Pipeline detection robot suitable for differential drive of multi-pipe diameter

Abstract

This invention proposes a pipe inspection robot adapted to multi-diameter differential speed drive, comprising a main body, a detection component at the front end of the main body, at least three constraint frames fixedly connected to the side of the main body, and a first bidirectional drive component disposed within the constraint frames of the main body. The advantages of this invention are: multiple forward wheel assemblies abut against the inner wall of the pipe from different positions to assist the robot's movement. When an obstacle is encountered within the pipe, a second bidirectional drive component drives a second slider to move. Under the action of a second and third connecting rod, the forward wheel assembly moves inward and the rotating wheel assembly moves outward, causing the rotating wheel assembly to abut against the inner wall of the pipe. Subsequently, the rotating wheel assembly rotates, causing the robot to rotate, allowing the corresponding constraint frames and mounting frames to avoid the obstacle, and the robot continues its detection work. It can avoid obstacles within the pipe as needed, enabling uninterrupted detection and higher detection efficiency.

Description

Technical Field

[0001] This utility model relates to the field of pipeline detection technology, and in particular to a pipeline detection robot adapted to multi-diameter differential speed drive. Background Technology

[0002] Pipelines in chemical plants are typically used to transport gases or chemical liquids. The airtightness and quality of these pipelines must be guaranteed, often requiring inspection to assess their condition for timely maintenance. However, chemical plant pipelines are complex and intricate. For smaller diameter pipelines, those difficult to inspect, or those buried underground where personnel cannot enter, it is impossible to accurately pinpoint the location of damage and thus hinder rapid repair.

[0003] For example, a pipeline inspection robot with publication number CN217583689U involves placing the robot inside a pipeline. An adjustment mechanism drives the walking components away from the main body, ensuring they press against the inner wall of the pipeline. Activating the walking components then moves the main body, and a camera inspects the interior of the pipeline. The coordination of the adjustment mechanism and the walking components allows the robot to inspect pipelines of different diameters. This robot can effectively inspect the interior of pipelines, reducing the difficulty of pipeline inspection. However, the robot can only move in the forward and backward direction. When debris obstructs the robot's walking components within the pipeline, the robot cannot avoid it and continue inspection, affecting its efficiency. Utility Model Content

[0004] The purpose of this invention is to at least solve one of the aforementioned technical defects.

[0005] Therefore, one objective of this utility model is to propose a pipeline inspection robot adapted to multi-diameter differential speed drive, so as to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0006] To achieve the above objectives, one embodiment of this utility model provides a pipe detection robot adapted to multi-diameter differential speed drive, comprising a main body, a detection component disposed at the front end of the main body, at least three constraint frames fixedly connected to the side of the main body, a first bidirectional drive component disposed within the constraint frames of the main body, two first sliders symmetrically arranged on the first bidirectional drive component, a mounting frame disposed within the constraint frames, and a first connecting rod rotatably connected between the mounting frame and the first sliders; a second bidirectional drive component disposed within the mounting frame, two second sliders symmetrically arranged on the second bidirectional drive component, a forward wheel assembly and a rotating wheel assembly disposed within the mounting frame, and a second connecting rod and a third connecting rod rotatably connected between the second sliders and the forward wheel assembly and the rotating wheel assembly, respectively.

[0007] The above technical solution involves using a first bidirectional drive assembly to adjust the position of the first slider, which in turn moves the first connecting rod. The first connecting rod pushes or pulls the mounting frame, adjusting the distance between the forward wheel assembly, the rotating wheel assembly, and the main body. This allows the robot to enter pipes of different sizes for detection. During detection, multiple forward wheel assemblies abut against the inner wall of the pipe from different positions, assisting the robot's movement. When an obstacle is encountered within the pipe, a second bidirectional drive assembly moves the second slider. Under the action of the second and third connecting rods, the forward wheel assembly moves inward, and the rotating wheel assembly moves outward, causing the rotating wheel assembly to abut against the inner wall of the pipe. Subsequently, the rotating wheel assembly rotates, causing the robot to rotate and allowing the corresponding constraint frame and mounting frame to avoid the obstacle, enabling the robot to continue its detection work.

[0008] Preferably, of any of the above solutions, the front end of the main body is provided with a lighting component, and the main body adopts a regular polygonal structure with rounded corners.

[0009] By adopting the above technical solution, the lighting component can provide a light source in the dimly lit pipe, enabling the detection component to detect the situation inside the pipe more clearly.

[0010] Preferably, as described in any of the above schemes, the rear end of the main body is provided with an opening and closing door, and the number of constraint frames is consistent with the number of sides of the main body and is evenly arranged on the side of the main body around the circumference.

[0011] The above technical solution allows users to easily inspect and maintain the internal components of the robot. The inclusion of multiple constraint frames provides the necessary space for multiple sets of forward wheel assemblies, facilitating stable robot displacement.

[0012] Preferably, in any of the above solutions, both the first bidirectional drive assembly and the second bidirectional drive assembly include a bidirectional lead screw and a motor capable of driving the bidirectional lead screw to rotate.

[0013] Preferably, in any of the above solutions, both the constraint frame and the mounting frame adopt a rectangular structure, the inner side of the constraint frame is provided with a limit groove, and the outer side of the mounting frame is provided with a limit block located in the limit groove.

[0014] The above technical solution utilizes a rectangular constraint frame and mounting frame to facilitate the installation of the internal structure. The limiting groove, in conjunction with the limiting block, constrains the mounting frame, preventing displacement in other directions.

[0015] Preferably, in any of the above embodiments, the mounting frame is provided with a plurality of partitions, which separate adjacent forward wheel assemblies and rotating wheel assemblies.

[0016] The above technical solution uses a partition to separate the forward wheel assembly and the rotating wheel assembly, which can prevent the forward wheel assembly and the rotating wheel assembly from affecting each other.

[0017] Preferably, as described in any of the above embodiments, the partition has a slot on its side, the forward wheel assembly and the rotating wheel assembly both have a locking block in the slot on their sides, and the mounting frame has an infrared sensor at its front end.

[0018] The above technical solution utilizes a slot and a locking block to constrain the forward wheel assembly and the rotating wheel assembly, preventing them from shifting in other directions. An infrared sensor can detect obstacles inside the pipeline, allowing operators to identify which specific constraint frames or mounting frames are obstructed.

[0019] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows: 1. This pipe inspection robot, adapted for multi-diameter differential speed drive, utilizes a structure including a constraint frame, mounting frame, second bidirectional drive assembly, second slider, rotating wheel assembly, and forward wheel assembly. During inspection, multiple forward wheel assemblies abut against the inner wall of the pipe from different positions, assisting the robot's movement. When an obstacle is encountered within the pipe, the second bidirectional drive assembly moves the second slider. Under the action of the second and third connecting rods, the forward wheel assembly moves inward, and the rotating wheel assembly moves outward, causing the rotating wheel assembly to abut against the inner wall of the pipe. Subsequently, the rotating wheel assembly rotates, causing the robot to rotate, allowing the corresponding constraint frame and mounting frame to avoid the obstacle, and the robot continues its inspection work. It can avoid obstacles within the pipe as needed, enabling uninterrupted inspection and increasing inspection efficiency.

[0020] 2. This pipe inspection robot, compatible with multi-diameter differential speed drives, features rectangular constraint frames and mounting frames for easy installation of internal structures. Limiting grooves and blocks constrain the mounting frame, preventing displacement in other directions. Locking slots and blocks constrain the forward and rotating wheel assemblies, preventing displacement in other directions. Infrared sensors detect obstacles inside the pipe, allowing operators to identify which constraint frames or mounting frames are obstructed.

[0021] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0022] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2This is a cross-sectional view of the constraint frame of this utility model; Figure 3 This is a schematic diagram of the overall transverse cross-section structure of this utility model; Figure 4 This is a cross-sectional view of the mounting frame of this utility model.

[0023] In the figure: 1-Main body, 2-Detection component, 3-First bidirectional drive component, 4-First slider, 5-Mounting frame, 6-First connecting rod, 7-Second bidirectional drive component, 8-Second slider, 9-Forward wheel component, 10-Rotating wheel component, 11-Second connecting rod, 12-Third connecting rod, 13-Constraint frame, 14-Infrared probe, 15-Illumination component. Detailed Implementation

[0024] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0025] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0026] like Figures 1-4 As shown, this utility model includes a main body 1, a detection component 2 at the front end of the main body 1, at least three constraint frames 13 fixedly connected to the side of the main body 1, a first bidirectional drive component 3 disposed within the constraint frames 13 of the main body 1, two first sliders 4 symmetrically arranged on the first bidirectional drive component 3, a mounting frame 5 disposed within the constraint frames 13, and a first connecting rod 6 rotatably connected between the mounting frame 5 and the first sliders 4; a second bidirectional drive component 7 disposed within the mounting frame 5, two second sliders 8 symmetrically arranged on the second bidirectional drive component 7, a forward wheel component 9 and a rotating wheel component 10 disposed within the mounting frame 5, and a second connecting rod 11 and a third connecting rod 12 rotatably connected between the second sliders 8 and the forward wheel component 9 and the rotating wheel component 10, respectively.

[0027] The position of the first slider 4 is adjusted using the first bidirectional drive assembly 3, causing the first slider 4 to move the first connecting rod 6. The first connecting rod 6 pushes or pulls the mounting frame 5, adjusting the distance between the forward wheel assembly 9, the rotating wheel assembly 10, and the main body 1, allowing the robot to enter pipes of different sizes for detection. During detection, multiple forward wheel assemblies 9 abut against the inner wall of the pipe from different positions, assisting the robot's movement. When an obstacle is encountered in the pipe, the second bidirectional drive assembly 7 moves the second slider 8. Under the action of the second connecting rod 11 and the third connecting rod 12, the forward wheel assembly 9 moves inward and the rotating wheel assembly 10 moves outward, causing the rotating wheel assembly 10 to abut against the inner wall of the pipe. Subsequently, the rotating wheel assembly 10 rotates, causing the robot to rotate, allowing the corresponding constraint frame 13 and mounting frame 5 to avoid the obstacle, and the robot continues its detection work.

[0028] Example 1: A lighting component 15 is provided at the front end of the main body 1. The main body 1 adopts a regular polygonal structure and its edges are rounded. An opening and closing door is provided at the rear end of the main body 1. The number of constraint frames 13 is the same as the number of sides of the main body 1 and they are evenly distributed around the circumference of the side of the main body 1.

[0029] Specifically: the lighting component 15 provides a light source in the dimly lit pipe, enabling the detection component 2 to more clearly detect the conditions inside the pipe. The opening and closing door facilitates user access to the components inside the robot body for maintenance. Multiple constraint frames 13 provide the necessary conditions for setting up multiple sets of forward wheel assemblies 9, which is beneficial for the robot to perform stable displacement.

[0030] Example 2: Both the first bidirectional drive assembly 3 and the second bidirectional drive assembly 7 include a bidirectional lead screw and a motor capable of driving the bidirectional lead screw to rotate. The constraint frame 13 and the mounting frame 5 both adopt a rectangular structure. A limit groove is opened on the inner side of the constraint frame 13, and a limit block is provided on the outer side of the mounting frame 5 within the limit groove.

[0031] Specifically: the rectangular constraint frame 13 and the mounting frame 5 facilitate the installation of the internal structure. The limiting groove, in conjunction with the limiting block, can constrain the mounting frame 5 and prevent it from displacing in other directions.

[0032] Example 3: Several partitions are provided inside the mounting frame 5, which separate adjacent forward wheel assemblies 9 and rotating wheel assemblies 10. The sides of the partitions are provided with slots, and the sides of both the forward wheel assembly 9 and the rotating wheel assembly 10 are provided with locking blocks that are located in the slots. An infrared detector 14 is provided at the front end of the mounting frame 5.

[0033] Specifically: The partition separates the forward wheel assembly 9 and the rotating wheel assembly 10, preventing them from interfering with each other. The slot and locking block constrain the forward wheel assembly 9 and the rotating wheel assembly 10, preventing displacement in other directions. The infrared sensor 14 detects obstacles inside the pipeline, allowing operators to identify which constraint frames 13 and mounting frames 5 are obstructed.

[0034] The working principle of this utility model is as follows: S1. The position of the first slider 4 is adjusted by the first bidirectional drive component 3, so that the first slider 4 drives the first connecting rod 6 to move. The first connecting rod 6 pushes or pulls the mounting frame 5 to move, so that the distance between the forward wheel component 9, the rotating wheel component 10 and the main body 1 can be adjusted, so that the robot can enter pipes of different sizes to carry out detection work. S2. During the detection work, multiple forward wheel assemblies 9 abut against the inner wall of the pipe from different positions and assist the robot in moving; S3. When an obstacle is encountered inside the pipe, the second bidirectional drive assembly 7 drives the second slider 8 to move. Under the action of the second link 11 and the third link 12, the forward wheel assembly 9 moves inward and the rotating wheel assembly 10 moves outward, so that the rotating wheel assembly 10 abuts against the inner wall of the pipe. Then, the rotating wheel assembly 10 rotates, causing the robot to rotate, so that the corresponding constraint frame 13 and mounting frame 5 avoid the obstacle, and the robot continues to carry out the detection work.

[0035] Compared with the prior art, the present invention has the following advantages: 1. This pipe inspection robot, adapted for multi-diameter differential speed drive, utilizes a structure including a constraint frame 13, a mounting frame 5, a second bidirectional drive assembly 7, a second slider 8, a rotating wheel assembly 10, and a forward wheel assembly 9. During inspection, multiple forward wheel assemblies 9 abut against the inner wall of the pipe from different positions, assisting the robot's movement. When an obstacle is encountered within the pipe, the second bidirectional drive assembly 7 drives the second slider 8 to move. Under the action of the second link 11 and the third link 12, the forward wheel assembly 9 moves inward, and the rotating wheel assembly 10 moves outward, causing the rotating wheel assembly 10 to abut against the inner wall of the pipe. Subsequently, the rotating wheel assembly 10 rotates, causing the robot to rotate, allowing the corresponding constraint frame 13 and mounting frame 5 to avoid the obstacle, and the robot continues its inspection work. It can avoid obstacles within the pipe as needed, enabling uninterrupted inspection and increasing inspection efficiency.

[0036] 2. This pipe inspection robot, adapted for multi-diameter differential speed drive, features rectangular constraint frames 13 and mounting frames 5 for easy installation of internal structures. Limiting grooves and blocks constrain mounting frames 5, preventing displacement in other directions. Slots and blocks constrain the forward wheel assembly 9 and the rotating wheel assembly 10, preventing displacement in other directions. Infrared probe 14 detects obstacles inside the pipe, allowing operators to identify which constraint frames 13 and mounting frames 5 are obstructed.

Claims

1. A pipe inspection robot adapted to multi-diameter differential speed drive, comprising a main body (1), wherein a detection component (2) is provided at the front end of the main body (1); characterized in that, At least three constraint frames (13) are fixedly connected to the side of the main body (1). A first bidirectional drive assembly (3) is provided in the main body (1) at the constraint frame (13). Two first sliders (4) are symmetrically arranged on the first bidirectional drive assembly (3). An installation frame (5) is provided in the constraint frame (13). A first connecting rod (6) is rotatably connected between the installation frame (5) and the first slider (4). The mounting frame (5) is provided with a second bidirectional drive assembly (7), and two second sliders (8) are symmetrically arranged on the second bidirectional drive assembly (7). The mounting frame (5) is provided with a forward wheel assembly (9) and a rotating wheel assembly (10). The second slider (8) is rotatably connected to the forward wheel assembly (9) and the rotating wheel assembly (10) by a second connecting rod (11) and a third connecting rod (12), respectively.

2. The pipeline inspection robot adapted to multi-diameter differential speed drive as described in claim 1, characterized in that: The front end of the main body (1) is provided with a lighting component (15), and the main body (1) adopts a regular polygonal structure with rounded corners on its edges.

3. The pipeline inspection robot adapted to multi-diameter differential speed drive as described in claim 2, characterized in that: The rear end of the main body (1) is provided with an opening and closing door, and the number of constraint frames (13) is the same as the number of sides of the main body (1) and they are evenly arranged on the side of the main body (1).

4. A pipeline inspection robot adapted to multi-diameter differential speed drive as described in claim 1, characterized in that: Both the first bidirectional drive assembly (3) and the second bidirectional drive assembly (7) include a bidirectional lead screw and a motor that can drive the bidirectional lead screw to rotate.

5. A pipeline inspection robot adapted to multi-diameter differential speed drive as described in claim 4, characterized in that: Both the constraint frame (13) and the mounting frame (5) adopt a rectangular structure. The inner side of the constraint frame (13) is provided with a limiting groove, and the outer side of the mounting frame (5) is provided with a limiting block in the limiting groove.

6. A pipeline inspection robot adapted to multi-diameter differential speed drive as described in any one of claims 1 to 5, characterized in that: The mounting frame (5) is provided with several partitions, which separate the adjacent forward wheel assembly (9) and rotating wheel assembly (10).

7. A pipeline inspection robot adapted to multi-diameter differential speed drive as described in claim 6, characterized in that: The partition has a slot on its side, and the forward wheel assembly (9) and the rotating wheel assembly (10) are both provided with a block in the slot on their sides. The front end of the mounting frame (5) is provided with an infrared probe (14).

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