CN111594697A - Pipeline detection robot and pipeline detection system - Google Patents
Pipeline detection robot and pipeline detection system Download PDFInfo
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- CN111594697A CN111594697A CN202010563675.2A CN202010563675A CN111594697A CN 111594697 A CN111594697 A CN 111594697A CN 202010563675 A CN202010563675 A CN 202010563675A CN 111594697 A CN111594697 A CN 111594697A
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- Prior art keywords
- robot
- nozzle
- robot body
- pipeline
- hose
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/36—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained jet driven
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses pipeline inspection robot and pipeline inspection system. Pipeline inspection robot includes robot body, nozzle and hose. The nozzle is arranged on the robot body. The hose communicates with the nozzle and is configured to deliver high pressure media to the nozzle. The robot body is configured to generate lift force under the action of the high-pressure medium ejected from the nozzle.
Description
Technical Field
The application relates to the technical field of pipeline robots, in particular to a pipeline detection robot and a pipeline detection system.
Background
At present, a pipeline detection robot can realize the endoscopic detection work of a pipeline, can detect the conditions of the fracture, the corroded weld quality and the like of the pipeline, adopts a series of image processing technologies such as camera shooting and the like, further processes the acquired images, identifies the pipeline disease condition, and assists in manually judging the pipeline damage.
In the prior art, a pipeline detection robot is generally a wheel type pipeline detection robot, and if a high obstacle exists in a pipeline, the robot cannot cross the obstacle to continue detection, so that the detection efficiency is influenced.
Disclosure of Invention
The application provides a pipeline inspection robot and pipeline inspection system, it can solve prior art, and pipeline inspection robot can not cross the problem of barrier.
In a first aspect, an embodiment of the present invention provides a pipeline inspection robot, including a robot body, a nozzle, and a hose;
the nozzle is arranged on the robot body;
the hose is communicated with the nozzle and is configured to convey high-pressure medium to the nozzle;
wherein the robot body is configured to generate lift force under the action of the high-pressure medium ejected by the nozzle.
Above-mentioned scheme provides a pipeline inspection robot, and it includes robot body, nozzle and hose. In the pipeline inspection robot working process, when meetting high barrier, the high pressure medium source can be connected to the one end of hose, with carry high pressure medium through the hose to the nozzle, make high pressure medium can act on the pipeline inner wall, make the robot produce lift and do the rising motion, the action of advancing of cooperation robot body (among the prior art, the robot body is located through telescopic machanism to the walking wheel of robot body, so, when the robot body is empty, the walking wheel also can act on the wall of pipeline all the time under telescopic machanism's effect, make the robot body can advance), thereby can cross high barrier smoothly, guarantee pipeline inspection robot's normal work.
In an alternative embodiment, the hose is a water pipe configured to deliver high pressure water to the nozzle.
In an alternative embodiment, the hose is a gas tube configured to deliver high pressure gas to the nozzle.
In an alternative embodiment, the opening of the nozzle is directed vertically downwards to eject the high pressure medium vertically downwards.
In an alternative embodiment, the number of the nozzles is four, and four nozzles are uniformly arranged on the robot body at intervals.
In an alternative embodiment, the robot body comprises road wheels arranged parallel to the horizontal plane;
the spokes of the hub of the road wheel are in the shape of inclined blades configured to generate lift when the hub rotates.
In an optional embodiment, the pipeline inspection robot further includes a cleaning nozzle, the cleaning nozzle is disposed on the robot body, and an opening of the cleaning nozzle faces the camera of the robot body.
In an alternative embodiment, the robot body is provided with a rubber bumper, which is located at the camera of the robot body.
In an optional embodiment, the pipeline detection robot further comprises a direction control spray head and an electromagnetic valve, wherein the direction control spray head is connected with the hose through the electromagnetic valve;
the opening of the direction control spray head faces the opposite direction of the advancing direction of the robot body.
In a second aspect, an embodiment of the present invention provides a pipeline inspection system, including a cable reel, a cable, a controller, and the pipeline inspection robot of any one of the foregoing embodiments;
one end of the cable is connected with the robot body, the other end of the cable is connected with the cable reel, and the controller is electrically connected with the cable reel to control the cable reel to take up and pay off.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a schematic structural diagram of a pipeline inspection system according to the present embodiment;
FIG. 2 is a top view of the pipeline inspection robot in this embodiment;
fig. 3 is a side view of the pipe inspecting robot in this embodiment.
Icon: 10-a pipeline detection system; 10A-pipeline wellhead; 10B-branch pipe; 11-a cable reel; 12-a cable; 13-a controller;
20-a pipeline inspection robot; 21-a robot body; 22-a nozzle; 23-a hose; 24-direction control spray heads; 25-a camera; 26-cleaning the spray head; 27-anti-collision rubber; 210-a road wheel; 211-a telescoping mechanism; 240-solenoid valve; 2100-spokes.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be understood that the terms "front", "back", "left", "right", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally used to place products of the application, or orientations or positional relationships that are conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a pipeline detection system 10, and the pipeline detection system 10 can solve the problem that a pipeline detection robot cannot cross an obstacle in the prior art.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a pipeline inspection system 10.
The pipe inspection system 10 includes a cable reel 11, an electrical cable 12 (see fig. 2), a controller 13, and a pipe inspection robot 20.
Referring to fig. 2 and fig. 3, fig. 2 is a top view of the pipeline inspection robot 20 in the present embodiment, and fig. 3 is a side view of the pipeline inspection robot 20 in the present embodiment.
The pipe inspecting robot 20 includes a robot body 21, a nozzle 22, and a hose 23.
The nozzle 22 is provided in the robot body 21.
The hose 23 communicates with the nozzle 22 and is configured to deliver a high-pressure medium to the nozzle 22.
Wherein the robot body 21 is configured to generate a lift force by the high-pressure medium ejected from the nozzle 22.
Wherein the cable 12 and the hose 23 are fixed in one piece to form a cable. One end of the cable is connected to the robot body 21, and the other end of the cable is connected to the cable reel 11. The controller 13 is electrically connected to the cable reel 11 to control the cable reel 11 so as to take in and pay out the cable. Among other things, the cable 12 has a function of supplying power and data transmission to the pipe inspecting robot 20. It should be noted that the cable 12 and the hose 23 may also be separately provided, and the controller 13 controls the cable reel 11 to take up and pay off the cable.
Robot 21 includes the walking wheel 210 that is on a parallel with the horizontal plane setting, and walking wheel 210 passes through telescopic machanism 211 to be connected in robot 21, and telescopic machanism 211's effect lies in, makes the inner wall of walking wheel 210 laminating pipeline through flexible to adapt to the pipeline of different bores.
The robot body 21 includes four traveling wheels 210, and the four traveling wheels are uniformly arranged along the outer contour of the robot body 21, so that the robot body 21 can smoothly travel in the pipeline.
In this embodiment, the number of the nozzles 22 is four, the four nozzles 22 are respectively disposed below the traveling wheels 210, and the four nozzles 22 simultaneously eject high-pressure media, so that the robot body 21 generates lift force and can smoothly empty.
In the working process of the pipeline detection robot 20, one end of the hose 23 is connected with a high-pressure medium source, when a high obstacle is encountered, the hose 23 is used for conveying the high-pressure medium to the nozzle 22, so that the high-pressure medium can act on the inner wall of the pipeline, the robot body 21 generates lift force to perform ascending motion, and the advancing motion of the robot body 21 is matched (the walking wheel 210 of the robot body 21 is arranged on the robot body 21 through the telescopic mechanism 211, so that when the robot body 21 is emptied, the walking wheel 210 can also act on the wall surface of the pipeline under the action of the telescopic mechanism 211 to advance), so that the high obstacle can be smoothly crossed, and the normal work of the pipeline detection robot 20 is ensured.
In the present embodiment, the opening of the nozzle 22 is downward vertically to eject high-pressure medium downward vertically, so that the robot body 21 can generate a vertical upward force, and the robot body 21 is ensured to vacate smoothly and cross a high obstacle. In other embodiments, the opening of the nozzle 22 may be inclined downward, and the high-pressure medium may be applied to the inner wall of the pipe to cause the robot body 21 to generate lift.
Referring to fig. 2, in the present embodiment, the spokes 2100 of the hub of the road wheel 210 are inclined blades, and when the road wheel 210 rotates at a high speed, the spokes 2100 of the hub are inclined blades, so that a lift force is generated, thereby helping the robot body 21 to smoothly empty.
It should be noted that, referring to fig. 1, an operator places the pipeline inspection robot 20 at the pipeline wellhead 10A, and controls the nozzle 22 to eject the high-pressure medium, so that the pipeline inspection robot 20 is suspended, and controls the flow rate of the high-pressure medium, so that the robot body 21 can slowly descend from the pipeline wellhead 10A into the pipeline.
With reference to fig. 2 and 3, the side surface of the robot body 21 is further provided with four direction control nozzles 24, the number of the direction control nozzles 24 is four, the four direction control nozzles 24 are respectively located on the four side surfaces of the robot body 21, the four direction control nozzles 24 are connected to the hose 23, and the four direction control nozzles 24 can respectively spray high-pressure media in four directions, namely, forward, backward, left, and right directions (wherein the four directions are referred to the robot body 21, and the traveling direction of the robot body 21 can be regarded as the "forward" direction). Each direction control spray head 24 is connected with the hose 23 through an electromagnetic valve 240, so that each direction control spray head 24 can be independently controlled, the opening and closing of the electromagnetic valve 240 can be remotely controlled by an operator, or the electromagnetic valve 240 is connected with a control module of the robot body 21 and is controlled by the control module of the robot body 21.
Through the cooperation or the respective work of the four direction control spray heads 24, the position of the pipeline detection robot 20 can be automatically adjusted when the pipeline detection robot is suspended, so that any branch pipe 10B (see fig. 1) in the underground pipeline can be accessed.
In other embodiments, the number of direction control heads 24 may be one, one direction control head 24 may be provided on the rear side surface of the robot main body 21, and the direction in which the opening of the direction control head 24 faces is opposite to the traveling direction of the robot main body 21. Therefore, when the pipeline inspection robot 20 is in the air and the traveling wheels 210 are not in contact with the inner wall of the pipeline, the direction control spray heads 24 spray high-pressure media backwards, so that the pipeline inspection robot 20 flies forwards to enter the branch pipe 10B.
In this embodiment, the hose 23 is a water pipe, one end of the water pipe is externally connected to a high-pressure water source, the water pipe supplies high-pressure water to the nozzle 22, and the robot body 21 generates a lift force by the high-pressure water sprayed from the nozzle 22.
In other embodiments, the hose 23 may be a gas pipe, and the hose 23 is externally connected to a high-pressure gas storage container, and the high-pressure medium delivered to the nozzle 22 is high-pressure gas.
In order to ensure that the camera 25 of the pipeline inspection robot 20 is not affected by sludge and dust in the pipeline, the pipeline inspection robot 20 further comprises a cleaning nozzle 26, the cleaning nozzle 26 is arranged on the robot body 21, the cleaning nozzle 26 is connected with a water pipe, and an opening of the cleaning nozzle 26 faces the camera 25 of the robot body 21. By washing the water sprayed from the spray head 26, contaminants such as dust and sludge on the surface of the camera 25 can be cleaned.
When the robot body 21 is vacated, the robot body 21 may collide with the inner wall of the pipeline, thereby causing the camera 25 to be damaged. In order to avoid the damage of the camera 25, the robot body 21 is provided with the anti-collision rubber 27, the anti-collision rubber 27 is located at the camera 25 of the robot body 21, and the damage of the camera 25 can be avoided through the buffering of the anti-collision rubber 27.
It should be noted that, in this embodiment, the number of the cameras 25 of the pipeline inspection robot 20 is two, which is divided into a front camera and a rear camera, and the two cameras 25 are respectively disposed at the front end and the rear end of the robot body 21, for this reason, the number of the cleaning nozzles 26 is also two, which is respectively disposed corresponding to the front camera and the rear camera, and similarly, the number of the anti-collision rubber 27 is also two, which is respectively disposed corresponding to the front camera and the rear camera.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A pipeline detection robot is characterized by comprising a robot body, a nozzle and a hose;
the nozzle is arranged on the robot body;
the hose is communicated with the nozzle and is configured to convey high-pressure medium to the nozzle;
wherein the robot body is configured to generate lift force under the action of the high-pressure medium ejected from the nozzle.
2. The pipe inspecting robot according to claim 1,
the hose is a water pipe configured to deliver high pressure water to the nozzle.
3. The pipe inspecting robot according to claim 1,
the hose is an air tube configured to deliver high pressure air to the nozzle.
4. The pipe inspecting robot according to claim 1,
the opening of the nozzle is vertically downward to eject high-pressure medium vertically downward.
5. The pipe inspecting robot according to claim 1,
the number of the nozzles is four, and the four nozzles are uniformly arranged on the robot body at intervals.
6. The pipe inspecting robot according to claim 1,
the robot body comprises walking wheels arranged in parallel to a horizontal plane;
the spokes of the hub of the road wheel are in the shape of inclined blades and are configured to generate lift when the hub rotates.
7. The pipe inspecting robot according to claim 2,
the pipeline detection robot further comprises a cleaning sprayer, the cleaning sprayer is arranged on the robot body, and an opening of the cleaning sprayer faces towards the camera of the robot body.
8. The pipe inspecting robot according to claim 1,
the robot body is equipped with anti-collision rubber, anti-collision rubber is located the camera department of robot body.
9. The pipe inspecting robot according to claim 1,
the pipeline detection robot also comprises a direction control spray head and an electromagnetic valve, and the direction control spray head is connected with the hose through the electromagnetic valve;
the opening of the direction control spray head faces the opposite direction of the advancing direction of the robot body.
10. A pipeline inspection system comprising a cable reel, a cable, a controller, and the pipeline inspection robot of any one of claims 1-9;
one end of the cable is connected with the robot body, the other end of the cable is connected with the cable reel, and the controller is electrically connected with the cable reel to control the cable reel to take up and pay off.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010563675.2A CN111594697A (en) | 2020-06-18 | 2020-06-18 | Pipeline detection robot and pipeline detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010563675.2A CN111594697A (en) | 2020-06-18 | 2020-06-18 | Pipeline detection robot and pipeline detection system |
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| Publication Number | Publication Date |
|---|---|
| CN111594697A true CN111594697A (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010563675.2A Pending CN111594697A (en) | 2020-06-18 | 2020-06-18 | Pipeline detection robot and pipeline detection system |
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| CN (1) | CN111594697A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112303379A (en) * | 2020-11-25 | 2021-02-02 | 长春工业大学 | Cleaning robot for petroleum pipeline |
-
2020
- 2020-06-18 CN CN202010563675.2A patent/CN111594697A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112303379A (en) * | 2020-11-25 | 2021-02-02 | 长春工业大学 | Cleaning robot for petroleum pipeline |
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