CN207584272U - A kind of pipeline inspecting robot - Google Patents

Abstract

The utility model discloses a pipeline inspection robot, which comprises a driving walking mechanism, a mileage wheel positioning mechanism and a detection mechanism. The mileage wheel positioning mechanism and the detection mechanism are fixedly connected and arranged in the middle of the pipeline inspection robot. There are two driving walking mechanisms, which are respectively arranged The two ends of the pipeline inspection robot are connected with the mileage wheel positioning mechanism and the detection mechanism through a universal joint transmission. A rotating motor is arranged between the mileage wheel positioning mechanism and the detection mechanism. The rotating motor is connected with the two universal joints to drive the walking. The mechanism includes a drive motor and a drive wheel. The drive motor is connected to the drive wheel through a planetary gear train. A number of mileage wheels are arranged on the side wall of the mileage wheel positioning mechanism along the circumferential direction. A mileage sensor is arranged on the mileage wheel. There is a detector, and the mileage wheel is connected with the detector.

Description

A pipeline inspection robot

technical field

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

Background technique

The use of pipelines in current electricity production is increasing rapidly, and its role cannot be underestimated. Since the pipeline is buried underground, it is easy to cause pipeline failure accidents due to factors such as pipe material and construction quality. After the pipeline has been in service for a long time, it will be corroded due to external interference, soil and other surrounding environments, and defects such as cracks caused by pipe fatigue will lead to pipeline failure accidents. happened. It is necessary to regularly check and maintain the inside of the pipeline to prolong the service life of the pipeline, as well as to prevent major safety accidents through regular inspection and safety assessment. Due to the complex environment in which the pipeline is located and the staff are not suitable or even able to enter it to carry out operations, there is an urgent need for pipeline robots to perform corresponding tasks. And the means that electric power department adopts at present, mainly use artificially. As a supplier of electricity, the power company should actively adopt advanced technology and management methods.

In comparison, my country's underground pipeline detection technology is still in the initial stage of exploration. Not only do most pipelines not use network systems for monitoring, but also various detection technologies for pipeline corrosion mostly stay outside the pipeline, and the traditional methods are backward. The inspection of underground pipelines is basically carried out manually, and the internal conditions of the pipeline can only be checked simply with push rods. It is impossible to know the exact situation when a problem is found, and due to manual inspections, it is impossible to know the internal situation accurately, so we can only dig it out to see. At the same time, it requires a lot of manpower, material resources, and financial resources. In addition, it is impossible to provide detailed information feedback on some key nodes.

Utility model content

In order to overcome the deficiencies in the prior art, the utility model provides a pipeline inspection robot, which can reduce a large amount of manpower, material resources and financial resources required for manual pipeline inspection, optimize pipeline inspection capabilities, find problems in pipelines in a timely and effective manner, and improve Inspection and operation capability.

In order to achieve the above object, the utility model adopts the following technical solutions:

A pipeline inspection robot, comprising a driving travel mechanism, a mileage wheel positioning mechanism and a detection mechanism, the mileage wheel positioning mechanism and the detection mechanism are fixedly connected and arranged in the middle of the pipeline inspection robot, and there are two driving travel mechanisms, which are respectively arranged on the pipeline inspection robot Both ends are connected with the mileage wheel positioning mechanism and the detection mechanism through a universal joint transmission. A rotating motor is arranged between the mileage wheel positioning mechanism and the detection mechanism. The rotating motor is connected with the two universal joints. The driving travel mechanism includes a driving motor and a The driving wheel, the driving motor is connected to the driving wheel through a planetary gear train, a number of mileage wheels are arranged on the side wall of the mileage wheel positioning mechanism along the circumferential direction, a mileage sensor is arranged on the mileage wheel, and a detector is arranged in the mileage wheel positioning mechanism. The wheel is connected to the detector.

The driving motors at the front end and the rear end of the pipeline inspection robot rotate in opposite directions, and under the friction with the pipe wall, the overall forward direction is consistent. After the drive motor is started, it drives the planetary gear train to decelerate, and drives the entire robot at a stable speed to inspect the interior of the pipeline. In order to adapt to long-distance walking, dual drive motors are used here to provide power to achieve normal walking and inspection inside the pipeline.

During the detection process, the mileage wheel rolls along the pipe wall, and every time the mileage wheel rotates through a certain angle (corresponding to a certain distance traveled by the detector), the mileage sensor installed on the mileage wheel sends out a pulse signal, and the electronic system of the detector continuously collects this The signal can be used to calculate the relative position of the detector. When the pipeline inspection robot is running in the pipeline, the detector electronic system records all the pipeline characteristic information (valve, tee, elbow, defect, etc.) position.

The situation in the pipeline is complicated, and the mileage wheel may slip, malfunction, etc., so generally multiple mileage wheels are installed, and each mileage wheel will send out a pulse signal during the rotation process, and this signal carries the running speed information of the detector in the pipeline. Here, one of the signals with the smallest error must be selected as the odometer signal for tracking. In the actual operation process, the tracked signal may fail, such as slipping and stalling. Therefore, it is necessary to compare several signals in real time to determine whether the current tracked signal is normal. If it is normal, continue to track the signal of this road; if it is not normal, select other mileage wheel signals to track. The judgment of the working state of the mileage wheel must be fast and accurate, so as to reduce the mileage measurement error. If the pipeline is short, the exact position can be calculated directly according to the length of the clue and the positioning.

As a preferred technical solution of the present utility model, the driving traveling mechanism includes a rotating body and a supporting body, and the driving wheels include several driving wheel pairs, and each group of driving wheel pairs includes two driving wheels, and the two driving wheels They are connected by wheel shafts. The side wall of the supporting body is provided with a number of driving wheel pairs whose rotation direction is parallel to the axis of the pipeline along the circumferential direction. The axle of the driving wheel pair connected to the rotating body forms an included angle of 20° with the generatrix of the rotating body. This structure can balance the output torque of the drive motor.

As a preferred technical solution of the present utility model, the wheel shaft of the driving wheel set is connected with the support body and the rotating body through a telescopic spring, and a guide rod is arranged in the telescopic spring. When the pipeline inspection robot detects along the pipeline, it needs to overcome the influence of factors such as the deformation of the pipeline section, the protrusion or pit caused by the uneven inner wall, and the bend pipe. This structure can make the robot have a certain ability to adapt to the change of the pipeline diameter.

As a preferred technical solution of the present invention, there are three sets of driving wheel pairs connected to the support body and the rotating body, and the driving wheel pairs are evenly distributed along the circumferential direction of the supporting body and the rotating body.

As a preferred technical solution of the present invention, the detection mechanism includes an ultrasonic probe.

As a preferred technical solution of the utility model, the detection mechanism includes a miniature camera and a non-destructive detection sensor. Nondestructive testing methods have the advantages of high sensitivity, strong penetrating power, flexible flaw detection, high efficiency, low cost, and no harm to the human body. Use the pipeline inspection robot to conduct quick video surveys of pipelines or pipe networks, and combine professional pipeline video interpretation report software to interpret and analyze detection videos, generate professional detection reports and intuitive electronic maps.

As a preferred technical solution of the present utility model, the driving motor is arranged on a support body, and the support body and the universal joint are connected through telescopic springs.

Compared with the prior art, the utility model has the beneficial effects of reducing a large amount of manpower, material resources and financial resources required for manual pipeline inspection, optimizing pipeline inspection capabilities, timely and effectively finding problems in pipelines, and improving inspection and operation capabilities.

Description of drawings

Fig. 1 is the structural representation of the utility model.

In the figure: rotating body 1, supporting body 2, drive motor 3, universal joint 4, detection chamber 5, mileage wheel 6, rotating motor 7, ultrasonic probe 8.

Detailed ways

The preferred embodiments of the present utility model are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present utility model, and are not intended to limit the present utility model.

As shown in Figure 1, a pipeline inspection robot includes a driving travel mechanism, a mileage wheel positioning mechanism and a detection mechanism. The mileage wheel positioning mechanism and the detection mechanism are fixedly connected and arranged in the middle of the pipeline inspection robot. There are two driving travel mechanisms, respectively It is arranged at both ends of the pipeline inspection robot and is connected with the mileage wheel positioning mechanism and the detection mechanism through the universal joint 4. A rotating motor 7 is arranged between the mileage wheel positioning mechanism and the detection mechanism. The rotating motor 7 is connected to two universal joints 4 Connected, the driving traveling mechanism includes a driving motor 3 and a driving wheel, and the driving motor 3 is connected to the driving wheel through a planetary gear train. The mileage wheel positioning mechanism includes a detection chamber 5, and three mileage wheels 6 are evenly arranged on the side wall of the detection chamber 5 along the circumferential direction. The mileage wheel 6 is provided with a mileage sensor. The detector is connected with the mileage sensor, the detector and the mileage sensor are connected with a detector electronic system, and the detector electronic system is connected with a computer. The detection mechanism includes an ultrasonic probe 8, which is connected with the electronic system of the detector.

The drive travel mechanism includes a rotating body 1 and a supporting body 2. Three sets of driving wheel pairs are evenly arranged on the side wall of the supporting body 2 along the circumferential direction. On the side wall of the body 1, three groups of driving wheel pairs are evenly arranged along the circumferential direction, and the axles of the driving wheel pairs connected to the rotating body 1 form an angle of 20° with the generatrix of the rotating body. Each driving wheel pair includes two driving wheels, and the two driving wheels are connected through a wheel shaft. The wheel shaft of the driving wheel pair is connected with the support body and the rotating body through a telescopic spring, and a guide rod is arranged in the telescopic spring. The driving motor 3 is arranged on the support body 2, and the support body 2 and the universal joint 4 are connected by a telescopic spring.

The pipeline inspection robot also includes a ground marking system. The ground marking system includes a reference clock and several ground markers arranged along the pipeline. The reference clock is respectively connected to the computer and the detector electronic system. The ground marker includes a high-precision clock module, a wireless serial port module and the ground signal acquisition and storage module, and the reference clock is connected with the ground marker through the wireless serial port.

Finally, it should be noted that: the above is only a preferred embodiment of the utility model, and is not intended to limit the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for those skilled in the art , it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (7)

1. a kind of pipeline inspecting robot, which is characterized in that including driving walking mechanism, mileage wheel detent mechanism and explorer Structure, mileage wheel detent mechanism are fixedly connected with detection agency and are arranged in the middle part of pipeline inspecting robot, and driving walking mechanism has It two, is separately positioned on the both ends of pipeline inspecting robot and passes through cardan drive with mileage wheel detent mechanism and detection agency Connection, is provided with electric rotating machine between mileage wheel detent mechanism and detection agency, electric rotating machine is connected with two universal joints, drives Dynamic walking mechanism includes driving motor and driving wheel, and driving motor is sequentially connected by planetary gear train and driving wheel, mileage wheel Detent mechanism side wall upper edge is circumferentially provided with several mileage wheels, and odometer sensor, mileage wheel detent mechanism are provided on mileage wheel Detector is inside provided with, mileage wheel is connected with detector.

2. a kind of pipeline inspecting robot according to claim 1, which is characterized in that the driving walking mechanism includes rotation Swivel and supporter, the driving wheel include several driving wheels pair, and every group of driving wheel is to including two driving wheels, described two drives By taking turns axis connection between driving wheel, it is parallel with conduit axis that the support body sidewall upper edge is circumferentially provided with several rotation directions Driving wheel pair, the rotation body sidewall upper edge are circumferentially provided with several groups of driving wheels pair, the driving being connected with the rotary body The wheel shaft of wheel pair and the busbar of rotary body form 20 ° of angles.

3. a kind of pipeline inspecting robot according to claim 2, which is characterized in that the wheel shaft of the driving wheel pair and institute It states supporter and rotary body is connected by adjustable spring, guide rod is provided in the adjustable spring.

4. a kind of pipeline inspecting robot according to claim 2, which is characterized in that with the supporter and rotary body phase The driving wheel of connection to there is three groups respectively, and the driving wheel along the supporter and rotary body to being circumferentially uniformly distributed.

5. a kind of pipeline inspecting robot according to claim 1, which is characterized in that the detection agency includes ultrasonic wave Probe.

6. a kind of pipeline inspecting robot according to claim 1, which is characterized in that the detection agency includes Miniature phase Machine and non-destructive testing sensor.

7. a kind of pipeline inspecting robot according to claim 1, which is characterized in that the driving motor is arranged on support On body, the supporter is connected with universal joint by adjustable spring.