CN115356349A

CN115356349A - Self-stabilizing pipeline inner wall detection robot

Info

Publication number: CN115356349A
Application number: CN202211169620.9A
Authority: CN
Inventors: 张湘雄; 谭兆; 刘小舟; 曹动; 何江; 胡新洲
Original assignee: Rocketech Technology Corp ltd
Current assignee: Rocketech Technology Corp ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-11-18
Anticipated expiration: 2042-09-26
Also published as: CN115356349B

Abstract

The invention provides a self-stabilizing pipeline inner wall detection robot, which comprises a walking component and a detection main body component, wherein the walking component comprises a walking cylindrical shell, the detection main body component comprises a detection cylindrical shell, an inclination angle sensor module and an angular displacement correction component are arranged in the detection cylindrical shell, the angular displacement correction component comprises a first rotary motor and a friction wheel, the first rotary motor is fixedly connected with the detection cylindrical shell, the friction wheel is abutted against the inner wall of the walking cylindrical shell at least partially penetrating through the detection cylindrical shell, the inclination angle sensor module can detect the rotation angle of the detection main body component in the operation process, and the first rotary motor can be controlled to operate according to the rotation angle detected by the inclination angle sensor module so as to eliminate the rotation angle of the detection main body component by driving the rotation of the friction wheel. The invention enables the detection main body component to recover to the original angle state, namely realizes self-stabilization, further realizes the accurate positioning of the circumferential angle of the detection main body component and improves the detection precision.

Description

Self-stabilizing pipeline inner wall detection robot

Technical Field

The invention relates to the technical field of pipeline inner wall detection, in particular to a self-stabilizing pipeline inner wall detection robot.

Background

In production, a large number of pipelines need to be subjected to inner wall detection, such as gas pipelines, petroleum pipelines, tap water pipelines, chemical pipelines, artillery body pipes and the like, the quality of the inner wall and the straightness of the axis of the body pipe need to be detected in the manufacturing process of the pipelines, and the state of the inner wall also needs to be detected in the using process of the pipelines to determine whether maintenance and replacement are needed. Wherein, the checking of the gun barrel inner wall flaw crack, rifling, barrel axis straightness, gun muzzle angle is safe, design precision, gun service life, economy and other items.

There are many documents and patents relating to the detection of the inner wall and axis of a pipe. A survey method and apparatus are described in the "research on comprehensive survey system for inner surface of gun barrel" of Zhengjun et al, jingjing, chairman. The 'artillery body tube bending degree and muzzle angle measuring system drive control' of Li Jian Zhong et al in the Huayin weapon test center describes a travel driving device of an artillery tube bending degree and muzzle angle measuring system and a control method thereof. The invention discloses a defect detection robot for an inner wall of a variable inner diameter pipeline based on annular structured light vision, which is invented by Sunworks of Beijing aerospace university (patent application No. 202210114881.4), and describes the defect detection robot for the inner wall of the variable inner diameter pipeline.

However, in these prior arts, the disadvantage of the detection device (specifically, the detection main body of the detection robot) due to the rotation is not noticed, and specifically, the rotation of the detection device is not processed, so that if the device rotates during the detection process, the circumferential angle position of the defect cannot be located, and the detection accuracy is affected.

Disclosure of Invention

The self-stabilizing pipeline inner wall detection robot designed by the invention can solve the technical problems that the circumferential angle position of the defect of the pipeline inner wall cannot be accurately positioned in the detection process due to the rotation of the detection main body and the detection precision is reduced in the prior art.

The invention aims to provide a self-stabilizing pipeline inner wall detection robot, which comprises a walking component and a detection main body component, wherein the walking component comprises a walking cylindrical shell, the detection main body component comprises a detection cylindrical shell, two ends of the detection cylindrical shell are rotatably erected in the walking cylindrical shell through bearings, an inclination angle sensor module and an angular displacement correction component are arranged in the detection cylindrical shell, the angular displacement correction component comprises a first rotary motor fixedly connected with the detection cylindrical shell and a friction wheel sleeved with a rotary shaft of the first rotary motor, the friction wheel is abutted against the inner wall of the walking cylindrical shell at least partially penetrating through the detection cylindrical shell, the inclination angle sensor module can detect the self-rotation angle of the detection main body component in the operation process, and the first rotary motor can be controlled to operate according to the self-rotation angle detected by the inclination angle sensor module so as to eliminate the self-rotation angle of the detection main body component through the rotation driving the friction wheel.

In some embodiments, a bottom region inside the detection cylindrical housing is provided with a counterweight flat plate, and the tilt sensor module is assembled on a top surface of the counterweight flat plate.

In some embodiments, one end of the detection cylindrical shell is connected with a detection camera assembly, the other end of the detection cylindrical shell is connected with a laser ranging reflection plate, a first balancing weight is connected below the detection camera assembly, and/or a second balancing weight is connected below the laser ranging reflection plate.

In some embodiments, the first weight block is connected to the detection camera assembly by a first flexible cable; and/or the second balancing weight is connected with the laser ranging reflection plate through a second soft rope.

In some embodiments, at least three running supports are connected to the outer side of the running cylindrical shell, at least two running wheels capable of being driven to run are arranged on each running support at intervals along the length direction of the running support, and the at least three running supports are uniformly arranged around the circumference of the running cylindrical shell at intervals.

In some embodiments, the walking supports comprise a first support section, a second support section and a third support section which are sequentially hinged, wherein the free ends of the first support sections of each walking support are hinged to a first ring body together, the free ends of the third support sections of each walking support are hinged to a second ring body together, and the first ring body and the second ring body are detachably sleeved at two ends of the walking cylindrical shell respectively.

In some embodiments, the outer circumferential wall of the traveling cylindrical shell is further sleeved with a diameter adjusting structure, and the axial position of the diameter adjusting structure on the traveling cylindrical shell can be adjusted to drive at least three second support sections to move inwards or outwards along the radial direction of the traveling cylindrical shell.

In some embodiments, the diameter adjusting structure includes a first sleeve ring, a second sleeve ring, and a coil spring sleeved on the outer peripheral wall of the walking cylindrical housing, the coil spring is connected between the first sleeve ring and the second sleeve ring, the first sleeve ring and the second sleeve ring are sleeved on the outer peripheral wall of the walking cylindrical housing with a gap therebetween, the first sleeve ring is provided with a plurality of adjusting guide rods extending along the radial direction of the first sleeve ring, each adjusting guide rod is connected with the second support section in a manner of corresponding to the second support section, so as to drive the second support section to move along the axial direction of the walking cylindrical housing, and the second sleeve ring is fixedly connected with the walking cylindrical housing through quick-turning screws.

In some embodiments, the second bracket section has two support columns arranged at intervals, each support column is perpendicular to the axial direction of the running cylindrical shell, each support column is sleeved on a roller, and the free end of the adjusting guide rod is inserted into a gap formed by the rollers sleeved on the two support columns respectively.

In some embodiments, the diameter of the first end of the running tubular housing is greater than the diameter of the second end, the diameter of the first end of the detection tubular housing is greater than the diameter of the second end, the second end of the detection tubular housing is capable of being assembled to the second end of the running tubular housing via the first end of the running tubular housing with an axial displacement limiting member therebetween.

When the detection main body assembly rotates in the circumferential direction, the inclination angle sensor of the inclination angle sensor module obtains the corresponding rotation angle and feeds the rotation angle back to the corresponding control part, and the control part controls the first rotating motor to rotate to drive the friction wheel, so that the detection main body assembly integrally rotates around the central shaft (namely the coaxial line of the two bearings) by the same angle opposite to the rotation angle under the action of relative friction force between the friction wheel and the inner wall of the walking cylindrical shell, the self-stabilization is realized when the detection main body assembly is restored to the original angle state, the accurate positioning of the circumferential angle of the detection main body assembly is realized, and the detection accuracy is improved.

Drawings

Fig. 1 is a perspective view (partially cut away) of the self-stabilized pipeline inner wall inspection robot of the present invention at a viewing angle when applied to a pipeline.

Fig. 2 is a schematic view of a disassembled structure of the self-stabilized pipeline inspection robot in fig. 1.

Fig. 3 is a perspective view (partially cut away) of the detection body assembly of fig. 1.

Fig. 4 is a schematic perspective view of the detection body assembly in fig. 1 in another embodiment.

FIG. 5 is a perspective view of the running assembly of FIG. 1.

Fig. 6 is a partially enlarged view of a portion a in fig. 5.

Fig. 7 is a schematic structural view (partially cut away) of a pipeline inner wall inspection robot according to another embodiment of the present invention.

In the figure: 1. a running assembly; 11. a running cylindrical casing; 12. a traveling support; 121. a first support section; 122. a second stent section; 1221. a support column; 1222. a roller; 123. a third carrier section; 13. running wheels; 131. a walking drive rotary motor; 141. a first ring body; 142. a second ring body; 1431. a first collar; 1432. a second collar; 1433. a coil spring; 144. adjusting the guide rod; 2. detecting the main body assembly; 21. detecting the cylindrical shell; 22. a counterweight flat plate; 3. a bearing; 41. a tilt sensor module; 421. a first rotary electric machine; 422. a friction wheel; 51. detecting a camera component; 511. An annular light source; 512. protective glass; 52. a laser ranging unit; 521. a laser ranging reflecting plate; 522. a laser; 53. a first weight block; 54. a second counterweight block; 55. a first flexible cord; 56. a second flexible cord; 6. Quickly screwing the screw; 7. an axial displacement restricting member; 8. a voltage conversion module; 9. a cable; 100. a pipeline to be detected; 200. a ring laser.

Detailed Description

Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. In the drawings, the thickness of regions and layers are exaggerated for clarity. The same reference numerals denote the same or similar structures in the drawings, and thus detailed descriptions thereof will be omitted.

The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.

The following embodiments are described as the self-stabilizing pipe inner wall inspection robot of the present invention, and the embodiments are only a part of the embodiments of the present invention, but the scope of the present invention is not limited thereto. All other embodiments obtained by a person skilled in the art without making any inventive step are intended to be included within the scope of protection of the present invention.

Referring to fig. 1 to 7, according to an embodiment of the present invention, a self-stabilized pipeline inner wall inspection robot is provided, including a traveling component 1, an inspection main component 2, and a laser ranging unit 52, wherein the inspection main component 2 has an inspection camera component 51 thereon, which detects the inner wall of the pipeline by the inspection camera component 51, the traveling component 1 carries the inspection main component 2 to drive the inspection main component 2 to move forward or backward along the length direction of the pipeline, the laser ranging unit 52 includes a laser ranging reflection plate 521 and a laser 522 emitting laser, which can accurately measure the traveling distance of the traveling component 1, the traveling component 1 includes a traveling tubular housing 11, the inspection main component 2 includes an inspection tubular housing 21, two ends of the inspection tubular housing 21 are rotatably mounted in the traveling tubular housing 11 through bearings 3, the detection cylindrical shell 21 is internally provided with an inclination angle sensor module 41 comprising an inclination angle sensor and an angular displacement correction assembly, the angular displacement correction assembly comprises a first rotary motor 421 fixedly connected with the detection cylindrical shell 21 and a friction wheel 422 sleeved with a rotary shaft of the first rotary motor 421, the friction wheel 422 is abutted with the inner wall of the walking cylindrical shell 11 at least partially penetrating through the detection cylindrical shell 21, the inclination angle sensor module 41 (particularly through the inclination angle sensor) can detect the self-rotation angle generated by the detection main body assembly 2 in the operation process, the first rotary motor 421 can be controlled to operate according to the self-rotation angle detected by the inclination angle sensor module 41 so as to eliminate the self-rotation angle of the detection main body assembly 2 through the rotation of the driving friction wheel 422, particularly, the pipeline inner wall detection robot is provided with a corresponding control component which can receive the self-rotation angle detected by the inclination angle sensor module 41, and sends out a control command for controlling the rotation of the first rotation motor 421 to eliminate the rotation angle, so as to achieve the purpose of self-stabilizing design of the pipeline inner wall detection robot, and of course, it can also be used to control the walking of the walking assembly 1, and the aforementioned control component is, for example, a controller integrated with the detection robot, or a computer (in which corresponding detection software is configured) connected by communication via a cable 9.

In the technical scheme, when the main detection body assembly 2 rotates in the circumferential direction, the tilt sensor of the tilt sensor module 41 obtains the corresponding rotation angle and feeds back the rotation angle to the corresponding control component, the control component controls the first rotating motor 421 to rotate and drive the friction wheel 422, so that the main detection body assembly 2 integrally rotates around the central shaft (i.e. the coaxial line of the two bearings 3) by the same angle opposite to the rotation angle under the action of the relative friction force between the friction wheel 422 and the inner wall of the walking cylindrical shell 11, so that the main detection body assembly 2 is restored to the original angle state, the accurate positioning of the circumferential angle of the main detection body assembly 2 is realized, the self-stability is also realized, and the detection precision is improved.

The laser ranging unit 52 adopts the laser ranging reflection plate 521 to cooperate with the laser 522 to measure the distance of the robot, and can overcome the problem that in the prior art, the walking mileage is determined by an encoder of a driving mechanism, and the distance measurement is inaccurate due to the slipping of a driving wheel (i.e., the walking wheel 13), which causes the defect of poor axial positioning accuracy.

In a preferred embodiment, the bottom region in the detection cylindrical housing 21 is provided with a balance weight plate 22, the tilt sensor module 41 is assembled on the top surface of the balance weight plate 22, and at this time, the balance weight plate 22 serves as a mounting carrier for part of the internal components of the detection main body assembly 2, such as the tilt sensor module 41, the voltage conversion module 8, and the like, so as to facilitate the positioning and mounting of the assemblies, and on the other hand, the overall mass center of the detection main body assembly 2 can be biased downward by its own large weight, so that the occurrence probability of rotation of the detection main body assembly 2 can be reduced by this structural manner, and under the condition that some detection precision requirements are relatively low, it can be considered that the self-stabilization effect of the robot is realized by only adopting the manner of configuring the balance weight plate 22. Furthermore, as shown in fig. 4, one end of the detection camera assembly 51 is connected to the detection cylindrical housing 21, a first balancing weight 53 is connected below the detection camera assembly 51, and/or the other end of the laser ranging reflection plate 521 is connected to the detection cylindrical housing 21, a second balancing weight 54 is connected below the laser ranging reflection plate 521, and the self-stabilization effect of the robot can be further enhanced by the arrangement of the first balancing weight 53 and the second balancing weight 54 in terms of mechanical structure. Further, the first counterweight block 53 is connected with the detection camera assembly 51 through a first soft rope 55; and/or, second balancing weight 54 is connected with laser rangefinder reflecting plate 521 through second soft rope 56, and this department can make first balancing weight 53 and second balancing weight 54's position lower through soft rope to make the whole barycenter of detecting main part subassembly 2 reduce as far as possible, make it realize under the effect of dead weight for the relative still of pipeline axis circumference, further guarantee to detect the precision. The first soft rope 55 and the second soft rope 56, such as soft steel wire ropes, ensure the reliability and stability of the connection of the counterweight. It can be understood that the material density of the aforementioned balance weight plate 22, the first balance weight block 53 and the second balance weight block 54 should be greater than the material density of other structural members of the detection main assembly 2, generally, the material of other structures of the detection main assembly 2 is generally an aluminum alloy, and therefore the material density of the balance weight plate 22, the first balance weight block 53 and the second balance weight block 54 is greater than the material of the aluminum alloy, such as steel.

It should be noted that, the voltage conversion module 8 is electrically connected to the cable 9, and at this time, the dead weight of the cable 9 can also be applied to the voltage conversion module 8 and the counterweight flat plate 22 therebelow, so that the overall center of mass of the detection main assembly 2 is further moved downward, and the stability of the mechanical structure itself is further improved. The cable 9 includes a power line electrically connected to an external power source (e.g., a lithium battery with a large volume), the power line is converted by the voltage of the voltage conversion module 8 and then supplies power to the tilt sensor module 41 and the detection camera module 51, and the like, and also includes a signal line capable of communicating and transmitting detection signals of the tilt sensor module 41 and the detection camera module 51 to an external control component, such as a computer, and transmitting corresponding control commands sent by the computer.

As shown in fig. 5, at least three traveling supports 12 are connected to the outside of the traveling tubular housing 11, at least two traveling wheels 13 capable of being driven to operate are arranged on each traveling support 12 at intervals along the length direction thereof, and the at least three traveling supports 12 are uniformly arranged at intervals around the circumference of the traveling tubular housing 11, so that the traveling assembly 1 can stably bear the detection main body assembly 2 to move forward or backward along the preset detection direction. Each traveling wheel 13 is driven to rotate by a traveling driving rotary motor 131, and traveling power is stronger.

As further shown in fig. 5, the traveling brackets 12 include a first bracket section 121, a second bracket section 122 and a third bracket section 123 which are sequentially hinged, wherein the free end of the first bracket section 121 of each traveling bracket 12 is hinged to the first ring 141, the free end of the third bracket section 123 of each traveling bracket 12 is hinged to the second ring 142, the first ring 141 and the second ring 142 are detachably sleeved on two ends of the traveling cylindrical shell 11, so that it can be understood that, for each traveling bracket 12, the first bracket section 121, the second bracket section 122 and the third bracket section 123 form a four-bar linkage structure with the cylindrical shell 11, wherein the traveling first bracket section 121 and the third bracket section 123 form a parallel structure, and the second bracket section 122 and the cylindrical bus of the traveling cylindrical shell 11 form a parallel structure. In the technical scheme, the included angle between the second support section 122 and the first support section 121 is controlled, so that the radial position of the four-bar linkage structure on the traveling cylindrical shell 11 can be changed, the adaptation of the traveling support 12 to the diameter of the inner wall of the pipeline 100 to be detected is realized, that is, the traveling support 12 of the invention can be applied to the pipeline 100 to be detected within a certain diameter range (related to the maximum height of a parallelogram formed by the four-bar linkage structure), the universality of the traveling assembly 1 of the invention is improved, and the use cost of the robot is reduced. It should be particularly noted that, in the technical solution, at least three traveling supports 12 are detachably sleeved with the traveling cylindrical housing 11 through the first ring body 141 and the second ring body 142, for example, the first ring body 141 and the second ring body 142 are respectively provided with the quick-screwing screws 6, so that different traveling supports 12 can be more conveniently replaced, the traveling supports 12 with more suitable stroke can be replaced according to different inner diameters of the pipeline 100 to be inspected, the pipeline can adapt to pipe diameters of different spans, economic efficiency is increased, cost is saved, and disassembly and assembly are more convenient. The length of the aforementioned second carrier section 122 is matched to the axial length of the running cylinder housing 11, i.e. is approximately equal.

In a preferred embodiment, the outer circumferential wall of the traveling tubular housing 11 is further provided with a diameter adjusting structure (not referenced in the drawings), and the diameter adjusting structure can be adjusted in the axial position of the traveling tubular housing 11 to drive at least three second support sections 122 (i.e. the respective traveling supports 12 connected to the outer circumferential wall of the traveling tubular housing 11) to move inward or outward along the radial direction of the traveling tubular housing 11. In this technical solution, the second support section 122 can be adapted to the inner wall of the pipe 100 to be inspected with a smaller diameter when moving radially inward, and can be adapted to the inner wall of the pipe 100 to be inspected with a larger diameter when moving radially outward, so as to ensure the adaptability of the inner diameter of the pipe of the traveling support 12. It should be noted that the running wheels 13 are rotatably connected to the second frame section 122, and at least two running wheels 13 are provided, which are respectively provided corresponding to the first end and the second end of the running tubular housing 11, so as to ensure stability of the running posture.

In a specific embodiment, the diameter adjusting structure includes a first collar 1431, a second collar 1432, and a coil spring 1433 sleeved on the outer peripheral wall of the traveling cylindrical housing 11, the coil spring 1433 is connected between the first collar 1431 and the second collar 1432, the first collar 1431 and the second collar 1432 are sleeved on the outer peripheral wall of the traveling cylindrical housing 11 with a gap, the first collar 1431 has a plurality of adjusting guide rods 144 extending along the radial direction thereof, each adjusting guide rod 144 is connected to the second bracket section 122 respectively to drive the second bracket section 122 to move along the axial direction of the traveling cylindrical housing 11, and the second collar 1432 is fixedly connected to the traveling cylindrical housing 11 by a quick-tightening screw 6, so as to enable the second collar 1432 to be positioned in the axial direction of the traveling cylindrical housing 11. In the technical scheme, the first collar 1431 drives the position adjustment of the second bracket section 122 through the free end of the adjusting guide rod 144, the position adjustment of the first collar 1431 is realized through the second collar 1432 and the spiral spring 1433 clamped between the second collar and the second collar, that is, when the radial position of each second bracket section 122 needs to be adjusted, that is, the diameter size of the walking bracket 12 needs to be adjusted, only the axial position of the first collar 1431 needs to be adjusted, which is very simple and convenient, and the arrangement of the spiral spring 1433 can enable the walking bracket 12 to adapt to the pipe diameter change caused by the protrusion or the depression which may occur on the inner wall of the pipe in the process that the robot travels or retreats along the axial direction of the pipe 100, so that the walking wheel 13 can be tightly abutted against the inner wall of the pipe all the time to have enough friction force, the obstacle crossing capability of the robot is improved, and the stable reliability of the inspection is ensured. It can be appreciated that the stiffness of the coil spring 1433 can be configured as appropriate for the actual requirements. In a specific embodiment, the outer circumferential wall of the running tubular housing 11 has scale values spaced axially along it, which correspond to the inner diameter of the pipe 100 to be inspected used by the running carriage 12, and rapid inner diameter adaptation can be achieved by positioning the second collar 1432 at the corresponding scale value. It can be understood that, when the robot is not placed in the pipe 100 to be inspected, the diameter of the outer support of the second frame section 122 should be larger than the maximum value of the actual inner diameter of the pipe 100 to be inspected, so as to ensure that the walking assembly 1 can tightly contact with the inner wall of the pipe and has a certain pressure during the whole advancing process, and ensure the reliability of walking.

Referring specifically to fig. 6, the second frame section 122 has two supporting columns 1221 arranged at intervals, each supporting column 1221 is perpendicular to the axial direction of the traveling cylindrical housing 11, each supporting column 1221 is sleeved on a roller 1222, and the free end of the adjusting guide rod 144 is inserted into a gap formed by the rollers 1222 sleeved on the two supporting columns 1221. The rollers 1222 are respectively located on two opposite side surfaces of the adjusting guide rod 144, when the radial position of the second bracket section 122 changes inward or outward, the adjusting guide rod 144 and the rollers 1222 are in rolling contact, the adjusting process is smoother, and meanwhile, the abrasion between the two components can be reduced, and this effect is particularly suitable for the working condition that the consistency of the inner wall pipe diameter of the pipeline 100 to be detected is poor in the robot walking process, and the abrasion between the adjusting guide rod 144 and the rollers 1222 caused by frequent diameter adjustment of the walking bracket 12 can be greatly reduced.

In some embodiments, the diameter of the first end of the running cylindrical casing 11 is larger than that of the second end, the diameter of the first end of the detection cylindrical casing 21 is larger than that of the second end, the second end of the detection cylindrical casing 21 can be assembled to the second end of the running cylindrical casing 11 through the first end of the running cylindrical casing 11, and an axial displacement limiting member 7 is provided between the detection cylindrical casing 21 and the running cylindrical casing 11, as shown in fig. 2 and 3, the axial displacement limiting member 7 includes a self-resettable ball (also referred to as a marble, not shown) disposed on the outer peripheral wall of the detection cylindrical casing 21, the ball is locked on an end side wall of an inner ring of the bearing 3 at one end of the running cylindrical casing 11 (specifically, a side of the bearing 3 away from the small-diameter end of the running cylindrical casing 11) to limit axial displacement of the running assembly 1 and the detection main body assembly 2, and the detection main body assembly 2 can rotate together with the inner ring of the bearing 3 relative to the running assembly 1. During assembly, the ball retreats into the detection cylindrical shell 21 under the compression of the assembly pressure and is ejected out through the bearing 3 to achieve the limiting effect, during disassembly, the ball retreats into the detection cylindrical shell 21 under the compression of the assembly pressure, and the detection main body assembly 2 can be smoothly separated from the walking assembly 1. In the technical scheme, the diameters of the end parts between the walking cylindrical shell 11 and the detection cylindrical shell 21 correspond to each other, and when the walking assembly 1 and the detection main body assembly 2 are specifically assembled, the walking assembly 1 and the detection main body assembly 2 can be reliably connected through insertion, so that the walking assembly is very convenient and fast.

Referring to fig. 2, the whole robot is divided into three relatively independent modules as a whole, namely, the traveling assembly 1, the detection main assembly 2 and the laser ranging unit 52 composed of the laser ranging reflection plate 521 and the laser 522, the assembly among the modules is very simple and fast, when the robot is specifically assembled, one end with a small diameter of the detection main assembly 2 is inserted into one end with a large diameter of the traveling assembly 1, so as to enter the central hole of the traveling cylindrical shell 11 (specifically, for example, in the orientation shown in fig. 1, the detection main assembly 2 is inserted into the traveling cylindrical shell 11 from right to left), until one end with a small diameter of the detection main assembly 2 corresponds to one end with a small diameter of the traveling assembly 1 and is to be erected in the bearing 3 at one end with a small diameter of the traveling assembly 1, at this time, one end with a large diameter of the detection main assembly 2 corresponds to one end with a large diameter of the traveling assembly 1 and is to be erected in the bearing 3 at one end with a large diameter of the traveling assembly 1, at this time, the axial displacement limiting part 7 simultaneously limits the axial positions of the two, the two axial displacement limiting parts, the two parts are quickly assembled, after the laser ranging units are connected to the laser ranging unit is connected to the tail part of the detection main assembly (after the laser ranging unit) is connected to the laser ranging cable 521, and the detection main assembly is placed in the tail part of the detection unit 100, and the detection unit is placed in the tail part of the detection main assembly of the detection unit (specifically, and the detection unit) after the detection unit is connected to be conveniently connected to the detection cable 521, and the detection unit is connected to be detected by the detection unit 522, and the detection unit is placed in the detection unit. The disassembling and assembling process of the robot is the reverse operation of the assembling process, and the details are not described herein. That is, the detection robot in this technical solution is formed by assembling three relatively independent modules, namely, a walking assembly 1, a detection main assembly 2 and a laser ranging unit 52, wherein, the detection main assembly 2 is inserted from one end of a walking cylindrical shell 11 through a detection cylindrical shell 21 and rotatably erected and connected under the action of a bearing 3, an axial displacement limiting component 7 simultaneously limits the axial positions of the walking cylindrical shell and the detection cylindrical shell, and the whole assembly and disassembly of the detection robot only has several steps of insertion, axial positioning and connection of a laser ranging reflection plate 521, the assembly process is extremely simple and fast, and meanwhile, because the walking cylindrical shell 11 and the detection cylindrical shell 21 are inserted and matched through two bearings 3, the coaxiality is effectively ensured, and the detection precision is relatively improved. More importantly, the detection main body component 2 and the walking component 1 in the invention can have different specifications respectively, for example, the detection camera component 51 of the detection main body component 2 can have different functions, and the walking speed and the applicable pipeline inner wall diameter range of the walking component 1 are different, so that multifunctional quick-change combination can be realized by replacing different detection main body components 2 or walking components 1, and multi-parameter detection and multi-aperture detection can be realized.

The detection camera assembly 51 can detect surface flaws and cracks on the inner wall of the pipeline, and in a specific embodiment, the detection camera assembly can be replaced to meet different detection requirements, as shown in fig. 7, the detection camera assembly 51 specifically uses the ring laser 200, can detect relevant parameters of a spiral line in the pipeline, such as a helix angle, can detect the straightness of the pipeline axis, and can form a 3D image of the inner cavity of the pipeline. Specifically, the ring laser 200 is collected through the high frequency of the camera to form an aperture on the inner wall of the pipeline, the scanning aperture of the inner wall of the pipeline in the whole time period is spliced into a 3D image by the program, the three-dimensional defect can be detected, the curvature of the central axis of the pipeline can be calculated in a fitting mode, and the opening angle of the gun barrel can also be calculated according to the curvature of the axis.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a self-stabilizing pipeline inner wall inspection robot, characterized in that, including walking subassembly (1) and detection main part subassembly (2), wherein, walk subassembly (1) including walking tube-shape casing (11), detection main part subassembly (2) is including detecting tube-shape shell (21), the both ends that detect tube-shape shell (21) are erect rotatably through bearing (3) in walking tube-shape casing (11), have inclination sensor module (41) and angle displacement correction subassembly in detecting tube-shape shell (21), angle displacement correction subassembly include with detect tube-shape shell (21) fixed connection's first rotary motor (421) and with friction wheel (422) of the pivot suit of first rotary motor (421), friction wheel (422) with pass through at least partly detect tube-shape shell (21) with walk the inner wall of tube-shape casing (11), conflict inclination sensor module (41) can detect the rotation angle that detection main part subassembly (2) took place in the operation, first rotary motor (421) can be according to the rotation angle detection main part subassembly (422) through the rotation angle detection main part detection subassembly (2) the rotation angle control of rotation.

2. The self-stabilized pipeline inner wall inspection robot according to claim 1, wherein a bottom region inside the inspection cylindrical housing (21) is provided with a balance weight plate (22), and the tilt sensor module (41) is assembled on a top surface of the balance weight plate (22).

3. The self-stabilizing pipeline inner wall detection robot according to claim 2, wherein one end of the detection cylindrical shell (21) is connected with a detection camera assembly (51), the other end of the detection cylindrical shell (21) is connected with a laser ranging reflection plate (521), a first balancing weight (53) is connected below the detection camera assembly (51), and/or a second balancing weight (54) is connected below the laser ranging reflection plate (521).

4. The self-stabilized pipeline inner wall inspection robot according to claim 3, wherein the first weight block (53) is connected with the inspection camera assembly (51) through a first soft rope (55); and/or the second balancing weight (54) is connected with the laser ranging reflection plate (521) through a second soft rope (56).

5. The self-stabilizing pipeline inner wall detection robot according to claim 1, wherein at least three walking brackets (12) are connected to the outer side of the walking cylindrical shell (11), at least two walking wheels (13) capable of being driven to run are arranged on each walking bracket (12) at intervals along the length direction of the walking bracket, and the at least three walking brackets (12) are uniformly arranged around the circumference of the walking cylindrical shell (11) at intervals.

6. The self-stabilizing robot for detecting the inner wall of the pipeline according to claim 5, wherein the walking brackets (12) comprise a first bracket section (121), a second bracket section (122) and a third bracket section (123) which are sequentially hinged, wherein the free ends of the first bracket section (121) of each walking bracket (12) are hinged to the first ring body (141) together, the free ends of the third bracket section (123) of each walking bracket (12) are hinged to the second ring body (142) together, and the first ring body (141) and the second ring body (142) are respectively and detachably sleeved at two ends of the walking cylindrical shell (11).

7. The self-stabilized pipeline inner wall detection robot according to claim 6, wherein a diameter adjustment structure is further sleeved on the outer peripheral wall of the walking cylindrical shell (11), and the diameter adjustment structure can be adjusted in the axial position of the walking cylindrical shell (11) to drive at least three second bracket sections (122) to move inwards or outwards along the radial direction of the walking cylindrical shell (11).

8. The self-stabilized pipeline inner wall detection robot according to claim 7, wherein the diameter adjusting structure comprises a first collar (1431) sleeved on the outer peripheral wall of the traveling cylindrical shell (11), a second collar (1432), and a coil spring (1433), the coil spring (1433) is connected between the first collar (1431) and the second collar (1432), the first collar (1431) and the second collar (1432) are both sleeved on the outer peripheral wall of the traveling cylindrical shell (11) in a clearance manner, the first collar (1431) is provided with a plurality of adjusting guide rods (144) extending along the radial direction of the first collar, each adjusting guide rod (144) is connected with the corresponding second bracket section (122) respectively so as to drive the second bracket section (122) to move along the axial direction of the traveling cylindrical shell (11), and the second collar (1432) is fixedly connected with the traveling cylindrical shell (11) through a quick-screw (6).

9. The self-stabilizing pipe inner wall detecting robot according to claim 8, wherein the second bracket section (122) has two supporting columns (1221) arranged at intervals, each supporting column (1221) is perpendicular to the axial direction of the traveling cylindrical housing (11), each supporting column (1221) is sleeved on a roller (1222), the free end of the adjusting guide rod (144) is inserted into a gap formed by the rollers (1222) sleeved on the two supporting columns (1221).

10. The self-stabilized pipeline inner wall inspection robot according to claim 1, characterized in that the diameter of the first end of the running cylindrical shell (11) is larger than the diameter of the second end, the diameter of the first end of the inspection cylindrical shell (21) is larger than the diameter of the second end, the second end of the inspection cylindrical shell (21) can be assembled to the second end of the running cylindrical shell (11) via the first end of the running cylindrical shell (11), and an axial displacement limiting member (7) is provided between the inspection cylindrical shell (21) and the running cylindrical shell (11).