A pipeline inspection robot performance testing device

Abstract

The utility model discloses a pipeline detection robot performance testing arrangement, including pipeline, pipeline one end links with elevating system, and elevating system can drive the pipeline and the one end of its link to go up or descend, and the both ends of pipeline are linked with a water storage pool respectively, and the pipeline is equipped with the obstacle and pipeline filler in, and the pipeline filler includes silt and / or stone and / or dregs on water, in the utility model, the water flow in the pipeline can be simulated through the water storage pool connected to the both ends of pipeline, and the real pipeline environment can be simulated through setting up the obstacle and pipeline filler in the pipeline, thereby providing the real test and experimental data for the measurement of pipeline robot, and a test platform that can simulate the real pipeline environment can help enterprises to carry out the test from the laboratory.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot inspection technology, and more specifically to a performance testing device for a pipeline inspection robot. Background Technology

[0002] With the acceleration of urbanization and the expansion of energy pipeline networks, pipeline systems have been widely used in municipal drainage, oil and gas transportation, and industrial pipelines. However, due to the complex internal environment of pipelines and their long-term closed state, they are prone to defects such as corrosion, deformation, and foreign object accumulation, which can easily lead to accidents. Therefore, using robots for internal inspection has become the mainstream technology in the industry. Currently used pipeline inspection robots mostly employ wheeled or tracked locomotives. Their motion performance, especially their climbing ability, obstacle-crossing ability, and passability in complex pipeline environments, directly affects the efficiency of inspection tasks. However, actual pipeline environments present various complex conditions such as slopes, obstacles, and filling materials, which can easily lead to instability while climbing and slippage on surfaces of silt, causing inspection interruptions or even equipment damage, thus affecting inspection efficiency. Therefore, developing targeted motion performance testing systems and methods is of significant engineering importance for the design verification and optimization of pipeline inspection robots.

[0003] Currently, there is a lack of comprehensive testing systems for the climbing, obstacle crossing, and passage performance of pipeline inspection robots. Furthermore, existing testing systems are simple in structure and limited in function, only capable of measuring the motion performance of pipeline inspection robots under fixed conditions such as single slope and obstacle. They cannot test the motion performance of pipeline inspection robots under complex working conditions such as different materials, slopes, diameters, loads, different pipeline obstacles, and pipeline filling materials. This leads to:

[0004] 1. It is impossible to fully assess the robot's actual working capabilities;

[0005] 2. The robot development process lacks an effective debugging and optimization platform;

[0006] 3. It is difficult to formulate a unified standard for evaluating robot performance. Utility Model Content

[0007] The technical problem to be solved by this utility model is how to provide a performance testing device for a pipeline inspection robot that simulates a real pipeline environment.

[0008] This utility model solves the above-mentioned technical problems through the following technical means: a pipeline inspection robot performance testing device, including a pipeline, one end of which is connected to a lifting mechanism, the lifting mechanism can drive the pipeline to rise or fall at the end connected to it, both ends of the pipeline are respectively connected to a water storage tank, and obstacles and pipeline filler are provided inside the pipeline, the pipeline filler including mud and / or stones and / or scum.

[0009] As a preferred technical solution, multiple obstacles are provided, and they are distributed uniformly or non-uniformly along the pipeline axis.

[0010] As a preferred technical solution, multiple obstacles of different shapes are provided.

[0011] As a preferred technical solution, an inclined plate is fixedly connected to the bottom of the pipe, a tongue plate is rotatably connected to one end of the inclined plate, and a lifting plate is rotatably connected to the other end. The lifting plate is connected to the lifting end of the lifting mechanism.

[0012] As a preferred technical solution, the lifting mechanism includes a scissor mechanism and a base. The scissor mechanism includes connecting rod 1, connecting rod 2, connecting rod 3, and connecting rod 4. The top end of connecting rod 1 is rotatably connected to the lifting plate via connecting rod 1, and the bottom end is slidably connected to the base via connecting rod 2. The top end of connecting rod 2 is slidably engaged with the lifting plate via connecting rod 3, and the bottom end is rotatably connected to the base via connecting rod 4. The top end of connecting rod 3 is rotatably connected to the lifting plate via connecting rod 1, and the bottom end is slidably connected to the base via connecting rod 2. The top end of connecting rod 4 is slidably engaged with the lifting plate via connecting rod 3, and the bottom end is rotatably connected to the base via connecting rod 4. Connecting rod 1 and connecting rod 2 are arranged in an X-shape, and connecting rod 3 and connecting rod 4 are arranged in an X-shape. A pin is provided at the center of connecting rod 1, connecting rod 2, connecting rod 3, and connecting rod 4, and a hydraulic rod is rotatably connected to the pin. The telescopic end of the hydraulic rod is rotatably connected to connecting rod 4.

[0013] As a preferred technical solution, the lifting mechanism includes a lifting cylinder, and the telescopic end of the lifting cylinder is rotatably connected to one end of the pipeline.

[0014] As a preferred technical solution, the lifting mechanism includes a vertically arranged linear module, and the moving end of the linear module is rotatably connected to one end of the pipe.

[0015] As a preferred technical solution, a flow meter is installed on the pipeline connecting the water storage tank and the pipeline.

[0016] As a preferred technical solution, the two water storage tanks are connected by a water pipe.

[0017] As a preferred technical solution, the pipe is a PVC pipe.

[0018] The beneficial effects of this utility model are as follows:

[0019] (1) In this utility model, water flow in the pipeline can be simulated by connecting water storage tanks at both ends of the pipeline, and real pipeline environment can be simulated by setting obstacles and pipeline fillers in the pipeline, thereby providing real test and experimental data for the measurement of pipeline robots, forming a test platform that can simulate real pipeline environment, which can help enterprises carry out tests in the laboratory.

[0020] (2) In this utility model, the tilt of the pipeline can be adjusted by adjusting the height of the lifting plate, which can realize the climbing and obstacle crossing performance of the pipeline inspection robot and improve the inspection efficiency.

[0021] (3) In this utility model, by setting different obstacles and fillers in the pipe, the working reliability and application safety of the pipe robot in complex environment can be evaluated. Attached Figure Description

[0022] Figure 1 A schematic diagram of the tilted structure of the testing device provided in this embodiment of the utility model;

[0023] Figure 2 A schematic diagram of the horizontal structure of the testing device provided in this embodiment of the utility model;

[0024] Reference numerals: 1. Pipe; 2. Tongue plate; 3. Inclined plate; 4. Obstacle; 5. Lifting plate; 6. Scissor mechanism; 7. Hydraulic rod; 8. Power supply; 9. Controller; 10. Base; 11. Pin; 12. Water tank; 13. Flow meter; 14. Water pipe; 15. Pipe filler. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] See Figure 1 , Figure 2 A performance testing device for a pipeline inspection robot includes a pipeline 1, one end of which is connected to a lifting mechanism. The lifting mechanism can drive the pipeline 1 to rise or fall at the end connected to it. Both ends of the pipeline 1 are connected to a water storage tank 12. The pipeline 1 is provided with obstacles 4 and pipeline filler 15. The pipeline filler 15 includes mud and / or stones and / or scum.

[0027] By connecting water tanks 12 to both ends of pipe 1, the water flow inside pipe 1 can be simulated. By setting obstacles 4 and pipe fillers 15 inside pipe 1, the real environment of pipe 1 can be simulated, thus providing real test and experimental data for the measurement of the pipe robot. This forms a test platform that can simulate the real pipe environment, which can help companies conduct tests in the laboratory.

[0028] See Figure 1In this embodiment, in order to facilitate the adjustment of the pipe 1, an inclined plate 3 is fixedly connected to the bottom of the pipe 1. A tongue plate 2 is fixedly connected to one end of the inclined plate 3. The top of the tongue plate 2 has an inclined surface. A lifting plate 5 is rotatably connected to the other end of the inclined plate 3. A base 10 is provided at the bottom of the lifting plate 5. The base 10 and the plane where the bottom of the tongue plate 2 is located are coplanar. The lifting plate 5 is connected to the lifting end of the lifting mechanism. The lifting mechanism is used to drive the lifting plate 5 to rise or fall relative to the base 10, thereby adjusting the inclination of the pipe 1.

[0029] See Figure 1 The lifting mechanism can be the existing scissor mechanism 3. The scissor mechanism 3 includes connecting rod 1, connecting rod 2, connecting rod 3, and connecting rod 4. The top end of connecting rod 1 is rotatably connected to the lifting plate 5 via rod 1, and the bottom end is slidably connected to the base 10 via rod 2. The top end of connecting rod 2 is slidably engaged with the lifting plate 5 via rod 3, and the bottom end is rotatably connected to the base 10 via rod 4. The top end of connecting rod 3 is rotatably connected to the lifting plate 5 via rod 1, and the bottom end is slidably connected to the base 10 via rod 2. The top end of connecting rod 4 is slidably engaged with the lifting plate 5 via rod 3, and the bottom end is rotatably connected to the base 10 via rod 4. The connecting rods are arranged in an X-shape, with connecting rod 1 and connecting rod 2 arranged in an X-shape. A pin 11 is set at the center of connecting rod 1, connecting rod 2, connecting rod 3 and connecting rod 4, and the rods are rotatably connected to the pin 11. A hydraulic rod 7 is rotatably connected to the pin 11, and the telescopic end of the hydraulic rod 7 is rotatably connected to rod 4. A slide is fixedly connected to the bottom of rod 2, and the slide is slidably connected to the base 10. Rod 2 is rotatably connected to connecting rod 1 and connecting rod 3. A slide is also fixedly connected to the top of rod 3, and the slide is slidably connected to the top of the lifting plate 5. Rod 3 is rotatably connected to connecting rod 2 and connecting rod 4.

[0030] Of course, the lifting mechanism can also be other forms of scissor mechanism in the existing technology, or it can be a lifting cylinder or a linear module. When a lifting cylinder is used, the telescopic end of the lifting cylinder is rotatably connected to one end of the pipe 1, and the bottom of the lifting cylinder is fixed to the top of the base. When a linear module is used, the linear module is set vertically, and the moving end of the linear module is rotatably connected to one end of the pipe 1.

[0031] The inclined plate 3 is initially set horizontally. When the lifting mechanism drives one end of the pipe 1 to rise or the inclined plate 3 tilts, the end of the inclined plate 3 connected to the tongue plate 2 drives the tongue plate 2 to move toward the base 10. When the lifting mechanism drives one end of the pipe 1 to fall, the end of the inclined plate 3 connected to the tongue plate 2 drives the tongue plate 2 to move away from the base 10.

[0032] See Figure 1The water storage tank 12 is connected to both ends of the pipeline through a pipe. In order to adapt to the inclination of the pipeline 1, the pipeline is redundantly set. In order to facilitate the observation of the pipeline robot's movement in the pipeline 1, the pipeline 1 uses commercially available PVC pipe or transparent pipe. The pipeline is equipped with a flow meter 13 and an electric valve. The two water storage tanks 12 are connected by a water pipe 14. A water pump can also be installed on the water pipe 14 to realize the water circulation in the two water storage tanks 12.

[0033] See Figure 1 The pipeline inspection robot performance testing device also includes a power supply 8, a controller 9, a hydraulic rod 7, and an electric valve that are electrically or communicatively connected to the controller 9. The power supply 8 is used to supply power to the electrical components.

[0034] How to use:

[0035] 1. Test preparation:

[0036] According to the testing requirements, pipes 1 of different materials and / or diameters are selected and installed on the inclined plate 3 to form a test pipe; the pipe inspection robot is placed at the starting end of the pipe 1.

[0037] 2. Climbing performance test:

[0038] Set the slope of ramp 3 to 15° and place the entire pipe inspection robot at the starting position on the inner wall of pipe 1. Drive the robot to climb up the inner wall of pipe 1 until it completely leaves the pipe and reaches the platform plane. Record the time taken for this process and calculate its average speed as the climbing speed under this condition. Adjust the slope of ramp 3 and let the pipe inspection robot try to climb in pipe 1 with different slopes. Continue to increase the slope until the pipe inspection robot can just successfully climb out of the pipe and reach the platform plane. The angle recorded at this time is the limit climbing angle under this condition.

[0039] 3. Obstacle crossing performance test:

[0040] Inside pipe 1, obstacles 4 of different heights are set up, and the pipe inspection robot passes through obstacles 4 of different heights. The height of obstacle 4 is continuously increased until the pipe inspection robot can just successfully cross the set obstacle 4. The obstacle height recorded at this time is the maximum obstacle crossing height under this condition.

[0041] 4. Passed performance testing:

[0042] The pipeline filling material 15 is set, including adjusting the water depth and flow rate, laying mud and sand, distributing stones or scum; after the pipeline inspection robot starts from the starting point of pipeline 1, if the pipeline inspection robot passes through pipeline 1 normally, the passage time of the pipeline inspection robot is recorded. If the pipeline inspection robot floats or violently shakes, the test is terminated immediately, and the fault type and location information are recorded.

[0043] 5. Composite working condition test:

[0044] By combining the above single operating conditions, a real complex environment can be simulated.

[0045] For example, in the combined working conditions of ramps and obstacle crossings: obstacles 4 are set in the inclined pipe 1 to test the obstacle crossing ability of the pipe inspection robot in the ramp and obstacle crossing environment.

[0046] For example, in the case of a combination of ramps or obstacles and fillers: a certain thickness of mud or sand or water is laid at the bottom of pipe 1, and then a ramp or obstacle is set to test the pipe inspection robot's performance.

[0047] For example, changing the pipe diameter, material, or slope: testing the climbing ability of the pipe inspection robot.

[0048] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A performance testing device for a pipeline inspection robot, characterized in that, It includes a pipe, one end of which is connected to a lifting mechanism that can drive the pipe to rise or fall. Both ends of the pipe are connected to a water storage tank. The pipe contains obstacles and pipe filler, which includes silt and / or gravel and / or scum.

2. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, There are multiple obstacles, which are evenly or unevenly distributed along the pipeline axis.

3. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, There are multiple obstacles with different shapes.

4. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, An inclined plate is fixedly connected to the bottom of the pipe. One end of the inclined plate is rotatably connected to a tongue plate, and the other end is rotatably connected to a lifting plate. The lifting plate is connected to the lifting end of the lifting mechanism.

5. The performance testing device for a pipeline inspection robot according to claim 4, characterized in that, The lifting mechanism includes a scissor mechanism and a base. The scissor mechanism includes connecting rod 1, connecting rod 2, connecting rod 3, and connecting rod 4. The top end of connecting rod 1 is rotatably connected to the lifting plate via rod 1, and the bottom end is slidably connected to the base via rod 2. The top end of connecting rod 2 is slidably engaged with the lifting plate via rod 3, and the bottom end is rotatably connected to the base via rod 4. The top end of connecting rod 3 is rotatably connected to the lifting plate via rod 1, and the bottom end is slidably connected to the base via rod 2. The top end of connecting rod 4 is slidably engaged with the lifting plate via rod 3, and the bottom end is rotatably connected to the base via rod 4. Connecting rod 1 and connecting rod 2 are arranged in an X-shape, and connecting rod 3 and connecting rod 4 are also arranged in an X-shape. A pin is provided at the center of connecting rod 1, connecting rod 2, connecting rod 3, and connecting rod 4, and a hydraulic rod is rotatably connected to the pin. The telescopic end of the hydraulic rod is rotatably connected to rod 4.

6. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, The lifting mechanism includes a lifting cylinder, the extension end of which is rotatably connected to one end of the pipeline.

7. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, The lifting mechanism includes a vertically arranged linear module, the moving end of which is rotatably connected to one end of the pipe.

8. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, A flow meter is installed on the pipeline connecting the water storage tank and the main pipeline.

9. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, The two water tanks are connected by a water pipe.

10. The performance testing device for a pipeline inspection robot according to claim 1, characterized in that, The pipe is a PVC pipe.

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