A pipeline inspection robot

Abstract

The application relates to the technical field of pipeline detection, in particular to a pipeline detection robot, which comprises a driving module, at least two driving devices and a telescopic rod, the telescopic rod is arranged between the two adjacent driving devices, the driving device comprises a frame, a telescopic jacking mechanism and two walking mechanisms, the two walking mechanisms are arranged on the two sides of the bottom of the frame, the telescopic jacking mechanism is installed above the frame and located between the two walking mechanisms, a detection module is connected with one of the driving devices, and a power supply module is arranged. During the process of passing through a bent pipe or a vertical pipeline, when the front driving device is fixed, the rear driving device moves and simultaneously pushes the telescopic rod to contract, when the rear driving device is fixed, the front driving device moves and simultaneously drives the telescopic rod to elongate, so that peristaltic walking in the bent pipe or the vertical pipeline is realized, the pipeline detection robot can smoothly move in the bent pipe and the vertical pipeline, and the detection efficiency is effectively improved.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to a pipeline inspection robot. Background Technology

[0002] Pipeline systems are an indispensable component of modern industrial and urban infrastructure, widely used in fields such as oil, natural gas, tap water, and sewage treatment. With aging and long-term use, pipeline systems may experience problems such as corrosion, cracks, and blockages. If these problems are not detected and addressed promptly, they can lead to serious safety accidents and economic losses.

[0003] Traditional pipeline inspection methods mainly rely on manual external inspection or internal observation using simple camera equipment. These methods have drawbacks such as limited inspection range, low accuracy, and inability to adapt to complex pipeline structures. In recent years, pipeline inspection robot technology has developed rapidly, enabling it to enter the pipeline interior for comprehensive inspection, greatly improving inspection efficiency and accuracy.

[0004] However, most existing pipeline inspection robots adopt wheeled or tracked structures, which operate well in straight pipelines, but often struggle to achieve stable climbing when facing curved, vertical, or high-angle pipelines, thus affecting inspection efficiency or even making inspection impossible. Utility Model Content

[0005] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide a pipeline inspection robot capable of stable climbing within curved or vertical pipes, thereby improving inspection efficiency.

[0006] A pipeline inspection robot, including

[0007] A drive module includes a telescopic rod and at least two drive devices. The telescopic rod is disposed between two adjacent drive devices, and its two ends are respectively hinged to the two drive devices. The drive device includes a frame, a telescopic top support mechanism, and two walking mechanisms. The two walking mechanisms are disposed on both sides of the bottom of the frame, and the telescopic top support mechanism is installed above the frame and located between the two walking mechanisms.

[0008] A detection module is connected to one of the driving devices. The detection module includes a detection mechanism and at least two moving mechanisms, with the detection mechanism installed between two adjacent moving mechanisms.

[0009] The power supply module includes a support plate, a battery pack, and two moving mechanisms. The support plate is horizontally mounted between the two moving mechanisms. The battery pack is disposed on the support plate. A connecting rod is provided between the moving mechanism of the power supply module and the moving mechanism of the detection module. One end of the connecting rod is hinged to the moving mechanism of the power supply module, and the other end of the connecting rod is hinged to the moving mechanism of the detection module. The battery pack is used to provide power to the drive module and the detection module.

[0010] In an optional or preferred embodiment, the telescopic support mechanism includes

[0011] Telescopic drive component;

[0012] A rotating swing arm, one end of which is hinged to the frame, and a telescopic drive component is hinged to the frame, with the telescopic movable end of the telescopic drive component hinged to the middle of the rotating swing arm.

[0013] The pipe contact component is hinged to the free-moving end of the rotating arm.

[0014] In an optional or preferred embodiment, the walking mechanism includes

[0015] A tracked traveling assembly includes a track, track wheels, and a track frame with a trapezoidal structure. The track wheels are mounted at the four corners of the track frame, and the track connects each of the track wheels.

[0016] A power unit is installed inside the track frame, and the power output end of the power unit is connected to at least one of the track wheels.

[0017] In an optional or preferred embodiment, a first adjustment device is mounted on the frame for adjusting the distance between the two walking mechanisms. The first adjustment device includes...

[0018] A first lifting drive component is mounted on the frame;

[0019] The first lifting adjustment plate is installed on the lifting movable end of the first lifting drive component;

[0020] A rotating connector is disposed between the first lifting adjustment plate and the two walking mechanisms. The rotating connector has a first connecting arm and a second connecting arm connected at an angle. The first connecting arm is fixed to the track frame, and the second connecting arm is hinged to the first lifting adjustment plate. The connection between the first connecting arm and the second connecting arm is hinged to the frame.

[0021] In optional or preferred embodiments, the detection mechanism includes:

[0022] Rotary drive mechanism;

[0023] The detection actuator includes a fixed shaft, a rotating cylinder, a detection component mounting base, and at least three detection components. The two ends of the fixed shaft are respectively connected to two of the moving mechanisms. The rotating cylinder is rotatably mounted on the fixed shaft. Each of the detection components is arranged circumferentially at intervals on the detection component mounting base. The detection component mounting base is fixedly connected to the rotating cylinder. The rotation drive mechanism is connected to the rotating cylinder and is used to drive the rotating cylinder to rotate on the fixed shaft.

[0024] In an optional or preferred embodiment, the detection assembly includes a sleeve, a probe fixing rod, a probe, and a spring. One end of the sleeve is fixed to the detection assembly mounting base. The probe fixing rod is slidably assembled inside the sleeve, with one end extending from the other end of the sleeve. The probe fixing rod is axially telescopic along the sleeve. The probe is mounted on the end of the probe fixing rod that extends out of the sleeve. The spring is sleeved on the probe fixing rod, with one end abutting against the probe and the other end abutting against the end face of the sleeve.

[0025] In an optional or preferred embodiment, a turntable is rotatably mounted on the rotating drum, and a turntable drive mechanism is mounted on the rotating drum. The turntable drive mechanism is connected to the turntable to drive the turntable to rotate on the rotating drum. A linkage mechanism is provided between the turntable and the detection component to cause the probe fixing rod to extend and retract radially along the turntable. The linkage mechanism includes an involute spiral guide groove and a guide pin. The involute spiral guide groove is formed on the turntable and extends radially along the turntable. A limiting groove extending along the length direction is provided on the sleeve. The guide pin passes through the limiting groove. One end of the guide pin is fixedly connected to the probe fixing rod, and the other end of the guide pin extends into the involute spiral guide groove and is clearance-fitted with the involute spiral guide groove. The guide pin can slide along the involute spiral guide groove.

[0026] In an optional or preferred embodiment, the moving mechanism includes

[0027] Support;

[0028] Two support arms are arranged in a figure-eight shape on both sides of the bottom of the support, and one end of each support arm is hinged to the support.

[0029] Two rollers are rotatably mounted on the other end of the two support arms.

[0030] In an optional or preferred embodiment, the moving mechanism further includes a second adjusting device for adjusting the distance between the two support arms, the second adjusting device comprising:

[0031] The second lifting drive component is installed on the support;

[0032] The second lifting adjustment plate is installed on the lifting movable end of the second lifting drive component;

[0033] The second hinge rod is disposed between the second lifting adjustment plate and the two support arms. One end of the second hinge rod is hinged to the support arm, and the other end is hinged to the second lifting adjustment plate.

[0034] In an optional or preferred embodiment, both ends of the fixed shaft are connected to the support via a lifting adjustment device. The lifting adjustment device includes a lifting drive cylinder, a cylinder mounting base, a slide rail, and a slider. The slide rail is vertically mounted on the cylinder mounting base, and the slider is slidably mounted on the slide rail. The slider is fixed to the support. The cylinder body of the lifting drive cylinder is fixed to the cylinder mounting base. The piston rod of the lifting drive cylinder is connected to the slider, and the cylinder mounting base is connected to the fixed shaft.

[0035] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: In the pipeline inspection operation, when passing through a bend or vertical pipe, when the front drive device is fixed, the rear drive device moves and pushes the telescopic rod to retract. When the rear drive device is fixed, the front drive device moves and drives the telescopic rod to extend, realizing the creeping movement in the bend or vertical pipe. Therefore, it can move smoothly in the bend and vertical pipe, effectively improving the inspection efficiency. Attached Figure Description

[0036] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0037] Figure 1 This is a schematic diagram of the structure of the pipeline inspection robot provided in the embodiments of this application;

[0038] Figure 2 yes Figure 1 The diagram shows the structure of the driver module in the embodiment shown.

[0039] Figure 3 yes Figure 1 A schematic diagram of the drive module from another perspective in the embodiment shown;

[0040] Figure 4 yes Figure 1 A partial structural diagram of the driver module in the illustrated embodiment;

[0041] Figure 5 yes Figure 2 A magnified view of a section at point A in the middle;

[0042] Figure 6 yes Figure 3A magnified view of a section at point B in the middle;

[0043] Figure 7 yes Figure 1 The schematic diagram of the detection module in the embodiment shown is as follows;

[0044] Figure 8 yes Figure 1 A schematic diagram of the detection module from a second perspective in the embodiment shown;

[0045] Figure 9 yes Figure 1 A schematic diagram of the detection module from a third-view perspective in the illustrated embodiment;

[0046] Figure 10 yes Figure 7 A magnified view of a section at point C;

[0047] Figure 11 yes Figure 8 A magnified view of a section at point D;

[0048] Figure 12 yes Figure 9 A magnified view of a section at point E in the middle;

[0049] Figure 13 yes Figure 1 A partial structural diagram of the detection module in the illustrated embodiment;

[0050] Figure 14 yes Figure 13 Another structural diagram from a different perspective;

[0051] Figure 15 yes Figure 1 A schematic diagram of the detection component of the detection module in the embodiment shown;

[0052] Figure 16 yes Figure 1 A schematic diagram of the power supply module in the illustrated embodiment.

[0053] Figure Labels

[0054] 100—Drive module; 101—Telescopic rod; 102—Drive device; 103—Frame; 104—Telescopic support mechanism; 105—Traveling mechanism; 106—Telescopic drive component; 107—Rotating swing arm; 108—Pipe contact component; 109—Track travel assembly; 110—Power component; 111—Track; 112—Track wheel; 113—Track frame; 114—Transmission mechanism; 115—First adjustment device; 116—First lifting drive component; 117—First Lifting adjustment plate; 118—Rotating connector; 119—First connecting arm; 120—Second connecting arm; 121—First lifting drive motor; 122—First lead screw and nut transmission pair; 123—First hinge rod; 124—First guide rod; 200—Detection module; 201—Detection mechanism; 202—Moving mechanism; 203—Rotary drive mechanism; 204—Detection execution mechanism; 205—Fixed shaft; 206—Detection component fixing seat; 207—Detection; 208—Sleeve; 2 09—Probe fixing rod; 210—Probe; 211—Spring; 212—First rotary drive motor; 213—First synchronous pulley; 214—Second synchronous pulley; 215—First synchronous belt; 216—Connecting plate; 217—Turntable; 218—Turntable drive mechanism; 219—Involute spiral guide groove; 220—Guide pin; 221—Limiting groove; 222—Second rotary drive motor; 223—Third synchronous pulley; 224—Fourth synchronous pulley; 225—Fixing plate; 226— Support; 227—Support arm; 228—Roller; 229—Second adjustment device; 230—Second lifting adjustment plate; 231—Second hinge rod; 232—Second guide rod; 233—Second lifting drive motor; 234—Second lead screw and nut transmission pair; 235—Lifting adjustment device; 236—Lifting drive cylinder; 237—Cylinder mounting seat; 238—Slide rail; 239—Slider; 300—Power supply module; 301—Support plate; 302—Battery pack; 303—Connecting rod. Detailed Implementation

[0055] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0056] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0057] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application 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 the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0058] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0059] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0060] Pipeline systems are an indispensable component of modern industrial and urban infrastructure, widely used in fields such as oil, natural gas, tap water, and sewage treatment. With aging and long-term use, pipeline systems may experience problems such as corrosion, cracks, and blockages. If these problems are not detected and addressed promptly, they can lead to serious safety accidents and economic losses.

[0061] Traditional pipeline inspection methods mainly rely on manual external inspection or internal observation using simple camera equipment. These methods have drawbacks such as limited inspection range, low accuracy, and inability to adapt to complex pipeline structures. In recent years, pipeline inspection robot technology has developed rapidly, enabling it to enter the pipeline interior for comprehensive inspection, greatly improving inspection efficiency and accuracy.

[0062] However, most existing pipeline inspection robots adopt wheeled or tracked structures, which operate well in straight pipelines, but often struggle to achieve stable climbing when facing vertical or steeply inclined pipelines, thus affecting inspection efficiency.

[0063] Reference Figures 1 to 16 This application provides a pipeline inspection robot, including a drive module 100, an inspection module 200, and a power supply module 300. The drive module 100 includes a telescopic rod 101 and at least two drive devices 102. The inspection module 200 is connected to one of the drive devices 102 and includes an inspection mechanism 201 and at least two moving mechanisms 202. The inspection mechanism 201 is installed between two adjacent moving mechanisms 202. The power supply module 300 includes a support plate 301, a battery pack 302, and two moving mechanisms 202. The support plate 301 is horizontally installed between the two moving mechanisms 202. The battery pack 302 is disposed on the support plate 301. A connecting rod 303 is provided between the moving mechanism 202 of the power supply module 300 and the moving mechanism 202 of the inspection module 200. One end of the connecting rod 303 is hinged to the moving mechanism 202 of the power supply module 300, and the other end of the connecting rod 303 is hinged to the moving mechanism 202 of the inspection module 200.

[0064] The battery pack 302 can be a lithium battery pack or other types of high energy density batteries, and the battery pack 302 provides power to the robot's drive module 100 and detection module 200.

[0065] The drive module 100 includes a telescopic rod 101 and two drive devices 102. The telescopic rod 101 is disposed between two adjacent drive devices 102, and both ends of the telescopic rod 101 are hinged to the two drive devices 102 respectively. (Refer to...) Figure 2 Each drive unit 102 includes a frame 103, a telescopic top support mechanism 104, and two walking mechanisms 105. The two walking mechanisms 105 are located on both sides of the bottom of the frame 103, and the telescopic top support mechanism 104 is installed on the top of the frame 103, with the telescopic top support mechanism 104 located between the two walking mechanisms 105.

[0066] When the pipeline inspection robot of this application crawls inside a horizontal pipeline, the walking mechanisms 105 of the two drive units 102 walk along the inner wall of the pipeline, driving the inspection module 200 to perform inspection work on the inner wall of the pipeline. When it reaches a bend in the pipeline, the telescopic support mechanism 104 on the front drive unit 102 extends and presses against the inner wall of the pipeline, thus, together with the two walking mechanisms 105, pressing against the inner wall of the pipeline, fixing the front drive unit 102 in place. Then, the rear drive unit 102 continues to move along the bend under the drive of its walking mechanism 105, while simultaneously pushing the telescopic rod 101 to retract. When the rear drive unit 102 has moved along the bend until the telescopic rod 101 has retracted to its full position, the rear drive unit 102... The telescopic support mechanism 104 on 02 extends and presses against the inner wall of the pipe, thus working together with the two walking mechanisms 105 to press against the inner wall of the pipe, fixing the rear drive device 102 in place. Then, the telescopic support mechanism 104 of the front drive device 102 retracts and continues to move forward under the drive of the walking mechanism 105, while simultaneously extending the telescopic rod 101. This cycle repeats, allowing the entire drive module 100 to creep through the bend in the pipe. When the front drive device 102 is fixed, the rear drive device 102 moves; when the front drive device 102 moves, the rear drive device 102 is fixed. Through the coordinated work of the two drive devices 102 and the telescopic rod 101 in the middle, the entire robot can stably climb through the bend.

[0067] When this application moves into a vertical pipe, its movement is similar to that of crawling in a curved pipe. When the front drive device 102 is fixed, the rear drive device 102 moves upward, simultaneously pushing the telescopic rod 101 to retract. When the rear drive device 102 is fixed, the front drive device 102 moves, simultaneously pulling the telescopic rod 101 to extend, thus allowing the robot to creep and climb within the vertical pipe. Therefore, during pipe inspection operations, the drive module 100 achieves robot movement within the pipe through the alternating support and coordinated walking of the two sets of drive devices 102. It can move smoothly within curved and vertical pipes, effectively improving inspection efficiency.

[0068] In another embodiment of this application, the drive module 100 includes a telescopic rod 101 and three drive devices 102. The three drive devices 102 are connected in sequence through two telescopic rods 101 to form a longer drive unit, which can adapt to the needs of pipeline inspection over longer distances.

[0069] The telescopic rod 101 can adopt a hydraulic telescopic structure, which can automatically adjust its length according to the degree of pipe curvature, thereby improving the robot's ability to pass through curved pipes.

[0070] Reference Figure 4The telescopic support mechanism 104 includes a telescopic drive component 106, a rotating swing arm 107, and a pipe contact component 108. One end of the rotating swing arm 107 is hinged to the frame 103, the telescopic drive component 106 is hinged to the frame 103, the telescopic movable end of the telescopic drive component 106 is hinged to the middle of the rotating swing arm 107, and the pipe contact component 108 is hinged to the free movable end of the rotating swing arm 107.

[0071] When performing climbing operations inside a vertical pipe, the upper drive unit 102 first unfolds its rotating arm 107. The pipe contact component 108 at the end of the rotating arm 107, driven by the telescopic drive unit 106, adheres tightly to the inner wall of the pipe, forming a fixed fulcrum. At this time, the walking mechanism 105 of the lower drive unit 102 begins to operate, pushing the robot body upwards along the pipe axis, while simultaneously pushing the telescopic rod 101 to shorten. When the walking mechanism 105 of the lower drive unit 102 reaches its maximum stroke, the rotating arm 107 of the lower drive unit 102 unfolds synchronously, and the pipe contact component 108 at the end of the rotating arm 107 presses against the pipe wall to form support. Then, the rotating arm 107 of the upper drive unit 102 retracts, and the walking mechanism 105 of the upper drive unit 102 drives the robot body upwards along the pipe axis, while simultaneously extending the telescopic rod 101. By using two sets of drive devices 102 to alternately perform the coordinated actions of the rotating swing arm 107 supporting and the walking mechanism 105 pushing, the robot can continuously climb in a vertical pipe.

[0072] In some embodiments, a displacement sensor is installed inside the telescopic rod 101 that connects the two sets of drive devices 102 to dynamically adjust the telescopic stroke according to the pipe tilt angle, so as to ensure that the overall center of gravity of the robot is always in a stable state.

[0073] In practical applications, the telescopic drive component 106 can be a hydraulic cylinder, a pneumatic cylinder, or an electric telescopic cylinder, etc. When the telescopic drive component 106 extends, it connects with the rotating swing arm 107, causing the rotating swing arm 107 to swing upward, driving the pipe contact component 108 to contact the inner wall of the pipe, thereby fixing the drive device 102 inside the pipe. When the robot needs to move, the telescopic drive component 106 retracts, causing the pipe contact component 108 to separate from the inner wall of the pipe. At this time, the walking mechanism 105 can drive the drive device 102 to move.

[0074] In one specific embodiment of this application, the rotating swing arm 107 includes two swing arm rods, one end of which is hinged to the frame 103. The pipe contact component 108 is mounted on the other end of the two swing arm rods via a pivot. The telescopic drive component 106 includes two telescopic electric cylinders, the cylinder body of which is hinged to the frame 103, and the piston rod of which is hinged to the middle of the swing arm rod. Each swing arm rod corresponds to one telescopic electric cylinder. This structural design gives the telescopic support mechanism 104 better structural strength and stability.

[0075] In another embodiment of this application, the pipe contact component 108 has a serrated pattern on the side that contacts the inner wall of the pipe to increase the friction with the inner wall of the pipe and prevent the robot from slipping in vertical or high-angle pipes. The serrated pattern can be made of hard alloy material to improve wear resistance and service life.

[0076] Reference Figure 3 , Figure 4 , Figure 5 In one embodiment of this application, the walking mechanism 105 includes a tracked walking assembly 109 and a power unit 110. The tracked walking assembly 109 includes a track 111, track wheels 112, and a trapezoidal track frame 113. The track wheels 112 are mounted at the four corners of the track frame 113, and the track 111 connects each track wheel 112. The power unit 110 is installed inside the track frame 113, and the power output end of the power unit 110 is connected to at least one track wheel 112.

[0077] The trapezoidal track frame 113 includes two aligned trapezoidal plates, and four track wheels 112 are respectively mounted at the four corners of the two opposite trapezoidal plates via rotating shafts. During operation, the power unit 110 drives one of the track wheels 112 to rotate, and the track wheel 112 drives the track 111 to move, realizing the movement of the entire drive unit 102 on the inner wall of the pipe.

[0078] The trapezoidal track frame 113 forms an inclined track 111, which improves the robot's ability to cross obstacles inside the pipe. The power unit 110 can be a DC motor or a brushless motor, etc., and the robot's forward and backward movement is achieved by controlling the forward and reverse rotation of the motor. The track 111 is made of rubber to increase the friction between the track 111 and the inner wall of the pipe.

[0079] In one specific embodiment of this application, a transmission mechanism 114 is provided between the power unit 110 and one of the track wheels 112. The transmission mechanism 114 includes a driving wheel, a driven wheel, and a belt. The driving wheel is installed at the power output end of the power unit 110, the driven wheel is coaxially and fixedly connected to one of the track wheels 112, and the belt connects the driving wheel and the driven wheel. This transmission method has a simple structure, is easy to maintain, and can effectively reduce transmission noise.

[0080] Reference Figure 5 To enable the pipe inspection robot to adapt to pipes of different diameters, this application installs a first adjustment device 115 on the frame 103 for adjusting the distance between the two walking mechanisms 105. The first adjustment device 115 includes a first lifting drive component 116, a first lifting adjustment plate 117, and a rotating connector 118. The first lifting drive component 116 is mounted on the frame 103, the first lifting adjustment plate 117 is mounted on the lifting movable end of the first lifting drive component 116, and the rotating connector 118 is disposed between the first lifting adjustment plate 117 and the two walking mechanisms 105.

[0081] The rotating connector 118 has a first connecting arm 119 and a second connecting arm 120 connected at an included angle. The first connecting arm 119 is fixed to the track frame 113, and the second connecting arm 120 is hinged to the first lifting adjustment plate 117. The connection between the first connecting arm 119 and the second connecting arm 120 is hinged to the frame 103. The first lifting drive component 116 drives the first lifting adjustment plate 117 to move up and down. During the up and down movement of the first lifting adjustment plate 117, it will drive the two traveling mechanisms 105 to move closer or further apart through the rotating connector 118, thereby adjusting the distance between the two traveling mechanisms 105 and allowing the two traveling mechanisms 105 to adapt to pipes of different diameters.

[0082] In one embodiment of this application, the first lifting drive component 116 includes a first lifting drive motor 121 and a first lead screw and nut transmission pair 122. The first lifting drive motor 121 is mounted on the frame 103, the lead screw of the first lead screw and nut transmission pair 122 is connected to the power output shaft of the first lifting drive motor 121, and the nut of the first lead screw and nut transmission pair 122 is mounted on the first lifting adjustment plate 117. The lead screw and nut transmission pair has a self-locking function, which can ensure that the adjusted walking mechanism 105 spacing will not change due to external force.

[0083] Furthermore, the first adjusting device 115 also includes a first hinge rod 123, which is disposed between the rotating connector 118 and the first lifting adjusting plate 117. One end of the first hinge rod 123 is hinged to the second connecting arm 120, and the other end is hinged to the first lifting adjusting plate 117. The first hinge rod 123 makes the connection between the rotating connector 118 and the first lifting adjusting plate 117 more flexible.

[0084] To further improve the stability and accuracy of adjustment, the first lifting adjustment plate 117 in this application has a rectangular plate structure, with four rotating connectors 118 located at the four corners of the first lifting adjustment plate 117. Each rotating connector 118 is connected to the first lifting adjustment plate 117 by a first hinge rod 123. That is, the four corners of the first lifting adjustment plate 117 are connected to the walking mechanism 105 through the rotating connectors 118 and the first hinge rods 123. This symmetrical structural design makes the adjustment of the walking mechanism 105 more stable.

[0085] Reference Figure 6 A vertically extending first guide rod 124 is provided on the frame 103, and a first guide hole is provided on the first lifting adjustment plate 117. The first guide rod 124 and the first guide hole are fitted with a clearance. During the lifting adjustment process, the first lifting adjustment plate 117 can only move up and down along the first guide rod 124, which ensures the horizontality of the first lifting adjustment plate 117 and prevents tilting or jamming.

[0086] The first guide rod 124 is a cylindrical structure, and four first guide rods 124 are provided. The four first guide rods 124 are distributed in a rectangular shape below the frame 103. The first guide hole is a round hole, and four first guide holes are provided. The four first guide holes are distributed in a rectangular shape on the first lifting adjustment plate 117, and the four first guide rods 124 are respectively assembled in the four first guide holes.

[0087] To prevent interference, the four first guide rods 124 are located inside the four rotating connectors 118.

[0088] The detection module 200 is the core component of the pipeline inspection robot, used to detect and analyze the internal condition of the pipeline. The detection module 200 is connected to one of the drive units 102. Specifically, along the forward direction of the drive module 100, the detection module 200 is connected to the rear drive unit 102.

[0089] Reference Figure 7 , Figure 8 The detection module 200 includes a detection mechanism 201 and at least two moving mechanisms 202, with the detection mechanism 201 installed between two adjacent moving mechanisms 202.

[0090] Reference Figure 8 , Figure 9 , Figure 13 , Figure 14The detection mechanism 201 includes a rotary drive mechanism 203 and a detection execution mechanism 204. The detection execution mechanism 204 includes a fixed shaft 205, a rotating drum, a detection component mounting base 206, and at least three detection components 207. The fixed shaft 205 is connected to two moving mechanisms 202 at both ends. The rotating drum is mounted on the fixed shaft 205 via bearings, and the length of the rotating drum is less than the length of the fixed shaft 205. Each detection component 207 is arranged circumferentially at intervals on the detection component mounting base 206, which is fixedly connected to the rotating drum. The rotary drive mechanism 203 is connected to the rotating drum and is used to drive the rotating drum to rotate on the fixed shaft 205. When the drive module 100 moves forward, it drives the moving mechanisms 202 to move within the pipe. During the movement of the moving mechanisms 202, the rotary drive mechanism 203 drives the rotating drum on the fixed shaft 205 to rotate. The rotating drum drives the detection components 207 to rotate 360°, achieving omnidirectional detection on the inner wall of the pipe.

[0091] Reference Figure 15 In one specific embodiment of this application, the detection component 207 includes a sleeve 208, a probe fixing rod 209, a probe 210, and a spring 211. One end of the sleeve 208 is fixed to the detection component fixing seat 206. The probe fixing rod 209 is slidably fitted inside the sleeve 208, with one end extending from the other end of the sleeve 208. The probe fixing rod 209 is axially extendable and retractable along the sleeve 208. The probe 210 is mounted on the end of the probe fixing rod 209 extending from the sleeve 208. The spring 211 is fitted onto the probe fixing rod 209, with one end of the spring 211 pressing against the probe 210 and the other end pressing against the end face of the sleeve 208. The spring 211 keeps the probe 210 always in contact with the inner wall of the pipe, ensuring detection accuracy.

[0092] The probe 210 can be selected from different types according to the detection needs, such as ultrasonic probe, electromagnetic probe, magnetic flux leakage probe, etc., to detect corrosion, cracks, deformation and other problems on the inner wall of the pipeline.

[0093] In a preferred embodiment of this application, four detection components 207 are provided, and the four detection components 207 are evenly distributed on the detection component fixing base 206, which can perform all-round detection on the inner wall of the pipe, thereby improving the comprehensiveness and accuracy of the detection.

[0094] Reference Figure 14The rotary drive mechanism 203 includes a first rotary drive motor 212, a first synchronous pulley 213, a second synchronous pulley 214, and a first synchronous belt 215. The first rotary drive motor 212 is fixedly connected to the moving mechanism 202 via a connecting plate 216. The first synchronous pulley 213 is installed at the power output end of the first rotary drive motor 212. The second synchronous pulley 214 is coaxially fixedly connected to the rotating drum. The first synchronous belt 215 is fitted between the first synchronous pulley 213 and the second synchronous pulley 214. The first rotary drive motor 212 drives the first synchronous pulley 213, which in turn drives the second synchronous pulley 214 to rotate via the first synchronous belt 215. The second synchronous pulley 214 then drives the rotating drum to rotate.

[0095] Reference Figure 9 , Figure 13 , Figure 15 In a preferred embodiment of this application, a turntable 217 is rotatably mounted on a rotating drum, and a turntable drive mechanism 218 is mounted on the drum. The turntable drive mechanism 218 is connected to the turntable 217 to drive the turntable 217 to rotate on the drum. A linkage mechanism is provided between the turntable 217 and the detection assembly 207 to extend and retract the probe fixing rod 209 along the radial direction of the turntable 217. The linkage mechanism includes an involute spiral guide groove 219 and a guide pin 220. The involute spiral guide groove 219 is formed on the turntable 217 and extends radially along the turntable 217. One end of the guide pin 220 is fixedly connected to the probe fixing rod 209, and the other end of the guide pin 220 extends into the involute spiral guide groove 219 and is clearance-fitted with the involute spiral guide groove 219. The guide pin 220 can slide along the involute spiral guide groove 219.

[0096] During the rotation of the turntable 217 on the rotating drum driven by the turntable drive mechanism 218, the guide pin 220 slides along the involute spiral guide groove 219, thereby driving the probe fixing rod 209 to perform telescopic movement, adjusting the distance between the probe 210 and the inner wall of the pipe to adapt to pipes of different diameters. The sleeve 208 is provided with a limiting groove 221 extending along its length. The guide pin 220 passes through the limiting groove 221, which restricts the guide pin 220, ensuring that it can only move linearly along the limiting groove 221, thus ensuring that the probe fixing rod 209 only performs radial telescopic movement.

[0097] Reference Figure 12 The turntable drive mechanism 218 includes a second rotary drive motor 222, a third synchronous pulley 223, a fourth synchronous pulley 224, and a second synchronous belt. The second rotary drive motor 222 is fixedly connected to the rotating drum. The third synchronous pulley 223 is installed at the power output end of the second rotary drive motor 222. The fourth synchronous pulley 224 is rotatably installed on the rotating drum and is coaxially fixedly connected to the turntable 217. The second synchronous belt is sleeved between the third synchronous pulley 223 and the fourth synchronous pulley 224.

[0098] Specifically, the second rotary drive motor 222 is connected and fixed to the rotating drum via a fixing plate 225. The second rotary drive motor 222 is located on one side of the rotating drum. The second rotary drive motor 222 drives the third synchronous pulley 223. The third synchronous pulley 223 drives the fourth synchronous pulley 224 via the second synchronous belt. The fourth synchronous pulley 224 drives the turntable 217 to rotate on the rotating drum, so that the turntable 217 adjusts the radial extension and retraction of the probe fixing rod 209 to adapt to different pipes.

[0099] Reference Figure 9 The moving mechanism 202 supports the detection mechanism 201 and enables the detection mechanism 201 to move within the pipeline. In this application, the moving mechanism 202 includes a support 226, two support arms 227, and two rollers 228. The two support arms 227 are arranged in a V-shape on both sides of the bottom of the support 226. One end of each support arm 227 is hinged to the support 226, and the other end is rotatably mounted with a roller 228. The V-shape design allows the rollers 228 to make close contact with the inner wall of the pipeline, improving the stability of movement.

[0100] Reference Figure 7 , Figure 10 To accommodate pipes of different diameters, the moving mechanism 202 also includes a second adjusting device 229 for adjusting the distance between the two support arms 227. The second adjusting device 229 includes a second lifting drive component, a second lifting adjusting plate 230, and a second hinge rod 231. The second lifting drive component is mounted on the support 226, the second lifting adjusting plate 230 is mounted on the lifting movable end of the second lifting drive component, and the second hinge rod 231 is disposed between the second lifting adjusting plate 230 and the two support arms 227. One end of the second hinge rod 231 is hinged to the support arm 227, and the other end is hinged to the second lifting adjusting plate 230.

[0101] In one embodiment of this application, four second hinge rods 231 are provided, and the four second hinge rods 231 are respectively located at the four corners of the support arm 227.

[0102] A vertically extending second guide rod 232 is provided at the bottom of the support 226, and a second guide hole is provided on the second lifting adjustment plate 230. The second guide rod 232 is clearance-fitted with the second guide hole. The provision of the second guide rod 232 and the second guide hole makes the lifting adjustment of the second lifting adjustment plate 230 more stable.

[0103] The second guide rod 232 has a cylindrical structure. Four vertically extending second guide rods 232 are provided at the bottom of the support 226. The four second guide rods 232 are arranged in a rectangular shape. The second guide hole is a round hole. The second lifting adjustment plate 230 is provided with four second guide holes arranged in a rectangular shape. The four second guide rods 232 and the four second guide holes are respectively clearance-fitted.

[0104] To avoid interference between the second guide rod 232 and the second hinge rod 231, in this application, the four second guide rods 232 are located inside the four second hinge rods 231.

[0105] The second lifting drive component includes a second lifting drive motor 233 and a second lead screw and nut transmission pair 234. The second lifting drive motor 233 is mounted on the support 226. The lead screw of the second lead screw and nut transmission pair 234 is connected to the power output end of the second lifting drive motor 233, and the nut of the second lead screw and nut transmission pair 234 is mounted on the second lifting adjustment plate 230. The second lifting drive motor 233 drives the second lifting adjustment plate 230 to lift and lower via the second lead screw and nut transmission pair 234, thereby adjusting the opening and closing of the two support arms 227.

[0106] Reference Figure 9 , Figure 11 The two ends of the fixed shaft 205 are connected to the support 226 through the lifting adjustment device 235. The lifting adjustment device 235 includes a lifting drive cylinder 236, a cylinder mounting seat 237, a slide rail 238, and a slider 239. The slide rail 238 is vertically arranged on the cylinder mounting seat 237, and the slider 239 is slidably assembled on the slide rail 238. The slider 239 is fixed to the support 226. The cylinder body of the lifting drive cylinder 236 is fixed on the cylinder mounting seat 237. The piston rod of the lifting drive cylinder 236 is connected to the slider 239, and the cylinder mounting seat 237 is connected to the fixed shaft 205.

[0107] The lifting adjustment device 235 enables the detection mechanism 201 to be adjusted vertically to accommodate pipes of different diameters. During adjustment, the piston rod of the lifting drive cylinder 236 pushes the slider 239 to move on the slide rail 238, thereby causing the detection mechanism 201 to move up and down relative to the two moving mechanisms 202.

[0108] The pipeline inspection robot provided in this application connects multiple drive devices 102 via a probe fixing rod 209 to form a highly adaptable drive chain. The cooperation between the telescopic support mechanism 104 and the walking mechanism 105 in the drive device 102 enables the robot to climb stably in vertical, curved, or high-angle pipelines, solving the problem that existing pipeline inspection robots have difficulty climbing stably in such pipelines. The design of the rotary inspection mechanism 201 and the telescopic probe 210 in the inspection module 200 enables the robot to perform all-round, high-precision inspection of the inner wall of the pipeline, improving the efficiency and accuracy of the inspection. In addition, the first adjustment device 115, the second adjustment device 229, and the lifting adjustment device 235 enable the robot to adapt to pipelines of different diameters, greatly expanding the application range.

[0109] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0110] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A pipeline inspection robot, characterized in that: include A drive module includes a telescopic rod and at least two drive devices. The telescopic rod is disposed between two adjacent drive devices, and its two ends are respectively hinged to the two drive devices. The drive device includes a frame, a telescopic top support mechanism, and two walking mechanisms. The two walking mechanisms are disposed on both sides of the bottom of the frame, and the telescopic top support mechanism is installed above the frame and located between the two walking mechanisms. A detection module is connected to one of the driving devices. The detection module includes a detection mechanism and at least two moving mechanisms, with the detection mechanism installed between two adjacent moving mechanisms. The power supply module includes a support plate, a battery pack, and two moving mechanisms. The support plate is horizontally mounted between the two moving mechanisms. The battery pack is disposed on the support plate. A connecting rod is provided between the moving mechanism of the power supply module and the moving mechanism of the detection module. One end of the connecting rod is hinged to the moving mechanism of the power supply module, and the other end of the connecting rod is hinged to the moving mechanism of the detection module. The battery pack is used to provide power to the drive module and the detection module.

2. The pipeline inspection robot according to claim 1, characterized in that: The telescopic support mechanism includes Telescopic drive component; A rotating swing arm, one end of which is hinged to the frame, and a telescopic drive component is hinged to the frame, with the telescopic movable end of the telescopic drive component hinged to the middle of the rotating swing arm. The pipe contact component is hinged to the free-moving end of the rotating arm.

3. The pipeline inspection robot according to claim 1, characterized in that: The walking mechanism includes A tracked traveling assembly includes a track, track wheels, and a track frame with a trapezoidal structure. The track wheels are mounted at the four corners of the track frame, and the track connects each of the track wheels. A power unit is installed inside the track frame, and the power output end of the power unit is connected to at least one of the track wheels.

4. The pipeline inspection robot according to claim 3, characterized in that: A first adjustment device is mounted on the frame for adjusting the distance between the two walking mechanisms. The first adjustment device includes... A first lifting drive component is mounted on the frame; The first lifting adjustment plate is installed on the lifting movable end of the first lifting drive component; A rotating connector is disposed between the first lifting adjustment plate and the two walking mechanisms. The rotating connector has a first connecting arm and a second connecting arm connected at an angle. The first connecting arm is fixed to the track frame, and the second connecting arm is hinged to the first lifting adjustment plate. The connection between the first connecting arm and the second connecting arm is hinged to the frame.

5. The pipeline inspection robot according to claim 1, characterized in that: The testing institutions include Rotary drive mechanism; The detection actuator includes a fixed shaft, a rotating cylinder, a detection component mounting base, and at least three detection components. The two ends of the fixed shaft are respectively connected to two of the moving mechanisms. The rotating cylinder is rotatably mounted on the fixed shaft. Each of the detection components is arranged circumferentially at intervals on the detection component mounting base. The detection component mounting base is fixedly connected to the rotating cylinder. The rotation drive mechanism is connected to the rotating cylinder and is used to drive the rotating cylinder to rotate on the fixed shaft.

6. The pipeline inspection robot according to claim 5, characterized in that: The detection assembly includes a sleeve, a probe fixing rod, a probe, and a spring. One end of the sleeve is fixed to the detection assembly mounting base. The probe fixing rod is slidably assembled inside the sleeve, with one end extending from the other end of the sleeve. The probe fixing rod is axially extendable and retractable along the sleeve. The probe is mounted on the end of the probe fixing rod that extends out of the sleeve. The spring is sleeved on the probe fixing rod, with one end abutting against the probe and the other end abutting against the end face of the sleeve.

7. The pipeline inspection robot according to claim 6, characterized in that: A turntable is rotatably mounted on the rotating drum, and a turntable drive mechanism is mounted on the rotating drum. The turntable drive mechanism is connected to the turntable to drive the turntable to rotate on the rotating drum. A linkage mechanism is provided between the turntable and the detection component to cause the probe fixing rod to extend and retract radially along the turntable. The linkage mechanism includes an involute spiral guide groove and a guide pin. The involute spiral guide groove is formed on the turntable and extends radially along the turntable. A limiting groove extending along the length direction is provided on the sleeve. The guide pin passes through the limiting groove. One end of the guide pin is fixedly connected to the probe fixing rod, and the other end of the guide pin extends into the involute spiral guide groove and is clearance-fitted with the involute spiral guide groove. The guide pin can slide along the involute spiral guide groove.

8. The pipeline inspection robot according to claim 5, characterized in that: The mobile mechanism includes Support; Two support arms are arranged in a figure-eight shape on both sides of the bottom of the support, and one end of each support arm is hinged to the support. Two rollers are rotatably mounted on the other end of the two support arms.

9. The pipeline inspection robot according to claim 8, characterized in that: The moving mechanism further includes a second adjusting device for adjusting the distance between the two support arms. The second adjusting device includes... The second lifting drive component is installed on the support; The second lifting adjustment plate is installed on the lifting movable end of the second lifting drive component; The second hinge rod is disposed between the second lifting adjustment plate and the two support arms. One end of the second hinge rod is hinged to the support arm, and the other end is hinged to the second lifting adjustment plate.

10. The pipeline inspection robot according to claim 8, characterized in that: Both ends of the fixed shaft are connected to the support via a lifting adjustment device. The lifting adjustment device includes a lifting drive cylinder, a cylinder mounting base, a slide rail, and a slider. The slide rail is vertically mounted on the cylinder mounting base, and the slider is slidably mounted on the slide rail. The slider is fixed to the support. The cylinder body of the lifting drive cylinder is fixed to the cylinder mounting base, and the piston rod of the lifting drive cylinder is connected to the slider. The cylinder mounting base is connected to the fixed shaft.

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