A pipe crawling robot

Abstract

The utility model discloses a pipeline crawling robot, including main support body, the both sides of main support body symmetry are provided with the turnover side groove, the inboard of turnover side groove is connected with telescopic bottom link, the butt joint of telescopic bottom link bottom end has the butt joint turn to block, the inboard of butt joint turn to block is connected with drive wheel body, the both sides of main support body symmetry are fixed with range finder head, and main camera head can clearly shoot the inside of pipeline, and the operator understands the inside condition of pipeline conveniently. The design of winding motor and winding axle rod can automatically collect and release the extension line, avoids the cable winding problem, guarantees the smoothness of robot movement. The handheld control panel can operate the robot, controls its movement, shoots function etc.

Description

Technical Field

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

[0002] In industrial production and pipeline maintenance, the inspection, repair, and related work on the internal condition of pipelines are crucial. However, current pipeline internal operations face numerous difficulties and challenges.

[0003] Traditional pipeline operations primarily rely on manual entry for inspection and maintenance. However, this method has significant limitations. Firstly, for pipelines with small diameters or in harsh environments (such as those containing toxic gases, high temperatures, or high pressures), manual entry is not only difficult but also poses a serious threat to the safety of workers. Secondly, manual inspection has limited efficiency and accuracy, making it difficult to comprehensively and meticulously detect various problems inside the pipeline, such as cracks, corrosion, and blockages. While some simple pipeline inspection equipment has emerged with technological advancements, these devices are often limited in function, typically only capable of performing specific inspection tasks, such as detecting leaks or providing simple imaging of the pipeline's inner wall. Furthermore, most of these devices lack autonomous mobility, requiring external traction or propulsion to move within the pipeline, resulting in complex operation and poor flexibility. In addition, existing pipeline equipment is inadequate in carrying tools and materials, making it difficult to conveniently bring necessary maintenance tools and sealing materials into the pipeline for operations. Moreover, during pipeline operations, existing equipment struggles to quickly adapt to and stably support and move pipelines of different diameters. Different pipe diameters require different support structures or equipment, which not only increases the cost and time of the operation, but also reduces the efficiency and reliability of the operation. Utility Model Content

[0004] The purpose of this invention is to provide a pipeline crawling robot to address the limitations of traditional pipeline operations, which primarily rely on manual entry for inspection and maintenance. This method has significant limitations. Firstly, for pipelines with small diameters or in harsh environments (such as those containing toxic gases, high temperatures, or high pressures), manual entry is not only difficult but also poses a serious threat to the safety of workers. Secondly, manual inspection has limited efficiency and accuracy, making it difficult to comprehensively and meticulously identify various problems inside the pipeline, such as cracks, corrosion, and blockages. While some simple pipeline inspection devices have emerged with technological advancements, these devices are relatively limited in function, often only capable of performing specific inspection tasks, such as detecting leaks or providing simple imaging of the pipeline's inner wall. Furthermore, most of these devices lack autonomous mobility, requiring external traction or pushing devices to move within the pipeline, resulting in complex operation and poor flexibility. In addition, existing pipeline equipment is inadequate in carrying tools and materials, making it difficult to conveniently bring necessary maintenance tools and sealing materials into the pipeline for operation. Moreover, during pipeline operations, existing equipment struggles to quickly adapt to and achieve stable support and movement for pipelines of different diameters. Different pipe diameters require different support structures or equipment, which not only increases the cost and time of the operation, but also reduces the efficiency and reliability of the operation.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a pipe crawling robot, comprising a main support body, on both sides of which are symmetrically provided with flipping side grooves, and a telescopic bottom rod connected to the inner side of the flipping side grooves. A docking rotating block is connected to the bottom end of the telescopic bottom rod, and a drive wheel is connected to the inner side of the docking rotating block. Rangefinders are symmetrically fixed on both sides of the main support body. An end rotating block is connected to one end of the main support body, and a main camera head is connected to the inner side of the end rotating block. A top groove is horizontally provided on the top surface of the main support body, and a clamping screw is horizontally inserted into the inner side of the top groove. Clamping plates are symmetrically and horizontally connected to the top surface of the main support body. At the end of the main support body furthest from the end rotating block… A storage side box is fixedly installed. A winding motor is fixedly installed at one end of the storage side box. An extension line is inserted into the side of the storage side box. A control panel is connected to one end of the extension line. A side retaining strip is horizontally fixedly installed on one side of the control panel. A power supply slot is horizontally opened at the end of the main support body away from the end rotating block. A main power supply is horizontally snapped into the inner side of the power supply slot. A snap-fit ​​slot is horizontally opened on one side of the storage side box. A flipping motor is fixedly installed on one side of the end rotating block. A main controller is fixedly installed on the inner side of the main support body. A snap-fit ​​block is fixedly connected to the top surface of the docking rotating block. A bottom retaining block is fixedly installed on the bottom surface of the clamping plate. A winding shaft rod is horizontally inserted into the inner side of the storage side box.

[0006] Preferably, there are four flip-up side grooves, and the four flip-up side grooves are symmetrically opened on the side of the main support body near the four corners. The bottom end of the flip-up side groove penetrates the bottom surface of the main support body and is open. The top end of the telescopic bottom rod is connected to the inner side of the flip-up side groove through the shaft.

[0007] Preferably, the docking block is connected to the bottom motor output end of the telescopic base rod via a top locking block, and the ranging head is fixedly installed on the side of the main support near the corner, and the ranging head and the main controller are electrically connected to each other.

[0008] Preferably, the side shaft of the main camera head is connected to the output end of the flip motor, and the main camera head is equipped with an internal lighting structure. The main camera head and the main controller are electrically connected to each other, and the top channel is horizontally opened at the center line of the top surface of the main support body.

[0009] Preferably, one end of the clamping screw extends horizontally to the outer side of the main support body, the two clamping plates are arranged in parallel with each other, and the side of the clamping plate is provided with an anti-slip rubber strip structure. The output end of the winding motor is extended and fixedly connected to one end of the winding shaft, and one end of the extension line is wound around the outer side of the winding shaft. The control panel is snapped into the inner side of the snap-fit ​​groove by the side clip strip on the side.

[0010] Preferably, the main power supply and the main controller are electrically connected to each other, the bottom end of the bottom clamping block is clamped to the inner side of the top channel, and the side screw hole of the bottom clamping block is threaded to the outer side of the clamping screw.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This pipe-crawling robot features a top clamping plate for easy gripping and securing of items during daily use, enabling the transport of maintenance tools, sealing materials, and other materials into the pipe, meeting various needs for pipeline operations. A ranging head measures the distance between the robot and the pipe wall in real time, providing accurate data for the robot's movement and ensuring safe and accurate movement within the pipe. Simultaneously, the main camera provides clear images of the pipe's interior, allowing operators to understand the internal conditions. The design of the winding motor and winding shaft automatically winds up and unwinds the extension cable, avoiding cable tangling and ensuring smooth robot movement. The handheld control panel allows for easy operation, controlling movement, imaging, and other functions, improving work efficiency. Adjustable telescopic base height adapts to pipes of different diameters, providing stable support for the robot within various pipe systems and expanding its application range. Attached Figure Description

[0013] Figure 1 This is a three-dimensional front view of the present invention;

[0014] Figure 2 This is a three-dimensional bottom view of the present invention;

[0015] Figure 3 This is a three-dimensional top view of the present invention;

[0016] Figure 4 This is a schematic diagram of the overall separate connection structure of this utility model from a bottom view;

[0017] Figure 5 This is a top view schematic diagram of the overall separate connection structure of this utility model.

[0018] In the diagram: 1. Main support body; 2. Tilting side groove; 3. Telescopic bottom rod; 4. Connecting rotating block; 5. Drive wheel; 6. Rangefinder head; 7. End rotating block; 8. Main shooting head; 9. Top groove; 10. Clamping screw; 11. Clamping plate; 12. Storage side box; 13. Rewinding motor; 14. Extension line; 15. Control panel; 16. Side retaining strip; 17. Power supply slot; 18. Main power supply; 19. Connecting slot; 20. Tilting motor; 21. Main controller; 22. Connecting rotating block; 23. Bottom retaining block; 24. Rewinding shaft rod. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Example 1:

[0021] like Figure 1-5As shown, this utility model provides a technical solution: a pipe crawling robot, including a main support body 1, with symmetrically opened flip-up side grooves 2 on both sides of the main support body 1, and telescopic bottom rods 3 connected to the inner side of the flip-up side grooves 2. There are four flip-up side grooves 2, and the four flip-up side grooves 2 are symmetrically opened on the sides of the main support body 1 near the four corners. The bottom end of the flip-up side groove 2 penetrates the bottom surface of the main support body 1 and is open. The top end of the telescopic bottom rod 3 is connected to the inner side of the flip-up side groove 2 through a shaft. The bottom end of the telescopic bottom rod 3 is connected to a docking rotating block 4. The inner side of the docking rotating block 4 is connected to a drive wheel 5. Range measuring heads 6 are symmetrically fixed on both sides of the main support body 1. The docking rotating block 4 is connected to the top end of the drive wheel 5 through a locking mechanism. The rotating block 22 is connected to the bottom motor output end of the telescopic base rod 3. The ranging head 6 is fixedly installed on the side of the main support body 1 near the corner. The ranging head 6 and the main controller 21 are electrically connected to each other. One end of the main support body 1 is connected to the end rotating block 7. The inner side of the end rotating block 7 is connected to the main shooting head 8. The top surface of the main support body 1 is horizontally provided with a top groove 9. The side shaft of the main shooting head 8 is connected to the output end of the flip motor 20. The main shooting head 8 is provided with an internal lighting structure. The main shooting head 8 and the main controller 21 are electrically connected to each other. The top groove 9 is horizontally opened at the center line of the top surface of the main support body 1. The inner side of the top groove 9 is horizontally inserted with a clamping screw 10.

[0022] By adjusting the height of the telescopic base rod 3, it can adapt to pipes of different diameters, providing stable support for the robot in various pipes and expanding the robot's range of applications.

[0023] Example 2:

[0024] like Figure 1-5As shown, this utility model provides a technical solution: a pipe crawling robot, including a main support body 1, with symmetrically arranged flip-up side grooves 2 on both sides of the main support body 1. A telescopic bottom rod 3 is connected to the inner side of each flip-up side groove 2. There are four flip-up side grooves 2, symmetrically arranged on the sides of the main support body 1 near the four corners. The bottom end of each flip-up side groove 2 penetrates the bottom surface of the main support body 1 and is open. The top end of the telescopic bottom rod 3 is connected to the inner side of each flip-up side groove 2 via a shaft, and a docking rotating block is abutted at the bottom end of the telescopic bottom rod 3. 4. A drive wheel 5 is connected to the inner side of the docking rotating block 4. Rangefinder heads 6 are symmetrically fixed on both sides of the main support body 1. The docking rotating block 4 is connected to the bottom motor output end of the telescopic base rod 3 via a top locking block 22. The rangefinder head 6 is fixedly positioned on the side of the main support body 1 near a corner, and is electrically connected to the main controller 21. One end of the main support body 1 is connected to an end rotating block 7, and the inner side of the end rotating block 7 is connected to a main camera head 8. A top groove 9 is horizontally opened on the top surface of the main support body 1. The side shaft of the main camera head 8 is connected to the output end of the flip motor 20, and the main camera head 8 has an internal lighting structure. The main camera head 8 and the main controller 21 are electrically connected to each other. The top channel 9 is horizontally opened at the center line of the top surface of the main support body 1. The inner side of the top channel 9 is horizontally inserted with a clamping screw 10. The top surface of the main support body 1 is horizontally and symmetrically connected with clamping plates 11. The main support body 1 has a storage side box 12 fixedly installed at the end away from the end rotating block 7. The storage side box 12 has a winding motor 13 fixedly installed at one end. An extension line 14 is inserted into the side of the 2, and a control panel 15 is connected to one end of the extension line 14. One end of the clamping screw 10 extends horizontally to the outer side of the main support body 1. Two clamping plates 11 are arranged in parallel to each other, and the side of the clamping plate 11 is provided with an anti-slip rubber strip structure. The output end of the winding motor 13 is extended and fixedly connected to one end of the winding shaft 24. One end of the extension line 14 is wrapped around the outer side of the winding shaft 24. The control panel 15 is snapped into the inner side of the snap-fit ​​groove 19 by the side clip 16.

[0025] The robot can be operated via the handheld control panel 15, which controls its movement, shooting, and other functions. The operation is simple and convenient, improving work efficiency.

[0026] Example 3:

[0027] like Figure 1-5As shown, this utility model provides a technical solution: a pipe crawling robot, including a main support body 1, with symmetrically opened flip-side grooves 2 on both sides of the main support body 1, and telescopic bottom rods 3 connected to the inner side of the flip-side grooves 2. There are four flip-side grooves 2, and the four flip-side grooves 2 are symmetrically opened on the sides of the main support body 1 near the four corners. The bottom end of the flip-side groove 2 penetrates the bottom surface of the main support body 1 and is open. The top end of the telescopic bottom rod 3 is connected to the inner side of the flip-side groove 2 via a shaft. The bottom end of the telescopic bottom rod 3 is connected to a docking rotating block 4. The inner side of the docking rotating block 4 is connected to a drive wheel 5. Range measuring heads 6 are symmetrically fixed on both sides of the main support body 1. The docking rotating block 4 is connected to the telescopic bottom rod 3 via a locking block 22 at the top end. At the bottom of the motor output end, the ranging head 6 is fixedly installed on the side of the main support body 1 near the corner, and the ranging head 6 is electrically connected to the main controller 21. One end of the main support body 1 is connected to an end rotating block 7, and the inner side of the end rotating block 7 is connected to the main shooting head 8. The top surface of the main support body 1 has a horizontally opened top groove 9. The side shaft of the main shooting head 8 is connected to the output end of the flip motor 20, and the main shooting head 8 has an internal lighting structure. The main shooting head 8 is electrically connected to the main controller 21. The top groove 9 is horizontally opened at the center line of the top surface of the main support body 1. The inner side of the top groove 9 is horizontally inserted with a clamping screw 10. The top surface of the main support body 1 is horizontally symmetrically connected with clamping plates 11. The main support body 1 is in A storage side box 12 is fixedly installed at the end away from the end block 7. A winding motor 13 is fixedly installed at one end of the storage side box 12. An extension cable 14 is inserted into the side of the storage side box 12. A control panel 15 is connected to one end of the extension cable 14. One end of the clamping screw 10 extends horizontally to the outer side of the main support body 1. Two clamping plates 11 are arranged parallel to each other, and the sides of the clamping plates 11 are provided with anti-slip rubber strips. The output end of the winding motor 13 is extended and fixedly connected to one end of the winding shaft 24. One end of the extension cable 14 is wound around the outer side of the winding shaft 24. The control panel 15 is snapped into the inner side of the snap-fit ​​groove 19 by a side clip 16. A side clip is horizontally fixed on one side of the control panel 15. The main support body 1 has a power supply slot 17 horizontally opened at the end away from the end rotating block 7. The main power supply 18 is horizontally snapped into the inner side of the power supply slot 17. The storage side box 12 has a snap-fit ​​slot 19 horizontally opened on one side. The end rotating block 7 is fixedly installed with a flip motor 20. The main support body 1 has a main controller 21 fixedly installed on the inner side. The top surface of the docking rotating block 4 is fixedly connected with a snap-fit ​​block 22. The bottom surface of the clamping plate 11 is fixedly installed with a bottom snap-fit ​​block 23. The inner side of the storage side box 12 is horizontally inserted with a winding shaft 24. The main power supply 18 and the main controller 21 are electrically connected to each other. The bottom end of the bottom snap-fit ​​block 23 is snapped into the inner side of the top groove 9, and the side screw hole of the bottom snap-fit ​​block 23 is threadedly connected to the outer side of the clamping screw 10.

[0028] The design of the winding motor 13 and winding shaft 24 enables automatic winding and unwinding of the extension line 14, avoiding cable tangling and ensuring smooth robot movement.

[0029] Working Principle: Install the main power supply 18 into the power supply slot 17, ensuring that the main power supply 18 is electrically connected to the main controller 21 to provide the robot with the power required for operation. Simultaneously, attach the control panel 15 to the snap-fit ​​slot 19 on the side of the storage side box 12 via the side clip 16 for easy subsequent operation. Place the robot entirely inside the pipe where the operation is required. Adjust the height of the telescopic base rod 3 according to the pipe diameter. The top of the telescopic base rod 3 is connected to the inner side of the flip side slot 2 via a shaft, and the bottom is connected to a docking rotating block 4, with the drive wheel 5 connected to the inner side of the docking rotating block 4. By adjusting the telescopic base rod 3, the drive wheel 5 is made to make tight contact with the inner wall of the pipe, thereby providing stable support and ensuring that the robot can move smoothly inside the pipe. If it is necessary to carry items into the pipe for operation, place the items on the top surface of the main support body 1 and rotate the clamping screw 10. The clamping screw 10 is horizontally inserted into the top channel 9. The bottom clamping block 23 on the bottom surface of the clamping plate 11 is engaged with the inner side of the top channel 9, and the screw hole on the side of the bottom clamping block 23 is threaded to the outer side of the clamping screw 10. As the clamping screw 10 rotates, the two clamping plates 11 move closer to each other, clamping and fixing the item. The anti-slip rubber strip structure on the side of the clamping plate 11 prevents the item from slipping. The handheld control panel 15 sends commands to the main controller 21. After receiving the command, the main controller 21 controls the drive wheel 5 to rotate, making the robot move inside the pipe. During the movement, the ranging head 6 is fixedly set on the side of the main support body 1 near the corner and is electrically connected to the main controller 21. It can measure the distance between the robot and the inner wall of the pipe in real time, providing data to the main controller 21 to adjust the robot's movement direction and speed, ensuring the robot moves safely and accurately. The main camera head 8 is connected to the inner side of the end-rotor block 7. The side shaft of the main camera head 8 is connected to the output end of the flip motor 20, and the main camera head 8 has an internal lighting structure. During robot movement, the angle of the main camera head 8 can be adjusted by controlling the flip motor 20, and the lighting can be turned on simultaneously to photograph the inside of the pipe, providing real-time feedback of the pipe's internal condition to the operator, facilitating understanding of the pipe's internal status and appropriate operations. One end of the extension cable 14 is connected to the control panel 15, and the other end is wound around the take-up shaft 24 inside the storage side box 12. The output end of the take-up motor 13 is extended and fixedly connected to one end of the take-up shaft 24. When the robot moves, the take-up motor 13 can automatically wind up and unwind the extension cable 14 as needed, preventing cable entanglement from affecting the robot's movement.

[0030] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipe-crawling robot, comprising a main support body (1), characterized in that: The main support body (1) has symmetrically provided flip-up side grooves (2) on both sides. The inner side of the flip-up side grooves (2) is connected to a telescopic bottom rod (3). The bottom end of the telescopic bottom rod (3) is connected to a docking rotating block (4). The inner side of the docking rotating block (4) is connected to a drive wheel (5). The main support body (1) has symmetrically fixed distance measuring heads (6) on both sides. One end of the main support body (1) is connected to an end rotating block (7). (7) has a main camera head (8) connected to its inner side. The top surface of the main support body (1) has a horizontally opened top groove (9). The inner side of the top groove (9) is horizontally inserted with a clamping screw (10). The top surface of the main support body (1) is symmetrically connected with clamping plates (11). The main support body (1) has a storage side box (12) fixedly installed at one end away from the end block (7). One end of the storage side box (12) is fixedly installed with a winding motor. The machine (13) has an extension line (14) inserted into the side of the storage side box (12). One end of the extension line (14) is connected to a control panel (15). A side clip (16) is horizontally fixed on one side of the control panel (15). The main support body (1) has a power slot (17) horizontally opened at one end away from the end rotating block (7). The main power supply (18) is horizontally clipped into the inner side of the power slot (17). The storage side box A horizontal slot (19) is provided on one side of the (12) and a flipping motor (20) is fixedly provided on one side of the end rotating block (7). A main controller (21) is fixedly provided on the inner side of the main support body (1). A locking block (22) is fixedly connected to the top surface of the docking rotating block (4). A bottom locking block (23) is fixedly provided on the bottom surface of the clamping plate (11). A winding shaft rod (24) is horizontally inserted into the inner side of the storage side box (12).

2. The pipe-crawling robot according to claim 1, characterized in that: The number of the flip side grooves (2) is four, and the four flip side grooves (2) are symmetrically opened on the side of the main support body (1) near the four corners. The bottom end of the flip side groove (2) penetrates the bottom surface of the main support body (1) and is open. The top end of the telescopic bottom rod (3) is connected to the inner side of the flip side groove (2) through the shaft.

3. The pipe-crawling robot according to claim 1, characterized in that: The docking block (4) is connected to the bottom motor output end of the telescopic base rod (3) via the top locking block (22). The ranging head (6) is fixedly set on the side of the main support body (1) near the corner, and the ranging head (6) and the main controller (21) are electrically connected to each other.

4. The pipe-crawling robot according to claim 1, characterized in that: The side shaft of the main camera (8) is connected to the output end of the flip motor (20), and the main camera (8) is equipped with a lighting structure. The main camera (8) and the main controller (21) are electrically connected to each other. The top channel (9) is horizontally opened at the center line of the top surface of the main support (1).

5. A pipe-crawling robot according to claim 1, characterized in that: One end of the clamping screw (10) extends horizontally to the outer side of the main support (1). Two clamping plates (11) are arranged in parallel with each other, and the side of the clamping plate (11) is provided with an anti-slip rubber strip structure. The output end of the winding motor (13) is extended and fixedly connected to one end of the winding shaft (24). One end of the extension line (14) is wrapped around the outer side of the winding shaft (24). The control panel (15) is snapped into the inner side of the snap-fit ​​groove (19) by the side clip (16).

6. A pipe-crawling robot according to claim 1, characterized in that: The main power supply (18) and the main controller (21) are electrically connected to each other. The bottom end of the bottom clamping block (23) is clamped and set on the inner side of the top channel (9), and the side screw hole of the bottom clamping block (23) is threaded and set on the outer side of the clamping screw (10).

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