CN115508378A - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
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- CN115508378A CN115508378A CN202210978395.7A CN202210978395A CN115508378A CN 115508378 A CN115508378 A CN 115508378A CN 202210978395 A CN202210978395 A CN 202210978395A CN 115508378 A CN115508378 A CN 115508378A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
- G01N29/041—Analysing solids on the surface of the material, e.g. using Lamb, Rayleigh or shear waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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Abstract
The application provides a pipeline inspection robot, which comprises an arc-shaped plate, a driving mechanism, an inspection mechanism and a control box, wherein the driving mechanism and the control box are respectively arranged on the arc-shaped plate; the inspection mechanism is arranged on one side of the arc-shaped plate and comprises a first arc-shaped part, two groups of moving assemblies, a second arc-shaped part and a detection assembly, wherein the first arc-shaped part is fixed on one side of the arc-shaped plate, and the second arc-shaped part is arranged on one side of the first arc-shaped part; first cell body has been seted up respectively to one side of first arc spare with second arc spare, two the removal subassembly sets up respectively in the first cell body that corresponds. From this, can not only fully detect the pipeline, and then reduce the risk of pipeline leakage to practice thrift more manpower and materials, can walk on the outer wall of waiting to detect the pipeline moreover, need not to get into the inside of pipeline, make application scope wider, guarantee the productivity of mill.
Description
Technical Field
The application relates to the technical field of pipeline inspection, in particular to a pipeline inspection robot.
Background
Pipeline transportation is a transportation mode for transporting liquid and gas materials for long distance by using pipelines as transportation vehicles, and is also a transportation mode for transporting petroleum, coal and chemical products to markets from production places.
In the conveying process, the leakage of the medium in the pipeline can not only cause the waste of resources, but also cause certain dangerousness, and therefore workers are required to conduct regular inspection on the pipeline.
1. At present, the pipeline is generally inspected outside through a manual inspection mode, and the mode is not only insufficient in detection, so that the risk of pipeline leakage is increased, and more manpower and material resources are consumed.
2. In the related art, the flow of the medium in the pipeline needs to be stopped, so that the detection equipment can go deep into the pipeline for detection, and this way not only limits the application range of the detection equipment, but also affects the capacity of the factory.
Disclosure of Invention
The present application aims to solve at least to some extent one of the technical problems in the above-mentioned technology.
For this reason, an aim at of this application provides a pipeline inspection robot, can not only fully detect the pipeline, and then reduces the risk that the pipeline leaked to save more manpower and materials, can walk on the outer wall of waiting to detect the pipeline moreover, need not to get into the inside of pipeline, make application scope wider, guarantee the productivity of mill.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a pipeline inspection robot, including an arc plate, a driving mechanism, an inspection mechanism, and a control box, where the driving mechanism and the control box are respectively disposed on the arc plate, and the driving mechanism is configured to push the arc plate to move laterally; the inspection mechanism is arranged on one side of the arc-shaped plate and comprises a first arc-shaped part, two groups of moving assemblies, a second arc-shaped part and a detection assembly, wherein the first arc-shaped part is fixed on one side of the arc-shaped plate, and the second arc-shaped part is arranged on one side of the first arc-shaped part; one side of each of the first arc-shaped part and the second arc-shaped part is provided with a first groove body, and the two moving assemblies are arranged in the corresponding first groove bodies respectively, wherein the first arc-shaped part is used for providing a primary motion path for the second arc-shaped part and the detection assembly, and the second arc-shaped part is used for providing a secondary motion path for the detection assembly so as to supplement a gap of the primary motion path; the detection assembly is arranged above the second arc-shaped part and used for detecting a pipeline so as to generate detection information of the pipeline; the first arc-shaped part is connected with the second arc-shaped part through one group of moving assemblies, the detection assembly is connected with the second arc-shaped part through the other group of moving assemblies, and the two groups of moving assemblies are used for driving the detection assembly to do reciprocating circular motion around the pipeline to be detected; the driving mechanism, the two groups of moving assemblies and the detection assembly are respectively connected with the control box, and the control box is used for sending the detection information to an external terminal.
The pipeline inspection robot of the embodiment of the application, it is horizontal autonomous movement on waiting to detect the outer wall of pipeline to drive this pipeline inspection robot through actuating mechanism, and simultaneously, the second arc can compensate the motion path that first arc provided, two sets of removal subassemblies drive second arc respectively and survey the subassembly and do reciprocal circular motion around waiting to detect the pipeline, and then fully detect the outer wall of pipeline, on the one hand, not only can practice thrift more manpower and materials, and can improve the accuracy of detection data, and then reduce the risk that the pipeline leaked, on the other hand, this inspection robot can creep waiting to detect the outer wall of pipeline, need not to stop to carry and get into the inside detection of pipeline, application scope has not only been enlarged, and the productivity of mill has been guaranteed.
In addition, the pipeline inspection robot provided according to the above embodiments of the present application may further have the following additional technical features:
in one embodiment of the application, two sets of the moving assemblies each comprise a rack, a gear, a second motor and a connecting rod, wherein the rack is arranged in the first groove body, and the gear is in meshed connection with the rack; the two second motors are respectively arranged on the sides where the first arc-shaped part and the second arc-shaped part repel each other, the output shafts of the second motors are connected with one side of the gear, and the second motors are connected with the control box; one end of the connecting rod is rotatably connected to the gear, one is flat and one is arranged in the middle of the connecting rod, the connecting rod penetrates through the first groove body and the second groove body, the other end of the connecting rod is arranged on one side of the second arc-shaped piece, and the other end of the connecting rod is connected with the detection assembly.
In one embodiment of the application, the detection assembly comprises a support rod, a support plate, a plurality of detectors and a plurality of distance sensors, wherein a second groove body is formed in the second arc-shaped piece and is communicated with the first groove body, the support rod penetrates through the second groove body, one end of the support rod is connected with the other end of another connecting rod, and the other end of the support rod is connected with the support plate; the support plate is of an arc-shaped structure, is attached to the second arc-shaped part and is used for preventing the support plate from shaking during movement; the plurality of detectors are arranged on the support plate, the plurality of distance sensors are arranged on the outer side of the support plate, the plurality of distance sensors are used for avoiding obstacles, and the plurality of detectors and the plurality of distance sensors are respectively connected with the control box.
In an embodiment of this application, two the bottom of second motor all is equipped with the fixed plate, the spacing groove has been seted up on the fixed plate, one the spacing groove with the outside laminating of first arc, another the spacing groove with the inboard laminating of second arc, the fixed plate is used for right the second motor is spacing to guarantee the stability of second motor removal in-process.
In one embodiment of the application, the driving mechanism comprises a driven wheel, a driving wheel, a transmission assembly and a first motor, wherein the driven wheel and the driving wheel are both rotatably connected with the arc-shaped plate, and the shapes of the driven wheel and the driving wheel are respectively matched with the pipeline so as to guide the pipeline inspection robot; the first motor is fixed on the control box, and an output shaft of the first motor is connected with the driving wheel through the transmission assembly.
In one embodiment of the application, the protection device further comprises a protection mechanism, wherein the protection mechanism comprises two pull lugs, a spring telescopic rod and two hooks, wherein the two pull lugs are symmetrically arranged at the bottom of the arc-shaped plate; the two hooks are respectively arranged at two ends of the spring telescopic rod; the two hooks are respectively buckled on the corresponding pull lugs.
In an embodiment of this application, set up a plurality of logical grooves of symmetrical arrangement on the arc, the inside that leads to the groove rotationally is connected with the auxiliary wheel, the auxiliary wheel is used for assisting this pipeline and patrols and examines the walking of robot.
In one embodiment of the present application, two handles are symmetrically disposed on the arc plate.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic diagram of a portion of a pipeline inspection robot according to one embodiment of the present application;
FIG. 2 is a schematic view of a portion of a pipeline inspection robot according to another embodiment of the present disclosure;
FIG. 3 is a schematic view of a portion of a pipeline inspection robot according to another embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a portion of a pipeline inspection robot according to another embodiment of the present application;
FIG. 5 is a schematic view of a connection of a set of moving assemblies and a second arcuate member of the pipeline inspection robot in accordance with one embodiment of the present application;
FIG. 6 is a schematic view of a connection configuration of a pipeline inspection robot detection assembly and another set of mobile assemblies according to one embodiment of the present application;
FIG. 7 is a schematic view of a pipeline inspection robot drive mechanism and control box connection configuration according to one embodiment of the present application;
fig. 8 is a side view schematic diagram of a pipeline inspection robot according to an embodiment of the application.
Reference numerals: 1. an arc-shaped plate; 2. a drive mechanism; 21. a driven wheel; 22. a driving wheel; 23. a transmission assembly; 24. a first motor; 3. a routing inspection mechanism; 31. a first arcuate member; 311. a first tank body; 32. a moving assembly; 321. a rack; 322. a gear; 323. a second motor; 324. a connecting rod; 3230. a fixing plate; 3231. a limiting groove; 33. a second arcuate member; 331. a second tank body; 34. a detection component; 341. a support bar; 342. a carrier plate; 343. a detector; 344. a distance sensor; 4. a control box; 5. a protection mechanism; 51. pulling the lug; 52. a spring telescopic rod; 53. hooking; 61. a through groove; 62. an auxiliary wheel; 71. a handle.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The pipe inspection robot according to the embodiment of the present application is described below with reference to the accompanying drawings.
As shown in fig. 1-4, the pipeline inspection robot according to the embodiment of the present application may include an arc plate 1, a driving mechanism 2, an inspection mechanism 3, and a control box 4.
Wherein, actuating mechanism 2 and control box 4 set up respectively on arc 1, and the symmetry is equipped with two handles 71 on the arc 1, and wherein, actuating mechanism 2 is used for promoting arc 1 lateral motion, and the mechanism 3 setting of patrolling and examining is in one side of arc 1, and the mechanism 3 of patrolling and examining includes first arc 31, two sets of removal subassemblies 32, second arc 33 and detection subassembly 34.
It should be noted that the width of the bottom of the arc plate 1 described in this embodiment is greater than the diameter of the pipe to be detected, so as to ensure that the arc plate 1 can be smoothly placed on the outer side of the pipe to be detected.
Wherein, first arc 31 is fixed in one side of arc 1, and second arc 33 sets up in one side of first arc 31, and first cell body 311 has been seted up respectively to one side of first arc 31 and second arc 33, and two removal subassemblies 32 set up respectively in the first cell body 311 that corresponds.
The first arc-shaped part 31 is used for providing a primary motion path for the second arc-shaped part 33 and the detection assembly 34, the second arc-shaped part 33 is used for providing a secondary motion path for the detection assembly 34 to supplement a gap of the primary motion path, the detection assembly 34 is arranged above the second arc-shaped part 33, and the detection assembly 34 is used for detecting a pipeline to generate detection information of the pipeline.
It should be noted that the external terminal described in this embodiment may be any one of a mobile phone and a computer.
In the embodiment of the application, an external power supply (for example, the external power supply may be a commercial power supply or a generator) supplies power to the power utilization elements in the pipeline inspection robot, and a switch group (not specifically identified in the figure) is arranged on the control box 4 and is connected with the external power supply.
Specifically, when a pipeline (for example, the pipeline can be a heating pipeline or a gas transmission pipeline in a factory) needs to be detected (for example, cracks or pits), a worker holds two handles 71 on the arc plate 1, places the pipeline inspection robot at the tail end of the pipeline to be detected, presses a switch group on the control box 4, energizes an electric component on the pipeline inspection robot, operates the device through an external terminal, firstly drives the arc plate 1 to walk on the outer wall of the pipeline to be detected by the driving mechanism 2, and pushes the inspection mechanism 3 to move transversely on the pipeline to be detected by the arc plate 1.
Meanwhile, referring to fig. 1 and 2, a set of moving assembly 32 drives second arc piece 33 and detecting assembly 34 to move, detecting assembly 34 detects cracks on the outer wall of the pipeline to be detected, after second arc piece 33 moves to the tail end of first arc piece 31, another set of moving assembly 32 drives detecting assembly 34 to move, and then the moving path of first arc piece 31 is supplemented, so that detecting assembly 34 does circular reciprocating circular motion around the pipeline to be detected, under the combined action of transverse motion, detecting assembly 34 fully detects the surface of the pipeline to be detected, the accuracy of detected data is improved, a worker can refer to the detected data, the pipeline is timely replaced or repaired, and the risk of pipeline leakage is reduced.
After a section of pipeline detection is finished, the switch group on the control box 4 is closed, the second arc-shaped part 33 is reset (moved to the tail end of the first arc-shaped part 31), a worker inspects the pipeline through the two handles 71 to lift the pipeline inspection robot, the pipeline inspection robot is separated from the pipeline which is finished in detection, the pipeline inspection robot is placed in the outer side of the next pipeline to be detected, and the steps are repeated until the detection is finished.
It should be noted that, in the embodiment of the present application, position sensors (not shown) are respectively disposed on the two sets of moving assemblies 32, so as to ensure the reciprocating motion of the detecting assembly 34 and the second arc-shaped member 33.
In addition, in the embodiment of the present application, the first arc 31 is of equal size to the arc 1, and the sum of the paths of the second arc 33 and the first arc 31 can form a circular ring.
In one embodiment of the present application, as shown in fig. 5, both sets of moving assemblies 32 may include a rack 321, a gear 322, a second motor 323, and a connecting rod 324.
Wherein, the rack 321 is arranged in the first slot body 311, the gear 322 is engaged with the rack 321 to be connected, the two second motors 323 are respectively arranged at the sides of the first arc-shaped part 31 and the second arc-shaped part 33 which repel each other, the output shaft of the second motor 323 is connected with one side of the gear 322, the second motor 323 is connected with the control box 4, one end of the connecting rod 324 is rotatably connected on the gear 322, the middle part of one connecting rod 324 is flat, the first slot body 311 is penetrated by one connecting rod 324, the other end of one connecting rod 324 is arranged at one side of the second arc-shaped part 33, and the other end of the other connecting rod 324 is connected with the detection component 34.
It should be noted that, in the embodiment of the present application, the rack 321 is welded in the first slot 311, and a middle portion of one of the connecting rods 324 is in a flat shape (not shown in the figure) and is attached to the inside of the first slot 311, so as to ensure that one of the connecting rods 324 can move along the path of the first slot 311, and ensure that the second arc-shaped member 33 does not rotate unintentionally.
Specifically, the control box 4 sends an operation signal to the second motor 323, the second motor 323 drives the gear 322 to rotate, the gear 322 is engaged with the rack 321, the gear 322 moves inside the first slot 311, and then the connecting rod 324 drives the second arc-shaped part 33 and the detection component 34 to move.
In one embodiment of the present application, as shown in fig. 6, the probe assembly 34 may include a support bar 341, a carrier plate 342, a plurality of probes 343, and a plurality of distance sensors 344.
The second arc-shaped member 33 is provided with a second groove 331, the second groove 331 is communicated with the first groove 311, the supporting rod 341 penetrates through the second groove 331, one end of the supporting rod 341 is connected with the other end of the other connecting rod 324, the other end of the supporting rod 341 is connected with the carrier plate 342, the carrier plate 342 is of an arc-shaped structure, and the carrier plate 342 is attached to the second arc-shaped member 33 to prevent the carrier plate 342 from shaking during movement.
The plurality of detectors 343 are disposed on the carrier plate 342, the plurality of distance sensors 344 are disposed on the outer side of the carrier plate 342, the plurality of distance sensors 344 are used for obstacle avoidance, and the plurality of detectors 343 and the plurality of distance sensors 344 are respectively connected to the control box 4, it is understood that the number of the plurality of detectors 343 and the plurality of distance sensors 344 may be any one of 2, 3, or 4, and is not particularly limited herein.
It should be noted that the detector 343 described in this embodiment may be any one of a flaw detector and an infrared sensor.
Specifically, the connecting rod 324 in the other group of moving assemblies 32 drives the supporting rod 341 to move, the supporting rod 341 moves inside the second groove 331 to further drive the carrier plate 342 to move, the plurality of detectors 343 on the carrier plate 342 detect cracks on the pipeline to be detected, the detection data is fed back to the control box 4, and the control box 4 transmits the detection data to the external terminal device for reference by the worker.
As a possible case, in order to reduce the friction force between the carrier plate 342 and the second arc-shaped member 33, a plurality of balls (not shown in the figure) are disposed at the contact portion of the carrier plate 342 and the second arc-shaped member 33, the plurality of balls can change the friction manner between the carrier plate 342 and the second arc-shaped member 33 into rolling friction, and the number of the plurality of balls can be 6, 7, 8, and is not limited specifically herein.
In an embodiment of the present application, as shown in fig. 6, the bottom portions of the two second motors 323 are both provided with a fixing plate 3230, the fixing plate 3230 is provided with a limiting groove 3231, one limiting groove 3231 is attached to the outer side of the first arc-shaped part 31, the other limiting groove 3231 is attached to the inner side of the second arc-shaped part 33, and the fixing plate 3230 is used for limiting the second motor 323 to ensure stability of the second motor 323 during the moving process.
It should be noted that, in the embodiment, a plurality of balls (not shown in the drawings) are disposed on an inner wall of the limiting groove 3231, and the plurality of balls can change a friction manner among the fixing plate 3230, the first arc-shaped member 31, and the second arc-shaped member 33 into rolling friction, so as to reduce friction while limiting, and the number of the plurality of balls may be 6, 7, or 8, which is not specifically limited herein.
Specifically, in the moving process of the moving assembly 32, the fixed plate 3230 is driven by the second motor 323 in the moving assembly 32, and the two fixed plates 3230 move along the outer walls of the first arc-shaped part 31 and the second arc-shaped part 33, so as to ensure the stability of the second motor 323.
In one embodiment of the present application, as shown in fig. 7, the driving mechanism 2 may include a driven wheel 21, a driving wheel 22, a transmission assembly 23, and a first motor 24.
Wherein, all with arc 1 rotatable coupling from driving wheel 21 and action wheel 22, from the shape of driving wheel 21 and action wheel 22 respectively with the pipeline adaptation to be used for patrolling and examining the robot for this pipeline and lead, first motor 24 is fixed on control box 4, and first motor 24's output shaft passes through drive assembly 23 and is connected with action wheel 22.
It should be noted that the transmission assembly 23 described in this embodiment includes a belt and two pulleys, one of which is disposed in the middle of the drive pulley 22.
Specifically, when actuating mechanism 2 drove the motion of arc 1, first motor 24 drives action wheel 22 through drive assembly 23 and rotates, action wheel 22 with wait to detect the outer wall contact of pipeline, and then make this pipeline patrol and examine the robot and can walk on waiting to detect the outer wall of pipeline, follow the effect that wheel 21 mainly played the direction, and then guarantee that this pipeline patrols and examines the outer wall linear motion of robot along the pipeline, avoid dropping from the pipeline at the in-process of walking.
As a possible case, the driven wheel 21 and the driving wheel 22 are respectively rotatably connected with the arc-shaped plate 1, so that the pipeline inspection robot can turn during walking, and the device is suitable for detecting the bent pipeline.
In one embodiment of the present application, as shown in fig. 8, further comprising a guard mechanism 5, the guard mechanism 5 may comprise two pull ears 51, a spring telescopic rod 52 and two hooks 53.
Wherein, two draw ears 51 are symmetrically arranged at the bottom of the arc plate 1, two hooks 53 are respectively arranged at two ends of the spring telescopic rod 52, and the two hooks 53 are respectively buckled on the corresponding draw ears 51.
Specifically, when the workman patrols and examines the robot with this pipeline and arranges the outside back of waiting to detect the pipeline in, stimulate two couples 53, arrange corresponding ear 51 in respectively with two couples 53 on, under the effect of spring telescopic link 52, protection machanism 5 is fixed in the bottom of arc 1, the operation in-process, if this pipeline patrols and examines robot landing from the pipeline, protection machanism 5 can avoid this pipeline to patrol and examine the robot and drop to ground.
In an embodiment of the application, a plurality of through grooves 61 which are symmetrically arranged are formed in the arc-shaped plate 1, an auxiliary wheel 62 is rotatably connected inside each through groove 61, and the auxiliary wheel 62 is used for assisting the pipeline inspection robot to walk.
It is understood that the number of the plurality of through slots 61 may be any one of 4, 6, and 8, and is not limited in particular.
Specifically, the auxiliary wheel 62 can keep the stability of the arc plate 1 in the walking process, and then the pipeline inspection robot is prevented from separating from the pipeline.
To sum up, the pipeline inspection robot of this application embodiment, it patrols and examines robot horizontal autonomous movement on the outer wall of waiting to detect the pipeline to drive this pipeline through actuating mechanism 2, and simultaneously, second arc 33 can compensate the motion path that first arc 31 provided, two sets of removal subassemblies 32 drive second arc 33 and detection subassembly 34 respectively and do reciprocal circular motion around waiting to detect the pipeline, and then fully detect the outer wall of pipeline, on the one hand, not only can practice thrift more manpower and materials, and can improve the accuracy of detected data, and then reduce the risk of pipeline leakage, on the other hand, this inspection robot can creep at the outer wall of waiting to detect the pipeline, need not to stop to carry and get into the inside detection of pipeline, application scope has not only been enlarged, and the productivity of mill has been guaranteed.
In the description of the present specification, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to imply that the number of indicated technical features is significant. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (8)
1. A pipeline inspection robot is characterized by comprising an arc-shaped plate, a driving mechanism, an inspection mechanism and a control box, wherein,
the driving mechanism and the control box are respectively arranged on the arc-shaped plate, wherein the driving mechanism is used for pushing the arc-shaped plate to move transversely;
the inspection mechanism is arranged on one side of the arc-shaped plate and comprises a first arc-shaped piece, two groups of moving assemblies, a second arc-shaped piece and a detection assembly, wherein,
the first arc-shaped part is fixed on one side of the arc-shaped plate, and the second arc-shaped part is arranged on one side of the first arc-shaped part;
first groove bodies are formed in one side of each of the first arc-shaped part and the second arc-shaped part, and the two moving assemblies are arranged in the corresponding first groove bodies respectively, wherein the first arc-shaped part is used for providing a primary motion path for the second arc-shaped part and the detection assembly, and the second arc-shaped part is used for providing a secondary motion path for the detection assembly so as to supplement a gap of the primary motion path;
the detection assembly is arranged above the second arc-shaped part and used for detecting a pipeline so as to generate detection information of the pipeline;
the first arc-shaped part is connected with the second arc-shaped part through one group of moving assemblies, the detection assembly is connected with the second arc-shaped part through the other group of moving assemblies, and the two groups of moving assemblies are used for driving the detection assembly to do reciprocating circular motion around the pipeline to be detected;
the driving mechanism, the two groups of moving assemblies and the detection assembly are respectively connected with the control box, and the control box is used for sending the detection information to an external terminal.
2. The pipeline inspection robot according to claim 1, wherein both sets of the moving assemblies include a rack, a gear, a second motor, and a connecting rod, wherein,
the rack is arranged in the first groove body, and the gear is meshed and connected with the rack;
the two second motors are respectively arranged on the sides where the first arc-shaped part and the second arc-shaped part repel each other, the output shafts of the second motors are connected with one side of the gear, and the second motors are connected with the control box;
one end of the connecting rod is rotatably connected to the gear, one is flat and one penetrates through the connecting rod, the first groove body and the second groove body, the other end of the connecting rod is arranged on one side of the second arc-shaped part, and the other end of the connecting rod is connected with the detection assembly.
3. The pipeline inspection robot according to claim 2, wherein the probe assembly includes a support bar, a carrier plate, a plurality of probes, and a plurality of distance sensors, wherein,
a second groove body is formed in the second arc-shaped piece and is communicated with the first groove body, the supporting rod penetrates through the second groove body, one end of the supporting rod is connected with the other end of the other connecting rod, and the other end of the supporting rod is connected with the support plate;
the support plate is of an arc-shaped structure, is attached to the second arc-shaped part and is used for preventing the support plate from shaking during movement;
the plurality of detectors are arranged on the support plate, the plurality of distance sensors are arranged on the outer side of the support plate, the plurality of distance sensors are used for avoiding obstacles, and the plurality of detectors and the plurality of distance sensors are respectively connected with the control box.
4. The pipeline inspection robot according to claim 2, wherein fixing plates are arranged at the bottoms of the two second motors, limiting grooves are formed in the fixing plates, one limiting groove is attached to the outer side of the first arc-shaped part, the other limiting groove is attached to the inner side of the second arc-shaped part, and the fixing plates are used for limiting the second motors so as to guarantee stability of the second motors in the moving process.
5. The pipeline inspection robot according to claim 1, wherein the drive mechanism includes a driven wheel, a drive wheel, a transmission assembly, and a first motor, wherein,
the driven wheel and the driving wheel are rotatably connected with the arc-shaped plate, and the shapes of the driven wheel and the driving wheel are respectively matched with the pipeline so as to guide the pipeline inspection robot;
the first motor is fixed on the control box, and an output shaft of the first motor is connected with the driving wheel through the transmission assembly.
6. The pipeline inspection robot according to claim 1, further comprising a protection mechanism, wherein the protection mechanism includes two pull lugs, a spring telescopic rod and two hooks, wherein,
the two pull lugs are symmetrically arranged at the bottom of the arc-shaped plate;
the two hooks are respectively arranged at two ends of the spring telescopic rod;
the two hooks are respectively buckled on the corresponding pull lugs.
7. The pipeline inspection robot according to claim 1, wherein a plurality of through grooves are symmetrically formed in the arc-shaped plate, auxiliary wheels are rotatably connected inside the through grooves, and the auxiliary wheels are used for assisting the pipeline inspection robot to walk.
8. The pipeline inspection robot according to claim 1, wherein two handles are symmetrically disposed on the arcuate plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210978395.7A CN115508378A (en) | 2022-08-16 | 2022-08-16 | Pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210978395.7A CN115508378A (en) | 2022-08-16 | 2022-08-16 | Pipeline inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN115508378A true CN115508378A (en) | 2022-12-23 |
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ID=84501163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210978395.7A Withdrawn CN115508378A (en) | 2022-08-16 | 2022-08-16 | Pipeline inspection robot |
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| Country | Link |
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| CN (1) | CN115508378A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117160731A (en) * | 2023-11-02 | 2023-12-05 | 意朗智能科技(南通)有限公司 | Paint spraying device for surface of metal pipe |
| CN117685509A (en) * | 2024-02-02 | 2024-03-12 | 华能酒泉发电有限公司 | Pipeline detection robot for centralized control inspection of power plant and use method |
-
2022
- 2022-08-16 CN CN202210978395.7A patent/CN115508378A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117160731A (en) * | 2023-11-02 | 2023-12-05 | 意朗智能科技(南通)有限公司 | Paint spraying device for surface of metal pipe |
| CN117160731B (en) * | 2023-11-02 | 2024-03-12 | 意朗智能科技(南通)有限公司 | Paint spraying device for surface of metal pipe |
| CN117685509A (en) * | 2024-02-02 | 2024-03-12 | 华能酒泉发电有限公司 | Pipeline detection robot for centralized control inspection of power plant and use method |
| CN117685509B (en) * | 2024-02-02 | 2024-04-09 | 华能酒泉发电有限公司 | Pipeline detection robot for centralized control inspection of power plant and use method |
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Application publication date: 20221223 |