LU504001B1 - Oil detection micro-robot - Google Patents

Oil detection micro-robot Download PDF

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Publication number
LU504001B1
LU504001B1 LU504001A LU504001A LU504001B1 LU 504001 B1 LU504001 B1 LU 504001B1 LU 504001 A LU504001 A LU 504001A LU 504001 A LU504001 A LU 504001A LU 504001 B1 LU504001 B1 LU 504001B1
Authority
LU
Luxembourg
Prior art keywords
disposed
shell
rod
oil
walking wheel
Prior art date
Application number
LU504001A
Other languages
German (de)
Inventor
Lisha Zhu
Original Assignee
Univ Zhaoqing
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Zhaoqing filed Critical Univ Zhaoqing
Application granted granted Critical
Publication of LU504001B1 publication Critical patent/LU504001B1/en

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Classifications

    • 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
    • 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
    • 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
    • F16L55/40—Constructional aspects of the body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A20/00—Water conservation; Efficient water supply; Efficient water use
    • Y02A20/20—Controlling water pollution; Waste water treatment
    • Y02A20/204—Keeping clear the surface of open water from oil spills

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is an oil detection micro-robot. The oil detection micro-robot includes a shell. A walking assembly is disposed on the shell. The walking assembly includes a walking wheel disposed at a bottom of the shell and a positioning rod disposed at a top of the shell. A detection assembly is disposed in the shell. The detection assembly includes a control centre, a power supply, and a signal receiver. The power supply is electrically connected with both the control centre and the signal receiver. A temperature sensor, a pressure sensor, and an observation mirror are disposed on the signal receiver. According to the present disclosure, the oil detection micro-robot can conveniently move and detect data of oil in a pipe, for example, temperature and pressure.

Description

OIL DETECTION MICRO-ROBOT
LU504001
TECHNICAL FIELD
The present disclosure relates to the technical field of pipe detection devices, and in particular to an oil detection micro-robot.
BACKGROUND
The oil pipe detection technology is developed for evaluating safety and reliability, so as to ensure safe and reliable operation of an oil pipe.
According to different relative positions of detection devices and pipes, there are generally two kinds of detection, namely, internal detection and external detection. In-pipe detection refers to detection by placing a detection device inside a pipe and detecting quality of oil in the oil pipe by changing a position of the detection device. Specifically, a detection solution in a conventional technology is to place the detection device inside a pipe to be detected and disposing a plurality of spiral strip-shaped supporting structures made of polyurethane on an outer wall of the detection device. One end of the supporting structure abuts against the detection device, and the other end of the supporting structure abuts against an inner wall of the pipe, to stabilize the detection device inside the pipe.
However, it is not easy to move the detection device in the oil pipe. The detection device can mostly detect a physical state in the pipe, and cannot detect the oil in the pipe.
SUMMARY
An objective of the present disclosure is to provide an oil detection micro-robot to resolve the shortcomings in the prior art. The oil detection micro-robot can conveniently move and detect oil in a pipe, for example, detecting the temperature and pressure of the oil.
To achieve the above objective, the present disclosure adopts the following technical solutions:
An oil detection micro-robot includes a shell. A walking assembly is disposed on the shell.
The walking assembly includes a walking wheel disposed at a bottom of the shell and a positioning rod disposed at a top of the shell. A detection assembly is disposed in the shell. The detection assembly includes a control centre, a power supply, and a signal receiver. The power supply is electrically connected with both the control centre and the signal receiver. A temperature sensor, a pressure sensor, and an observation mirror are disposed on the signal receiver.
In one embodiment, the walking wheel is rotationally disposed on the shell and driven by a motor in the shell. The walking wheel includes a wheel body, and a plurality of chucks that are uniformly distributed are fixedly connected to the wheel body. An oil outlet is disposed on the chuck, the wheel body is hollow, and a through hole is formed on a side wall of the wheel body.
A pressure rod is connected into the through hole in a sliding manner, and the pressure rod is LU504001 matched with a position of the oil outlet. A fixing cam is disposed in the wheel body, the fixing cam is fixedly connected to the shell through a fixing rod, and the fixing cam is configured to drive an end portion of the pressure rod to be embedded in the oil outlet.
In one embodiment, the walking wheel has an annular structure, and flanges are disposed on two sides of the walking wheel. The chuck is disposed between two flanges of the walking wheel, and a height of the flanges is smaller than a height of each of the plurality of chucks after the chuck is rebound and larger than a height of the chuck after the chuck is compressed.
In one embodiment, two groups of oil outlets are formed on the chuck, and the two groups of oil outlets are symmetrically disposed. Two pressure rods are in one group and connected through a connection rod, and a plurality of groups of pressure rods are disposed on the wheel body in an annular array.
In one embodiment, the fixing cam and the walking wheel are concentrically disposed, and a protruded portion of the fixing cam is vertically disposed downwards.
In one embodiment, a limiting piece is fixedly connected to the pressure rod, a return spring is disposed between the limiting piece and an inner wall of the walking wheel, and the return spring is sleeved on the pressure rod.
In one embodiment, a rotary impeller is disposed on a tail end of the shell, and the rotary impeller is driven by a rotary motor in the shell.
In one embodiment, there are two groups of positioning rods. An included angle between the two groups of positioning rods is in a range from 15° to 30°. The positioning rod includes a spring rod and a sliding rod. Two spring rods and one sliding rod form one group of positioning rod, one end of the spring rod is fixedly connected to the shell, and the other end is fixedly connected to the sliding rod.
The present disclosure has the following beneficial effects:
According to the present disclosure, the oil detection micro-robot can conveniently move and detect data of oil in a pipe, for example, temperature and pressure.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings are intended to provide a further understanding of the present disclosure, constitute a part of the specification, and are intended to explain the present disclosure together with the examples of the present disclosure, which do not constitute a limitation to the present disclosure.
FIG. 1 is a schematic diagram of an overall structure of an oil detection micro-robot;
FIG. 2 is a schematic diagram of a structure of an oil detection micro-robot without a positioning rod;
FIG. 3 is a schematic diagram of an inner structure of an oil detection micro-robot; and
FIG. 4 is a schematic diagram of a walking wheel \
Reference numerals: 1. control centre; 2. a first driving motor; 3. power supply; 4. signal LU504001 receiver; 5. second driving motor; 6. rotary motor; 7. observation mirror; 8. shell; 9. walking wheel; 10. fixing rod; 11. temperature sensor; 12. pressure sensor; 13. rotary impeller; 901. wheel body; 902. pressure rod; 903. chuck; 904. return spring; and 905. fixing cam.
DETAILED DESCRIPTION OF THE EMBODIMENTS
The technical solutions of embodiments of the present disclosure are clearly and completely described below with reference to the drawings. Apparently, the described embodiments are only a part rather than all of embodiments of the present disclosure.
In the description of the present disclosure, it should be understood that orientation or position relationships indicated by terms such as "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inside", and "outside" are based on what are illustrated in the drawings. These terms are only intended to facilitate and simplify the description of the present disclosure, rather than to indicate or imply that the mentioned device or components must have a specific orientation or must be constructed and operated in a specific orientation. Therefore, these terms should not be understood as a limitation to the present disclosure.
Referring to FIG. 1 to FIG. 4, an oil detection micro-robot includes a shell 8. A walking assembly is disposed on the shell 8. The walking assembly includes a walking wheel 9 disposed at a bottom of the shell 8 and a positioning rod disposed at a top of the shell 8. A detection assembly is disposed in the shell 8. The detection assembly includes a control centre 1, a power supply 3, and a signal receiver 4. The power supply 3 is electrically connected with both the control centre 1 and the signal receiver. A temperature sensor 11, a pressure sensor 12, and an observation mirror 7 are disposed on the signal receiver.
The shell 8 is a sealing structure. The temperature sensor, the pressure sensor, and the observation mirror extend out of the shell 8, and a matching position is connected in a sealing manner, so that the whole structure has good sealing performance. The walking wheel 9 may abut against an inner wall of an oil pipe through the positioning rod, so that the walking wheel 9 can normally move forward.
In other preferred embodiments, the walking wheel 9 is rotationally disposed on the shell 8 and driven by a motor in the shell 8. The walking wheel 9 includes a wheel body 901, and a plurality of chucks 903 that are uniformly distributed are fixedly connected to the wheel body 901. An oil outlet is defined on the chuck 903, the wheel body 901 is hollow, and a through hole is formed on a side wall of the wheel body. A pressure rod 902 is connected into the through hole in a sliding manner, and the pressure rod 902 is matched with a position of the oil outlet. A fixing cam 905 is disposed in the wheel body 901, the fixing cam 905 is fixedly connected to the shell 8 through a fixing rod 10, and the fixing cam 905 is configured to drive an end portion of the pressure rod 902 to be embedded in the oil outlet, to seal the oil outlet.
The robot can move in a pipe with oil by the walking wheel 9, the walking wheel 9 can be LU504001 attached on the inner wall of the pipe through the chucks 903, and the robot can move forward by its own rotation. Before the chuck 903 sucks, a large amount of oil in the chuck 903 may be discharged from the oil outlet disposed on the chuck 903 in a squeezing manner, to ensure suction effect of the chuck 903. After the oil is discharged, the oil outlet may be sealed through the pressure rod 902, so that the chuck 903 can absorb on the inner wall of the pipe.
Preferably, the walking wheel 9 includes two front wheels and two rear wheels. The front wheels are driven by a first driving motor 2, and the two rear wheels are driven by a second driving motor 5.
Specifically, the walking wheel 9 has an annular structure, and flanges are disposed on two sides of the walking wheel 9. The chuck 903 is disposed between two flanges of the walking wheel 9, and a height of the flanges is smaller than a height of the chuck 903 after the chuck is rebound and larger than a height of the chuck 903 after the chuck is compressed. The flanges are disposed on the walking wheel 9 to support the walking wheel 9 and limit deformation of the chuck 903, so that the pressure rod 902 can be pressed into the oil outlet.
Specifically, two groups of oil outlets are formed on the chuck 903, and the two groups of oil outlets are symmetrically disposed. Two pressure rods 902 are in one group and connected through a connection rod, and a plurality of groups of pressure rods 902 are disposed on the wheel body 901 in an annular array. The connection rod is a straight rod or a bent rod. When the connection rod is a bent rod, a height of a middle part of the rod is higher than that of two ends (two ends matched with the pressure rod).
Specifically, the fixing cam 905 and the walking wheel 9 are concentrically disposed, and a protruded portion of the fixing cam 905 is vertically disposed downwards. When any chuck 903 of the walking wheel 9 rotates to a bottom of the walking wheel 9, a corresponding pressure rod 902 can accurately seal the oil outlet.
A limiting piece is fixedly connected to the pressure rod 902, a return spring 904 is disposed between the limiting piece and an inner wall of the walking wheel 9, and the return spring 904 is sleeved on the pressure rod 902, so that the pressure rod 902 may be quickly separated from the oil outlet, and the chuck 903 may be rebound, to erasure that the chucks 903 on the walking wheel 9 may alternatively suck.
A rotary impeller is disposed on a tail end of the shell 8, and the rotary impeller 13 is driven by a rotary motor 6 in the shell 8, to provide force for driving the robot.
There are two groups of positioning rods. An included angle between the two groups of positioning rods is in a range from 15° to 30°. The positioning rod includes a spring rod and a sliding rod. Two spring rods and one sliding rod form one group of positioning rod, one end of the spring rod is fixedly connected to the shell 8, and the other end is fixedly connected to the sliding rod. Through the spring rod, the robot can adapt to pipes with different diameters.
The foregoing are only descriptions of preferred specific embodiments of the present LU504001 disclosure, but the protection scope of the present disclosure is not limited thereto.
Any equivalent replacement or modification made within a technical scope of the present disclosure by a person skilled in the art according to the technical solutions of the present disclosure and 5 inventive concepts thereof shall fall within the protection scope of the disclosure.

Claims (8)

1. An oil detection micro-robot, comprising a shell, wherein — a walking assembly is disposed on the shell; — the walking assembly comprises a walking wheel disposed at a bottom of the shell and a positioning rod disposed at a top of the shell: — a detection assembly is disposed in the shell; — the detection assembly comprises a control centre, a power supply, and a signal receiver; — the power supply is electrically connected with both the control centre and the signal receiver; and — a temperature sensor, a pressure sensor, and an observation mirror are disposed on the signal receiver.
2. The oil detection micro-robot according to claim 1, wherein — the walking wheel is rotationally disposed on the shell and driven by a motor in the shell, — the walking wheel comprises a wheel body, — a plurality of chucks that are uniformly distributed are fixedly connected to the wheel body, — an oil outlet is defined on each of the plurality of chucks, — the wheel body is hollow, — a through hole is formed on a side wall of the wheel body, — a pressure rod is connected into the through hole in a sliding manner, — the pressure rod is matched with a position of the oil outlet, — a fixing cam is disposed in the wheel body, the fixing cam is fixedly connected to the shell through a fixing rod, and — the fixing cam is configured to drive an end portion of the pressure rod to be embedded in the oil outlet.
3. The oil detection micro-robot according to claim 2, wherein — the walking wheel has an annular structure, — flanges are disposed on two sides of the walking wheel, — each of the plurality of chucks is disposed between two flanges of the walking wheel, and
— the height of the flanges is smaller than a height of each of the plurality of chucks after LU504001 the chuck is rebound and larger than a height of the chuck after the chuck is compressed.
4. The oil detection micro-robot according to claim 2, wherein — two groups of oil outlets are formed on each of the plurality of chucks, — the two groups of oil outlets are symmetrically disposed; — two pressure rods are in one group and connected through a connection rod, and — a plurality of groups of pressure rods are disposed on the wheel body in an annular array.
5. The oil detection micro-robot according to claim 2, wherein — the fixing cam and the walking wheel are concentrically disposed, and — a protruded portion of the fixing cam is vertically disposed downwards.
6. The oil detection micro-robot according to claim 2, wherein — a limiting piece is fixedly connected to the pressure rod, — areturn spring is disposed between the limiting piece and an inner wall of the walking wheel, and — the return spring is sleeved on the pressure rod.
7. The oil detection micro-robot according to claim 1, wherein — arotary impeller is disposed on a tail end of the shell, and — the rotary impeller is driven by a rotary motor in the shell.
8. The oil detection micro-robot according to claim 1, wherein — there are two groups of positioning rods, — an included angle between the two groups of positioning rods is in a range from 15° to 30°, — the positioning rod comprises a spring rod and a sliding rod, — two spring rods and one sliding rod form one group of positioning rod, — one end of the spring rod is fixedly connected to the shell, and — the other end is fixedly connected to the sliding rod.
LU504001A 2022-07-15 2023-04-20 Oil detection micro-robot LU504001B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210830653.7A CN115218061B (en) 2022-07-15 2022-07-15 Micro-robot for oil detection

Publications (1)

Publication Number Publication Date
LU504001B1 true LU504001B1 (en) 2023-10-20

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ID=83611434

Family Applications (1)

Application Number Title Priority Date Filing Date
LU504001A LU504001B1 (en) 2022-07-15 2023-04-20 Oil detection micro-robot

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CN (1) CN115218061B (en)
LU (1) LU504001B1 (en)

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204210606U (en) * 2014-11-07 2015-03-18 英卡博（天津）科技有限公司 A kind of cam-type robot adsorption plant
CN107031805A (en) * 2017-04-12 2017-08-11 中国民航大学 A kind of pipe robot suitable for liquid environment
CN110985812B (en) * 2019-12-28 2021-04-20 陕西泰诺特检测技术有限公司 Pipeline deformation detection device and method
CN211599934U (en) * 2020-02-26 2020-09-29 王松森 Pipeline robot
CN212226419U (en) * 2020-05-27 2020-12-25 天津科技大学 Positioning device for pipeline detection robot
CN214331895U (en) * 2020-12-09 2021-10-01 杭州台创实业有限公司 Antistatic tire for pipeline robot
CN214325243U (en) * 2020-12-14 2021-10-01 哈尔滨理工大学 Pipeline robot walking mechanism based on vision SLAM
CN113531283A (en) * 2021-07-12 2021-10-22 河南工程学院 Oil pipe inner wall crawling robot
CN216768763U (en) * 2022-01-13 2022-06-17 广西大学 Pipeline robot convenient to walk based on vision SLAM

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CN115218061A (en) 2022-10-21
CN115218061B (en) 2023-06-23

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Effective date: 20231020