CN218671161U

CN218671161U - Pipeline inspection robot

Info

Publication number: CN218671161U
Application number: CN202222261328.1U
Authority: CN
Inventors: 杨春晖; 王滨; 王卉; 李立
Original assignee: Jiaoguang Shanghai Special Equipment Co ltd
Current assignee: Jiaoguang Shanghai Special Equipment Co ltd
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2023-03-21
Anticipated expiration: 2032-08-26

Abstract

The utility model provides a pipeline inspection robot, includes main part and actuating mechanism, actuating mechanism is including articulating the first walking wheel in main part one end and articulating the second walking wheel at the main part other end, and first walking wheel and second walking wheel are around the crisscross distribution of main part circumference, are equipped with elastic component between first walking wheel and the main part and between second walking wheel and the main part respectively. The utility model discloses a pipeline inspection robot simple structure is compact, can carry out self-adaptation regulation along with pipeline internal diameter and camber, has improved the pipeline detectability that pipeline robot arranged complicated pipeline, reduces walking wheel friction loss, has reduced the cost of maintenance of robot.

Description

Pipeline inspection robot

Technical Field

The utility model relates to a petrochemical industry pipeline check out test set technical field, concretely relates to pipeline inspection robot.

Background

The detection of petrochemical industry device process pipeline still gives first place to traditional outside spot check, examine time measuring, need set up the scaffold frame, dismantle outer heat preservation, outer wall polishing rust cleaning etc., such working method is dangerous high, work efficiency is low, the detection degree of difficulty is big, there is the testing result can not reflect pipeline general appearance scheduling problem, pipeline robot can walk in pipeline space, and carry the running work among the detection instrument enters into dangerous and complicated environment, help the staff to accomplish and detect, the investigation task, strengthen the protection to petrochemical industry staff.

Petrochemical industry pipeline inner structure is complicated complicatedly, especially to the curve pipeline, and current pipeline inspection robot structure is complicated, and is relatively poor to the adaptability of pipeline after getting into the pipeline, can appear serious friction loss condition, and robot cost of maintenance is high, and can influence the distance that pipeline inspection robot surveyed and the speed of surveying.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pipeline inspection robot, its simple structure, compactness possess stronger pipeline internal diameter adaptability.

The utility model discloses a reach the technical scheme that above-mentioned purpose adopted and be:

the utility model provides a pipeline inspection robot, includes main part and actuating mechanism, actuating mechanism is including articulating the first walking wheel at main part one end and articulating the second walking wheel at the main part other end, and first walking wheel and second walking wheel are equipped with elastic component around crisscross distribution of main part circumference between first walking wheel and the main part and between second walking wheel and the main part respectively.

As a preferred scheme of the utility model, the elastic component is the air spring.

As a preferred scheme of the utility model, the main part includes upper portion board, lower part board and follows the branch that upper portion board and lower part board axle center set up, is equipped with upper bracket and lower carriage from the upper portion board to the lower part board interval on the branch, first walking wheel articulates on the upper portion board and extends to the lower part board outside, the second walking wheel articulates on the lower part board, and extends to the upper portion board outside, and elastic component sets up respectively between upper bracket and second walking wheel and between lower carriage and the first walking wheel.

As an optimized scheme of the utility model, connect upper portion board and lower part board and be equipped with a plurality of bracing pieces, a plurality of bracing pieces wind branch evenly distributed.

As an optimized scheme of the utility model, the equal screw thread of upper bracket and lower carriage is installed on branch.

As a preferred scheme of the utility model, first walking wheel is equipped with four, and the second walking wheel is equipped with four.

As a preferred scheme of the utility model, actuating mechanism is including the drive unit who is used for installing and drives first walking wheel and second walking wheel, drive unit is including being used for articulating the landing leg section of thick bamboo in the main part, and the one end that the main part was kept away from to the landing leg section of thick bamboo is equipped with the support that is used for rotating first walking wheel of installation and second walking wheel, be equipped with the motor that is used for driving first walking wheel and second walking wheel in the landing leg section of thick bamboo.

As an optimized scheme of the utility model, the motor is the direct current brush motor.

As a preferred scheme of the utility model, the support is equipped with the shaft, first walking wheel and second walking wheel are installed at the epaxial wheel, be equipped with the bevel gear changer between a leg section of thick bamboo and the support.

As a preferred scheme of the utility model, still including setting up detecting element and the controller in the main part, detecting element is used for the robot to detect the pipeline, the controller is connected with actuating mechanism and detecting element electricity.

The utility model discloses beneficial effect:

1. the utility model discloses a pipeline inspection robot is through arranging walking wheel circumference crisscross setting around the main part, and adjust the skew degree of walking wheel and main part axle center through the air spring, moreover, the steam generator is simple in structure, can be applicable to the pipeline inspection better, and can make the walking wheel carry out self-adaptation regulation along with pipeline internal diameter and camber better, the pipeline detection ability of pipeline robot to complicated pipeline arrangement has been improved, in addition, make walking wheel self-adaptation pipeline can also reduce walking wheel friction loss through the air spring, the cost of maintenance of robot has been reduced.

2. The utility model discloses a pipeline inspection robot is through setting up the main part that axle center area branch, through with first walking wheel and second walking wheel respectively towards opposite setting in the periphery of main part, can make the robot structure compacter, the spatial position of make full use of main part periphery further promotes the robot and crawls and cross curved ability.

Drawings

Fig. 1 is a schematic structural diagram of a pipeline inspection robot according to an embodiment;

FIG. 2 is a schematic diagram of a main body of a pipeline inspection robot according to an embodiment;

FIG. 3 is a schematic structural diagram of an actuator of a pipeline inspection robot according to an embodiment;

fig. 4 is a schematic structural diagram of a leg cylinder in a pipeline inspection robot according to an embodiment.

The labels in the figure are: 1. the main body comprises a main body 101, an upper plate 102, an upper support frame 103, a lower plate 104, a support rod 105, a support rod 106, a three-ring sliding block 107, a limiting ring 108, a lower support frame 2, an actuating mechanism 201, an elastic component 202, a bevel gear commutator 203, a wheel shaft 204, a first travelling wheel 205, a support base 206, an upper flange plate 207, a support leg cylinder 208, a middle flange plate 209, a lower flange plate 210 and a second travelling wheel.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments, wherein in the description of the present invention, it is to be noted that, unless otherwise specified, "a plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front", "rear", "head", "tail", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The utility model provides a pipeline inspection robot's embodiment:

referring to fig. 1 to 4, the pipeline inspection robot of the present embodiment includes a main body 1 and an actuator 2, where the main body 1 includes an upper plate 101, a lower plate 103, and a strut 104, the upper plate 101 and the lower plate 103 are both of a quadrilateral structure, the strut 104 is disposed between the upper plate 103 and the lower plate 103 along an axial center of the upper plate 101 and the lower plate 103, the upper plate 101 and the lower plate 103 may be connected together by a plurality of support rods 105 disposed around the strut 104, and in this embodiment, four support rods 105 are provided to form a quadrilateral frame.

An upper bracket 102 and a lower bracket 108 are provided on the strut 104, and the upper bracket 102 and the lower bracket 108 are oppositely arranged from the upper plate 101 to the lower plate 103 at intervals, that is, the upper bracket 102 is arranged close to the upper plate 101, and the lower bracket 108 is arranged close to the lower plate 103.

The actuator 2 includes a first traveling wheel 204 and a second traveling wheel 210, wherein a leg cylinder 207 is hinged to the upper plate 101 and the lower plate 103, for example, as shown in fig. 3, a pin shaft is provided on the upper plate 101 and the lower plate 103, an upper flange plate 206 for fitting with the pin shaft is provided at one end of the leg cylinder 207, a lower flange plate 209 is provided at the other end of the leg cylinder 207, specifically, a middle flange plate 208 may be further provided between the lower flange plate 209 and the leg cylinder 207, and a pair of the first traveling wheel 204 or a pair of the second traveling wheel 210 is rotatably mounted on the lower flange plate 209.

When the robot is installed, one end of the supporting leg cylinder 207, which is far away from the upper plate 101, extends to the lower plate 103 and extends to the outer side of the lower plate 103, the other end of the supporting leg cylinder 207, which is hinged to the lower plate 103, extends to the upper plate 101 and extends to the outer side of the upper plate 101, namely, all the supporting leg cylinders 207 are obliquely deviated from the main body 1, the supporting leg cylinder 207, which is installed on the upper plate 101, and the supporting leg cylinder 207, which is installed on the lower plate 103, are obliquely arranged in a staggered manner, after the first traveling wheel 204 and the second traveling wheel 210 are installed, the first traveling wheel 204 and the second traveling wheel 210 are circumferentially staggered around the main body 1, namely, the first traveling wheel 204 and the second traveling wheel 210 are sequentially arranged along the circumference of the main body 1, the first traveling wheel 204 is close to one end, which is provided with the lower plate 103, of the main body 1, and the second traveling wheel is close to one end, which is provided with the upper plate 101, so that the spatial position of the circumference of the main body can be fully utilized, and the structure of the robot is more compact.

When the direct current brush motor works, the bevel gear commutator 202 drives the wheel shaft 203 to drive the corresponding travelling wheels to rotate so as to enable the robot to walk in the pipeline.

Referring to fig. 1 and 3, elastic members 201 are respectively provided between the first road wheels 204 and the main body 1 and between the second road wheels 210 and the main body 1, and the elastic members 201 are preferably gas springs, specifically, the gas springs between the first road wheels 204 and the main body 1 are provided with one ends thereof on the lower bracket 108 and the other ends thereof on the supports 205 corresponding to the first road wheels 204, and the gas springs between the second road wheels 210 and the main body 1 are provided with one ends thereof on the upper bracket 102 and the other ends thereof on the supports 205 corresponding to the second road wheels 210.

The pipeline inspection robot of this embodiment simple structure, compactness can be applicable to the pipeline inspection better, and can make the walking wheel carry out self-adaptation regulation along with pipeline internal diameter and camber better, has improved pipeline inspection ability of pipeline robot to complicated pipeline arrangement, can also reduce walking wheel friction loss, has reduced the cost of maintenance of robot.

In the pipeline is detected in the robot entering, the air spring can be adjusted the walking wheel to the 1 radial skew degree of main part, makes the walking wheel can the self-adaptation pipeline internal diameter, and wherein, the air spring has light in weight when the flexible walking wheel of adjusting, and vibration frequency's advantage can effectively improve the vertical pipe of climbing of robot and cross curved performance.

Referring to fig. 3, in this embodiment, four rings of brackets are used for the upper bracket 102 and the lower bracket 108, the supporting rod 104 is a threaded rod, the upper bracket 102 and the lower bracket 108 are both installed on the supporting rod 104 in a threaded manner, and the positions of the upper bracket 102 and the lower bracket 108 on the supporting rod 104 can be adjusted according to actual needs, so as to ensure that the self-adaptive capability of the pipeline detection robot can adapt to various types of pipelines.

Specifically, a three-ring slider 106 and a stop collar 107 are arranged on the strut 104, and the upper bracket 102 and the lower bracket 108 are respectively mounted on the strut 104 through the three-ring slider 106 and the stop collar 107.

In this embodiment, as shown in fig. 1 and 3, four first road wheels 204 are provided, four second road wheels 210 are provided, and correspondingly, eight leg barrels 207 are provided, wherein four first road wheels 204 are provided, and the other four second road wheels 210 are provided.

In order to make pipeline inspection robot more intelligent, it is convenient, in this embodiment, pipeline inspection robot is still including setting up detecting element and the controller in main part 1, wherein detecting element is used for the robot to detect the pipeline, detecting element can adopt wide-angle camera, the controller is connected with actuating mechanism 2 and detecting element electricity, the controller can adopt singlechip or PLC controller, realize the automatic control of whole robot action part and the collection of pipeline image through singlechip or PLC controller, can understand ground, wide-angle camera can set up a plurality ofly as required in main part 1, with gather pipeline image all around simultaneously, so that carry out post processing to the image of gathering and form 360 degrees panoramas all around of a pipeline, convey in real time on the display device.

It should be noted that the detailed description is not the prior art, and the above embodiments are only used to illustrate the present invention, but the present invention is not limited to the above embodiments, and any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention all fall within the scope of the present invention.

Claims

1. A pipeline inspection robot, includes main part (1) and actuating mechanism (2), its characterized in that: actuating mechanism (2) including articulate first walking wheel (204) and articulate second walking wheel (210) at the main part (1) other end in main part (1) one end, first walking wheel (204) and second walking wheel (210) are around main part (1) circumference crisscross distribution, are equipped with elastic component (201) between first walking wheel (204) and main part (1) and between second walking wheel (210) and main part (1) respectively.

2. The pipeline inspection robot according to claim 1, wherein said elastic member (201) is a gas spring.

3. The pipeline inspection robot according to claim 1, wherein the main body (1) comprises an upper plate (101), a lower plate (103), and a support rod (104) disposed along the axial centers of the upper plate (101) and the lower plate (103), the support rod (104) is provided with an upper bracket (102) and a lower bracket (108) at an interval from the upper plate (101) to the lower plate (103), the first traveling wheel (204) is hinged to the upper plate (101) and extends to the outer side of the lower plate (103), the second traveling wheel (210) is hinged to the lower plate (103) and extends to the outer side of the upper plate (101), and the elastic members (201) are respectively disposed between the upper bracket (102) and the second traveling wheel (210) and between the lower bracket (108) and the first traveling wheel (204).

4. A pipeline inspection robot as claimed in claim 3, wherein a plurality of support bars (105) are provided connecting the upper plate (101) and the lower plate (103), the plurality of support bars (105) being evenly distributed around the support bar (104).

5. The pipeline inspection robot as claimed in claim 3, wherein the upper bracket (102) and the lower bracket (108) are each threadedly mounted on the support rod (104).

6. The pipeline inspection robot as recited in claim 3, wherein there are four first road wheels (204) and four second road wheels (210).

7. A pipeline inspection robot as claimed in any one of claims 1 to 6, wherein the actuator (2) comprises a drive unit for mounting and driving the first road wheel (204) and the second road wheel (210), the drive unit comprises a leg cylinder (207) for articulating on the main body (1), a support (205) for rotatably mounting the first road wheel (204) and the second road wheel (210) is provided at an end of the leg cylinder (207) remote from the main body (1), and a motor for driving the first road wheel (204) and the second road wheel (210) is provided in the leg cylinder (207).

8. The pipeline inspection robot of claim 7, wherein the motor is a dc brush motor.

9. A pipeline inspection robot as claimed in claim 7, characterized in that said support (205) is provided with a bevel gear changer (202) driven by a motor, the bevel gear changer (202) being provided with a wheel axle (203) for mounting the first travelling wheel (204) and the second travelling wheel (210).

10. The pipeline inspection robot according to claim 1, further comprising a detection unit and a controller arranged on the main body (1), wherein the detection unit is used for the robot to inspect the pipeline, and the controller is electrically connected with the actuator (2) and the detection unit.