Underground comprehensive pipeline automatic detection robot

Abstract

The invention provides an underground comprehensive pipeline automatic detection robot which comprises a moving device driving the robot to move, the moving device is provided with obstacle crossing devices used for crossing a suspender and a lower device used for detecting the lower portion of a pipeline, the number of the obstacle crossing devices is two, and the obstacle crossing devices are located on the two sides of the moving device respectively. The lower device is movably connected with the moving device through the obstacle crossing device. The moving device can automatically move along the pipeline and simultaneously drive the obstacle crossing device and the lower device to move together, when encountering a suspender of the pipeline, the robot can automatically cross the suspender through the obstacle crossing device, the obstacle crossing performance is good, and the robot can comprehensively detect the whole pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection, in particular to an underground comprehensive pipeline automatic detection robot. BACKGROUND

[0002] The underground comprehensive pipeline refers to a system in which various public facilities pipelines are laid underground according to certain planning and design in a city or region. These pipelines usually include water supply pipeline network, drainage pipeline network, gas pipeline, power cable, communication optical cable and multiple pipelines, and through reasonable layout and management, the efficient operation of urban infrastructure is ensured. Part of the comprehensive pipeline is fixed in the form of a boom, and the comprehensive pipeline is difficult to patrol due to being underground, so a robot is usually used for patrol and monitoring; the underground comprehensive pipeline automatic detection robot in the prior art cannot automatically cross the pipeline boom, which hinders the automatic detection of the underground pipeline. SUMMARY

[0003] In view of the above deficiencies of the prior art, the present application provides an underground comprehensive pipeline automatic detection robot which can quickly cross the pipeline boom and realize unobstructed passage, greatly improving the detection efficiency.

[0004] The technical scheme provided by the present application is as follows: an underground comprehensive pipeline automatic detection robot, comprising a moving device for moving the robot, the moving device comprising an upper seat and a walking mechanism arranged on the upper seat, an upper detection instrument being arranged on the upper seat, an obstacle crossing device for crossing the boom and a lower device for detecting the lower part of the pipeline being arranged on the moving device, the obstacle crossing device being provided with two, respectively located on both sides of the moving device, the lower device being movably connected with the moving device through the obstacle crossing device, the lower device comprising a lower seat and a positioning mechanism, a lower detection instrument being arranged on the lower seat, the obstacle crossing device comprising a side column, the side column being fixedly installed with the lower seat, a rotating frame being rotatably arranged on the top of the side column, a cross frame being fixedly installed between the two side columns on the same side of the pipeline, and the cross frame being movably connected with the upper seat.

[0005] Further, the walking mechanism comprises a moving motor fixedly installed on the upper seat, a motor gear being fixedly installed on the motor shaft of the moving motor, three driving wheels being rotatably installed on the upper seat, a walking gear being fixedly installed on the shaft end of the driving wheel, and a transmission belt being wound outside the motor gear and the three walking gears.

[0006] Further, three walking wheels are rotatably installed on the upper seat, the walking wheels are located below the driving wheels, a gear ring is arranged on the outer wall surface of the walking wheel, the walking wheel is engaged with the driving wheel through the gear ring on the outer wall, and the walking wheel is attached to the outer wall of the pipeline.

[0007] Further, the upper seat is provided with four corner columns, and a docking column is slidingly installed in the corner column, the top of the docking column is hemispherical, and the docking column is provided with an inner spring behind the corner column.

[0008] Further, the rotating frame is uniformly provided with six docking holes in the circumferential direction, and the docking holes are matched with the docking columns.

[0009] Further, the lower seat is provided with three sliding grooves, and a lower wheel is slidingly installed in each group of sliding grooves, and the outer surface of the lower wheel is attached to the pipeline.

[0010] Further, the lower device further comprises three lower jacks slidingly installed on the lower seat, a lower jack block is fixedly installed on the lower jack, a lower jack spring is arranged between the lower jack block and the lower seat, the upper surface of the lower jack block is a circular arc surface, and the bottom of the lower wheel is attached to the lower jack block.

[0011] Further, the positioning mechanism comprises a pedometer fixedly installed on the lower seat, and a beacon is fixedly installed in the lower wheel at the middle position of the lower seat.

[0012] Further, the cross frame is slidingly installed with a trapezoidal block, and the cross frame is movably connected with the upper seat through the trapezoidal block.

[0013] Further, two insertion holes are arranged on the two side surfaces of the upper seat respectively, a slope surface is arranged on the front part of the trapezoidal block, a clamping spring is arranged between the trapezoidal block and the cross frame, and the front end of the trapezoidal block is slidingly matched with the insertion hole.

[0014] Compared with the prior art, the beneficial effects of the present application are as follows: (1) the moving device provided by the present application can automatically move along the pipeline, and simultaneously move with the obstacle crossing device and the lower device, when encountering a boom of the pipeline, the obstacle crossing device can automatically cross the boom, the obstacle crossing performance is good, and the robot can comprehensively detect the whole pipeline; (2) the obstacle crossing device provided by the present application is matched with the four docking columns through the four rotating frames, and matched with the four insertion holes through the four trapezoidal blocks, so that the moving device can synchronously move with the lower device, and when crossing the boom at each position, the remaining parts remain stable, and the obstacle crossing stability is good; (3) the lower device provided by the present application is provided with a beacon and a pedometer, so that the robot can accurately locate the position, and thus the position of the pipeline with problems detected can be located. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is the overall structure of the present application Figure One .

[0016] Figure 2 is the overall structure of the present application Figure Two .

[0017] Figure 3Structure diagram of mobile device of the present application Figure One .

[0018] Figure 4 Structure diagram of mobile device of the present application Figure Two .

[0019] Figure 5 Structure diagram of mobile device of the present application Figure Three .

[0020] Figure 6 Structure diagram of lower device of the present application Figure One .

[0021] Figure 7 Structure diagram of lower device of the present application Figure Two .

[0022] Figure 8 Structure diagram of lower device of the present application Figure Three .

[0023] Figure 9 Structure diagram of obstacle-crossing device of the present application Figure One .

[0024] Figure 10 Structure diagram of obstacle-crossing device of the present application Figure Two .

[0025] In the figure: 101 - upper seat; 102 - mobile motor; 103 - motor gear; 104 - upper detector; 105 - dial wheel; 106 - walking gear; 107 - transmission belt; 108 - walking wheel; 109 - angle column; 110 - butt joint column; 111 - inner spring; 112 - insertion hole; 201 - lower seat; 202 - lower wheel; 203 - lower top column; 204 - lower top block; 205 - lower top spring; 206 - beacon; 207 - pedometer; 208 - lower detector; 209 - sliding groove; 301 - side column; 302 - rotating frame; 303 - cross frame; 304 - trapezoidal block; 305 - clamping spring; 306 - butt joint hole; 4 - boom; 5 - pipeline. DETAILED DESCRIPTION

[0026] The present application is further described below in conjunction with specific embodiments, wherein the accompanying drawings are only used for exemplary illustration, the representations are only schematic diagrams, not physical drawings, and cannot be understood as limitations of the present application. In order to better illustrate the specific embodiments of the present application, some components of the drawings are omitted, enlarged or reduced, and do not represent the actual product size. It can be understood by those skilled in the art that some well-known structures and their descriptions in the drawings can be omitted. Based on the specific embodiments in the present application, all other specific embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0027] In the description of the present application, it should be noted that the terms "front", "back", "upper", "lower" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0028] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be broadly understood, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] Reference Figures 1-10 An underground comprehensive pipeline automatic detection robot, comprising a moving device for moving the robot, the moving device comprising an upper seat 101 and a walking mechanism arranged on the upper seat 101, the moving device being provided with an obstacle crossing device for crossing a boom 4 and a lower device for detecting the lower part of the pipeline 5, the obstacle crossing device being provided with two, respectively located on both sides of the moving device, the lower device comprising a lower seat 201 and a positioning mechanism, the obstacle crossing device comprising a side column 301, the side column 301 being fixedly installed with the lower seat 201, and a cross beam 303 being fixedly installed between two side columns 301 on the same side of the pipeline.

[0030] As shown in Figures 3-5 , the walking mechanism comprises a moving motor 102 fixedly installed on the upper seat 101, a motor gear 103 fixedly installed on the motor shaft of the moving motor 102, three push wheels 105 rotatably installed on the upper seat 101, a walking gear 106 fixedly installed on the push wheel 105, and a transmission belt 107 wound outside the motor gear 103 and the three walking gears 106.

[0031] As shown in Figures 3-5 , the upper seat 101 is rotatably provided with three walking wheels 108, the walking wheels 108 are located below the push wheels 105, the outer wall of the walking wheels 108 is provided with teeth, the walking wheels 108 are engaged with the push wheels 105 through the teeth of the outer wall, and the walking wheels 108 are in close contact with the outer wall of the pipeline 5.

[0032] As shown in Figures 3-5As shown, an upper detector 104 is installed on the upper base 101, and a lower detector 208 is installed on the lower base 201. The upper detector 104 and the lower detector 208 can use existing CCTV pipeline inspection robots, pipeline detectors, ultrasonic thickness gauges, and leak detectors to detect pipeline faults. This is existing technology and will not be described in detail. The upper base 101 is provided with four insertion holes 112.

[0033] like Figures 3-5 As shown, four corner posts 109 are provided on the upper seat 101. A docking post 110 is slidably installed inside the corner posts 109. The top of the docking post 110 is hemispherical. An inner spring 111 is provided behind the docking post 110 and the corner posts 109.

[0034] like Figures 6-8 As shown, the lower device includes three lower top columns 203 that are slidably mounted on the lower base 201. A lower top block 204 is fixedly mounted on the lower top column 203. A lower top spring 205 is provided between the lower top block 204 and the lower base 201. The upper surface of the lower top block 204 is an arc surface.

[0035] like Figures 6-8 As shown, the lower base 201 is provided with three sliding grooves 209, and a lower wheel 202 is slidably installed in each set of sliding grooves 209. The lower wheel 202 can rotate in the sliding groove 209 and is in contact with the lower top block 204.

[0036] like Figures 6-8 As shown, the positioning mechanism includes a pedometer 207 and a beacon 206. The pedometer 207 is fixedly installed on the lower base 201, and the beacon 206 is fixedly installed inside the lower wheel 202 located in the middle of the lower base 201. The specific process of positioning using the beacon 206 and the pedometer 207 is prior art and will not be described in detail here.

[0037] The side column 301 and the cross frame 303 are fixedly connected. The cross frame 303 is connected to the upper seat 101 through the trapezoidal block 304. The upper seat 101 drives the lower seat 201 to move together through the side column 301. The lower wheel 202 is in contact with the pipe 5. The lower wheel 202 rotates to assist in the movement. The lower top spring 205 ensures that the lower wheel 202 is always in close contact with the pipe 5 when the lower seat 201 moves. The beacon 206 passes in front of the pedometer 207 once, and the pedometer 207 records once. With the help of the two upper detectors 104 and the lower detector 208, the location of the fault in the pipe 5 can be determined.

[0038] like Figure 9 , Figure 10 As shown, the obstacle-crossing device includes two rotating frames 302 rotatably mounted on the side column 301. A cross frame 303 is fixedly mounted on the side column 301. The rotating frames 302 are provided with six docking holes 306, which cooperate with the docking column 110.

[0039] As Figure 9 , Figure 10 shown, the horizontal frame 303 is slidingly installed with a trapezoidal block 304, the trapezoidal block 304 is provided with a slope surface at the front part, the trapezoidal block 304 is provided with a clamping spring 305 between the trapezoidal block 304 and the horizontal frame 303, and the trapezoidal block 304 is slidingly matched with the insertion hole 112. The horizontal frame 303 is inserted into the upper seat 101 through the trapezoidal block 304, and is connected through the cooperation of the butt joint hole 306 and the butt joint column 110.

[0040] The working principle of the underground comprehensive pipeline automatic detection robot is as follows: when in use, the upper seat 101 is placed above the pipeline 5, the three walking wheels 108 are attached to the pipeline 5, the moving motor 102 drives the motor gear 103 to rotate, the three walking gears 106 and the shifting wheel 105 are driven to rotate through the transmission belt 107, so that the three walking wheels 108 are driven to rotate, the upper seat 101 moves along the pipeline 5, and the surface and the inside of the pipeline 5 are detected through the upper detector 104 and the lower detector 208. The upper seat 101 moves together with the lower seat 201 through the side column 301, the lower wheel 202 is attached to the pipeline 5, the lower wheel 202 rotates to assist the movement, the lower top spring 205 makes the lower wheel 202 always tightly attached to the pipeline 5 when the lower seat 201 moves, and the beacon 206 passes in front of the step counter 207 once, the step counter 207 records once, and the fault position of the pipeline 5 can be known through the two upper detectors 104 and the lower detector 208.When the robot moves to the front of the boom 4, the two front rotating frames 302 first contact the boom 4, and under the action of the boom 4, the rotating frame 302 starts to rotate, the docking hole 306 originally matched with the docking column 110 is separated from the docking column 110, and then the next docking hole 306 is rotated to the docking column 110, so that the docking column 110 is first lowered, the inner spring 111 is compressed, and then when the docking hole 306 is located directly above the docking column 110, the inner spring 111 rebounds, so that the docking column 110 is inserted into the docking hole 306, and in this obstacle crossing process, the four trapezoidal blocks 304 are located in the insertion hole 112, and the two rear rotating frames 302 are matched with the docking column 110, and the cross frame 303 will not be separated from the upper seat 101; then the two front trapezoidal blocks 304 contact the boom 4, and under the action of the boom 4 (there is a slope on the trapezoidal block 304, when the slope meets the boom 4, the boom 4 contacts the slope on the trapezoidal block 304, but the boom cannot move, so the trapezoidal block 304 is pushed outward, and a force separation is formed, the boom 4 provides a force along the vertical direction of the slope of the trapezoidal block 304, and an outward force is generated), the trapezoidal block 304 is pushed outward and slides, the clamping spring 305 is compressed, so that the trapezoidal block 304 is separated from the insertion hole 112, and when the trapezoidal block 304 passes through the boom 4, the clamping spring 305 rebounds, so that the trapezoidal block 304 is reinserted into the insertion hole 112, and in this obstacle crossing process, the two rear trapezoidal blocks 304 are located in the insertion hole 112, and the four front and rear rotating frames 302 are matched with the docking column 110, and the cross frame 303 will not be separated from the upper seat 101, and the rear trapezoidal blocks 304 and the rotating frames 302 cross the boom 4 in the same way; when the lower wheel 202 moves to the boom 4, under the action of the boom 4, the lower wheel 202 slides downward along the sliding groove 209, so that the lower top spring 205 is compressed, and when the lower wheel 202 passes through the boom 4, the lower top spring 205 rebounds, so that the lower wheel 202 is recombined with the pipeline 5, only one lower wheel 202 passes through the boom 4 each time, and the other two lower wheels 202 are still combined with the pipeline 5, and finally the robot passes through the boom 4, so that the robot can move along the whole pipeline 5 and automatically detect the pipeline 5.

[0041] The above merely describes the preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope of the present application according to the technical solutions and inventive concepts of the present application, which should be covered within the protection scope of the present application.

Claims

1. An underground utility pipeline automatic detection robot comprising a moving device for moving the robot, characterized in that, The mobile device includes an upper seat (101) and a walking mechanism mounted on the upper seat (101). An upper detector (104) is mounted on the upper seat (101). The mobile device is equipped with an obstacle-crossing device for crossing the boom (4) and a lower device for detecting the lower part of the pipeline (5). There are two obstacle-crossing devices, located on both sides of the mobile device. The lower device is movably connected to the mobile device through the obstacle-crossing device. The lower device includes a lower seat (201) and a positioning mechanism. A lower detector (208) is mounted on the lower seat (201). The obstacle-crossing device includes a side column (301). The side column (301) is fixedly installed with the lower seat (201). A rotating frame (302) is rotatably mounted on the top of the side column (301). A cross frame (303) is fixedly installed between the two side columns (301) on the same side of the pipeline. The cross frame (303) is movably connected to the upper seat (101).

2. The automatic underground comprehensive pipeline detection robot according to claim 1, wherein, The walking mechanism includes a mobile motor (102) fixedly mounted on the upper seat (101), a motor gear (103) fixedly mounted on the motor shaft of the mobile motor (102), three actuating wheels (105) rotatably mounted on the upper seat (101), a walking gear (106) fixedly mounted on the shaft end of the actuating wheel (105), and a transmission belt (107) wrapped around the motor gear (103) and the three walking gears (106).

3. The automatic underground comprehensive pipeline detection robot according to claim 2, characterized in that: Three traveling wheels (108) are rotatably mounted on the upper seat (101). The traveling wheels (108) are located below the actuating wheel (105). The outer wall surface of the traveling wheels (108) is provided with a toothed ring. The traveling wheels (108) mesh with the actuating wheel (105) through the toothed ring on the outer wall. The traveling wheels (108) are in contact with the outer wall of the pipeline (5).

4. The automatic underground comprehensive pipeline detection robot according to claim 1, wherein, The upper seat (101) is provided with four corner posts (109), and a docking post (110) is slidably installed inside the corner posts (109). The top of the docking post (110) is hemispherical, and an inner spring (111) is provided behind the docking post (110) and the corner posts (109).

5. The automatic underground comprehensive pipeline detection robot according to claim 4, characterized in that, The rotating frame (302) is provided with six docking holes (306) evenly arranged in the circumferential direction, and the docking holes (306) are engaged with the docking posts (110).

6. The underground utility pipeline automatic detection robot according to claim 1, wherein, The lower seat (201) is provided with three sliding grooves (209), and a lower wheel (202) is slidably installed in each set of sliding grooves (209). The outer surface of the lower wheel (202) is in contact with the pipeline.

7. The automatic inspection robot for underground integrated pipelines according to claim 6, characterized in that, The lower device also includes three lower top columns (203) that are slidably mounted on the lower seat (201). A lower top block (204) is fixedly mounted on the lower top column (203). A lower top spring (205) is provided between the lower top block (204) and the lower seat (201). The upper surface of the lower top block (204) is an arc surface. The bottom of the lower wheel (202) is in contact with the lower top block (204).

8. The automatic inspection robot for underground integrated pipelines according to claim 6, characterized in that, The positioning mechanism includes a pedometer (207) fixedly installed on the lower seat (201), and a beacon (206) fixedly installed in the lower wheel (202) located in the middle of the lower seat (201).

9. The automatic inspection robot for underground integrated pipelines according to claim 1, characterized in that, A trapezoidal block (304) is slidably installed on the cross frame (303), and the cross frame (303) is movably connected to the upper seat (101) through the trapezoidal block (304).

10. An automatic inspection robot for underground integrated pipelines according to claim 9, characterized in that, The upper seat (101) has two insertion holes (112) on its two sides respectively. The trapezoidal block (304) has a slope at the front. A snap-fit ​​spring (305) is provided between the trapezoidal block (304) and the cross frame (303). The front end of the trapezoidal block (304) and the insertion hole (112) form a sliding fit.

Images