CN219734654U

CN219734654U - Pipeline detection robot

Info

Publication number: CN219734654U
Application number: CN202320562895.2U
Authority: CN
Inventors: 王明明; 张露; 吴焰; 周曙光
Original assignee: Zhejiang Huifeng Environmental Protection Technology Co ltd
Current assignee: Zhejiang Huifeng Environmental Protection Technology Co ltd
Priority date: 2023-03-21
Filing date: 2023-03-21
Publication date: 2023-09-22
Anticipated expiration: 2033-03-21

Abstract

The utility model relates to a pipeline detection robot which comprises a machine body, a rotating device arranged on the machine body, a camera shooting module and a driving device for driving the machine body to move, wherein the camera shooting module is arranged on the rotating device and is driven by the rotating device to rotate, an auxiliary device for assisting the camera shooting module to detect a pipeline is arranged on the machine body, the auxiliary device comprises an air pipe support, an air blower, a first air nozzle, a first drain plate, a swinging seat and an electric telescopic rod, the air blower is communicated with the first air nozzle through the air pipe support and supplies air to the moving direction of the machine body through the first air nozzle, one end of the air pipe support, which is communicated with the air blower, is rotatably arranged on the swinging seat, the other end of the air pipe support is fixedly connected with the first drain plate, one end of the air pipe support, which is away from the first drain plate, is hinged with the electric telescopic rod through a connecting rod, and the first air nozzle is positioned on one side of the air pipe support, which is away from the machine body. The pipeline detection robot provided by the utility model can effectively detect the defects at the bottom of the pipeline through structural design, and improves the pipeline detection efficiency.

Description

Pipeline detection robot

Technical Field

The utility model relates to the technical field of pipeline detection, in particular to a pipeline detection robot.

Background

In the related art, a pipe inspection robot is a robot capable of performing inspection and maintenance inside a pipe. The real-time monitoring and recording of various parameters inside the pipeline are realized through various sensors and cameras arranged on the robot. The robot moves in the pipeline through the autonomous navigation system, so that the problems of dirt, cracks, corrosion, damage and the like in the pipeline can be quickly known without entering the pipeline by workers. Therefore, the pipeline detection robot has wide application fields, such as pipeline detection and maintenance in the fields of petroleum, natural gas, chemical industry, water supply, sewage and the like. The robot can complete detection tasks in dangerous environments such as high temperature, high pressure, toxicity, harm and the like, and the safety risk of personnel is reduced. The robot can also realize the real-time monitoring and early warning of the inside of the pipeline, help enterprises to find out the pipeline problems in time, and improve the safety and reliability of the pipeline.

However, the existing pipeline robot has a plurality of uncertainty factors due to the condition inside the working pipeline, for example, when the pipeline is used in a wading operation after being paved, the accumulated water in the pipeline and the silt or broken stone in the pipeline can influence the definition of the image captured by the robot, particularly the definition of the image at the bottom of the captured pipeline, so that the normal detection work of people is influenced, and the detection efficiency is influenced.

Disclosure of Invention

In order to solve the problems, the utility model provides a pipeline detection robot capable of effectively detecting defects at the bottom of a pipeline and improving detection efficiency.

In order to achieve the above purpose, the pipeline detection robot comprises a machine body, a rotating device arranged on the machine body, a camera shooting module and a driving device for driving the machine body to move, wherein the camera shooting module is arranged on the rotating device and is driven by the rotating device to rotate, an auxiliary device for assisting the camera shooting module to conduct pipeline detection is arranged on the machine body, the auxiliary device comprises an air pipe support, an air blower, a first air nozzle, a first drain plate, a swinging seat and an electric telescopic rod, the air blower is communicated with the first air nozzle through the air pipe support and supplies air to the advancing direction of the machine body through the first air nozzle, one end, communicated with the air blower, of the air pipe support is rotatably arranged on the swinging seat, the other end of the air pipe support is fixedly connected with the first drain plate, one end, deviating from the first drain plate, of the air pipe support is hinged with the electric telescopic rod through a connecting rod, and the first air nozzle is positioned on one side, deviating from the machine body, of the first drain plate.

In order to further improve auxiliary device's auxiliary effect, auxiliary device still includes the second hydrophobic board, second hydrophobic board and trachea support fixed connection are located the one side that first hydrophobic board deviates from first tuyere on the trachea support, the horizontal width of second hydrophobic board in fuselage advancing direction is not less than first hydrophobic board in fuselage advancing direction's horizontal width.

In order to effectively improve the hydrophobic effect of the first hydrophobic plate and the second hydrophobic plate, the first hydrophobic plate and the second hydrophobic plate are inwards bent to be arched by taking the advancing direction of the machine body as an axis.

For simply, effectively promote the image definition that the module obtained of making a video recording, auxiliary device further includes second tuyere and the light of locating fuselage direction of advance one side, the second tuyere is through pipeline and air-blower intercommunication and be set up to the direction of advance air supply of fuselage.

For simple, effective adjustment shooting angle of module of making a video recording, rotating device includes first driving motor, revolving stage and installing support, first driving motor locates inside the fuselage and its output shaft coaxial fixedly connected with first gear, the revolving stage is located fuselage upper end and its one side fixedly connected with second gear towards the fuselage, first gear and second gear engagement, one side that the revolving stage deviates from first driving motor is located to the installing support, the module of making a video recording rotates and locates on the installing support, the one end that the swinging seat deviates from the tracheal support rotates and locates on the installing support.

Further, the rotating device further comprises a second driving motor, the second driving motor is arranged on the mounting bracket and located on one side of the advancing direction of the machine body, a connecting piece is arranged on the camera shooting module, a shaft hole matched with an output shaft of the second driving motor is formed in the connecting piece, and the second driving motor penetrates through the shaft hole through the output shaft of the second driving motor and is connected with the connecting piece.

The further scheme is that one end of the mounting bracket deviating from the machine body is fixedly connected with a T-shaped boss, a special-shaped hole matched with the T-shaped boss is formed in the swinging seat, and the T-shaped boss is connected with the swinging seat through the special-shaped hole.

In order to improve stability when the revolving stage is in operation, one side of revolving stage deviating from the installing support extends downwards and forms the skirt, the annular with skirt looks adaptation is seted up to fuselage upper end surface, when the revolving stage rotates, the skirt is followed the annular is relative the fuselage rotates.

For simple and effective driving of the robot to travel, the driving device comprises a second driving motor and a travel crawler belt, the third driving motor is arranged at the bottom of the machine body, and the inner ring of the travel crawler belt is meshed with the output shaft of the third driving motor and drives the machine body to travel under the driving of the third driving motor.

The pipeline detection robot designed by the utility model can effectively detect the defects at the bottom of the pipeline through structural design, and improves the pipeline detection efficiency.

Drawings

FIG. 1 is a front perspective view of embodiment 1 of the present utility model;

FIG. 2 is another perspective view of embodiment 1 of the present utility model;

FIG. 3 is a front view of embodiment 1 of the present utility model;

FIG. 4 is a schematic view showing the structure of a rotating device in embodiment 1 of the present utility model;

fig. 5 is a schematic diagram of a connection structure between a swinging seat and a mounting bracket in embodiment 1 of the present utility model.

Wherein: the machine body 1, the ring groove 11, the rotating device 2, the first driving motor 21, the first gear 211, the turntable 22, the second gear 221, the skirt 222, the mounting bracket 23, the T-shaped boss 231, the second driving motor 24, the camera module 3, the connecting piece 31, the driving device 4, the third driving motor 41, the travelling crawler 42, the auxiliary device 5, the air pipe bracket 51, the blower 52, the first air nozzle 53, the first drain plate 54, the second drain plate 55, the second air nozzle 56, the illuminating lamp 57, the swinging seat 58, the special-shaped hole 581, the electric telescopic rod 59, the connecting rod 60 and the limiting boss 61.

Detailed Description

The preferred embodiments of the present utility model will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present utility model only, and are not intended to limit the present utility model.

Example 1

As shown in fig. 1-5, the pipeline inspection robot described in this embodiment includes a machine body 1, a rotating device 2 and a camera module 3 disposed on the machine body 1, and a driving device 4 driving the machine body 1 to travel, where the camera module 3 is disposed on the rotating device 2 and rotates under the driving of the rotating device 2, an auxiliary device 5 for assisting the camera module 3 in performing pipeline inspection is disposed on the machine body 1, the auxiliary device 5 includes an air pipe bracket 51, an air blower 52, a first air nozzle 53, a first hydrophobic plate 54, a swinging seat 58 and an electric telescopic rod 59, the air blower 52 is communicated with the first air nozzle 53 through the air pipe bracket 51, and supplies air to the traveling direction of the machine body 1 through the first air nozzle 53, one end, which is communicated with the air blower 52, of the air pipe bracket 51 is rotatably disposed on the swinging seat 58, the other end of the air pipe bracket 51 is fixedly connected with the first hydrophobic plate 54, one end, which is away from the first hydrophobic plate 54, of the air pipe bracket 51 is hinged with the electric telescopic rod 59 through a connecting rod 60, and the first air nozzle 53 is located on one side, which is away from the machine body 1, of the first hydrophobic plate 53.

In this embodiment, it can be understood that, the blower 52, the camera module 3, the driving device 4, the electric telescopic rod 59 and the rotating device 2 are all electrically connected with the control circuit inside the vehicle body 1, a storage unit (not shown) may be further disposed in the vehicle body 1 to store the image information acquired by the camera module 3, when in use, as shown in fig. 1 and fig. 2, the driving device 4 is used for driving the machine body 1 to travel, the rotating device 2 is used for driving the camera module 3 to rotate and adjust the shooting angle of the camera module 3, so as to capture more images inside the pipeline, the detection efficiency is improved, the electric telescopic rod 59 drives the air pipe bracket 51 to rotate with the swinging seat 58 as a fulcrum through the connecting rod 60, and then adjusts the position of the first hydrophobic plate 54 in the vertical direction, so as to meet the operation of the robot in pipelines of different types, specifically, during the traveling process of the robot, the blower 52 guides wind to the first air nozzle 53 through the air pipe bracket 51, the first hydrophobic plate 54 is moved forward in the direction, and the first hydrophobic plate 54 is always kept in contact with the bottom of the pipeline along with the traveling of the machine body 1, so that the first hydrophobic plate 54 is kept in contact with the bottom of the pipeline, the pipeline bottom is better detected, the pipeline bottom is better detected, the defect can be detected, and the bottom of the pipeline is better is blown down, and the pipeline is better, and the bottom is better detected. In this embodiment, the camera module 3 preferably adopts a wide-angle waterproof camera to stabilize the operation of the elevator robot, in addition, as shown in fig. 1, in this embodiment, two connecting rods 60 are provided, and the two connecting rods 60 are connected and connected from one end of the air pipe support 51, which is communicated with the blower 52, to one end of the output shaft of the electric telescopic rod 59 in a head-to-tail manner, and a limiting protrusion 61 is provided on the connecting rod 60 located at one side of the air pipe support 51, so as to limit the maximum rotation amplitude of the other connecting rod 60, so as to satisfy that the air pipe support 51 can normally rotate with the 58-position pivot of the swinging seat. .

In some embodiments of the present utility model, as shown in fig. 1 and 2, in order to further enhance the auxiliary effect of the auxiliary device 5, the auxiliary device 5 further includes a second hydrophobic plate 55, where the second hydrophobic plate 55 is fixedly connected to the air pipe support 51 and is located on a side of the air pipe support 51 where the first hydrophobic plate 54 faces away from the first air nozzle 53, and a lateral width of the second hydrophobic plate 55 in the traveling direction of the airframe 1 is not smaller than a lateral width of the first hydrophobic plate 54 in the traveling direction of the airframe 1. In this way, the first hydrophobic plate 54 is matched with the second hydrophobic plate 55, especially the transverse width of the second hydrophobic plate 55 in the advancing direction of the machine body 1 is not smaller than the transverse width of the first hydrophobic plate 54 in the advancing direction of the machine body 1, so that accumulated water, silt and broken stone cleaned by the first hydrophobic plate 55 are intercepted by the second hydrophobic plate 55, cleaned for the second time and guided to two sides of the machine body 1, the shielding of accumulated water, silt and broken stone in a pipeline to the bottom of the pipeline is reduced, and the camera module 3 can acquire clearer images of the bottom of the pipeline.

In some embodiments of the present utility model, as shown in fig. 1 and 3, in order to effectively enhance the water-repellent effect of the first water-repellent plate 54 and the second water-repellent plate 55, the first water-repellent plate 54 and the second water-repellent plate 55 are bent inward in an arch shape with the traveling direction of the body 1 as an axis. By means of the structural design, accumulated water, silt and broken stone cleaned by the first water drain plate 54 and the second water drain plate 55 can be better discharged to two sides of the machine body 1, and resistance when the machine body 1 drives the first water drain plate 54 and the second water drain plate 55 to move can be effectively reduced.

In some embodiments of the present utility model, as shown in fig. 1, for simply and effectively improving the definition of the image acquired by the camera module 3, the auxiliary device 5 further includes a second air nozzle 56 and an illumination lamp 57 disposed at one side of the forward direction of the main body 1, wherein the second air nozzle 56 is in communication with the blower 52 through a pipe and is configured to supply air in the forward direction of the main body 1. In this embodiment, the blower 52 is communicated with the second air nozzle 56 through a pipeline, and sweeps the second hydrophobic plate 55 towards one side of the machine body 1 through the second air nozzle 56 in the advancing process of the machine body 1, so that accumulated water pushed away by the first hydrophobic plate 54 and the second hydrophobic plate 55 can be effectively prevented from flowing back and gathering at the bottom of the pipeline, and then the illumination lamp 57 illuminates the side of the second hydrophobic plate 55 towards the machine body 1, so that the definition of the image of the bottom of the pipeline obtained by the camera module 3 is further improved.

In some embodiments of the present utility model, as shown in fig. 4, for simply and effectively adjusting the shooting angle of the camera module 2, the rotating device 2 includes a first driving motor 21, a turntable 22 and a mounting bracket 23, the first driving motor 21 is disposed inside the body 1, and an output shaft of the first driving motor is coaxially and fixedly connected with a first gear 211, the turntable 22 is disposed at an upper end of the body 1, and a side of the turntable facing the body 1 is fixedly connected with a second gear 221, the first gear 211 is meshed with the second gear 211, the mounting bracket 23 is disposed at a side of the turntable 22 facing away from the first driving motor 21, the camera module 3 is rotatably disposed on the mounting bracket 23, and an end of the swinging seat 58 facing away from the air pipe bracket 51 is rotatably disposed on the mounting bracket 23. Like this, first driving motor 21 passes through first gear 211 and the meshing of second gear 221, and then drives revolving stage 22 and rotates and drive the module 3 rotation of making a video recording on the installing support 23 again to realize making a video recording the angular adjustment of module 3, the one end rotation that swinging seat 58 deviates from tracheal support 51 locates installing support 23's structural design, makes the structure of this robot compacter.

In some embodiments of the present utility model, as shown in fig. 4, the rotating device 2 further includes a second driving motor 24, the second driving motor 24 is disposed on the mounting bracket 23 and located at one side of the running direction of the machine body 1, the camera module 3 is provided with a connecting piece 31, the connecting piece 31 is provided with a shaft hole matched with an output shaft of the second driving motor 24, and the second driving motor 24 is connected with the connecting piece 31 through an output shaft hole thereof. By means of the structural design, the second driving motor 24 is used for driving the connecting piece 31 to rotate, rotation of the camera module 3 in the vertical direction is adjusted, and then rotation adjustment of the camera module 3 in different angles is achieved by means of the turntable 22, so that a more comprehensive image in the detection pipeline is obtained.

In some embodiments of the present utility model, as shown in fig. 4 and 5, one end of the mounting bracket 23 facing away from the machine body 1 is fixedly connected with a T-shaped boss 231, the swinging seat 58 is provided with a shaped hole 581 adapted to the T-shaped boss 231, and the T-shaped boss 231 is connected with the swinging seat 58 through the shaped hole 581. With this structural design, when the turntable 22 drives the mounting bracket 23 to rotate, the swinging seat 58 keeps still under the self weight of the first drain plate 54 and the second drain plate 55 at one end of the air pipe bracket 51 and the limitation of the connecting rod 60 at the other end of the air pipe bracket 51, that is, the swinging seat 58 does not rotate, and the mounting bracket 23 rotates to drive the camera module 3 to rotate to complete angle adjustment, so that the structure is simple.

In some embodiments of the present utility model, as shown in fig. 4, in order to improve the stability of the turntable 22 during operation, a side of the turntable 22 facing away from the mounting bracket 23 extends downward to form a skirt 222, an outer surface of an upper end of the body 1 is provided with a ring groove 11 adapted to the skirt 222, and when the turntable 22 rotates, the skirt 222 rotates along the ring groove 11 relative to the body 1. By means of the mechanism design, on one hand, when the turntable 22 rotates, the skirt 222 at the bottom of the turntable 22 rotates along the annular groove 11, so that the stability of the turntable 22 during rotation can be improved, and on the other hand, the skirt 221 is matched with the annular groove 11, so that sundries or water vapor in the working environment of the robot are prevented from entering the area where the first driving motor 21 is located, and the service life of the robot is effectively prolonged.

In some embodiments of the present utility model, as shown in fig. 1 and 4, for simply and effectively driving the robot to travel, the driving device 4 includes a third driving motor 41 and a travel track 42, the third driving motor 41 is disposed at the bottom of the machine body 1, and an inner ring of the travel track 42 is meshed with an output shaft of the second driving motor 41 and drives the machine body 1 to travel under the driving of the third driving motor 41.

The pipeline detection robot provided by the embodiment can effectively detect defects at the bottom of the pipeline through structural design, and improves the pipeline detection efficiency.

In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. The utility model provides a pipeline inspection robot, includes fuselage (1), locates rotating device (2) and camera module (3) on fuselage (1) to and drive device (4) that drive fuselage (1) marched, its characterized in that, camera module (3) locate on rotating device (2) and rotate under the drive of rotating device (2), be equipped with one on fuselage (1) and be used for assisting camera module (3) carry out auxiliary device (5) of pipeline inspection, auxiliary device (5) include air pipe support (51), air-blower (52), first tuyere (53), first hydrophobic board (54), swing seat (58) and electric telescopic handle (59), air-blower (52) are through air pipe support (51) intercommunication first tuyere (53) to air supply to fuselage (1) advancing direction through first tuyere (53), the one end that air pipe support (51) and air-blower (52) communicate is rotated and is located on swing seat (58), the other end and first hydrophobic board (54) fixed connection, air pipe support (51) deviate from electric telescopic handle (60) through hydrophobic connection of first tuyere (54), the first tuyere (53) is positioned on one side of the air pipe support (51) where the first hydrophobic plate (54) is away from the machine body (1).

2. The pipeline inspection robot according to claim 1, wherein the auxiliary device (5) further comprises a second hydrophobic plate (55), the second hydrophobic plate (55) is fixedly connected with the air pipe support (51) and is located on one side of the air pipe support (51) where the first hydrophobic plate (54) faces away from the first air nozzle (53), and the transverse width of the second hydrophobic plate (55) in the advancing direction of the machine body (1) is not smaller than the transverse width of the first hydrophobic plate (54) in the advancing direction of the machine body (1).

3. The pipe inspection robot according to claim 1, wherein the first and second hydrophobic plates (54, 55) are bent inward in an arch shape with the traveling direction of the body (1) as an axis.

4. The pipeline inspection robot according to claim 1, wherein the auxiliary device (5) further includes a second tuyere (56) and an illumination lamp (57) provided at one side of the advancing direction of the main body (1), the second tuyere (56) being communicated with the blower (52) through a pipeline and being arranged to supply air to the advancing direction of the main body (1).

5. The pipeline inspection robot according to claim 1, wherein the rotating device (2) comprises a first driving motor (21), a turntable (22) and a mounting bracket (23), the first driving motor (21) is arranged inside the machine body (1) and is coaxially and fixedly connected with a first gear (211) through an output shaft, the turntable (22) is arranged at the upper end of the machine body (1) and is fixedly connected with a second gear (221) towards one side of the machine body (1), the first gear (211) is meshed with the second gear (221), the mounting bracket (23) is arranged on one side, deviating from the first driving motor (21), of the turntable (22), the camera module (3) is rotationally arranged on the mounting bracket (23), and one end, deviating from the air pipe bracket (51), of the swing seat (58) is rotationally arranged on the mounting bracket (23).

6. The pipeline inspection robot according to claim 5, wherein the rotating device (2) further comprises a second driving motor (24), the second driving motor (24) is arranged on the mounting bracket (23) and located at one side of the advancing direction of the machine body (1), a connecting piece (31) is arranged on the camera module (3), a shaft hole matched with an output shaft of the second driving motor (24) is formed in the connecting piece (31), and the second driving motor (24) is connected with the connecting piece (31) through the shaft hole of the output shaft of the second driving motor.

7. The pipeline inspection robot according to claim 5, wherein one end of the mounting bracket (23) deviating from the machine body (1) is fixedly connected with a T-shaped boss (231), a special-shaped hole (581) matched with the T-shaped boss (231) is formed in the swinging seat (58), and the T-shaped boss (231) is connected with the swinging seat (58) through the special-shaped hole (581).

8. The pipeline inspection robot according to claim 5, wherein a side of the turntable (22) away from the mounting bracket (23) extends downwards to form a skirt (222), an annular groove (11) matched with the skirt (222) is formed on the outer surface of the upper end of the machine body (1), and when the turntable (22) rotates, the skirt (222) rotates along the annular groove (11) relative to the machine body (1).

9. The pipeline inspection robot according to any one of claims 1 to 8, wherein the driving device (4) comprises a third driving motor (41) and a travelling crawler (42), the third driving motor (41) is arranged at the bottom of the machine body (1), and an inner ring of the travelling crawler (42) is meshed with an output shaft of the third driving motor (41) and drives the machine body (1) to travel under the driving of the third driving motor (41).