CN117570299B - Intelligent pipeline detection robot and pipeline detection system - Google Patents
Intelligent pipeline detection robot and pipeline detection system Download PDFInfo
- Publication number
- CN117570299B CN117570299B CN202410057996.3A CN202410057996A CN117570299B CN 117570299 B CN117570299 B CN 117570299B CN 202410057996 A CN202410057996 A CN 202410057996A CN 117570299 B CN117570299 B CN 117570299B
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- 238000001514 detection method Methods 0.000 title claims abstract description 88
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- 229910003460 diamond Inorganic materials 0.000 claims abstract description 4
- 239000010432 diamond Substances 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 14
- 238000007689 inspection Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 2
- 230000033001 locomotion Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 2
- 230000001427 coherent effect Effects 0.000 abstract description 2
- 239000000725 suspension Substances 0.000 description 10
- 238000003466 welding Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
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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
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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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
Abstract
The invention discloses an intelligent pipeline detection robot and a pipeline detection system.A diamond four-bar mechanism with a fixed lower end point and an upper end point moving in the vertical direction is arranged on the robot, wherein the lower end point is formed by an M front axle, an M rear axle, a front axle connecting rod and a rear axle connecting rod, and an imaging plate and a boom surface are fixed by a self-adaptive magnetic wheel mechanism with the fixed lower end point and the upper end point moving in the vertical direction, which is formed by the M front axle, the M rear axle, the front axle connecting rod and the rear axle connecting rod, and the magnetic wheel is always attached to the boom surface, so that the risk of dropping due to movement during the process of detecting the boom pipeline by equipment is reduced. The invention has the following advantages: the adaptability: the curvature can be automatically adjusted and matched with the pipeline when the pipeline with different diameters or abnormal cross sections is detected. During switching, the accuracy of detection is not affected, and the picture is coherent and complete and clear. Safety: the safety threat to staff can be avoided, and especially for some dangerous and difficult-to-reach pipeline areas, the robot can complete detection work more safely.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to an intelligent pipeline detection robot and a pipeline detection system.
Background
Conventional pipeline detection methods generally require manual operation or detection by large equipment, are inefficient and are not suitable for certain shaped pipelines, such as those having a variety of diameters of 300mm or more. In recent years, with the development of robotics, pipeline inspection robots have become a new solution. However, the existing pipeline detection robot often has higher cost and poorer adaptability, and cannot meet the detection of the special-shaped pipeline. If the large crane boom is a special pipe, the ordinary robot cannot adapt to discontinuous curvature of the surface of the large crane boom when doing circumferential motion. Particularly, when walking at a small radius corner, the chassis has collision risk with the suspension arm, and the imaging plate is damaged or the equipment falls. Based on this, we have proposed intelligent pipeline inspection robot and pipeline inspection system, through self-adaptation magnetic wheel mechanism, make imaging plate and davit surface distance fixed, and the magnetic wheel laminating davit surface all the time.
Disclosure of Invention
The invention aims to overcome the existing defects, provides an intelligent pipeline detection robot and a pipeline detection system, and aims to effectively solve the problems in the background technology by fixing the distance between an imaging plate and the surface of a suspension arm through a self-adaptive magnetic wheel mechanism and enabling a magnetic wheel to always attach to the surface of the suspension arm, so that the risk of dropping due to movement during the detection of the suspension arm pipeline by equipment is reduced, and further the detection cost is reduced.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the intelligent pipeline detection robot comprises magnetic wheels, an M front axle, an M rear axle, a front axle connecting rod, a rear axle connecting rod, a support shaft, a balance pin, a robot main body, a main body frame and a detection box; the inside of the robot main body is fixedly provided with a main body frame, the bottom of the robot main body is fixedly provided with a detection box, two sides of the robot main body are respectively provided with a vertical supporting shaft chute and an arc-shaped balancing pin chute, the supporting shaft is fixedly connected with the main body frame, two ends of the balancing shaft chute respectively penetrate through the supporting shaft chute arranged on the outer wall of the robot main body and extend to two sides of the robot main body, two sides of the robot main body are respectively provided with a magnetic wheel set, the single-side magnetic wheel set comprises three magnetic wheels, namely a front magnetic wheel, a middle magnetic wheel and a rear magnetic wheel, the front magnetic wheel and the middle magnetic wheel are connected through an M front axle and are driven by a driving wheel and a long synchronous belt, the middle magnetic wheel and the rear magnetic wheel are connected through an M rear axle and are driven by the driving wheel and the long synchronous belt, the balancing pin chute is respectively arranged on a circle taking the axle center of a rotating shaft of the middle magnetic wheel as a circle center, the inside section of M front axle, M rear axle is connected with the balancing pin spout through the balancing pin respectively, M front axle top and front axle connecting rod one end swing joint, M rear axle top and rear axle connecting rod one end swing joint, front axle connecting rod other end and rear axle connecting rod other end are nested with the outer end of back shaft and are connected, front axle connecting rod and rear axle connecting rod can rotate around the back shaft, M front axle, M rear axle, front axle connecting rod and rear axle connecting rod constitute the fixed, and upper end point is in the rhombus four-bar mechanism of vertical orientation removal, the inside fixed a pair of gear motor that is provided with of robot main part, gear motor output passes through the transmission wheel transmission that sets up on the transmission shaft of short hold-in range and passes the gear train, the gear train drives middle magnetic wheel and rotates, constitutes down the fixed, the lower end point through M front axle, M rear axle, front axle connecting rod and rear axle connecting rod, and the self-adaptive magnetic wheel mechanism with the upper end point moving in the vertical direction enables the distance between the imaging plate and the surface of the suspension arm to be fixed, and the magnetic wheel is always attached to the surface of the suspension arm, so that the risk of falling due to movement during the detection of the suspension arm pipeline by equipment is reduced.
Further, in the magnetic wheel set, the distance between the front magnetic wheel and the middle magnetic wheel is larger than the distance between the middle magnetic wheel and the rear magnetic wheel.
Further, reinforcing plates are fixedly arranged inside and outside the outer walls of the two sides of the robot main body, and are connected with the outer walls through rivets, so that the stability of the structure is improved.
Further, a DR imaging plate or an ultrasonic detection probe, a data communication plate and a power supply are arranged in the detection box, the power supply is electrically connected with the gear motor, and the data communication plate is electrically connected with the DR imaging plate or the ultrasonic detection probe.
Furthermore, the main body frame is formed by machining an aluminum alloy, and the bottom plate of the detection box is made of silicon steel sheets, so that the magnetic force of the magnetic wheel can be isolated, and the upper structure has no influence on the magnetic wheel.
The pipeline detection system comprises the intelligent pipeline detection robot and the industrial personal computer, wherein the intelligent pipeline detection robot is connected with the industrial personal computer in a wired or wireless mode, detection signals are sent to the industrial personal computer, and the industrial personal computer converts detection results and displays the detection results on the industrial personal computer.
Further, the microcontroller and the data communication board are arranged in the industrial personal computer, the display screen is arranged on the outer side of the industrial personal computer, the microcontroller is electrically connected with the data communication board and the display screen, the industrial personal computer is connected with the magnetic robot through the data communication board, the detection signals are received, and the detection signals are processed by the microcontroller and finally displayed on the display screen.
Furthermore, the industrial personal computer is also provided with an alarm, and the alarm is electrically connected with the microcontroller and actively alarms when internal flaws or welding line losses are detected.
Compared with the prior art, the invention has the beneficial effects that: this intelligent pipeline inspection robot and pipeline inspection system have following benefit:
1. high efficiency: the intelligent pipeline detection robot can complete comprehensive detection of the pipeline in a short time, greatly improves the detection efficiency and accuracy, and reduces the labor and time cost.
2. The adaptability: the intelligent pipeline detection robot can automatically adjust curvature and match pipelines when detecting pipelines with different diameters or abnormal cross sections. And during switching, the accuracy of detection is not affected, and the picture is coherent and complete, clear and good in quality.
3. Safety: the intelligent pipeline detection robot can avoid safety threat to staff, and especially for dangerous and difficult-to-reach pipeline areas, the robot can complete detection work more safely.
4. Scalability: the intelligent pipeline detection robot can be expanded and upgraded according to requirements, such as adding a positioning and navigation system, adding sensor types and adding tool devices of an execution module, and the like, and has strong expandability.
Therefore, the intelligent pipeline detection robot has high practical value and market prospect, and can be widely applied to the detection and maintenance fields of various pipelines, such as petrochemical industry, water treatment, urban infrastructure and other industries.
Drawings
FIG. 1 is a side view of a intelligent pipeline inspection robot in accordance with the present invention;
FIG. 2 is a side view of the intelligent pipeline inspection robot of the present invention;
FIG. 3 is a top view of the drive section of the intelligent pipeline inspection robot of the present invention;
FIG. 4 is a cross-sectional view of the intelligent pipeline inspection robot of the present invention;
fig. 5 is a side view of the intelligent pipeline inspection robot of the present invention on different curved surfaces in pipeline inspection.
In the figure: the device comprises a magnetic wheel 1, a front axle 2M, a rear axle 3M, a front axle connecting rod 4, a rear axle connecting rod 5, a supporting shaft 6, a balance pin 7, a robot main body 8, a speed reducing motor 9, a short synchronous belt 10, a gear set 11, a long synchronous belt 12, a main body frame 13 and a detection box 14.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only 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.
Referring to fig. 1-5, the present embodiment provides a technical solution: the intelligent pipeline detection robot comprises magnetic wheels 1, an M front axle 2, an M rear axle 3, a front axle connecting rod 4, a rear axle connecting rod 5, a supporting shaft 6, a balance pin 7, a robot main body 8, a main body frame 13 and a detection box 14; the inside of the robot main body 8 is fixedly provided with a main body frame 13, the bottom is fixedly provided with a detection box 14, two sides of the robot main body 8 are respectively provided with a vertical supporting shaft chute and an arc-shaped balance pin chute, the supporting shaft 6 is fixedly connected with the main body frame 13, two ends of the robot main body extend to two sides of the robot main body 8 respectively through the supporting shaft chute arranged on the outer wall of the robot main body 8, two sides of the robot main body 8 are respectively provided with a magnetic wheel set, a single-side magnetic wheel set comprises three magnetic wheels 1, namely a front magnetic wheel, a middle magnetic wheel and a rear magnetic wheel, the front magnetic wheel and the middle magnetic wheel are connected through an M front axle 2 and are transmitted through a transmission wheel and a long synchronous belt 12, the middle magnetic wheel and the rear magnetic wheel are connected through an M rear axle 3 and are transmitted through the transmission wheel and the long synchronous belt 12, the balance pin chute is two, the magnetic wheel sets are respectively arranged on a circle taking the axle center of the rotating shaft of the middle magnetic wheel as the center, the inner side sections of the M front axle 2 and the M rear axle 3 are respectively connected with a balance pin chute through a balance pin 7, the top end of the M front axle 2 is movably connected with one end of a front axle connecting rod 4, the top end of the M rear axle 3 is movably connected with one end of a rear axle connecting rod 5, the other end of the front axle connecting rod 4 and the other end of the rear axle connecting rod 5 are nested and connected with the outer end of a supporting shaft 6, the front axle connecting rod 4 and the rear axle connecting rod 5 can rotate around the supporting shaft 6, the M front axle 2, the M rear axle 3, the front axle connecting rod 4 and the rear axle connecting rod 5 form a diamond four-bar mechanism with fixed lower end points and movable upper end points in the vertical direction, a pair of reducing motors 9 are fixedly arranged in a robot main body 8, the output ends of the reducing motors 9 are in transmission connection with a transmission wheel arranged on a transmission shaft penetrating through a gear set 11 through a short synchronous belt 10, the gear set 11 drives a middle magnetic wheel to rotate, and the gear set 11 is driven by the middle magnetic wheel through the M front axle 2 and the M rear axle 3 The front axle connecting rod 4 and the rear axle connecting rod 5 form a self-adaptive magnetic wheel mechanism with a fixed lower end point and an upper end point moving in the vertical direction, so that the distance between the imaging plate and the surface of the suspension arm is fixed, the magnetic wheel is always attached to the surface of the suspension arm, and the risk that the equipment falls down due to movement during the detection of the suspension arm pipeline is reduced.
In the magnetic wheel set, the distance between the front magnetic wheel and the middle magnetic wheel is larger than the distance between the middle magnetic wheel and the rear magnetic wheel; reinforcing plates are fixedly arranged inside and outside the outer walls of the two sides of the robot main body 8 and are connected with the outer walls through rivets, so that the stability of the structure is improved; a DR imaging plate or an ultrasonic detection probe, a data communication plate and a power supply are arranged in the detection box 14, the power supply is electrically connected with the gear motor 9, and the data communication plate is electrically connected with the DR imaging plate or the ultrasonic detection probe; the bottom plate of the detection box 14 is made of silicon steel sheets, so that the magnetic force of the magnetic wheel 1 can be isolated, and the upper structure has no influence on the magnetic wheel 1.
The invention discloses a self-adaptive principle of an intelligent pipeline detection robot, which comprises the following steps:
the core of the self-adaptive mechanism is a diamond four-bar mechanism with fixed lower end points, which is formed by an M front axle 2, an M rear axle 3, a front axle connecting rod 4 and a rear axle connecting rod 5, so that the cooperative motion of three end points can be realized to realize the dynamic balance of the robot, the upper end point moves in the vertical direction, and the lower end point is fixed, so that the front end point and the rear end point can only move on the circumference with the lower end point as the center of a circle. The supporting shaft 6 is driven to move up and down by the circular motion of the front wheel point on the M front axle 2, and the rear wheel point of the M rear axle 3 moves circularly according to the motion state of the supporting shaft 6.
The self-adaptive process of the intelligent pipeline detection robot comprises the following steps: when the detection robot moves on the special-shaped pipeline, the magnetic wheel groups are adsorbed on the pipeline, and a group of magnetic wheels are respectively arranged on the M front axle 2 and the M rear axle 3, and the three magnetic wheels are all arranged. When the detection robot moves at the connecting position of the special-shaped pipe diameters, the M front axle 2 can be lifted or adsorbed to descend, so that the front end point in the four-bar mechanism moves clockwise or anticlockwise on the circumference, and meanwhile, the upper end point of the four-bar mechanism can also be lifted or pulled down, and the rear end point is driven to move anticlockwise or clockwise. The robot main body 8 is respectively provided with a support shaft chute and a balance pin chute, so that the support shaft 6 and the balance pin 7 slide in the corresponding chute, the detection robot is kept to move stably in the radial direction of the special-shaped pipeline, friction events with the pipeline are avoided, and meanwhile the DR imaging plate is ensured to be tangent to the pipeline.
The pipeline detection system comprises the intelligent pipeline detection robot and the industrial personal computer, wherein the intelligent pipeline detection robot is connected with the industrial personal computer through wires or wirelessly, and sends detection signals to the industrial personal computer, and the industrial personal computer converts detection results and displays the detection results on the industrial personal computer.
In the embodiment, a microcontroller and a data communication board are arranged in the industrial personal computer, a display screen is arranged on the outer side of the industrial personal computer, the microcontroller is electrically connected with the data communication board and the display screen, is connected with the magnetic attraction robot through the data communication board, receives detection signals of the magnetic attraction robot, is processed by the microcontroller, and finally is displayed on the display screen; and an alarm is further arranged on the industrial personal computer and is electrically connected with the microcontroller, and the alarm actively alarms when internal flaws or welding line losses are detected.
The working principle of the invention is as follows: the DR imaging plate is arranged at the bottom of the intelligent pipeline detection robot, the magnetic wheel 1 is used as a travelling wheel of the robot, the robot can be adsorbed above a section welding line, and the welding line detection at the corresponding position is completed through the travelling of the robot. The specific working principle is as follows: the magnetic wheel sets 1 are arranged on the self-adaptive link mechanism through rotating shafts, long synchronous belts 12 are used for transmitting power between the magnetic wheels 1, and all the magnetic wheels are used as driving wheels. The self-adaptive connecting rod mechanism can ensure that the magnetic wheel 1 is vertical to the surface of the pipe fitting while adsorbing the surface of the pipe fitting, so that the self-adaptive connecting rod mechanism not only accords with the state in actual work, but also can prevent the chassis from colliding. The robot is driven by a pair of gear motors 9 through a short synchronous belt 10 to drive a gear set 11 coaxial with the gear set. The gear motors 9 on the two sides can be controlled independently, and the actions such as turning can be completed through differential speed. The main body frame 13 is machined by an aluminum alloy, so that the equipment is firmly assembled and is light. The detection box 14 at the bottom of the device can be used as a placement detection device, and corresponding detection devices such as an ultrasonic detection probe, an industrial X-ray imaging plate and the like can be carried according to requirements. And uploading the detection result to the industrial personal computer, and displaying the converted detection image by the industrial personal computer.
When the robot moves on the pipeline with infinite radius, the robot is vertical to the pipeline, and the detection box 14 at the bottom of the robot is parallel to the plane of the pipeline, so that DR imaging pictures are clear and the quality is good. When the robot moves on the circular pipeline, the three magnetic wheels 1 move on the circumference through the adsorption force, the robot main body 8 is tangent to the circle with the diameter of 2 times of the radius of the magnetic wheels, and the midpoint of the DR imaging plate is parallel to the tangent plane of the pipeline, so that DR imaging is stable. When the robot enters or exits from different pipe diameters, the front wheels of the robot are lifted or pressed down through magnetic force, meanwhile, the rear wheels are lifted or pressed down, the gesture of the robot is adjusted through the balance pin 6 and the support shaft 7, the robot main body is tangent to a pipeline, and DR imaging is stable.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (5)
1. Intelligent pipeline detects robot, its characterized in that: the device comprises a magnetic wheel (1), an M front axle (2), an M rear axle (3), a front axle connecting rod (4), a rear axle connecting rod (5), a supporting shaft (6), a balancing pin (7), a robot main body (8), a main body frame (13) and a detection box (14); the inside of the robot main body (8) is fixedly provided with a main body frame (13), the bottom of the robot main body is fixedly provided with a detection box (14), both sides of the robot main body (8) are respectively provided with a vertical supporting shaft chute and an arc-shaped balancing pin chute, the supporting shaft (6) is fixedly connected with the main body frame (13), both ends of the supporting shaft chute respectively penetrate through the supporting shaft chute arranged on the outer wall of the robot main body (8) and extend to both sides of the robot main body (8), both sides of the robot main body (8) are respectively provided with a magnetic wheel group, the single-side magnetic wheel group comprises three magnetic wheels (1), namely a front end magnetic wheel, an intermediate magnetic wheel and a rear end magnetic wheel, which are respectively connected through an M front axle (2), a rear end magnetic wheel and a rear end magnetic wheel, and are respectively connected through an M rear axle (3) and a long synchronous belt (12), the balancing pin chute is two and is respectively arranged on a circle taking the axle center of a rotating shaft center of the intermediate wheel as a circle center, the front axle (2), the rear end magnetic wheel (3) and the rear end (6) are respectively connected with the front end (4) of the front axle (4) of the balancing pin (4) through a connecting rod (4), the front end (4) and the other end (4) of the connecting rod is movably connected with the front end (4), the front axle connecting rod (4) and the rear axle connecting rod (5) can rotate around the supporting shaft (6), the M front axle (2), the M rear axle (3), the front axle connecting rod (4) and the rear axle connecting rod (5) form a diamond four-bar mechanism with fixed lower end points and movable upper end points in the vertical direction, a pair of gear motors (9) are fixedly arranged in the robot main body (8), the output ends of the gear motors (9) are in transmission connection with a transmission wheel arranged on a transmission shaft penetrating through a gear set (11) through a short synchronous belt (10), and the gear set (11) drives a middle magnetic wheel to rotate;
in the magnetic wheel group, the interval of front end magnetic wheel and middle magnetic wheel is greater than the interval of middle magnetic wheel and rear end magnetic wheel, the inside and outside fixed reinforcing plate that is provided with of outer wall in robot main part (8) both sides, reinforcing plate passes through rivet connection with the outer wall, be provided with DR imaging plate or ultrasonic detection probe, data communication board and power in detection case (14), the power is connected with gear motor (9) electricity, data communication board and DR imaging plate or ultrasonic detection probe electricity are connected.
2. The intelligent duct detection robot of claim 1, wherein: the main body frame (13) is formed by machining an aluminum alloy, and the bottom plate of the detection box (14) is made of silicon steel sheets.
3. The pipeline detection system comprises the intelligent pipeline detection robot and the industrial personal computer according to any one of claims 1 or 2, wherein the intelligent pipeline detection robot is connected with the industrial personal computer in a wired or wireless way, sends detection signals to the industrial personal computer, and the industrial personal computer converts detection results and displays the detection results on the industrial personal computer.
4. A pipeline inspection system according to claim 3, wherein: the industrial personal computer is internally provided with a microcontroller and a data communication board, and the outside is provided with a display screen, and the microcontroller is electrically connected with the data communication board and the display screen.
5. The pipeline inspection system of claim 4 wherein: and the industrial personal computer is also provided with an alarm, and the alarm is electrically connected with the microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410057996.3A CN117570299B (en) | 2024-01-16 | 2024-01-16 | Intelligent pipeline detection robot and pipeline detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410057996.3A CN117570299B (en) | 2024-01-16 | 2024-01-16 | Intelligent pipeline detection robot and pipeline detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117570299A CN117570299A (en) | 2024-02-20 |
| CN117570299B true CN117570299B (en) | 2024-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410057996.3A Active CN117570299B (en) | 2024-01-16 | 2024-01-16 | Intelligent pipeline detection robot and pipeline detection system |
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| CN (1) | CN117570299B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2341321A1 (en) * | 1995-05-22 | 1996-11-28 | Transco Plc | Pipeline vehicle |
| CN101372154A (en) * | 2000-05-16 | 2009-02-25 | 索德科技有限公司 | Apparatus for and method of lining passageways |
| CN101973320A (en) * | 2010-09-21 | 2011-02-16 | 上海大学 | Simulation wriggling walking device |
| CN103292110A (en) * | 2013-05-08 | 2013-09-11 | 中铁十三局集团第五工程有限公司 | Detector for prestressed pipeline |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2420476C (en) * | 2003-02-28 | 2010-07-27 | Robert Bonthron Durward | Method and apparatus for enhancing fluid velocities in pipelines |
-
2024
- 2024-01-16 CN CN202410057996.3A patent/CN117570299B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2341321A1 (en) * | 1995-05-22 | 1996-11-28 | Transco Plc | Pipeline vehicle |
| CN101372154A (en) * | 2000-05-16 | 2009-02-25 | 索德科技有限公司 | Apparatus for and method of lining passageways |
| CN101973320A (en) * | 2010-09-21 | 2011-02-16 | 上海大学 | Simulation wriggling walking device |
| CN103292110A (en) * | 2013-05-08 | 2013-09-11 | 中铁十三局集团第五工程有限公司 | Detector for prestressed pipeline |
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| Publication number | Publication date |
|---|---|
| CN117570299A (en) | 2024-02-20 |
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