CN215000210U

CN215000210U - Pipeline maintenance inspection robot

Info

Publication number: CN215000210U
Application number: CN202120827975.7U
Authority: CN
Inventors: 丁观世; 陈健; 汪杰
Original assignee: Tianjin Youlifang Technology Co ltd
Current assignee: Tianjin Youlifang Technology Co ltd
Priority date: 2021-04-21
Filing date: 2021-04-21
Publication date: 2021-12-03
Anticipated expiration: 2031-04-21

Abstract

The utility model provides a pipeline maintenance inspection robot, which comprises a body, be provided with multiunit supporting mechanism on the organism, every group the tip of supporting mechanism is provided with a set of running gear, and multiunit running gear walks on the inner wall of the pipeline examined, be provided with the rotation adjustment mechanism on the organism, be connected with scanning device on the rotation adjustment mechanism, the utility model discloses an adjustable supporting mechanism can realize folding and expansion of device, conveniently carries it, has better flexibility, utilizes the different expansion states of supporting mechanism, makes it be fit for the detection of different pipe diameter pipelines, uses running gear in coordination, makes the device walk in the pipeline; utilize rotary adjusting mechanism to drive scanning device and carry out circular motion, and then carry out diversified the detection to the inner wall of pipeline to improve the detection effect of device, the event has better practicality.

Description

Pipeline maintenance inspection robot

Technical Field

The utility model relates to a petroleum pipeline maintenance of equipment technical field especially relates to a pipeline maintenance inspection robot.

Background

Along with the gradual development of science and technology, people pay more and more attention to safety production, because the particularity of the oil industry, how to realize safe and efficient production becomes the difficult problem that needs to be faced by numerous enterprises, in oil exploitation units and oil processing enterprises, oil conveying pipelines are widely distributed, the quantity is large, the distance is long, some pipelines are also laid in regions which are difficult for personnel to enter such as bridges and rivers, huge difficulties are brought to routing inspection, and therefore, the pipeline routing inspection robot becomes the first choice of numerous enterprises. The current robot of patrolling and examining is of a great variety, for example, application date is 2020.05.19, and publication number is CN212510534U, among the utility model discloses the Chinese patent of "a pipeline maintenance inspection robot", also disclosed a neotype pipeline inspection robot, however, aforementioned device can only detect the pipeline that is located the flat or lower region of relief, and application scope is less, and inconvenient carrying is not convenient for use in the relatively poor region of geographical position, so the flexibility is relatively poor, and the practicality is not strong.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main objective is the problem of solving to exist among the prior art, provides a pipeline maintenance inspection robot.

In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a pipeline maintenance inspection robot, includes the organism, be provided with multiunit supporting mechanism on the organism, every group supporting mechanism's tip is provided with a set of running gear, and multiunit running gear walks on the inner wall of examining the pipeline, be provided with rotation regulation mechanism on the organism, last scanning device that is connected with of rotation regulation mechanism.

Furthermore, the supporting mechanism comprises a supporting cylinder and a connecting rod, the supporting cylinder is hinged to the machine body, the output end of a piston rod of the supporting cylinder is hinged to the connecting rod, one end of the connecting rod is hinged to the machine body, and the other end of the connecting rod is connected with the traveling mechanism.

Further, running gear includes roller frame, protective housing, driving motor, drive assembly and gyro wheel, the roller frame is connected in the tip of connecting rod, the protective housing is connected on the roller frame, driving motor connects on the protective housing, drive assembly's input is connected in driving motor's output, the gyro wheel is connected with drive assembly's output.

Further, the transmission assembly comprises a first bevel gear, a second bevel gear and a rotating shaft, the output end of the driving motor is arranged on the first bevel gear fixing sleeve, the second bevel gear is meshed with the first bevel gear, the rotating shaft is arranged on the second bevel gear fixing sleeve in a sleeved mode, the rotating shaft is rotatably arranged on the roller frame, and the rotating shaft is fixedly arranged inside the roller in a penetrating mode.

Furthermore, the rollers are uniformly coated with anti-slip layers along the arc-shaped curved surfaces of the rollers.

Further, rotatory adjustment mechanism includes accommodate motor, adjusting gear, ring gear, loop forming element and bearing, the inside holding chamber that is provided with of organism, adjust motor sets up on the inner wall in holding chamber, adjust gear and adjust motor's output stationary phase and be connected, and this adjusting gear and ring gear internal gearing mutually, the ring gear cooperatees to inlay and locates on the inner wall of loop forming element, the loop forming element and bearing all overlap and locate on the organism, the bearing cooperatees to inlay and locates on the arc inner wall of loop forming element.

Furthermore, the machine body is also provided with an adjusting arm, and the end part of the adjusting arm is provided with a monitoring camera.

Further, the regulating arm includes rotating electrical machines, revolving stage, adjustment cylinder and flexible member, the tip of organism is provided with the cavity, rotating electrical machines connects on the inner wall of cavity, the revolving stage is connected in rotating electrical machines's output, adjustment cylinder and flexible member all articulate on the revolving stage, and the output of this piston rod articulates on flexible member, the tip of flexible member is connected with the surveillance camera machine.

Further, flexible member includes sleeve pipe, spring, regulation pole and locking bolt, sheathed tube tip articulates on the revolving stage, the spring sets up in the sleeve pipe, and its both ends are connected with the one end of adjusting the pole and sheathed tube inner wall respectively, it is intraductal to wear to locate the sleeve pipe to adjust the pole, and the other end is connected with the surveillance camera, the locking bolt is joined in marriage on the sleeve pipe soon to it is fixed to be locked by this locking bolt to adjust the pole.

Further, an illuminating lamp is arranged at the end part of the machine body.

The utility model has the advantages and positive effects that: the utility model discloses novel structure, convenient to use utilizes adjustable supporting mechanism can realize folding and expansion of device, conveniently carries and shifts it, improves the flexibility of device, through the expansion state of adjusting supporting mechanism, makes it can walk in the petroleum pipeline of different pipe diameters through running gear; the rotary adjusting mechanism can drive the scanning device connected with the rotary adjusting mechanism to do circular motion, so that the inner wall of the detected pipeline is detected in multiple directions, and the detection effect of the device is improved; simultaneously, the tip of organism is provided with regulating arm and surveillance camera machine, can adjust surveillance camera machine's control angle to outside personnel can carry out real time monitoring to the inside of being examined the pipeline, so have better practicality.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view showing a connection structure between the supporting mechanism and the traveling mechanism;

FIG. 3 is a schematic view of the traveling mechanism (with the protective shell in section);

FIG. 4 is a schematic structural view of the rotation adjustment mechanism;

FIG. 5 is a schematic view of the structure of the adjustment arm;

fig. 6 is a block diagram of electrical control relationships between the support cylinder, the adjustment cylinder, the drive motor, the adjustment motor, the rotation motor, the scanning device, the surveillance camera, and the illumination lamp and the controller.

In the figure: the device comprises a machine body 1, a supporting mechanism 2, a supporting cylinder 21, a connecting rod 22, a traveling mechanism 3, a roller frame 31, a protective shell 32, a driving motor 33, a transmission assembly 34, a first bevel gear 341, a second bevel gear 342, a rotating shaft 343, a roller 35, a rotary adjusting mechanism 4, an adjusting motor 41, an adjusting gear 42, a gear ring 43, a ring piece 44, a bearing 45, a scanning device 5, an adjusting arm 6, a rotating motor 61, a turntable 62, an adjusting cylinder 63, a telescopic rod 64, a sleeve 641, a spring 642, an adjusting rod 643, a locking bolt 644, a monitoring camera 7 and an illuminating lamp 8.

Detailed Description

For a better understanding of the present invention, the following further description is given in conjunction with the following embodiments and accompanying drawings.

As shown in fig. 1, a pipeline maintenance and inspection robot comprises a machine body 1, wherein a plurality of groups of supporting mechanisms 2 are arranged on the machine body 1, a group of travelling mechanisms 3 is arranged at the end part of each group of supporting mechanisms 2, the plurality of groups of travelling mechanisms 3 travel on the inner wall of a pipeline to be inspected, a rotary adjusting mechanism 4 is arranged on the machine body 1, a scanning device 5 is connected onto the rotary adjusting mechanism 4, the adjustable supporting mechanisms 2 are utilized to enable the device to travel in pipelines with different pipe diameters, the application range of the device is improved, and the device can be folded and stored after being used, so that the device is convenient to carry and transfer and has better flexibility; and the scanning device 5 is connected with the rotary adjusting mechanism 4, and the rotary adjusting mechanism 4 is used for adjusting the detection position of the scanning device 5, so that the scanning device can perform circular motion in the pipeline, thus realizing multi-directional detection and improving the detection effect of the device.

As shown in fig. 2, supporting mechanism 2 includes supporting cylinder 21 and connecting rod 22, supporting cylinder 21 articulates on organism 1, its piston rod output articulates on connecting rod 22, the one end of connecting rod 22 articulates on organism 1, its other end is connected with running gear 3, through the extension length of control supporting cylinder 21 piston rod, make it drive connecting rod 22 rotate along its position articulated mutually with organism 1, until make running gear 3 support and lean on the pipeline inner wall, thereby make the device adapt to the pipeline of different diameters, when needs carry the device, the piston rod length of control supporting cylinder 21, until make supporting cylinder 21 and connecting rod 22 be close to organism 1 gradually, thereby accomplish the folding of accomodating the device and accomodate.

As shown in fig. 3, the traveling mechanism 3 includes a roller frame 31, a protective housing 32, a driving motor 33, a transmission assembly 34 and rollers 35, the roller frame 31 is connected to an end of the connecting rod 22, the protective housing 32 is connected to the roller frame 31, the driving motor 33 is connected to the protective housing 32, an input end of the transmission assembly 34 is connected to an output end of the driving motor 33, the rollers 35 are connected to an output end of the transmission assembly 34, the transmission assembly 34 includes a first bevel gear 341, a second bevel gear 342 and a rotating shaft 343, the first bevel gear 341 is fixedly sleeved on the output end of the driving motor 33, the second bevel gear 342 is engaged with the first bevel gear 341, the second bevel gear 342 is fixedly sleeved on the rotating shaft 343, the rotating shaft 343 is rotatably disposed on the roller frame 31, the rotating shaft 343 is fixedly disposed inside the rollers 35, the rollers 35 are uniformly coated with anti-slip layers along their arc curved surfaces, the protective housing 32 can protect the transmission assembly 34 and the driving motor 33 inside, the rotating driving motor 33 drives the output end of the driving motor to be connected with the first bevel gear 341 for rotation, the first bevel gear 341 drives the rotating shaft 343 connected with the first bevel gear 341 for rotation, and the rotating shaft 343 drives the roller 35 to walk on the inner wall of the pipeline, so that the walking movement of the device is realized.

As shown in fig. 4, the rotation adjusting mechanism 4 includes an adjusting motor 41, an adjusting gear 42, a gear ring 43, a ring member 44 and a bearing 45, a receiving cavity is disposed inside the machine body 1, the adjusting motor 41 is disposed on an inner wall of the receiving cavity, the adjusting gear 42 is fixedly connected to an output end of the adjusting motor 41, the adjusting gear 42 is engaged with the gear ring 43, the gear ring 43 is engaged with and embedded on an inner wall of the ring member 44, the ring member 44 and the bearing 45 are both sleeved on the machine body 1, the bearing 45 is engaged with and embedded on an arc-shaped inner wall of the ring member 44, when the adjusting motor 41 rotates, the adjusting gear 42 connected to the output end is driven to rotate, the adjusting gear 42 drives the gear ring 43 engaged with the ring member to move, because the gear ring member 43 is connected to the ring member 44, and the ring member 44 is rotatably disposed on the machine body 1 through the bearing 45, so that the ring member 44 continuously rotates, and drives the scanning device 5 connected with the ring-shaped member 44 to rotate, so that the scanning device 5 can detect the inner wall of the pipeline along the circumferential direction.

As shown in fig. 5, the machine body 1 is further provided with an adjusting arm 6, an end of the adjusting arm 6 is provided with a monitoring camera 7, so that an operator can inspect and monitor the internal condition of the pipeline through the monitoring camera 7, the adjusting arm 6 includes a rotating motor 61, a turntable 62, an adjusting cylinder 63 and a telescopic rod 64, the end of the machine body 1 is provided with a cavity, the rotating motor 61 is connected to the inner wall of the cavity, the turntable 62 is connected to an output end of the rotating motor 61, the adjusting cylinder 63 and the telescopic rod 64 are both hinged to the turntable 62, an output end of the piston rod is hinged to the telescopic rod 64, an end of the telescopic rod 64 is connected to the monitoring camera 7, the telescopic rod 64 includes a sleeve 641, a spring 642, an adjusting rod 643 and a locking bolt 644, an end of the sleeve 641 is hinged to the turntable 62, the spring 642 is arranged in the sleeve 641, and two ends of the spring 643 are respectively connected to one end of the adjusting rod 643 and the inner wall of the sleeve 643, the adjusting rod 643 is arranged in the sleeve 641 in a penetrating manner, the other end of the adjusting rod 643 is connected with the monitoring camera 7, the locking bolt 644 is rotatably arranged on the sleeve 641, the adjusting rod 643 is locked and fixed by the locking bolt 644, the rotating motor 61 is controlled to rotate, the rotating motor drives the rotating table 62 connected with the output end of the rotating motor to rotate, the monitoring camera 7 connected with the end portion of the adjusting arm 6 and the end portion of the adjusting arm 6 is driven to rotate, the monitoring angle is changed, the telescopic rod 64 connected with the output end of the piston rod of the adjusting cylinder 63 is driven to rotate by controlling the telescopic length of the piston rod of the adjusting cylinder 63, before use, the locking bolt 644 is unscrewed, the adjusting rod 643 slides along the sleeve 641, and the extending length of the adjusting rod 643 is adjusted according to actual conditions, so that the use requirement of the monitoring camera 7 is met.

As shown in fig. 1, the end of the body 1 is provided with a lighting lamp 8, which is not beneficial to the use of the monitoring camera 7 due to the dark light inside the pipeline, and the lighting lamp 8 is used for providing a light source to ensure the normal use of the monitoring camera 7.

In addition, the above-mentioned specific structures and working principles between the driving motor 33 and the protective housing 32, between the roller frame 31 and the protective housing 32, between the ring-shaped member 44 and the scanning device 5, between the adjusting motor 41 and the machine body 1, between the rotating motor 61 and the cavity, between the illuminating lamp 8 and the machine body 1, and between the monitoring camera 7 and the adjusting rod 643 can be connected by bolts, and the ring gear 43 and the ring-shaped member 44, and between the roller frame 31 and the connecting rod 22 can be connected by welding, wherein the supporting cylinder 21, the adjusting cylinder 63, the driving motor 33, the adjusting motor 41, the rotating motor 61, the ring-shaped member 44, the scanning device 5, the ring gear 43, the bearing 45, the monitoring camera 7, and the illuminating lamp 8 all belong to the prior art in the technical field, and the application does not improve the specific structures and working principles; wherein support cylinder 21, adjust cylinder 63, driving motor 33, accommodate motor 41, rotating electrical machines 61, scanning device 5, monitoring camera 7 and the electric control relation, electric connection mode and the electric connection principle between light 8 and the controller all belong to this technical field prior art, and this application does not improve it, and the event is no longer repeated.

The utility model discloses novel structure, convenient to use utilizes adjustable supporting mechanism 2 can realize folding and expansion of device, conveniently carries and shifts it, improves the flexibility of device, through the expansion state of adjusting supporting mechanism 2, makes it can walk in the petroleum pipeline of different pipe diameters through running gear 3; the rotary adjusting mechanism 4 can drive the scanning device 5 connected with the rotary adjusting mechanism to do circular motion, so that the inner wall of the detected pipeline is detected in multiple directions, and the detection effect of the device is improved; simultaneously, the tip of organism 1 is provided with regulating arm 6 and surveillance camera machine 7, can adjust surveillance camera machine 7's control angle to outside personnel can carry out real time monitoring to the inside of being examined the pipeline, so have better practicality, the utility model discloses a concrete theory of operation as follows:

a user unfolds and adjusts the supporting mechanism 2 in the device according to the detected pipeline, controls the length of a piston rod of the supporting cylinder 21 to drive the connecting rod 22 connected with the output end of the piston rod to rotate until the connecting rod 22 drives the end walking mechanism 3 to abut against the inner wall of the pipeline, controls the driving motor 33 to rotate, drives the first bevel gear 341 connected with the output end of the connecting rod to rotate, drives the rotating shaft 343 connected with the first bevel gear 341 to rotate, and drives the roller 35 to walk on the inner wall of the pipeline through the rotating shaft 343, so that the device walks and moves inside the pipeline; meanwhile, when the adjusting motor 41 rotates, the adjusting gear 42 connected with the output end of the adjusting motor is driven to rotate, the adjusting gear 42 drives the gear ring 43 meshed with the adjusting gear to move, the gear ring 43 is connected with the ring-shaped piece 44, the ring-shaped piece 44 is rotatably arranged on the machine body 1 through the bearing 45, and then the ring-shaped piece 44 rotates to drive the scanning device 5 connected with the ring-shaped piece 44 to perform circular motion, so that the scanning device 5 can perform multi-directional scanning on the inner wall of the pipeline;

when the monitoring camera 7 at the end of the adjusting arm 6 needs to be adjusted and controlled, the rotating motor 61 is controlled to rotate, so that the rotating motor drives the turntable 62 connected with the output end of the rotating motor to rotate, the monitoring camera 7 connected with the end of the adjusting arm 6 and the end of the adjusting arm 6 is driven to rotate, the monitoring angle is changed, the telescopic rod 64 connected with the output end of the piston rod of the adjusting cylinder 63 is driven to rotate by controlling the telescopic length of the piston rod of the adjusting cylinder 63, the locking bolt 644 is unscrewed before use, the adjusting rod 643 slides along the sleeve 641, the extending length of the adjusting rod 643 is adjusted according to actual conditions, so that the using requirement of the monitoring camera 7 is met, and the monitoring effect of the monitoring camera 7 is ensured.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.

Claims

1. The utility model provides a pipeline maintenance inspection robot, includes organism (1), its characterized in that: the pipeline inspection device is characterized in that a plurality of groups of supporting mechanisms (2) are arranged on the machine body (1), each group of supporting mechanisms (2) is provided with a group of travelling mechanisms (3) at the end part, the plurality of groups of travelling mechanisms (3) travel on the inner wall of an inspected pipeline, a rotary adjusting mechanism (4) is arranged on the machine body (1), and a scanning device (5) is connected onto the rotary adjusting mechanism (4).

2. The pipe repair patrol robot of claim 1, wherein: the supporting mechanism (2) comprises a supporting cylinder (21) and a connecting rod (22), the supporting cylinder (21) is hinged to the machine body (1), the output end of a piston rod of the supporting cylinder is hinged to the connecting rod (22), one end of the connecting rod (22) is hinged to the machine body (1), and the other end of the connecting rod is connected with the traveling mechanism (3).

3. The pipe repair patrol robot of claim 2, wherein: running gear (3) are including roller frame (31), protective housing (32), driving motor (33), drive assembly (34) and gyro wheel (35), roller frame (31) are connected in the tip of connecting rod (22), protective housing (32) are connected on roller frame (31), driving motor (33) are connected on protective housing (32), the input of drive assembly (34) is connected in the output of driving motor (33), gyro wheel (35) are connected with the output of drive assembly (34).

4. The pipe repair patrol robot of claim 3, wherein: the transmission assembly (34) comprises a first bevel gear (341), a second bevel gear (342) and a rotating shaft (343), the first bevel gear (341) is fixedly sleeved at the output end of the driving motor (33), the second bevel gear (342) is meshed with the first bevel gear (341), the second bevel gear (342) is fixedly sleeved on the rotating shaft (343), the rotating shaft (343) is rotatably arranged on the roller frame (31), and the rotating shaft (343) is fixedly arranged inside the roller (35) in a penetrating manner.

5. A pipe repair patrol robot according to any one of claims 3 or 4, wherein: the roller (35) is uniformly coated with an anti-slip layer along the arc-shaped curved surface.

6. The pipe repair patrol robot of claim 1, wherein: rotatory adjustment mechanism (4) are including adjusting motor (41), adjusting gear (42), ring gear (43), loop forming element (44) and bearing (45), the inside holding chamber that is provided with of organism (1), adjusting motor (41) sets up on the inner wall in holding chamber, adjusting gear (42) are connected with the output stationary phase of adjusting motor (41), and this adjusting gear (42) and ring gear (43) inter-engagement mutually, ring gear (43) cooperate to inlay and locate on the inner wall of loop forming element (44), loop forming element (44) and bearing (45) all overlap and locate on organism (1), bearing (45) cooperate to inlay and locate on the arc inner wall of loop forming element (44).

7. The pipe repair patrol robot of claim 1, wherein: the machine body (1) is further provided with an adjusting arm (6), and the end part of the adjusting arm (6) is provided with a monitoring camera (7).

8. The pipe repair patrol robot of claim 7, wherein: adjusting arm (6) include rotating electrical machines (61), revolving stage (62), adjust cylinder (63) and flexible member (64), the tip of organism (1) is provided with the cavity, rotating electrical machines (61) are connected on the inner wall of cavity, revolving stage (62) are connected in the output of rotating electrical machines (61), adjust cylinder (63) and flexible member (64) all articulate on revolving stage (62), and the output of this piston rod articulates on flexible member (64), the tip of flexible member (64) is connected with surveillance camera (7).

9. The pipe repair patrol robot of claim 1, wherein: the telescopic rod (64) comprises a sleeve (641), a spring (642), an adjusting rod (643) and a locking bolt (644), the end of the sleeve (641) is hinged to the rotary table (62), the spring (642) is arranged in the sleeve (641), two ends of the spring are respectively connected with one end of the adjusting rod (643) and the inner wall of the sleeve (641), the adjusting rod (643) penetrates through the sleeve (641), the other end of the spring is connected with the monitoring camera (7), and the locking bolt (644) is rotatably arranged on the sleeve (641) and locks and fixes the adjusting rod (643).

10. The pipe repair patrol robot of claim 1, wherein: the end part of the machine body (1) is provided with an illuminating lamp (8).