrically connected to both the drive mechanism and the steering mechanism. A gyroscope sensor for detecting the pipe's curvature is provided on the base, and the gyroscope sensor is electrically connected to the central controller.

[0008] Furthermore, the upper end of the base is fixedly connected to two mutually symmetrical first electric telescopic rods, the output end of the first electric telescopic rod is fixedly connected to a support plate, and both ends of the support plate are fixedly connected to two first fixing blocks, with a first roller rotatably connected between the two first fixing blocks.

[0009] Furthermore, the distance between the fixing plate and both sides of the base is the same.

[0010] Furthermore, the pushing mechanism includes two second fixed blocks fixedly connected to the side of the fixed plate, a second rotating shaft rotatably connected between the two second fixed blocks, a second electric telescopic rod fixedly connected to the second rotating shaft, a third rotating shaft fixedly connected to the output end of the second electric telescopic rod, and a third fixed block fixedly connected to both ends of the third rotating shaft. The two third fixed blocks are fixedly connected to the connecting rod.

[0011] Furthermore, the steering mechanism includes a first driver fixedly connected in the second groove, the output end of the first driver being fixedly connected to a fourth rotating shaft, and a drive mechanism being fixedly connected to the lower end of the fourth rotating shaft.

[0012] Furthermore, the driving mechanism includes a U-shaped plate fixedly connected to the lower end of the first driver, a second driver fixedly connected to the outer wall of the U-shaped plate, a fifth rotating shaft fixedly connected to the output end of the second driver, the fifth rotating shaft being rotatably connected to the U-shaped plate, and a second roller fixedly connected to the fifth rotating shaft.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] This type of wheeled inspection robot for pipe walls can rotate the support rod through a push mechanism, thereby changing the tilt angle of the second roller. The tilted wheels can provide better support and balance, especially in the curved or inclined parts of the pipe, which helps to prevent the robot from slipping. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the entire utility model;

[0016] Figure 2 This is a three-dimensional structural diagram of the base of this utility model;

[0017] Figure 3 This is a front view of the present utility model;

[0018] Figure 4 This is a cross-sectional three-dimensional structural diagram of the support rod of this utility model;

[0019] Figure 5 for Figure 2 Enlarged view of point A above;

[0020] Figure 6 for Figure 3 Enlarged view of point B above;

[0021] Figure 7 for Figure 4 Enlarged view of point C above.

[0022] In the diagram: 1. Robot body; 2. Base; 3. First groove; 4. First pivot; 5. Support rod; 6. Connecting rod; 7. Fixing plate; 8. Pushing mechanism; 801. Second fixing block; 802. Second pivot; 803. Second electric telescopic rod; 804. Third pivot; 805. Third fixing block; 9. Second groove; 10. Steering mechanism; 1001. First driver; 1002. Fourth pivot; 11. Drive mechanism; 1101. U-shaped plate; 1102. Second driver; 1103. Fifth pivot; 1104. Second roller; 12. First electric telescopic rod; 13. Support plate; 14. First fixing block; 15. First roller. Detailed Implementation

[0023] 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.

[0024] Please see Figures 1 to 7A wheeled inspection robot for pipeline inner walls includes a robot body 1, which is fixedly connected to a base 2. Two first grooves 3 are formed on both sides of the base 2. A first rotating shaft 4 is rotatably connected within each first groove 3. A support rod 5 is fixedly connected to the first rotating shaft 4. A connecting rod 6 is fixedly connected between the two support rods 5 on the same side. A fixing plate 7 is fixedly connected to the lower end of the base 2. Pushing mechanisms 8 are fixedly connected to both sides of the fixing plate 7. One end of the pushing mechanism 8 is fixedly connected to the connecting rod 6. A second groove 9 is formed at the bottom of the support rod 5. A steering mechanism 10 is fixedly connected within the second groove 9. A drive mechanism 11 is fixedly connected to the steering mechanism 10. The robot body 1 has a built-in central controller, which is electrically connected to both the drive mechanism 11 and the steering mechanism 10. A gyroscope sensor for detecting pipeline curvature is provided on the base 2, and the gyroscope sensor is electrically connected to the central controller.

[0025] The wheeled inspection robot for pipe inner walls in this utility model is structurally similar to existing continuous inspection wheeled inspection robots. For example, patent CN221367252U discloses a continuous inspection wheeled inspection robot. The main improvement of this utility model is that the support rod 5 can be rotated by the pushing mechanism 8, thereby changing the tilt angle of the second roller 1104. The tilted wheel can provide better support and balance, especially in the curved or tilted parts of the pipe, which helps to prevent the robot from slipping. Figures 1 to 7As shown, the wheeled inspection robot for the inner wall of the pipeline in this utility model has a central controller (such as an STM32 series microcontroller) built into the robot body 1 during use. The controller is electrically connected to the second driver 1102 of the four drive mechanisms 11. The encoder collects the rotational speed signal of each second roller 1104 in real time. The controller uses a PID algorithm to adjust the output voltage of each second driver 1102, keeping the rotational speed difference of the four second rollers 1104 within ±5%, ensuring no deviation when the robot moves straight. During operation, the controller first controls the second electric telescopic rod 803. As the second electric telescopic rod 803 extends, its end rotates with the second shaft 802, and its front end rotates with the third shaft 804, pushing the support rod 5 outward with the first shaft 4. This changes the tilt angle of the second rollers 1104, providing better support and balance for the robot body 1 and preventing slippage. The second driver 1102 is a forward and reverse motor. Activating the second driver 1102 causes the fifth shaft 1103 to... The rotation of the second roller 1104 causes the pipeline inspection robot to move along the inner wall of the pipeline. When the inspection robot needs to turn, the controller sends a turning angle command to the first driver 1001 of the corresponding side steering mechanism 10 according to the preset path or the gyroscope sensor signal (such as the detected attitude angle change). For example, when turning left, the second roller 1104 on the two steering mechanisms 10 on the left side rotates counterclockwise by 15° to 30°. At the same time, the speed of the drive mechanism 11 is adjusted: the inner second roller 1104 decelerates by 30% to 50%, and the outer second roller 1104 increases by 20% to 40%. The differential speed is used to achieve a smooth turn and avoid slippage. The gyroscope sensor is an MPU6050 six-axis sensor, which communicates with the central controller through the I2C bus at a communication rate of 400kHz. It collects the pipeline bending angle in real time (range ±180°, accuracy ±0.5°) and updates the data at a frequency of 100Hz.

[0026] like Figure 1 As shown, the upper end of the base 2 is fixedly connected to two mutually symmetrical first electric telescopic rods 12. The output end of the first electric telescopic rod 12 is fixedly connected to a support plate 13. Both ends of the support plate 13 are fixedly connected to two first fixing blocks 14. The two first fixing blocks 14 are rotatably connected to a first roller 15.

[0027] Specifically, after adjusting the tilt angle of the second roller 1104, the robot body 1 is placed into the pipe, and the first electric telescopic rod 12 is activated. As the first electric telescopic rod 12 extends, it pushes the support plate 13 upward until the first roller 15 abuts against the inner wall of the pipe, further improving the stability of the pipe inspection robot.

[0028] like Figure 3 As shown, the distance between the fixing plate 7 and both sides of the base 2 is the same.

[0029] Specifically, the second rollers 1104 on both sides of the base 2 are tilted at the same angle to facilitate adjustment.

[0030] like Figure 5 As shown, the pushing mechanism 8 includes two second fixing blocks 801 fixedly connected to the side of the fixing plate 7. A second rotating shaft 802 is rotatably connected between the two second fixing blocks 801. A second electric telescopic rod 803 is fixedly connected to the second rotating shaft 802. A third rotating shaft 804 is fixedly connected to the output end of the second electric telescopic rod 803. A third fixing block 805 is fixedly connected to both ends of the third rotating shaft 804. The two third fixing blocks 805 are fixedly connected to the connecting rod 6.

[0031] Specifically, the second electric telescopic rod 803 is driven. During the lengthening process, the end of the second electric telescopic rod 803 rotates with the second rotating shaft 802, and the front end of the second electric telescopic rod 803 rotates with the third rotating shaft 804, pushing the support rod 5 to rotate outward with the first rotating shaft 4. This causes the tilt angle of the second roller 1104 to change. The extension amount of the second electric telescopic rod 803 of the driving mechanism 8 is linearly related to the rotation angle of the support rod 5 (the extension amount of 50mm corresponds to the rotation angle of 10° to 45°). By presetting the extension amount parameters corresponding to different pipe diameters (such as DN200 to DN800) by the controller, the contact area between the second roller 1104 and the inner wall of the pipe is increased, and the support stability is improved.

[0032] like Figure 7 As shown, the steering mechanism 10 includes a first driver 1001 fixedly connected in the second groove 9, the output end of the first driver 1001 is fixedly connected to a fourth rotating shaft 1002, and the drive mechanism 11 is fixedly connected to the lower end of the fourth rotating shaft 1002.

[0033] Specifically, the first driver 1001 is driven, which causes the fourth rotating shaft 1002 to rotate, thereby causing the second roller 1104 on the drive mechanism 11 to rotate, thus turning the direction.

[0034] like Figure 6 As shown, the drive mechanism 11 includes a U-shaped plate 1101 fixedly connected to the lower end of the first driver 1001, a second driver 1102 fixedly connected to the outer wall of the U-shaped plate 1101, a fifth rotating shaft 1103 fixedly connected to the output end of the second driver 1102, the fifth rotating shaft 1103 being rotatably connected to the U-shaped plate 1101, and a second roller 1104 fixedly connected to the fifth rotating shaft 1103.

[0035] Specifically, the second driver 1102 drives the fifth rotating shaft 1103 to rotate, which in turn causes the second roller 1104 to rotate, thus enabling the pipeline inspection robot to move along the inner wall of the pipeline. A 600-line photoelectric encoder (model: E6B2-CWZ6C) is coaxially fixed at the end of the fifth rotating shaft 1103 of each drive mechanism 11. The encoder is connected to the fifth rotating shaft 1103 through a flexible coupling and outputs AB phase pulse signals to the external interrupt interface of the central controller for speed closed-loop control and adjustment of the rotation speed of the second roller 1104.

[0036] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A wheeled inspection robot for the inner wall of a pipeline, comprising a robot body (1), the robot body (1) being fixedly connected to a base (2), characterized in that: The base (2) has two first grooves (3) on both sides. A first rotating shaft (4) is rotatably connected in the first groove (3). A support rod (5) is fixedly connected on the first rotating shaft (4). A connecting rod (6) is fixedly connected between the two support rods (5) on the same side. A fixing plate (7) is fixedly connected to the lower end of the base (2). A pushing mechanism (8) is fixedly connected to both sides of the fixing plate (7). One end of the pushing mechanism (8) is fixedly connected to the connecting rod (6). A second groove (9) is opened at the bottom of the support rod (5). A steering mechanism (10) is fixedly connected in the second groove (9). A driving mechanism (11) is fixedly connected on the steering mechanism (10). A central controller is built into the robot body (1). The central controller is electrically connected to the driving mechanism (11) and the steering mechanism (10) respectively. A gyroscope sensor for detecting the curvature of the pipe is provided on the base (2). The gyroscope sensor is electrically connected to the central controller.

2. The wheeled inspection robot for pipeline inner walls according to claim 1, characterized in that: The upper end of the base (2) is fixedly connected to two mutually symmetrical first electric telescopic rods (12). The output end of the first electric telescopic rod (12) is fixedly connected to a support plate (13). Both ends of the support plate (13) are fixedly connected to two first fixing blocks (14). A first roller (15) is rotatably connected between the two first fixing blocks (14).

3. A wheeled inspection robot for pipeline inner walls according to claim 1 or 2, characterized in that: The distance between the fixing plate (7) and both sides of the base (2) is the same.

4. The wheeled inspection robot for pipeline inner walls according to claim 3, characterized in that: The pushing mechanism (8) includes two second fixed blocks (801) fixedly connected to the side of the fixed plate (7), a second rotating shaft (802) rotatably connected between the two second fixed blocks (801), a second electric telescopic rod (803) fixedly connected to the second rotating shaft (802), a third rotating shaft (804) fixedly connected to the output end of the second electric telescopic rod (803), a third fixed block (805) fixedly connected to both ends of the third rotating shaft (804), and two third fixed blocks (805) fixedly connected to the connecting rod (6).

5. A wheeled inspection robot for pipeline inner walls according to claim 1, 2, or 4, characterized in that: The steering mechanism (10) includes a first driver (1001) fixedly connected in the second groove (9), the output end of the first driver (1001) is fixedly connected to a fourth rotating shaft (1002), and the drive mechanism (11) is fixedly connected to the lower end of the fourth rotating shaft (1002).

6. A wheeled inspection robot for pipeline inner walls according to claim 3, characterized in that: The steering mechanism (10) includes a first driver (1001) fixedly connected in the second groove (9), the output end of the first driver (1001) is fixedly connected to a fourth rotating shaft (1002), and the drive mechanism (11) is fixedly connected to the lower end of the fourth rotating shaft (1002).

7. A wheeled inspection robot for pipeline inner walls according to claim 5, characterized in that: The drive mechanism (11) includes a U-shaped plate (1101) fixedly connected to the lower end of the first driver (1001), a second driver (1102) fixedly connected to the outer wall of the U-shaped plate (1101), a fifth rotating shaft (1103) fixedly connected to the output end of the second driver (1102), the fifth rotating shaft (1103) being rotatably connected to the U-shaped plate (1101), and a second roller (1104) fixedly connected to the fifth rotating shaft (1103).

8. A wheeled inspection robot for pipeline inner walls according to claim 6, characterized in that: The drive mechanism (11) includes a U-shaped plate (1101) fixedly connected to the lower end of the first driver (1001), a second driver (1102) fixedly connected to the outer wall of the U-shaped plate (1101), a fifth rotating shaft (1103) fixedly connected to the output end of the second driver (1102), the fifth rotating shaft (1103) being rotatably connected to the U-shaped plate (1101), and a second roller (1104) fixedly connected to the fifth rotating shaft (1103).

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