CN114893646B - Pipeline detection robot - Google Patents

Pipeline detection robot Download PDF

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Publication number
CN114893646B
CN114893646B CN202210429134.XA CN202210429134A CN114893646B CN 114893646 B CN114893646 B CN 114893646B CN 202210429134 A CN202210429134 A CN 202210429134A CN 114893646 B CN114893646 B CN 114893646B
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robot
pipeline
reducing
gear
reducing assembly
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CN114893646A (en
Inventor
向思怡
瞿敏
李阳光
谷保亮
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Hohai University HHU
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Hohai University HHU
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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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • 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

Abstract

The invention discloses a pipeline detection robot which comprises a robot body and a control terminal, wherein the robot body is connected with the control terminal through a cable and communicates with the control terminal. The robot body comprises a camera, a driving mechanism, a steering mechanism and a reducing mechanism; the reducing mechanism comprises a first reducing component positioned at the front end and a second reducing component positioned at the tail part. The steering mechanism is positioned between the first reducing assembly and the second reducing assembly; the camera is arranged at the front end of the first reducing component; the driving mechanism is used for driving the robot body to move along the inner wall of the pipeline. The robot can adapt to severe pipeline environments, video and image data in a pipeline are acquired through the camera carried by the robot, so that the corrosion, blockage and crack conditions of the inner wall of the pipeline can be conveniently analyzed and judged, workers can conveniently position and maintain the robot, the time and labor of problem investigation loss can be reduced, the efficiency is high, the cost is low, and each dead angle can be shot through the arrangement of the wide-angle camera.

Description

Pipeline detection robot
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a pipeline detection robot.
Background
Piping is an important material transport tool, which has become an integral part of industry and human life with the development of modern industry. In industrial and domestic applications, the medium conveyed inside the pipeline has corrosive substances such as waste gas, fuel oil, chemicals and the like, and because of the unreliability, natural disasters and defects of the pipeline, a series of problems such as leakage, corrosion, leakage holes, ageing and the like are likely to occur in the pipeline, so that the work of the pipeline is seriously influenced, and great hidden danger is brought to life and property safety.
In order to avoid the above problems in the pipeline system, the inner wall of the pipeline must be checked and maintained regularly, and the currently widely used modes are as follows: disassembly inspection, sonic inspection, electromagnetic inspection, pressure inspection, and endoscopy. These methods are inefficient, costly, and prone to leaving dead corners that are difficult to detect. Therefore, the pipeline robot is greatly valued in pipeline inspection operation, and the pipeline robot is studied in a durable field, so that the pipeline robot has important practical significance for industrial development.
Disclosure of Invention
The invention provides a pipeline detection robot, which solves the technical problems that in the prior art, the inner wall of a pipeline is periodically inspected and maintained through means such as disassembly inspection, acoustic inspection, electromagnetic inspection, pressure inspection, endoscopy and the like, the efficiency is low, the cost is high, and dead angles which are difficult to inspect are easily left.
In order to solve the technical problems, the invention adopts the following scheme:
a pipeline detection robot comprises a robot body and a control terminal, wherein the robot body is connected with the control terminal through a cable and communicates with the control terminal.
The robot body comprises a camera, a driving mechanism, a steering mechanism and a reducing mechanism; the reducing mechanism comprises a first reducing component positioned at the front end and a second reducing component positioned at the tail part.
The steering mechanism is positioned between the first reducing assembly and the second reducing assembly; the camera is arranged at the front end of the first reducing component; the driving mechanism is used for driving the robot body to move along the inner wall of the pipeline.
The robot can adapt to severe pipeline environments, video and image data in a pipeline are acquired through the camera carried by the robot, so that the corrosion, blockage and crack conditions of the inner wall of the pipeline can be conveniently analyzed and judged, workers can conveniently position and maintain the robot, the time and labor of problem investigation loss can be reduced, the efficiency is high, the cost is low, and each dead angle can be shot through the arrangement of the wide-angle camera.
Through setting up reducing mechanism, can be suitable for the pipeline detection of different pipe diameters, adaptability is strong, sexual valence relative altitude.
The control terminal controls the robot to move forwards, backwards, turn or the like, so that the operation is convenient; set up the cable, play and pull the effect, prevent that the robot body from losing in the pipeline, and communicate through the cable, communication stability is good.
Further improved, the first reducing assembly and the second reducing assembly are identical in structure and are integrally in a multi-jaw chuck structure, and the multi-jaw chuck comprises a shell, a first motor, a first gear and at least three jaws.
The first gear is rotatably arranged in the cavity of the shell through a bearing, planar threads are arranged on a circular plane on one side of the first gear, a second gear is arranged on an output shaft of the first motor and meshed with the first gear, and the first motor and the second gear are both arranged in the shell.
The outer surface of the shell is uniformly provided with a plurality of through holes along the circumferential direction, and the number of the through holes is the same as that of the claws; one side surface of each claw is provided with a rack in the length direction, one end of each claw extends into the shell through a corresponding through hole, the rack is meshed with the plane threads of the first gear, and the other end of one end of each claw is provided with a roller.
The first motor is started to drive the second gear to rotate, and the second gear is driven to rotate, so that the driving paw moves along the radial direction of the first gear because the rack is meshed with the planar thread of the first gear. When the first motor rotates positively, the claws move outwards along the radial direction of the first gear, namely the claw is applicable to pipelines with larger pipe diameters; when the first motor rotates reversely, the claw moves inwards along the radial direction of the first gear, namely, the claw is suitable for pipelines with small pipe diameters.
When the robot body moves in the pipeline, the rollers contact and abut against the inner wall of the pipeline, so that the robot body plays a supporting role. The rollers on the reducing mechanism form a structure similar to a Mecanum wheel.
Further improvements, the gripper comprises a gripper body, a spring, a support rod and a roller bracket; the hand claw body is of a cuboid structure, the rack is arranged on one side face of the hand claw body, the concave cavity is formed in the hand claw body along the length direction of the hand claw body, the end face of the concave cavity is in the positive direction, the spring is arranged in the concave cavity, one end of the supporting rod is movably inserted into the concave cavity, the other end of the supporting rod is located outside the hand claw body and fixedly connected with the roller support, two rollers are rotatably arranged on the roller support, and an included angle of 45 degrees is formed between the axis of each roller and the axis of the pipeline.
In order to enhance the stability of the robot, contact between the claws and the inner wall of the pipeline is ensured as much as possible, and a double-row design is adopted, namely, two rollers are arranged on each claw, so that the risk of overturning the robot because the claws are not perpendicular to the inner wall is reduced. Considering that the defects of pits, bulges and the like can exist on the inner wall of the pipeline, the roller is easy to be blocked or suspended, and the spring is additionally arranged in the paw body, so that the robot has certain obstacle overcoming capability, and the superposition of the rotation axis of the robot and the axis of the pipeline can be ensured.
Further improved, the number of the claws is five. By increasing the number of claws, more rollers are contacted with the inner wall of the pipeline, and stability is improved.
Further improved, the steering mechanism comprises a static platform, a movable platform and three motion components; the motion assembly comprises a steering engine, a first connecting rod and a second connecting rod, wherein the steering engine is fixedly arranged on the static platform, one end of the first connecting rod is rotationally connected with the static platform and fixedly connected with an output shaft of the steering engine, the other end of the first connecting rod is rotationally hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with the movable platform; the static platform is fixedly connected with the shell of the second reducing assembly, and the movable platform is rotatably connected with the shell of the first reducing assembly.
Through setting up steering mechanism, when the pipeline is crooked, the steering wheel that corresponds starts, and the first connecting rod in the drive motion subassembly rotates certain angle to change the contained angle between first connecting rod and the second connecting rod, reach the purpose of changing the contained angle between first reducing subassembly and the second reducing subassembly, realize that the robot turns in the pipeline.
Further improved, the rotation connection points of the three first connecting rods and the static platform are A, B, C, the three points are in a common circle, the central angle corresponding to the arc AC is 180 degrees, the central angle corresponding to the arc AB is 90 degrees, and the central angle corresponding to the arc BC is 90 degrees.
Further improved, the driving mechanism comprises a second motor, the second motor is fixed on the movable platform, an output shaft of the second motor is fixedly connected with the shell of the first reducing assembly, and the second motor is a stepping motor.
In the invention, because the reducing mechanism is similar to the structure of the Mecanum wheel, when the second motor drives the first reducing component to integrally rotate, the rotation around the central shaft of the pipeline can be converted into the movement along the axis, so that the robot can be driven in a spiral way. If all of the rollers are in pressing contact with the inner wall of the pipe, the direction of movement of each roller will be equivalent to a spiral rise along the pipe axis, rotation of the Mecanum wheel about the axis being movement along the axis at the same rate as the linear velocity of the contact point of the roller with the inner wall of the pipe. The key parts of the screw drive are the claws which are contacted with the inner wall of the pipeline, and the installation angle of the claws determines the helix angle and also determines the driving force and the driving speed. In addition, the stability and maneuverability of the robot depend on the contact condition of the claws and the inner wall of the pipeline.
Further improved, a hollow shaft conductive slip ring is arranged on a rotating shaft between the movable platform and the shell of the first reducing assembly, a wire of the first motor in the camera and the first reducing assembly is communicated with a connecting wire at one end of the conductive slip ring, and a connecting wire at the other end of the conductive slip ring and wires of other electrical elements are connected and communicated with a cable.
When the robot moves in the pipeline, the robot is mainly driven by the front part, the middle part turns, and the rear auxiliary support ensures the stability of the gesture. The first reducing assembly is constantly rotating, so that the second motor inside it cannot be wired in a conventional manner. To avoid wire winding, it is necessary to connect to the rear end through a hollow shaft conductive slip ring.
Compared with the prior art, the invention has the following beneficial effects:
1. the robot can adapt to severe pipeline environments, video and image data in a pipeline are acquired through the camera carried by the robot, so that the corrosion, blockage and crack conditions of the inner wall of the pipeline can be conveniently analyzed and judged, workers can conveniently position and maintain the robot, the time and labor of problem investigation loss can be reduced, the efficiency is high, the cost is low, and each dead angle can be shot through the arrangement of the wide-angle camera.
2. Through setting up reducing mechanism, can be suitable for the pipeline detection of different pipe diameters, adaptability is strong, sexual valence relative altitude. The control terminal controls the robot to move forwards, backwards, turn or the like, so that the operation is convenient; set up the cable, play and pull the effect, prevent that the robot body from losing in the pipeline, and communicate through the cable, communication stability is good.
3. Through setting up steering mechanism, when the pipeline is crooked, the steering wheel that corresponds starts, and the first connecting rod in the drive motion subassembly rotates certain angle to change the contained angle between first connecting rod and the second connecting rod, reach the purpose of changing the contained angle between first reducing subassembly and the second reducing subassembly, realize that the robot turns in the pipeline.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic structural view of a pipeline inspection robot according to the present invention;
FIG. 2 is a positive view of FIG. 1;
FIG. 3 is a schematic view of a reducing assembly according to the present invention;
FIG. 4 is an exploded view of FIG. 3 except for the finger;
fig. 5 is a schematic structural view of the steering mechanism according to the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment one:
as shown in fig. 1 to 5, a pipeline inspection robot includes a robot body and a control terminal, the robot body being connected to the control terminal by a cable and communicating.
The robot body comprises a camera, a driving mechanism, a steering mechanism 3 and a reducing mechanism; the reducing mechanism comprises a first reducing assembly 1 positioned at the front end and a second reducing assembly 2 positioned at the tail.
The steering mechanism 3 is positioned between the first reducing assembly 1 and the second reducing assembly 2; the camera is arranged at the front end of the first reducing component; the driving mechanism is used for driving the robot body to move along the inner wall of the pipeline.
The robot can adapt to severe pipeline environments, video and image data in a pipeline are acquired through the camera carried by the robot, so that the corrosion, blockage and crack conditions of the inner wall of the pipeline can be conveniently analyzed and judged, workers can conveniently position and maintain the robot, the time and labor of problem investigation loss can be reduced, the efficiency is high, the cost is low, and each dead angle can be shot through the arrangement of the wide-angle camera.
Through setting up reducing mechanism, can be suitable for the pipeline detection of different pipe diameters, adaptability is strong, sexual valence relative altitude.
The control terminal controls the robot to move forwards, backwards, turn or the like, so that the operation is convenient; set up the cable, play and pull the effect, prevent that the robot body from losing in the pipeline, and communicate through the cable, communication stability is good.
In this embodiment, as shown in fig. 4, the first reducing assembly 1 and the second reducing assembly 2 have the same structure, and are integrally formed into a multi-jaw chuck structure, and include a housing 11, a first motor 15, a first gear 13, and five jaws 12.
The first gear 13 is rotatably arranged in the cavity of the shell through a bearing 14, a plane thread is arranged on a round plane on one side of the first gear, a second gear is arranged on the output shaft of the first motor 15 and meshed with the first gear, and the first motor and the second gear are both arranged in the shell.
Five through holes 16 are uniformly formed in the outer surface of the shell along the circumferential direction. One side surface of each claw is provided with a rack in the length direction, one end of each claw extends into the shell through a corresponding through hole, the rack is meshed with the plane threads of the first gear, and the other end of one end of each claw is provided with a roller.
The first motor is started to drive the second gear to rotate, and the second gear is driven to rotate, so that the driving paw moves along the radial direction of the first gear because the rack is meshed with the planar thread of the first gear. When the first motor rotates positively, the claws move outwards along the radial direction of the first gear, namely the claw is applicable to pipelines with larger pipe diameters; when the first motor rotates reversely, the claw moves inwards along the radial direction of the first gear, namely, the claw is suitable for pipelines with small pipe diameters.
When the robot body moves in the pipeline, the rollers contact and abut against the inner wall of the pipeline, so that the robot body plays a supporting role. The rollers on the reducing mechanism form a structure similar to a Mecanum wheel.
In this embodiment, as shown in fig. 3, the hand claw 12 includes a hand claw body 121, a spring, a support rod 122, and a roller bracket 123; the hand claw body is of a cuboid structure, the rack is arranged on one side face of the hand claw body, a concave cavity is formed in the hand claw body along the length direction of the hand claw body, the end face of the concave cavity is in the positive direction, the spring is arranged in the concave cavity, one end of the supporting rod 122 is movably inserted into the concave cavity, the other end of the supporting rod is located outside the hand claw body 121 and fixedly connected with the roller support 123, two rollers 124 are rotatably arranged on the roller support, and an included angle of 45 degrees is formed between the axis of each roller and the axis of the pipeline.
In order to enhance the stability of the robot, contact between the claws and the inner wall of the pipeline is ensured as much as possible, and a double-row design is adopted, namely, two rollers are arranged on each claw, so that the risk of overturning the robot because the claws are not perpendicular to the inner wall is reduced. Considering that the defects of pits, bulges and the like can exist on the inner wall of the pipeline, the roller is easy to be blocked or suspended, and the spring is additionally arranged in the paw body, so that the robot has certain obstacle overcoming capability, and the superposition of the rotation axis of the robot and the axis of the pipeline can be ensured.
In this embodiment, as shown in fig. 5, the steering mechanism includes a stationary platform 35, a movable platform 24, and three moving components; the motion assembly comprises a steering engine 31, a first connecting rod 32 and a second connecting rod 33, wherein the steering engine 31 is fixedly arranged on a static platform 35, one end of the first connecting rod 32 is rotationally connected with the static platform 35 and fixedly connected with an output shaft of the steering engine 31, the other end of the first connecting rod is rotationally hinged with one end of the second connecting rod 33, and the other end of the second connecting rod 32 is hinged with a movable platform 34; the static platform is fixedly connected with the shell of the second reducing assembly, and the movable platform is rotatably connected with the shell of the first reducing assembly.
Through setting up steering mechanism, when the pipeline is crooked, the steering wheel that corresponds starts, and the first connecting rod in the drive motion subassembly rotates certain angle to change the contained angle between first connecting rod and the second connecting rod, reach the purpose of changing the contained angle between first reducing subassembly and the second reducing subassembly, realize that the robot turns in the pipeline.
In this embodiment, the rotational connection points of the three first links and the static platform are A, B, C, the three points are in a common circle, the central angle corresponding to the arc AC is 180 degrees, the central angle corresponding to the arc AB is 90 degrees, and the central angle corresponding to the arc BC is 90 degrees.
In this embodiment, the driving mechanism includes a second motor 5, where the second motor 5 is fixed on the moving platform 34, and an output shaft of the second motor is fixedly connected with the housing of the first reducing assembly, and the second motor is a stepper motor.
In the invention, because the reducing mechanism is similar to the structure of the Mecanum wheel, when the second motor drives the first reducing component to integrally rotate, the rotation around the central shaft of the pipeline can be converted into the movement along the axis, so that the robot can be driven in a spiral way. If all of the rollers are in pressing contact with the inner wall of the pipe, the direction of movement of each roller will be equivalent to a spiral rise along the pipe axis, rotation of the Mecanum wheel about the axis being movement along the axis at the same rate as the linear velocity of the contact point of the roller with the inner wall of the pipe. The key parts of the screw drive are the claws which are contacted with the inner wall of the pipeline, and the installation angle of the claws determines the helix angle and also determines the driving force and the driving speed. In addition, the stability and maneuverability of the robot depend on the contact condition of the claws and the inner wall of the pipeline.
In this embodiment, a hollow shaft conductive slip ring 6 is disposed on a rotating shaft between the moving platform and the housing of the first reducing assembly, a wire of the first motor in the camera and the first reducing assembly is connected to a connecting wire at one end of the conductive slip ring, and a connecting wire at the other end of the conductive slip ring, and wires of other electrical elements are connected to a cable.
When the robot moves in the pipeline, the robot is mainly driven by the front part, the middle part turns, and the rear auxiliary support ensures the stability of the gesture. The first reducing assembly is constantly rotating, so that the second motor inside it cannot be wired in a conventional manner. To avoid wire winding, it is necessary to connect to the rear end through a hollow shaft conductive slip ring.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims (6)

1. The pipeline detection robot is characterized by comprising a robot body and a control terminal, wherein the robot body is connected with the control terminal through a cable and communicates with the control terminal;
the robot body comprises a camera, a driving mechanism, a steering mechanism and a reducing mechanism; the reducing mechanism comprises a first reducing assembly positioned at the front end and a second reducing assembly positioned at the tail part;
the steering mechanism is positioned between the first reducing assembly and the second reducing assembly; the camera is arranged at the front end of the first reducing component; the driving mechanism is used for driving the robot body to move along the inner wall of the pipeline;
the steering mechanism comprises a static platform, a movable platform and three motion components;
the motion assembly comprises a steering engine, a first connecting rod and a second connecting rod, wherein the steering engine is fixedly arranged on the static platform, one end of the first connecting rod is rotationally connected with the static platform and fixedly connected with an output shaft of the steering engine, the other end of the first connecting rod is rotationally hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with the movable platform;
the static platform is fixedly connected with the shell of the second reducing assembly, and the movable platform is rotationally connected with the shell of the first reducing assembly;
the rotation connection points of the three first connecting rods and the static platform are A, B, C, the three points are in a common circle, the central angle corresponding to the arc AC is 180 degrees, the central angle corresponding to the arc AB is 90 degrees, and the central angle corresponding to the arc BC is 90 degrees.
2. The pipeline inspection robot of claim 1, wherein the first reducing assembly and the second reducing assembly are identical in structure and are integrally formed in a multi-jaw chuck structure, and the pipeline inspection robot comprises a housing, a first motor, a first gear and at least three jaws;
the first gear is rotatably arranged in the cavity of the shell through a bearing, a plane thread is arranged on a round plane at one side of the first gear, a second gear is arranged on an output shaft of the first motor, the second gear is meshed with the first gear, and the first motor and the second gear are both arranged in the shell;
the outer surface of the shell is uniformly provided with a plurality of through holes along the circumferential direction, and the number of the through holes is the same as that of the claws; one side surface of each claw is provided with a rack in the length direction, one end of each claw extends into the shell through a corresponding through hole, the rack is meshed with the plane threads of the first gear, and the other end of one end of each claw is provided with a roller.
3. The pipe inspection robot of claim 2, wherein the gripper includes a gripper body, springs, support rods, and roller supports;
the hand claw body is of a cuboid structure, the rack is arranged on one side face of the hand claw body, the concave cavity is formed in the hand claw body along the length direction of the hand claw body, the end face of the concave cavity is in the positive direction, the spring is arranged in the concave cavity, one end of the supporting rod is inserted into the concave cavity, the other end of the supporting rod is located outside the hand claw body and fixedly connected with the roller support, the roller is rotatably arranged on the roller support, and an included angle of 45 degrees is formed between the axis of the roller and the axis of the pipeline.
4. The pipe inspection robot of claim 2, wherein the number of grippers is five.
5. The robot of claim 4, wherein the drive mechanism comprises a second motor, the second motor being fixed to the movable platform, an output shaft of the second motor being fixedly coupled to the housing of the first reducing assembly.
6. The robot of claim 5, wherein a hollow shaft conductive slip ring is disposed on a rotating shaft between the movable platform and the housing of the first reducing assembly, a wire of the first motor in the camera and the first reducing assembly is connected to a connecting wire at one end of the conductive slip ring, and a connecting wire at the other end of the conductive slip ring, and wires of other electrical components are connected to a cable.
CN202210429134.XA 2022-04-22 2022-04-22 Pipeline detection robot Active CN114893646B (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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CN114893646B true CN114893646B (en) 2023-05-16

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8653811B2 (en) * 2009-06-26 2014-02-18 Tdw Delaware Inc. Pipeline inspection tool with oblique magnetizer
CN103672294B (en) * 2013-12-17 2015-11-18 江南大学 Spiral type pipeline robot
CN208183943U (en) * 2018-05-02 2018-12-04 沈阳建筑大学 A kind of hybrid propulsion formula self-adapting pipe dredging robot
CN109084119A (en) * 2018-10-31 2018-12-25 南京工程学院 A kind of multi-locomotion mode pipe robot
CN110397820B (en) * 2019-08-05 2021-03-16 南京师范大学中北学院 Multi-section type spiral dual-drive variable-diameter pipeline detection robot
CN112097009B (en) * 2020-09-25 2021-12-21 杭州电子科技大学 Pipeline detection software robot and driving method thereof
CN215066346U (en) * 2020-12-22 2021-12-07 鲍永生 Boiler pipeline ultrasonic detection device
CN113894117B (en) * 2021-11-24 2023-03-21 中北大学 Mechanical structure of pipeline dredging robot

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