A miniature robot for pipeline inspection

Abstract

This utility model discloses a micro-robot for pipeline inspection, relating to the field of micro-robot technology. It is characterized by comprising: a housing; a set of wide-angle cameras evenly distributed along the circumference of the housing, each camera mounted on a mounting rod, each mounting rod fixedly connected to the housing; symmetrical end plates fixedly connected to the housing, each end plate having a set of slots, each slot containing a circular shaft, each circular shaft fixedly connected to a corresponding end plate; and a set of symmetrical wheels, each bearing a wheel shaft, each wheel shaft rotatably connected to a corresponding circular shaft. The technical problem this utility model aims to solve is to provide a micro-robot for pipeline inspection, which uses servo motors to adjust the position of the wheels to adapt to pipelines of different sizes. While moving inside the pipeline, it remotely observes the internal condition of the pipeline through cameras, thus achieving pipeline inspection.

Description

Technical Field

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

[0002] Pipeline inspection is a crucial means of ensuring the safe and efficient operation of various pipeline systems. It encompasses a wide variety of methods and techniques applicable to pipelines of different materials, diameters, and operating environments. The main inspection methods include visual inspection, acoustic inspection, electromagnetic inspection, pressure testing, and non-destructive testing (NDT) techniques. Visual inspection includes endoscopic inspection and CCTV inspection. Endoscopic inspection uses a camera to enter the pipeline and is suitable for small-diameter pipes; CCTV inspection uses a robot equipped with a camera to record the entire process and is commonly used for municipal drainage pipelines.

[0003] Existing technology, such as the utility model of a micro-robot for internal inspection of municipal pipelines, authorized publication number CN214503387U, features a 90-degree angle between adjacent anti-slip wheels. When the device casing tip over, the four sets of anti-slip wheels can switch to another anti-slip wheel for movement, enabling the micro-robot to continue moving and processing even when tipped over.

[0004] Currently, there is a lack of a miniature robot for pipeline inspection, whose wheel position can be adjusted to adapt to pipelines of different sizes, allowing it to walk inside the pipeline and observe the internal conditions of the pipeline through a camera, thus achieving pipeline inspection. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a micro robot for pipeline inspection. By using servo motors to drive the position of the wheels, it can adapt to pipelines of different sizes. While walking inside the pipeline, it can remotely observe the internal condition of the pipeline through a camera, thereby realizing pipeline inspection.

[0006] This utility model achieves its purpose through the following technical solution:

[0007] A miniature robot for pipeline inspection is characterized by comprising: a shell, serving as the main structure of the miniature robot, made of high-strength, corrosion-resistant, lightweight material, which ensures the structural stability of the robot during operation inside the pipeline while reducing the overall weight, facilitating flexible movement in complex pipeline environments; and a set of wide-angle cameras, installed at a suitable position at the front end of the shell, which have an ultra-wide field of view, capable of capturing image information of the pipeline interior from all angles, providing clear and comprehensive visual data for subsequent pipeline inspection and analysis, and effectively detecting various problems such as cracks, corrosion, and foreign object blockages on the pipeline inner wall. The system comprises: wide-angle cameras evenly distributed along the circumference of the housing, each mounted on a mounting rod, and each mounting rod fixedly connected to the housing; symmetrical end plates fixedly connected to the housing, each end plate having a set of slots, each slot containing a round shaft, and each round shaft fixedly connected to the corresponding end plate; a set of symmetrical wheels made of highly wear-resistant and low-noise material to ensure smooth and quiet movement of the micro-robot within the pipeline, reducing interference with the pipeline environment; and wheel rods connected to bearings, each wheel rod rotatably connected to the corresponding round shaft.

[0008] As a further limitation of this technical solution, each of the wheel rods is rotatably connected to a T-axis, and each of the T-axis is fixedly connected to a slider. A symmetrical movable plate is provided inside the housing, and each of the symmetrical movable plates has a set of straight grooves. Each slider is disposed within a corresponding straight groove. Each movable plate is fixedly connected to a power rod, and symmetrical guide circular plates are fixedly connected inside the housing. The symmetrical power rods pass through their respective guide circular plates. When the power rod moves, it drives the movable plate to move, and the straight grooves on the movable plate move accordingly, thereby causing the slider to slide within the straight groove. The slider drives the wheel rod to rotate via the T-axis, thus adjusting the position of the wheel.

[0009] As a further limitation of this technical solution, each of the movable plates is fixedly connected to symmetrical guide crossbars, and each guide crossbar passes through a corresponding guide circular plate. When the power rod drives the movable plate to move, the movable plate simultaneously drives the guide crossbars to slide on the guide circular plate, ensuring the stability of the movable plate's movement.

[0010] As a further limitation of this technical solution, at least one of the guide crossbars is fixedly connected to a limiting circular plate to prevent the guide crossbar from moving excessively.

[0011] As a further limitation of this technical solution, each of the straight grooves is provided with a guide rod, each guide rod passing through the corresponding slider, and each guide rod being fixedly connected to the corresponding moving plate. This further ensures the stability of the slider sliding within the straight groove, allowing the slider to move only in a straight line along the direction of the guide rod, thus preventing the slider from deviating or wobbling during sliding.

[0012] As a further limitation of this technical solution, an arc seat is fixedly connected inside the housing, a servo motor is fixedly connected to the arc seat, and the output shaft of the servo motor is fixedly connected to a rotating wheel. The rotating wheel is rotatably connected to one end of a symmetrical connecting rod, and the other end of the symmetrical connecting rod is rotatably connected to the corresponding power rod. When the servo motor is started, its output shaft drives the rotating wheel to rotate, and the rotation of the rotating wheel in turn drives the symmetrical connecting rod to swing. Since the other end of the connecting rod is rotatably connected to the corresponding power rod, the swing of the connecting rod will drive the power rod to move.

[0013] As a further limitation of this technical solution, each of the wheel rods is fixedly connected to symmetrical sealing half-pillars, and the groove is an arc groove. Each set of symmetrical sealing half-pillars matches the corresponding groove. By fixing each wheel rod to symmetrical sealing half-pillars and designing the groove as an arc groove, each set of symmetrical sealing half-pillars can tightly match the corresponding groove. This enhances the sealing performance of the microrobot when moving inside the pipeline, ensuring smoother operation of the robot, reducing operational failures caused by sealing problems, and improving the robot's adaptability to different pipeline environments and the reliability of its inspection work.

[0014] As a further limitation of this technical solution, the wheels are electric wheels. Electric wheels can achieve precise start-stop, acceleration, and deceleration according to control commands.

[0015] As a further limitation of this technical solution, the mounting rod is an electric push rod, and each wide-angle camera is respectively mounted on the push rod of the corresponding electric push rod. The distance between the wide-angle camera and the pipe wall can be flexibly adjusted to obtain more comprehensive and clearer images of the inside of the pipe, which helps to more accurately detect defects, damage, or other abnormalities within the pipe, providing a reliable basis for subsequent pipe repair and maintenance.

[0016] Compared with the prior art, the advantages and positive effects of this utility model are:

[0017] This invention significantly enhances the sealing performance of the micro-robot when moving within pipelines by fixing each wheel rod to symmetrical sealing semi-pillars and employing an arc groove design. This results in smoother robot operation, effectively reducing operational malfunctions caused by sealing issues, and thus improving the robot's adaptability to different pipeline environments and the reliability of its inspection work. Simultaneously, the use of electric wheels allows for precise start-stop, acceleration, and deceleration based on control commands, further enhancing the robot's maneuverability and flexibility. Furthermore, the mounting rod utilizes an electric push rod, flexibly mounting a wide-angle camera on it. This allows for adjustable distance between the camera and the pipeline wall, enabling the acquisition of more comprehensive and clear images of the pipeline's interior. This helps to more accurately detect defects, damage, or other anomalies within the pipeline, providing a reliable basis for subsequent pipeline repair and maintenance. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0019] Figure 2 This is a partial cross-sectional three-dimensional structural diagram of the present invention. Figure 1 .

[0020] Figure 3 This is a partial three-dimensional structural diagram of the present invention. Figure 1 .

[0021] Figure 4 This is a partial three-dimensional structural diagram of the present invention. Figure 2 .

[0022] Figure 5 This is a partial three-dimensional structural diagram of the present invention. Figure 3 .

[0023] Figure 6 This is a partial cross-sectional three-dimensional structural diagram of the present invention. Figure 2 .

[0024] In the diagram: 1. Housing, 2. Wide-angle camera, 3. Mounting rod, 4. Wheel rod, 5. Wheel, 6. End plate, 7. Moving plate, 8. Guide circular plate, 9. Connecting rod, 10. Rotary wheel, 11. Servo motor, 12. Arc seat, 13. Limiting circular plate, 14. Guide crossbar, 15. Power rod, 16. Straight groove, 17. Guide long rod, 18. Groove, 19. Circular shaft, 20. Slider, 21. Sealing half column, 22. T-axis. Detailed Implementation

[0025] The following describes a specific embodiment of the present invention in detail with reference to the accompanying drawings. However, it should be understood that the scope of protection of the present invention is not limited to the specific embodiment.

[0026] Example 1: This utility model includes: a shell 1, which serves as the main structure of the microrobot and is made of high-strength, corrosion-resistant, lightweight material. This ensures the structural stability of the robot while it operates within the pipeline, while also reducing the overall weight and facilitating flexible movement in complex pipeline environments; a set of wide-angle cameras 2, installed at a suitable position at the front end of the shell, providing an ultra-wide field of view to capture image information of the pipeline interior from all angles. This provides clear and comprehensive visual data for subsequent pipeline inspection and analysis, effectively detecting various problems such as cracks, corrosion, and foreign object blockages on the pipeline inner wall; and uniformly distributed along the circumference of the shell 1. Each wide-angle camera 2 is mounted on a mounting rod 3, and each mounting rod 3 is fixedly connected to the housing 1. Symmetrical end plates 6 are fixedly connected to the housing 1. Each end plate 6 has a set of slots 18, and each slot 18 is provided with a round shaft 19. Each round shaft 19 is fixedly connected to the corresponding end plate 6. A set of symmetrical wheels 5 are made of highly wear-resistant and low-noise material to ensure that the micro-robot moves smoothly and quietly in the pipeline, reducing interference with the pipeline environment. Wheel rods 4 are connected to bearings, and each wheel rod 4 is rotatably connected to the corresponding round shaft 19.

[0027] Each of the wheel rods 4 is rotatably connected to a T-axis 22, and each of the T-axis 22 is fixedly connected to a slider 20. A symmetrical movable plate 7 is provided inside the housing 1, and each of the symmetrical movable plates 7 has a set of straight grooves 16. Each slider 20 is disposed within a corresponding straight groove 16. Each movable plate 7 is fixedly connected to a power rod 15. A symmetrical guide plate 8 is fixedly connected inside the housing 1, and the symmetrical power rods 15 pass through the corresponding guide plates 8. When the power rod 15 moves, it drives the movable plate 7 to move, and the straight grooves 16 on the movable plate 7 move accordingly, thereby causing the slider 20 to slide within the straight grooves 16. The slider 20 drives the wheel rod 4 to rotate via the T-axis 22, thus adjusting the position of the wheel 5.

[0028] Each of the straight grooves 16 is provided with a guide rod 17, which passes through the corresponding slider 20 and is fixedly connected to the corresponding moving plate 7. This further ensures the stability of the slider 20 sliding within the straight groove 16, allowing the slider 20 to move linearly only along the direction of the guide rod 17, thus preventing the slider 20 from deviating or wobbling during sliding.

[0029] An arc seat 12 is fixedly connected inside the housing 1. A servo motor 11 is fixedly connected to the arc seat 12. The output shaft of the servo motor 11 is fixedly connected to a rotating wheel 10. The rotating wheel 10 is rotatably connected to one end of a symmetrical connecting rod 9. The other end of the symmetrical connecting rod 9 is rotatably connected to a corresponding power rod 15. When the servo motor 11 is activated, its output shaft drives the rotating wheel 10 to rotate. The rotation of the rotating wheel 10 then drives the symmetrical connecting rod 9 to swing. Since the other end of the connecting rod 9 is rotatably connected to the corresponding power rod 15, the swinging of the connecting rod 9 will drive the power rod 15 to move.

[0030] Each of the wheel rods 4 is fixedly connected to a symmetrical sealing half-pillar 21. The groove 18 is an arc groove, and each set of symmetrical sealing half-pillars 21 matches the corresponding groove 18. By fixing each wheel rod 4 to a symmetrical sealing half-pillar 21 and designing the groove 18 as an arc groove, each set of symmetrical sealing half-pillars 21 can tightly match the corresponding groove 18. This enhances the sealing performance of the micro-robot when moving in the pipeline, ensuring smoother operation of the robot, reducing operational failures caused by sealing problems, and improving the robot's adaptability to different pipeline environments and the reliability of its inspection work.

[0031] The wheel 5 is an electric wheel. The electric wheel 5 can achieve precise start, stop, acceleration and deceleration according to control commands.

[0032] The workflow of this embodiment is as follows:

[0033] The device is placed in the pipeline. The servo motor 11 is controlled to rotate, which in turn drives the rotating wheel 10 to rotate. The rotating wheel 10 drives the connecting rod 9 to swing, which in turn drives the power rod 15 to move along the guide plate 8. The power rod 15 then drives the moving plate 7 and the guide rod 17 to move. The guide rod 17 drives the slider 20 to move along the guide rod 17 within the straight groove 16. The slider 20 drives the T-axis 22 to move, which in turn drives the wheel rod 4 to swing. The wheel rod 4 drives the sealing half-column 21 to rotate within the slot 18, and the wheel rod 4 drives the wheel 5 to swing, causing the wheel 5 to contact the pipeline wall. Controlling the rotation of the wheel 5 allows the device to move within the pipeline.

[0034] Example 2: This example further elaborates on Example 1. The mounting rod 3 is an electric push rod, and each wide-angle camera 2 is mounted on the corresponding push rod of the electric push rod. By flexibly adjusting the distance between the wide-angle camera 2 and the pipe wall, more comprehensive and clearer images of the inside of the pipe can be obtained. This helps to more accurately detect defects, damage, or other abnormalities within the pipe, providing a reliable basis for subsequent pipe repair and maintenance.

[0035] Example 3: This example further elaborates on Example 1 or 2. Each of the movable plates 7 is fixedly connected to symmetrical guide crossbars 14, and each guide crossbar 14 passes through the corresponding guide circular plate 8. When the power rod 15 drives the movable plate 7 to move, the movable plate 7 simultaneously drives the guide crossbars 14 to slide on the guide circular plate 8, ensuring the stability of the movement of the movable plate 7.

[0036] At least one of the guide crossbars 14 is fixedly connected to the limiting circular plate 13 to prevent the guide crossbars 14 from moving excessively.

[0037] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A micro robot for pipe inspection, characterized by, include: Shell (1); A set of wide-angle cameras (2) are evenly distributed along the circumference of the housing (1), and each wide-angle camera (2) is mounted on a mounting rod (3), and each mounting rod (3) is fixedly connected to the housing (1); Symmetrical end plates (6) are fixedly connected to the housing (1) respectively. Each end plate (6) has a set of slots (18). Each slot (18) is provided with a round shaft (19). Each round shaft (19) is fixedly connected to the corresponding end plate (6). A set of symmetrical wheels (5) are connected to wheel rods (4) by bearings, and each wheel rod (4) is rotatably connected to the corresponding round shaft (19).

2. The micro robot for pipe inspection according to claim 1, wherein: Each of the wheel rods (4) is rotatably connected to a T-axis (22), and each of the T-axis (22) is fixedly connected to a slider (20). A symmetrical movable plate (7) is provided inside the housing (1). Each of the symmetrical movable plates (7) is provided with a set of straight grooves (16). Each slider (20) is provided in the corresponding straight groove (16). Each of the movable plates (7) is fixedly connected to a power rod (15). A symmetrical guide plate (8) is fixedly connected inside the housing (1). The symmetrical power rods (15) pass through the corresponding guide plates (8).

3. The micro robot for pipe inspection according to claim 2, wherein: Each of the movable plates (7) is fixedly connected to a symmetrical guide crossbar (14), and each of the guide crossbars (14) passes through the corresponding guide circular plate (8).

4. The micro robot for pipe inspection according to claim 3, wherein: At least one of the guide crossbars (14) is fixedly connected to the limiting circular plate (13).

5. The micro robot for pipe inspection according to claim 2, wherein: Each of the straight grooves (16) is provided with a guide rod (17), each guide rod (17) passes through the corresponding slider (20), and each guide rod (17) is fixedly connected to the corresponding moving plate (7).

6. The micro robot for pipe inspection according to claim 2, wherein: An arc seat (12) is fixedly connected inside the housing (1). The arc seat (12) is fixedly connected to a servo motor (11). The output shaft of the servo motor (11) is fixedly connected to a rotating wheel (10). The rotating wheel (10) is rotatably connected to one end of a symmetrical connecting rod (9). The other end of the symmetrical connecting rod (9) is rotatably connected to the corresponding power rod (15).

7. The micro robot for pipe inspection according to claim 1, wherein: Each of the wheel rods (4) is fixedly connected to a symmetrical sealing half-pillar (21), and the groove (18) is an arc groove. Each set of symmetrical sealing half-pillars (21) is matched with the corresponding groove (18).

8. The micro robot for pipe inspection according to claim 1, wherein: The wheel (5) is an electric wheel.

9. The micro robot for pipe inspection according to claim 1, wherein: The mounting rod (3) is an electric push rod, and each wide-angle camera (2) is mounted on the push rod of the corresponding electric push rod.

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