Pipeline inspection robot powered by gas medium kinetic energy and autonomous energy storage

Abstract

The utility model discloses a kind of pipeline detection robots of gas medium kinetic energy power generation and autonomous energy storage, it includes vehicle body, the wheel group structure for supporting robot walking in pipeline is equipped on the vehicle body, wind generator, battery and camera are also equipped on the vehicle body, the battery is respectively connected with wind generator, camera and wheel group structure. Its purpose is to provide a kind of pipeline detection robots of gas medium kinetic energy power generation and autonomous energy storage, which avoids using cable power supply, but with battery power supply, and also can be generated by the gas medium kinetic energy in pipeline and stored in battery, prevent the situation of battery power supply shortage.

Description

Technical Field

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

[0002] Most current pipeline inspection robots rely entirely on their own batteries or external power supplied via cables to operate inside pipelines. For robots with their own batteries, the limited battery capacity and high energy consumption make them unsuitable for daily inspection needs due to structural size constraints. Robots powered by cables are costly to manufacture, technically complex for long-distance operation, and cannot autonomously return in case of power failure. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. It avoids the use of cable power supply, but is powered by its own battery. It can also generate electricity through the kinetic energy of the gas medium in the pipeline and store it in the battery to prevent insufficient power supply from the battery.

[0004] This invention relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The robot includes a vehicle body equipped with a wheel structure to support its movement within the pipeline. The vehicle body also houses a wind turbine, a battery, and a camera. The battery is connected to the wind turbine, camera, and wheel structure.

[0005] The vehicle body is in the shape of a square cylinder, and a wheel assembly structure is provided on the outer cylinder wall of the vehicle body. The wheel assembly structure includes a first wheel assembly structure and a second wheel assembly structure, which are respectively provided on two opposite sides of the outer cylinder wall of the vehicle body.

[0006] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The two openings of the vehicle body are a first opening and a second opening. A wind turbine is installed at the first opening, and a camera is installed at the second opening. A battery is installed inside the cylinder cavity of the vehicle body.

[0007] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The robot comprises an air inlet duct at its first opening, which includes a first duct and a second duct. Both the first and second ducts are cylindrical. One opening of the first duct is bowl-shaped, and the other opening of the first duct is fixedly connected to one opening of the second duct. A sleeve is coaxially arranged inside the cavity of the second duct. A support plate is fixedly connected between the outer wall of the sleeve and the inner wall of the second duct. A wind turbine is mounted on the sleeve, and the impeller of the wind turbine is located inside the second duct near the first duct. The second duct is fixedly located inside the cavity of the first opening, with the bowl-shaped opening of the first duct facing outwards.

[0008] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The first duct has a bowl-shaped opening with a sealing plate that seals the opening. The sealing plate is an arc-shaped plate that protrudes towards the second duct. The sealing plate has multiple strip-shaped ventilation openings that extend from the center outwards. The multiple strip-shaped ventilation openings are evenly spaced along the circumference of the center of the sealing plate. The impeller of the wind turbine is arranged correspondingly to the multiple strip-shaped ventilation openings.

[0009] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The first wheel assembly includes a first support frame spaced apart from the vehicle body. Multiple first linkage structures are provided between the first support frame and the outer wall of the vehicle body. Each first linkage structure includes a first link and a second link. One end of the first link is hinged to the first support frame, and the other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to the outer wall of the vehicle body. A first piston cylinder is movably connected between the first support frame and the outer wall of the vehicle body. A first motor, a first driving wheel, and a first driven wheel are mounted on the side of the first support frame away from the vehicle body. The first motor drives the first driving wheel to rotate. Both the first motor and the first piston cylinder are connected to a battery.

[0010] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The first support frame has two spaced-apart first main support plates and two spaced-apart first secondary support plates fixed on its side away from the vehicle body. The two first main support plates are positioned near the first opening of the cylinder on the vehicle body, and the two first secondary support plates are positioned near the second opening of the cylinder on the vehicle body. A first drive shaft is rotatably mounted between the two first main support plates. First drive wheels are fixedly mounted at both ends of the first drive shaft. A first bevel gear is fixedly mounted on the first drive shaft. A first motor is fixedly mounted on the first support frame. A second bevel gear is fixedly mounted on the output shaft of the first motor, meshing with the first bevel gear. A first driven shaft is rotatably mounted between the two first secondary support plates, and first driven wheels are fixedly mounted at both ends of the first driven shaft.

[0011] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The second wheel assembly includes a second support frame spaced apart from the vehicle body. Multiple second linkage structures are provided between the second support frame and the outer wall of the vehicle body. Each second linkage structure includes a third linkage and a fourth linkage. One end of the third linkage is hinged to the second support frame, and the other end is hinged to one end of the fourth linkage. The other end of the fourth linkage is hinged to the outer wall of the vehicle body. A second piston cylinder is movably connected between the second support frame and the outer wall of the vehicle body. A second motor, a second driving wheel, and a second driven wheel are mounted on the side of the second support frame away from the vehicle body. The second motor drives the second driving wheel to rotate. Both the second motor and the second piston cylinder are connected to a battery.

[0012] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The second support frame has two spaced-apart main support plates and two spaced-apart secondary support plates fixed on its side away from the vehicle body. The two main support plates are positioned near the first opening of the cylinder on the vehicle body, and the two secondary support plates are positioned near the second opening of the cylinder on the vehicle body. A second drive shaft is rotatably mounted between the two main support plates. Second drive wheels are fixedly mounted at both ends of the second drive shaft. A third bevel gear is fixedly mounted on the second drive shaft. A second motor is fixedly mounted on the second support frame. A fourth bevel gear is fixedly mounted on the output shaft of the second motor, meshing with the third bevel gear. A second driven shaft is rotatably mounted between the two secondary support plates, and second driven wheels are fixedly mounted at both ends of the second driven shaft.

[0013] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The first piston cylinder and the second piston cylinder are both pneumatic cylinders or electric cylinders. One end of the cylinder barrel of the first piston cylinder is movably connected to the outer cylinder wall of the vehicle body, and one end of the piston rod of the first piston cylinder is movably connected to the first support frame. One end of the cylinder barrel of the second piston cylinder is movably connected to the outer cylinder wall of the vehicle body, and one end of the piston rod of the second piston cylinder is movably connected to the second support frame.

[0014] This utility model of a pipeline inspection robot that generates and stores energy using the kinetic energy of a gaseous medium differs from existing technologies in that, when operating inside a pipeline, the high-speed flowing gaseous medium drives a wind turbine on the robot to generate electricity, converting the kinetic energy of the gaseous medium into electrical energy. This electrical energy is then stored in a battery, providing continuous power to the robot's onboard equipment. Therefore, this utility model avoids the use of cable power, instead relying on its own battery for power supply, and can generate and store electricity using the kinetic energy of the gaseous medium within the pipeline, preventing insufficient battery power.

[0015] The present invention will be further described below with reference to the accompanying drawings. Attached Figure Description

[0016] Figure 1 This is a front view of the pipeline inspection robot of this invention, which generates electricity and stores energy autonomously using the kinetic energy of a gaseous medium.

[0017] Figure 2 This is a left view of the pipeline inspection robot of this invention, which generates electricity and stores energy autonomously using the kinetic energy of a gas medium.

[0018] Figure 3 This is a top view of the pipeline inspection robot of this invention, which generates electricity and stores energy autonomously using the kinetic energy of a gas medium.

[0019] Figure 4 This invention relates to a three-dimensional pipeline inspection robot that generates electricity and stores energy autonomously using the kinetic energy of a gas medium. Figure 1 ;

[0020] Figure 5 This invention relates to a three-dimensional pipeline inspection robot that generates electricity and stores energy autonomously using the kinetic energy of a gas medium. Figure 2 ;

[0021] Figure 6 This is a three-dimensional view of the pipeline inspection robot of this utility model, which generates electricity and stores energy autonomously using the kinetic energy of a gas medium, hidden behind the vehicle body.

[0022] Figure 7 This is a front view of the air intake duct and wind turbine in this utility model;

[0023] Figure 8 for Figure 7 Front sectional view;

[0024] Figure 9 This utility model provides a three-dimensional view of the air intake duct and wind turbine. Figure 1 ;

[0025] Figure 10 This utility model provides a three-dimensional view of the air intake duct and wind turbine. Figure 2 ;

[0026] Figure 11 The three-dimensional structure of the first duct in this utility model Figure 1 ;

[0027] Figure 12 The three-dimensional structure of the first duct in this utility model Figure 2 ;

[0028] Figure 13 The three-dimensional form of the second duct in this utility model Figure 1 ;

[0029] Figure 14 The three-dimensional form of the second duct in this utility model Figure 2 ;

[0030] Figure 15 The three-dimensional wind turbine generator of this utility model Figure 1 ;

[0031] Figure 16 The three-dimensional wind turbine generator of this utility model Figure 2 .

[0032] Figure reference numerals:

[0033] 01. First drive shaft; 02. First drive wheel; 03. First main support plate; 04. First connecting rod; 05. Second connecting rod; 06. First duct; 07. Third connecting rod; 08. Fourth connecting rod; 09. Second main support plate; 10. Second drive wheel; 11. Second drive shaft; 12. Second motor plate; 13. Second motor; 14. Piston rod of the second piston cylinder; 15. Second connecting plate; 16. Second anti-loosening nut; 17. Second piston cylinder; 18. Second bearing frame; 19. Second driven shaft; 20. Second driven wheel; 21. Second driven support plate; 22. Camera; 23. Vehicle body; 24. First driven support plate; 2 5. First driven wheel; 26. First driven shaft; 27. First support frame; 28. Piston rod of the first piston cylinder; 29. ​​First piston cylinder; 30. First anti-loosening nut; 31. First connecting plate; 32. First motor; 33. First motor plate; 34. Sealing plate; 35. Strip-shaped through hole; 36. First bevel gear; 37. Output shaft of the first motor; 38. Second bevel gear; 39. Fourth bevel gear; 40. Third bevel gear; 41. Output shaft of the second motor; 42. Battery; 43. Second duct; 44. Support plate; 45. Wind turbine; 46. Fixing plate; 47. Connecting plate; 48. Impeller; 49. Sleeve. Detailed Implementation

[0034] like Figure 1 As shown, and in combination Figure 2-16 As shown, the present invention relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The robot includes a vehicle body 23, on which a wheel structure is provided to support the robot's movement inside the pipeline. The vehicle body 23 is also equipped with a wind turbine 45, a battery 42, and a camera 22. The battery 42 is connected to the wind turbine 45, the camera 22, and the wheel structure.

[0035] It should be noted that the cables connecting the battery 42 to the wind turbine 45, camera 22, and wheel assembly structure are not shown in the figure.

[0036] like Figure 1-5 As shown, this utility model is a pipeline inspection robot that generates electricity and stores energy autonomously using the kinetic energy of a gas medium. The vehicle body 23 is cylindrical, and a wheel assembly structure is provided on the outer wall of the vehicle body 23. The two openings of the vehicle body 23 are a first opening and a second opening. A wind turbine generator 45 is provided at the first opening, and a camera 22 is provided at the second opening. A battery 42 is provided inside the cylindrical cavity of the vehicle body 23.

[0037] like Figure 1-16As shown, this utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The robot includes an air inlet duct at the first opening, comprising a first duct 06 and a second duct 43. Both the first duct 06 and the second duct 43 are cylindrical. One opening of the first duct 06 is bowl-shaped, and the other opening of the first duct 06 is fixedly connected to one opening of the second duct 43. A sleeve 49 is coaxially arranged inside the cavity of the second duct 43. A support plate 44 is fixedly connected between the outer wall of the sleeve 49 and the inner wall of the second duct 43. A wind turbine 45 is mounted on the sleeve 49, and the impeller 48 of the wind turbine 45 is located inside the second duct 43 near the end of the first duct 06. The second duct 43 is fixedly located inside the cavity of the first opening, with the bowl-shaped opening of the first duct 06 facing outwards.

[0038] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The first duct 06 has a bowl-shaped opening with a sealing plate 34 for sealing the opening. The sealing plate 34 is an arc-shaped plate that protrudes towards the second duct 43. The sealing plate 34 has multiple strip-shaped ventilation openings that extend from the center to the surrounding area. The multiple strip-shaped ventilation openings are evenly spaced along the circumference of the center of the sealing plate 34. The impeller 48 of the wind turbine generator 45 is arranged corresponding to the multiple strip-shaped ventilation openings.

[0039] like Figure 7-16 As shown, one opening of the first duct 06 is bowl-shaped, meaning the diameter of the opening gradually increases from the inside out. The other opening of the first duct 06 is a straight cylinder. The second duct 43 is entirely a straight cylinder, and its diameter is approximately the same as the diameter of the straight cylinder opening of the first duct 06. The first duct 06 and the second duct 43 are arranged coaxially, and the second duct 43 is also coaxially arranged with the vehicle body 23. The first duct 06 is located entirely outside the first opening of the vehicle body 23.

[0040] When the robot operates inside the pipe, the first inlet of the robot body 23 is positioned upstream of the pipe, and the second inlet is positioned downstream. This allows the gas medium inside the pipe to flow from the first inlet to the second inlet. During this process, the gas medium enters the first duct 06 through the bowl-shaped inlet, is collected by the sealing plate 34, passes through the strip-shaped through-hole 35, then enters the second duct 43 and is directly blown onto the impeller 48 of the wind turbine 45, which is positioned corresponding to the strip-shaped through-hole 35. The impeller 48 rotates, and the wind turbine 45 generates electricity, which is then stored in the battery 42 connected to the wind turbine 45. The battery 42 is connected to the camera 22, providing power for the camera 22 to operate normally, enabling the camera 22 to capture the scene inside the pipe.

[0041] Because the bowl-shaped opening of the first duct 06 is arranged outwards, and because the first opening is arranged upstream of the pipe, the bowl-shaped opening of the first duct 06 is also arranged upstream of the pipe. The reason for designing the upstream opening of the first duct 06 as a bowl shape is to collect the gas medium over a larger area. The sealing plate 34 is designed as an arc-shaped plate protruding towards the second duct 43 to concentrate the gas medium collected by the bowl-shaped opening of the first duct 06, and then pass it through the strip-shaped through-hole 35. This can accelerate the gas medium, making it more efficient in driving the rotor 48 of the wind turbine 45 to rotate, thus enabling the wind turbine 45 to generate electricity efficiently.

[0042] Combination Figure 13 , 14 As shown, there are multiple support plates 44 between the sleeve 49 and the second duct 43. The multiple support plates 44 are evenly spaced along the circumference of the sleeve 49. In this way, the gas medium blowing through the impeller 48 of the wind turbine 45 can flow out of the second duct 43 through the gap between the multiple support plates 44 and flow into the cylinder cavity of the vehicle body 23. Then it flows out from the second cylinder opening of the vehicle body 23 to the outside of the vehicle body 23 and finally flows downstream of the pipe.

[0043] Therefore, the gaseous medium used for power generation can flow sequentially through the strip-shaped through-holes 35 on the sealing plate 34 and the gaps between the multiple support plates 44, thus flowing through the air inlet duct. While flowing through the air inlet duct, it can drive the impeller 48 of the wind turbine generator 45 to generate electricity. After flowing through the air inlet duct, the gaseous medium enters the cylindrical cavity of the vehicle body 23, and then flows out of the vehicle body 23 from the second opening. In other words, this invention does not obstruct the flow of the gaseous medium, but simply utilizes the kinetic energy of the flowing gaseous medium to generate electricity.

[0044] like Figure 15 , 16 As shown, the wind turbine 45 is existing technology, which has a rotor 48, and generates electricity by rotating the rotor 48. Its specific structure and power generation principle will not be elaborated further.

[0045] Combination Figure 6 , 7 As shown in Figures 9, 10, 13, and 14, when the second duct 43 is fixed to the cavity of the first cylinder opening, two oppositely arranged fixing plates 46 are provided on the outer wall of the second duct 43. Each fixing plate 46 is fixedly connected to a connecting plate 47 by bolts. The connecting plate 47 is then fixed to the inner wall of the cavity of the first cylinder opening by bolts. In this way, the second duct 43 is fixed inside the cavity of the first cylinder opening, that is, the entire air inlet duct is set at the first cylinder opening.

[0046] like Figure 1-6As shown, this utility model is a pipeline inspection robot that generates electricity and stores energy autonomously using the kinetic energy of a gas medium. The wheel set structure includes a first wheel set structure and a second wheel set structure, which are respectively located on opposite sides of the outer cylinder wall of the vehicle body 23.

[0047] In this embodiment, the vehicle body 23 is in the shape of a square cylinder, and the first wheel set structure and the second wheel set structure are respectively provided on the two opposite outer cylindrical side walls of the vehicle body 23.

[0048] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The first wheel assembly structure includes a first support frame 27 spaced apart from the vehicle body 23. The first support frame 27 is plate-shaped. Multiple first connecting rod structures are provided between the first support frame 27 and the outer wall of the vehicle body 23. Each first connecting rod structure includes a first connecting rod 04 and a second connecting rod 05. One end of the first connecting rod 04 is hinged to the first support frame 27, and the other end of the first connecting rod 04 is hinged to one end of the second connecting rod 05. The other end of the second connecting rod 05 is hinged to the outer wall of the vehicle body 23. A first piston cylinder 29 is movably connected between the first support frame 27 and the outer wall of the vehicle body 23. A first motor 32, a first driving wheel 02, and a first driven wheel 25 are mounted on the side of the first support frame 27 away from the vehicle body 23. The first motor 32 drives the first driving wheel 02 to rotate. Both the first motor 32 and the first piston cylinder 29 are connected to a battery 42.

[0049] The outer wall of the vehicle body 23, which has the first wheel set structure, is parallel to the first support frame 27. As described above, one end of the first connecting rod 04 is hinged to the first support frame 27, specifically, one end of the first connecting rod 04 is hinged to the side of the first support frame 27 near the vehicle body 23. One end of the cylinder of the first piston cylinder 29 is movably connected to the outer wall of the vehicle body 23, specifically, it is movably connected to the side of the outer wall of the vehicle body 23 opposite to the first support frame 27; one end of the piston rod 28 of the first piston cylinder 29 is movably connected to the first support frame 27, specifically, it is movably connected to the side of the first support frame 27 near the vehicle body 23.

[0050] The two ends of the first piston cylinder 29 can be movably connected to the outer cylinder wall of the first support frame 27 and the vehicle body 23 respectively by hinge. Of course, the movable connection method of this embodiment can also be used, such as... Figure 1 , 2As shown in Figures 4, 5, and 6, one end of the cylinder of the first piston cylinder 29 is hinged to the outer wall of the vehicle body 23 via a pin. One end of the piston rod 28 of the first piston cylinder 29 is movably connected to the first support frame 27 via a first connecting plate 31. Specifically, the first connecting plate 31 is fixed to the side of the first support frame 27 near the vehicle body 23, and the first connecting plate 31 has a long through hole or a round through hole with a diameter larger than the diameter of the piston rod 28 of the first piston cylinder 29. One end of the piston rod 28 of the first piston cylinder 29 is inserted into the aforementioned long through hole or round through hole, and a first anti-loosening nut 30 is screwed onto the end of the piston rod 28 to prevent the piston rod 28 from slipping out of the long through hole or round through hole. Since the piston rod 28 has a certain amount of room to move within the long through hole or round through hole, the movable connection between one end of the piston rod 28 of the first piston cylinder 29 and the first support frame 27 can be achieved.

[0051] The specific number of the multiple first link structures is not limited, as long as the first support frame 27 is parallel to the side wall of the outer cylinder of the vehicle body 23 where the first wheel set structure is located. In this embodiment, there are four first link structures, and the lines connecting the four first link structures are arranged in a rectangle. The first piston cylinder 29 is located between the four first link structures.

[0052] Since both ends of the first piston cylinder 29 are movably connected to the vehicle body 23 and the first support frame 27, and a first connecting rod structure is provided between the first support frame 27 and the vehicle body 23, when the piston rod 28 of the first piston cylinder 29 extends, the first support frame 27 moves away from the vehicle body 23. During this process, the first connecting rod structure becomes longer, that is, the overall shape of the first connecting rod 04 and the second connecting rod 05 changes from a V-shape to a straight line. At the same time, the first piston cylinder 29 rotates relative to both the vehicle body 23 and the first support frame 27. Conversely, when the piston rod 28 of the first piston cylinder 29 retracts, the first support frame 27 moves closer to the vehicle body 23. During this process, the first connecting rod structure becomes shorter, that is, the overall shape of the first connecting rod 04 and the second connecting rod 05 changes from a straight line back to a V-shape. At the same time, the first piston cylinder 29 rotates in the opposite direction relative to both the vehicle body 23 and the first support frame 27.

[0053] This utility model relates to a pipeline inspection robot that generates and stores energy using the kinetic energy of a gas medium. The first support frame 27 has two spaced-apart first main support plates 03 and two spaced-apart first secondary support plates 24 fixed on its side away from the vehicle body 23. The two first main support plates 03 are positioned near the first opening of the vehicle body 23, and the two first secondary support plates 24 are positioned near the second opening of the vehicle body 23. A first drive shaft 01 is rotatably mounted between the two first main support plates 03. First drive wheels 02 are fixedly mounted at both ends of the first drive shaft 01. A first bevel gear 36 is fixedly mounted on the first drive shaft 01. A first motor 32 is fixedly mounted on the first support frame 27. A second bevel gear 38 is fixedly mounted on the output shaft 37 of the first motor 32, meshing with the first bevel gear 36. A first driven shaft 26 is rotatably mounted between the two first secondary support plates 24. First driven wheels 25 are fixedly mounted at both ends of the first driven shaft 26.

[0054] The first motor 32 is fixedly mounted on the first motor plate 33, which in turn is fixed to the side of the first support frame 27 away from the vehicle body 23, thus securing the first motor 32 to the first support frame 27. The first motor 32 is connected to the battery 42, which provides power to the first motor 32 for normal operation. The first motor 32 drives the second bevel gear 38 to rotate. Since the first bevel gear 36 meshes with the second bevel gear 38, the first bevel gear 36 also rotates. Furthermore, since the first bevel gear 36 is fixedly mounted on the first drive shaft 01, the first drive shaft 01 also rotates. Finally, since the first drive wheel 02 is fixedly mounted on the first drive shaft 01, the first drive wheel 02 also rotates. In other words, the first motor 32 can drive the first drive wheel 02 to rotate.

[0055] The first driving wheel 02 is coaxially arranged with the first driving shaft 01, and the first driven wheel 25 is coaxially arranged with the first driven shaft 26. Both the first driving shaft 01 and the first driven shaft 26 are perpendicular to the axis of the vehicle body 23. That is, the axes of the first driving wheel 02 and the first driven wheel 25 are perpendicular to the axis of the vehicle body 23. Thus, the direction of travel of the first driving wheel 02 and the first driven wheel 25 within the pipe is the same as the axis of the vehicle body 23. After the robot is placed inside the pipe, the axis of the vehicle body 23 is aligned with the axis of the pipe. This allows the first driving wheel 02 and the first driven wheel 25 to travel along the axis of the pipe, enabling pipe inspection.

[0056] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The second wheel assembly includes a second support frame 18 spaced apart from the vehicle body 23. The second support frame 18 is plate-shaped. Multiple second linkage structures are provided between the second support frame 18 and the outer wall of the vehicle body 23. Each second linkage structure includes a third linkage 07 and a fourth linkage 08. One end of the third linkage 07 is hinged to the second support frame 18, and the other end of the third linkage 07 is hinged to one end of the fourth linkage 08. The other end of the fourth linkage 08 is hinged to the outer wall of the vehicle body 23. A second piston cylinder 17 is movably connected between the second support frame 18 and the outer wall of the vehicle body 23. A second motor 13, a second driving wheel 10, and a second driven wheel 20 are mounted on the side of the second support frame 18 away from the vehicle body 23. The second motor 13 drives the second driving wheel 10 to rotate. Both the second motor 13 and the second piston cylinder 17 are connected to a battery 42.

[0057] The outer wall of the vehicle body 23, which has a second wheel assembly structure, is parallel to the second support frame 18. As described above, one end of the third connecting rod 07 is hinged to the second support frame 18, specifically, one end of the third connecting rod 07 is hinged to the side of the second support frame 18 near the vehicle body 23. One end of the cylinder of the second piston cylinder 17 is movably connected to the outer wall of the vehicle body 23, specifically, it is movably connected to the side of the outer wall of the vehicle body 23 opposite to the second support frame 18; one end of the piston rod 14 of the second piston cylinder 17 is movably connected to the second support frame 18, specifically, it is movably connected to the side of the second support frame 18 near the vehicle body 23.

[0058] The two ends of the second piston cylinder 17 can be movably connected to the second support frame 18 and the outer cylinder wall of the vehicle body 23 respectively by hinge. Of course, the movable connection method of this embodiment can also be used, such as... Figure 1 , 2 As shown in Figures 4, 5, and 6, one end of the cylinder of the second piston cylinder 17 is hinged to the outer wall of the vehicle body 23 via a pin. One end of the piston rod 14 of the second piston cylinder 17 is movably connected to the second support frame 18 via a second connecting plate 15. Specifically, the second connecting plate 15 is fixed to the side of the second support frame 18 near the vehicle body 23, and the second connecting plate 15 has a long through hole or a round through hole with a diameter larger than the diameter of the piston rod 14 of the second piston cylinder 17. One end of the piston rod 14 of the second piston cylinder 17 is inserted into the long through hole or the round through hole, and a second anti-loosening nut 16 is screwed onto the end of the piston rod 14 to prevent the piston rod 14 from slipping out of the long through hole or the round through hole. Since the piston rod 14 has a certain amount of room to move within the long through hole or the round through hole, the movable connection between one end of the piston rod 14 of the second piston cylinder 17 and the second support frame 18 can be achieved.

[0059] The specific number of the multiple second link structures is not limited, as long as the second support frame 18 is parallel to the side wall of the outer cylinder of the vehicle body 23 where the second wheel set structure is located. In this embodiment, there are four second link structures, and the lines connecting the four second link structures are arranged in a rectangle. The second piston cylinder 17 is located between the four second link structures.

[0060] Since both ends of the second piston cylinder 17 are movably connected to the vehicle body 23 and the second support frame 18, and a second connecting rod structure is provided between the second support frame 18 and the vehicle body 23, when the piston rod 14 of the second piston cylinder 17 extends, the second support frame 18 moves away from the vehicle body 23. During this process, the second connecting rod structure becomes longer, that is, the overall shape of the third connecting rod 07 and the fourth connecting rod 08 changes from a V-shape to a straight shape. At the same time, the second piston cylinder 17 rotates relative to both the vehicle body 23 and the second support frame 18. Conversely, when the piston rod 14 of the second piston cylinder 17 retracts, the second support frame 18 moves closer to the vehicle body 23. During this process, the second connecting rod structure becomes shorter, that is, the overall shape of the third connecting rod 07 and the fourth connecting rod 08 changes from a straight shape back to a V-shape. At the same time, the second piston cylinder 17 rotates in the opposite direction relative to both the vehicle body 23 and the second support frame 18.

[0061] This utility model relates to a pipeline inspection robot that generates and stores energy autonomously using the kinetic energy of a gas medium. The second support frame 18 has two spaced-apart second main support plates 09 and two spaced-apart second secondary support plates 21 fixed on its side away from the vehicle body 23. The two second main support plates 09 are positioned near the first opening of the vehicle body 23, and the two second secondary support plates 21 are positioned near the second opening of the vehicle body 23. A second drive shaft 11 is rotatably mounted between the two second main support plates 09. Second drive wheels 10 are fixedly mounted at both ends of the second drive shaft 11. A third bevel gear 40 is fixedly mounted on the second drive shaft 11. A second motor 13 is fixedly mounted on the second support frame 18. A fourth bevel gear 39 is fixedly mounted on the output shaft 41 of the second motor 13, meshing with the third bevel gear 40. A second driven shaft 19 is rotatably mounted between the two second secondary support plates 21. Second driven wheels 20 are fixedly mounted at both ends of the second driven shaft 19.

[0062] The second motor 13 is fixedly mounted on the second motor plate 12, which in turn is fixed to the side of the second support frame 18 away from the vehicle body 23, thus securing the second motor 13 to the second support frame 18. The second motor 13 is connected to the battery 42, which provides power to the second motor 13 for normal operation. The second motor 13 drives the fourth bevel gear 39 to rotate. Since the third bevel gear 40 meshes with the fourth bevel gear 39, the third bevel gear 40 also rotates. Furthermore, since the third bevel gear 40 is fixedly mounted on the second drive shaft 11, the second drive shaft 11 also rotates. Finally, since the second drive wheel 10 is fixedly mounted on the second drive shaft 11, the second drive wheel 10 also rotates. In other words, the second motor 13 can drive the second drive wheel 10 to rotate.

[0063] The second driving wheel 10 is coaxially arranged with the second driving shaft 11, and the second driven wheel 20 is coaxially arranged with the second driven shaft 19. Both the second driving shaft 11 and the second driven shaft 19 are perpendicular to the axis of the vehicle body 23. That is, the axes of the second driving wheel 10 and the second driven wheel 20 are both perpendicular to the axis of the vehicle body 23. Thus, the direction of travel of the second driving wheel 10 and the second driven wheel 20 within the pipe is the same as the axis of the vehicle body 23. After the robot is placed inside the pipe, aligning the axis of the vehicle body 23 with the axis of the pipe allows the second driving wheel 10 and the second driven wheel 20 to travel along the axis of the pipe, enabling pipe inspection.

[0064] The connection between battery 42 and the first motor 32 and the first piston cylinder 29 realizes the connection between battery 42 and the first wheel assembly structure; the connection between battery 42 and the second motor 13 and the second piston cylinder 17 realizes the connection between battery 42 and the second wheel assembly structure. Furthermore, the connection between battery 42 and the first and second wheel assembly structures also realizes the aforementioned connection between battery 42 and the wheel assembly structure.

[0065] After the robot is placed inside the pipe, the axis of the vehicle body 23 is aligned with the axis of the pipe. Then, the piston rods 28 and 14 of the first piston cylinder 29 and the second piston cylinder 17 are extended, causing the first support frame 27 and the second support frame 18 to move away from the vehicle body 23. The first driving wheel 02 and the first driven wheel 25 follow the first support frame 27 and move away from the vehicle body 23. The second driving wheel 10 and the second driven wheel 20 follow the second support frame 18 and move away from the vehicle body 23 until the first driving wheel 02 and the first driven wheel 25 abut against one side of the inner wall of the pipe, and the second driving wheel 10 and the second driven wheel 20 abut against the other side of the inner wall of the pipe. Then, the first motor 32 and the second motor 13 are started, and the first driving wheel 02 and the second driving wheel 10 rotate. Since the first driving wheel 02 and the second driving wheel 10 are both in contact with the inner wall of the pipe, under the action of friction between the driving wheels and the inner wall of the pipe, the first driving wheel 02 and the second driving wheel 10 can move along the inner wall of the pipe. Meanwhile, since the first driven wheel 25 is rotatably mounted on the two first driven support plates 24 via the first driven shaft 26, and the second driven wheel 20 is rotatably mounted on the two second driven plates via the second driven shaft 19, and both the first driven wheel 25 and the second driven wheel 20 are in contact with the inner wall of the pipe, under the drive of the first driving wheel 02 and the second driving wheel 10, and under the friction between the driven wheels and the inner wall of the pipe, the first driven wheel 25 and the second driven wheel 20 can also move along the inner wall of the pipe. In this way, the robot can move along the pipe by means of the wheels.

[0066] Depending on the pipe diameter, the extension and retraction of the piston rods 28 and 14 of the first piston cylinder 29 and the second piston cylinder 17 can be adjusted to enable the robot to adapt to pipes of different diameters.

[0067] In this embodiment, both the first piston cylinder 29 and the second piston cylinder 17 are pneumatic cylinders or electric cylinders. The battery 42 is connected to the first piston cylinder 29 and the second piston cylinder 17 to supply power to enable them to work normally.

[0068] This utility model of a pipeline inspection robot that generates and stores energy using the kinetic energy of a gaseous medium differs from existing technologies in that, during operation within a pipeline, the high-speed flowing gaseous medium drives a wind turbine 45 on the robot to generate electricity, converting the kinetic energy of the gaseous medium into electrical energy. This electrical energy is then stored in a battery 42, providing continuous power to the robot's onboard equipment. Therefore, this utility model avoids the use of cable power, instead relying on its own battery 42 for power supply. Furthermore, it can generate electricity using the kinetic energy of the gaseous medium within the pipeline and store it in the battery 42, preventing power shortages. This utility model is low-cost, easy to implement, and energy-saving and emission-reducing.

[0069] It should be noted that the terms "center", "upper", "lower", "front", "rear", "left", "right", "middle", 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 this utility model 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 this utility model.

[0070] In the description of this utility model, 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 this utility model based on the specific circumstances.

[0071] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A pipeline inspection robot that generates and autonomously stores energy using the kinetic energy of a gaseous medium, characterized in that: The vehicle includes a body equipped with a wheel structure to support the robot's movement within the pipe. The body also houses a wind turbine, a battery, and a camera. The battery is connected to the wind turbine, camera, and wheel structure, respectively. The vehicle body is in the shape of a square cylinder, and a wheel assembly structure is provided on the outer wall of the vehicle body. The wheel assembly structure includes a first wheel assembly structure and a second wheel assembly structure, which are respectively provided on two opposite sides of the outer wall of the vehicle body. The vehicle body has two cylindrical openings, designated as a first opening and a second opening. A wind turbine is installed at the first opening, and a camera is installed at the second opening. A battery is located inside the cylindrical cavity of the vehicle body. An air inlet duct is provided at the first opening, comprising a first duct and a second duct. Both the first and second ducts are cylindrical. One opening of the first duct is bowl-shaped, and the other opening of the first duct is fixedly connected to one opening of the second duct. A sleeve is coaxially arranged inside the cavity of the second duct. A support plate is fixedly connected between the outer wall of the sleeve and the inner wall of the second duct. The wind turbine is mounted on the sleeve, and the impeller of the wind turbine is located inside the second duct near the end of the first duct. The second duct is fixedly located inside the cavity of the first opening, with the bowl-shaped opening of the first duct facing outwards from the first opening. The first wheel assembly structure includes a first support frame spaced apart from the vehicle body. Multiple first linkage structures are provided between the first support frame and the outer wall of the vehicle body. Each first linkage structure includes a first link and a second link. One end of the first link is hinged to the first support frame, and the other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to the outer wall of the vehicle body. A first piston cylinder is movably connected between the first support frame and the outer wall of the vehicle body. A first motor, a first drive wheel, and a first driven wheel are mounted on the side of the first support frame away from the vehicle body. The first motor drives the first drive wheel to rotate. Both the first motor and the first piston cylinder are connected to a battery. The second wheel assembly structure includes a second support frame spaced apart from the vehicle body. Multiple second linkage structures are provided between the second support frame and the outer wall of the vehicle body. Each second linkage structure includes a third linkage and a fourth linkage. One end of the third linkage is hinged to the second support frame, and the other end of the third linkage is hinged to one end of the fourth linkage. The other end of the fourth linkage is hinged to the outer wall of the vehicle body. A second piston cylinder is movably connected between the second support frame and the outer wall of the vehicle body. A second motor, a second driving wheel, and a second driven wheel are mounted on the side of the second support frame away from the vehicle body. The second motor drives the second driving wheel to rotate. Both the second motor and the second piston cylinder are connected to a battery.

2. The pipeline inspection robot that generates electricity and autonomously stores energy using gaseous medium kinetic energy according to claim 1, characterized in that: A sealing plate is fixedly provided at the bowl-shaped opening of the first duct to seal the opening. The sealing plate is an arc-shaped plate that protrudes towards the second duct. The sealing plate is provided with multiple strip-shaped ventilation openings that extend from the center to the surrounding area. The multiple strip-shaped ventilation openings are evenly spaced along the circumference of the center of the sealing plate. The impeller of the wind turbine is arranged correspondingly to the multiple strip-shaped ventilation openings.

3. The pipeline inspection robot that generates electricity and autonomously stores energy using gaseous medium kinetic energy according to claim 2, characterized in that: Two spaced-apart first main support plates and two spaced-apart first secondary support plates are fixedly provided on the side of the first support frame away from the vehicle body. The two first main support plates are arranged near the first cylinder opening of the vehicle body, and the two first secondary support plates are arranged near the second cylinder opening of the vehicle body. A first drive shaft is rotatably installed between the two first main support plates. First drive wheels are fixedly provided at both ends of the first drive shaft. A first bevel gear is fixedly mounted on the first drive shaft. The first motor is fixedly installed on the first support frame. A second bevel gear is fixedly provided on the output shaft of the first motor. The second bevel gear meshes with the first bevel gear. A first driven shaft is rotatably installed between the two first secondary support plates. First driven wheels are fixedly provided at both ends of the first driven shaft.

4. The pipeline inspection robot that generates electricity and autonomously stores energy using gaseous medium kinetic energy according to claim 3, characterized in that: Two spaced-apart second main support plates and two spaced-apart second secondary support plates are fixedly provided on the side of the second support frame away from the vehicle body. The two second main support plates are arranged near the first cylinder opening of the vehicle body, and the two second secondary support plates are arranged near the second cylinder opening of the vehicle body. A second drive shaft is rotatably installed between the two second main support plates. Second drive wheels are fixedly provided at both ends of the second drive shaft. A third bevel gear is fixedly mounted on the second drive shaft. A second motor is fixedly installed on the second support frame. A fourth bevel gear is fixedly provided on the output shaft of the second motor. The fourth bevel gear meshes with the third bevel gear. A second driven shaft is rotatably installed between the two second secondary support plates. Second driven wheels are fixedly provided at both ends of the second driven shaft.

5. The pipeline inspection robot that generates electricity and autonomously stores energy using gaseous medium kinetic energy according to claim 4, characterized in that: Both the first piston cylinder and the second piston cylinder are pneumatic cylinders or electric cylinders. One end of the cylinder barrel of the first piston cylinder is movably connected to the outer cylinder wall of the vehicle body, and one end of the piston rod of the first piston cylinder is movably connected to the first support frame. One end of the cylinder barrel of the second piston cylinder is movably connected to the outer cylinder wall of the vehicle body, and one end of the piston rod of the second piston cylinder is movably connected to the second support frame.

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