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CN-121977134-A - Pipeline detection robot and pipeline detection system

CN121977134ACN 121977134 ACN121977134 ACN 121977134ACN-121977134-A

Abstract

The invention belongs to the technical field of pipeline detection equipment, and discloses a pipeline detection robot and a pipeline detection system. The pipeline detection robot comprises a robot shell, a detection module, a hydrofoil, a gravity adjusting component and an angle adjusting device. The detection module is arranged in the robot shell. The hydrofoil comprises a hydrofoil body and a connecting shaft, wherein the connecting shaft is fixedly connected with the hydrofoil body, and a connecting hole is formed in the side part of the robot shell. The connecting shaft can be inserted into the connecting hole to enable the hydrofoil body to be in an open state, and can be separated from the connecting hole to enable the hydrofoil body to be in a closed state under external constraint force. The gravity adjusting component is arranged in the robot shell and can adjust the gravity center of the robot shell. The angle adjusting device is arranged in the robot shell, the connecting shaft can be in butt joint with the output end of the angle adjusting device, and the connecting shaft can rotate under the drive of the angle adjusting device. The pipeline detection robot can control the moving direction of the pipeline detection robot in the pipeline, so that the moving smoothness is improved, and the pipeline detection effect and efficiency are guaranteed.

Inventors

  • DU GUANGQIAN
  • JIN WENZHONG
  • DAI YI
  • CHEN ZENGBING
  • XIE FEI
  • LIANG CHUANGLIN

Assignees

  • 深圳市博铭维技术股份有限公司

Dates

Publication Date
20260505
Application Date
20260319

Claims (10)

  1. 1. Pipeline inspection robot, its characterized in that includes: A robot housing (100); a detection module (200) disposed in the robot housing (100) configured to collect pipe data; The hydrofoil (300) comprises a hydrofoil body (310) and a connecting shaft (320), wherein the connecting shaft (320) is fixedly connected to the hydrofoil body (310), and a connecting hole (110) is formed in the side part of the robot shell (100); the connecting shaft (320) can be inserted into the connecting hole (110) to enable the hydrofoil body (310) to be in an open state, and the connecting shaft (320) can be separated from the connecting hole (110) to enable the hydrofoil body (310) to be attached to the robot shell (100) under the action of external constraint force and be in a closed state; a gravity adjustment assembly (500) provided in the robot housing (100) and capable of adjusting the center of gravity of the robot housing (100); The angle adjusting device (600) is arranged in the robot shell (100), the connecting shaft (320) can be in butt joint with the output end of the angle adjusting device (600), and the connecting shaft (320) can rotate under the driving of the angle adjusting device (600).
  2. 2. The pipeline inspection robot of claim 1, wherein the gravity adjustment assembly (500) includes a gravity center adjustment driving device (510) and a gravity structure (520), the gravity center adjustment driving device (510) is fixedly connected in the robot housing (100), and an output end of the gravity center adjustment driving device (510) is in transmission connection with the gravity structure (520) and can drive the gravity structure (520) to move in the robot housing (100).
  3. 3. The pipeline inspection robot of claim 2, wherein the gravity adjustment assembly (500) further includes a rail (530), the rail (530) disposed within the robot housing (100), the gravity structure (520) slidably coupled to the rail (530).
  4. 4. A pipeline inspection robot according to claim 3, wherein the gravity adjusting assembly (500) further comprises a screw structure (540), the screw structure (540) is connected to the output end of the gravity center adjusting driving device (510) and is screwed to the gravity structure (520), the gravity center adjusting driving device (510) can drive the screw structure (540) to rotate, and the gravity structure (520) can slide along the guide rail (530) under the rotation of the screw structure (540).
  5. 5. The pipeline inspection robot according to claim 1, further comprising an elastic connection assembly (400), wherein the elastic connection assembly (400) is disposed in the robot housing (100), extends out of the robot housing (100), and is connected to the hydrofoil body (310), the elastic connection assembly (400) can pull the hydrofoil body (310) to act, so that the connection shaft (320) is inserted into the connection hole (110), and when the connection shaft (320) is inserted into the connection hole (110), the hydrofoil body (310) is in an open state; the connecting shaft (320) can be separated from the connecting hole (110) under the action of external pulling force, and the hydrofoil body (310) can be attached to the robot shell (100) under the action of external restraining force and is in a folded state.
  6. 6. The pipeline inspection robot of claim 5, wherein the elastic connection assembly (400) includes a tension spring (410) and an elastic connection member (420), the tension spring (410) is connected to an inner wall of the robot housing (100), and the elastic connection member (420) is connected to the tension spring (410) and extends out of a wall surface of the robot housing (100) to be connected to the hydrofoil body (310).
  7. 7. The pipeline inspection robot of claim 1, wherein at least two of the hydrofoils (300) are symmetrically disposed on opposite sides of the robot housing (100).
  8. 8. The pipeline inspection robot according to claim 7, wherein the number of the angle adjusting devices (600) is at least two, the two angle adjusting devices (600) are symmetrically disposed in the robot housing (100), the connecting shafts (320) of the two hydrofoils (300) can be respectively abutted to the output ends of the angle adjusting devices (600), and the two angle adjusting devices (600) can respectively drive the corresponding connecting shafts (320) to rotate.
  9. 9. The pipeline inspection robot of any one of claims 1-8, wherein the inspection module (200) includes a camera (210), an illumination device (220), a locator (230), and a hydrophone (240), the camera (210) and the illumination device (220) each disposed at one end of the robot housing (100) in a length direction, the camera (210) configured to collect image data of the pipeline, the locator (230) configured to detect positional data of the pipeline inspection robot in the pipeline, and the hydrophone (240) configured to receive acoustic signals in water.
  10. 10. Pipeline inspection system, characterized in that it comprises a control unit (10), a cable car (20), a cable (30) and a pipeline inspection robot according to any one of claims 1-9, the cable (30) being connected to the control unit (10) and to the inspection module (200), the cable (30) being able to be wound up on the cable car (20) and also being able to be released with respect to the cable car (20).

Description

Pipeline detection robot and pipeline detection system Technical Field The invention relates to the technical field of pipeline detection equipment, in particular to a pipeline detection robot and a pipeline detection system. Background The pipeline detection robot is provided with functions such as video detection function, positioning function and leakage point identification to realize the detection of pipeline. The existing pipeline detection robot generally realizes the forward movement of the robot body in the pipeline by means of a water flow impact power umbrella, or propels the robot body through a propeller. The former can't be to the direction of movement of accuse robot body, and the latter owing to set up paddle etc. can produce stirring to the aquatic in the pipeline, stirs the quality of water easily to the problem of paddle winding foreign matter probably takes place. Therefore, a pipeline inspection robot and a pipeline inspection system are needed to solve the above problems. Disclosure of Invention According to one aspect of the present invention, it is an object to provide a pipe inspection robot capable of controlling a direction of movement of the robot in a pipe, improving smoothness of movement of the robot in the pipe, and further ensuring pipe inspection effect and efficiency. To achieve the purpose, the invention adopts the following technical scheme: Pipeline inspection robot includes: A robot housing; the detection module is arranged in the robot shell and is configured to collect pipeline data; The hydrofoil comprises a hydrofoil body and a connecting shaft, wherein the connecting shaft is fixedly connected to the hydrofoil body, and a connecting hole is formed in the side part of the robot shell; The connecting shaft can be inserted into the connecting hole to enable the hydrofoil body to be in an open state, and can be separated from the connecting hole to enable the hydrofoil body to be abutted against the robot shell under the action of external constraint force and be in a retracted state; The gravity adjusting assembly is arranged in the robot shell and can adjust the gravity center of the robot shell; The angle adjusting device is arranged in the robot shell, the connecting shaft can be in butt joint with the output end of the angle adjusting device, and the connecting shaft can rotate under the driving of the angle adjusting device. As the preferable scheme of the pipeline detection robot provided by the invention, the gravity adjusting assembly comprises a gravity center adjusting driving device and a gravity structure, wherein the gravity center adjusting driving device is fixedly connected in the robot shell, and the output end of the gravity center adjusting driving device is in transmission connection with the gravity structure and can drive the gravity structure to move in the robot shell. As a preferable mode of the pipeline inspection robot provided by the invention, the gravity adjusting assembly further comprises a guide rail, wherein the guide rail is arranged in the robot shell, and the gravity structure is slidably connected with the guide rail. As the preferable scheme of the pipeline detection robot provided by the invention, the gravity adjusting assembly further comprises a screw structure, the screw structure is connected to the output end of the gravity center adjusting driving device and is in threaded connection with the gravity structure, the gravity center adjusting driving device can drive the screw structure to rotate, and the gravity structure can slide along the guide rail under the rotation drive of the screw structure. As a preferred scheme of the pipeline detection robot provided by the invention, the pipeline detection robot further comprises an elastic connection assembly, wherein the elastic connection assembly is arranged in the robot shell, extends out of the robot shell, is connected to the hydrofoil body, and can pull the hydrofoil body to act so that the connection shaft is inserted into the connection hole, and when the connection shaft is inserted into the connection hole, the hydrofoil body is in an open state; The connecting shaft can be separated from the connecting hole under the action of external pulling force, and the hydrofoil body can be attached to the robot shell under the action of external restraining force and is in a folding state. As the preferable scheme of the pipeline detection robot provided by the invention, the elastic connecting component comprises a tension spring and an elastic connecting piece, the tension spring is connected to the inner wall of the robot shell, and the elastic connecting piece is connected to the tension spring, extends out of the wall surface of the robot shell and is connected to the hydrofoil body. As the optimal scheme of the pipeline detection robot provided by the invention, at least two hydrofoils are arranged, and the two hydrofoils are symmetrically arranged on the two opposite