Intelligent robot for detecting sludge of urban pipe network

Abstract

The utility model discloses an intelligent robot for urban pipe network sludge detection, and relates to the technical field of intelligent robots, the intelligent robot comprises a claw-type propulsion crawler and a cable reel, the claw-type propulsion crawler comprises a rack, six-foot mechanical legs are fixedly installed on the periphery of the rack, an intelligent control terminal is fixedly installed on the top surface of the rack, and the cable reel is connected with the intelligent control terminal. A rotating motor is fixedly mounted at the front end of the upper surface of the rack, an electric push rod is fixedly connected to the output end of the rotating motor, a rotating camera is fixedly mounted at the top of the electric push rod, a lighting lamp is fixedly mounted on the front side of the rack, and a mounting frame is fixedly connected to the top surface of the intelligent control terminal; and a radar is fixedly mounted at the top of the mounting frame. The mechanical leg has the advantages that the moving mode of wheel advancing is changed into the advancing mode of claw type crawling, the mechanical leg can adapt to various pipeline types and surface states, the cable reel is additionally arranged, manual intervention is not needed, and operation convenience and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to an intelligent robot for detecting sludge in urban pipe networks. Background Art

[0002] In recent years, pipe network inspection robots (CCTV, QV) have been mainly used to replace manual work for inspecting urban drainage pipe network systems that are buried deep underground all year round. However, in special scenarios such as high water levels, pipes with a lot of sediment, pipes with silt deposition, and long-distance box culverts, commonly used inspection equipment is restricted by the environment and cannot efficiently detect and measure, or even cannot detect and measure at all.

[0003] For example, a Chinese patent (CN201920230717.3) provides a pipeline inspection robot, including a carrier plate, a lamp holder, a camera, a micro electric cylinder, a micro motor, a mounting port and a fixed frame, the carrier plate is fixed on the upper end of the bracket, a square port is processed in the middle of the lower end surface of the carrier plate, a mounting box is connected in the middle of the upper end surface of the carrier plate, an opening is processed in the middle of the lower end surface of the mounting box, and the opening is arranged on the upper side of the square port, the lamp holder is fixed symmetrically on the upper side of the square port, a lighting tube is installed inside the lamp holder, the fixing frame is fixed on the upper end surface of the mounting box, the mounting port is processed on the lower end surface of the fixing frame, a rotating frame is installed inside the mounting port, a micro electric cylinder is fixed on the upper end of the rotating frame, and the lower end of the micro electric cylinder passes through the rotating frame and is connected to the connecting plate, the lower end surface of the connecting plate is connected to the mounting tube, and the camera is installed inside the mounting tube, thereby improving the imaging effect and having good adaptability. The utility model has a reasonable structure, is easy to adjust and operate, has good adaptability and low cost.

[0004] The above-mentioned inspection robot uses wheels to walk. For some pipes with special shapes, such as curved, inclined or irregular shapes, and the pipes contain a large amount of silt, the robot moved by wheels may not be able to move normally and cannot complete the inspection task. During the pipeline inspection process, uneven terrain or protrusions may be encountered inside the pipeline. The robot moved by wheels may not be able to adapt to these terrains, resulting in failure to move forward smoothly or causing damage to the robot. In response to the above problems, an intelligent robot for urban pipeline silt detection is proposed to solve them. Utility Model Content

[0005] In order to solve the above technical problems, an intelligent robot for urban pipeline sludge detection is provided, which solves the problem that for certain pipes with special shapes, such as curved, inclined or irregular shapes, and the pipes contain a large amount of silt. The robot moved by wheels may not be able to move normally and cannot complete the detection task. During the pipeline detection process, uneven terrain or protrusions may be encountered inside the pipeline. The robot moved by wheels may not be able to adapt to these terrains, resulting in the inability to move forward smoothly or causing damage to the robot.

[0006] To achieve the above objectives, the technical solution adopted by the utility model is: an intelligent robot for detecting sludge in urban pipelines, comprising a claw-type propulsion crawler and a cable reel, the claw-type propulsion crawler comprising a frame, the outer periphery of the frame is fixedly mounted with six-legged mechanical legs, the top surface of the frame is fixedly mounted with an intelligent control terminal, the front end of the upper surface of the frame is fixedly mounted with a rotating motor, the output end of the rotating motor is fixedly connected with an electric push rod, the top of the electric push rod is fixedly mounted with a rotating camera, the front side of the frame is fixedly mounted with a lighting lamp, the top surface of the intelligent control terminal is fixedly connected with a mounting frame, and the top of the mounting frame is fixedly mounted with a radar.

[0007] Preferably, the mechanical leg comprises a fixing frame fixedly connected to a side of a frame, a first steering gear is fixedly installed inside the fixing frame, and output ends on both sides of the first steering gear are fixedly connected to bogies.

[0008] Preferably, a second steering gear is fixedly installed inside the bogie, output ends on both sides of the second steering gear are fixedly connected to support arms, a linear motor is fixedly installed between the two support arms, and the output end of the linear motor is fixedly connected to a support leg.

[0009] Preferably, the bottom of the linear motor is fixedly connected to a guide frame, the support leg is slidably connected to the inside of the guide frame, and the bottom of the support leg is fixedly connected to a foot pad.

[0010] Preferably, the cable drum comprises two bases, and a mounting frame is fixedly connected to the front and rear sides of the two bases, and an anti-slip pad is provided at the bottom of the base.

[0011] Preferably, a rotating seat is fixedly connected to the top of the two installation frames, and a rotating shaft is rotatably connected between the two rotating seats.

[0012] Preferably, a cable reel is fixedly connected to the middle of the rotating shaft, a servo motor is fixedly installed on the front side of the rear side of the front mounting frame, the output end of the servo motor passes through the mounting frame and is fixedly connected to a pulley, and the pulley is connected to the rotating shaft through a synchronous belt.

[0013] Compared with the prior art, the advantages of the utility model are:

[0014] 1. The utility model replaces the wheel-type moving mode with a claw-type crawling moving mode, so that the mechanical legs can adapt to various pipeline types and surface conditions, including smooth, uneven, curved, etc., and has a wider applicability and can cover more types of pipelines. Compared with wheels, the mechanical legs have less friction when moving on the pipeline surface, which reduces energy consumption and robot movement resistance, and improves the robot's movement efficiency and endurance. The mechanical legs have the ability to traverse vertical sections, slope sections and complex terrains, can overcome various obstacles inside the pipeline, and ensure the robot's movement trajectory.

[0015] 2. The utility model adds a cable reel, and the electric reel adopts a servo motor to drive the cable reel to rotate. The electric cable reel can automatically perform winding and unwinding operations without human intervention, thereby improving the convenience and efficiency of operation. The electric cable reel can reduce manpower requirements, save labor costs and working hours, and can significantly reduce manpower input, especially in large-scale projects or long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the claw-type propulsion crawler of the utility model;

[0017] Figure 2 This is a schematic diagram of the cable reel structure in the utility model;

[0018] Figure 3 It is a schematic diagram of the structure of the mechanical leg in the utility model.

[0019] The numbers in the figure are:

[0020] 1. Frame; 2. Mechanical leg; 201. Fixed frame; 202. First servo; 203. Bogie; 204. Second servo; 205. Support arm; 206. Linear motor; 207. Guide frame; 208. Support leg; 209. Foot pad; 3. Intelligent control terminal; 4. Mounting frame; 5. Radar; 6. Rotating motor; 7. Electric push rod; 8. Rotating camera; 9. Lighting; 10. Cable reel; 1001. Base; 1002. Mounting frame; 1003. Rotating seat; 1004. Rotating shaft; 1005. Cable reel; 1006. Servo motor; 1007. Synchronous belt. DETAILED DESCRIPTION

[0021] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0022] Reference Figure 1-3As shown, an intelligent robot for detecting sludge in urban pipe networks includes a claw-type propulsion crawler and a cable reel 10. The claw-type propulsion crawler has an IP68 protection grade and can operate in high-water-level and high-sedimentation pipe environments such as municipal drainage pipes, culverts, and culverts. It has excellent pipe environment passing ability. The cable reel 10 is driven by a servo motor 1006 and is equipped with a 500m floating cable. It has IP63, dust-proof, splash-proof, wear-proof, acid-resistant, alkali-resistant, corrosion-resistant and other properties. The claw-type propulsion crawler includes a frame 1, a six-legged mechanical leg 2 is fixedly installed on the outer periphery of the frame 1, and an intelligent control terminal 3 is fixedly installed on the top surface of the frame 1. The intelligent control terminal 3 is equipped with independently developed data processing software to generate three-dimensional real-life data of the entire pipe, integrates multiple measurement function modules, can superimpose data, and quickly generate a detection report. The upper surface of the frame 1 A rotating motor 6 is fixedly installed at the front end, and an electric push rod 7 is fixedly connected to the output end of the rotating motor 6. A rotating camera 8 is fixedly installed on the top of the electric push rod 7. The electric push rod 7 can realize the change of the height of the rotating camera 8. Through the design of the electric push rod 7, the rotating camera 8 can be extended when needed for easy use, and folded up when not needed, so that the rotating camera 8 can be more comprehensively utilized. A lighting lamp 9 is fixedly installed on the front side of the frame 1, and a mounting frame 4 is fixedly connected to the top surface of the intelligent control terminal 3. A radar 5 is fixedly installed on the top of the mounting frame 4. In the environment of high water level pipelines, culverts, and culverts, a sonar detector can be used to obtain the cross-section of the pipeline. At the same time, in conjunction with a laser ranging device, the laser ranging device is arranged at the bottom of the frame 1 (not shown in the figure), which can indirectly measure the thickness of underwater silt deposition.

[0023] Specifically, the mechanical leg 2 includes a fixed frame 201 fixedly connected to the side of the frame 1, a first servo 202 is fixedly installed inside the fixed frame 201, and output ends on both sides of the first servo 202 are fixedly connected to a bogie 203. The power of the mechanical leg 2 is provided by three 2.9AH batteries installed inside the frame 1, and the battery life can reach 1-2 hours.

[0024] It is worth mentioning that a second servo 204 is fixedly installed inside the bogie 203, and the output ends on both sides of the second servo 204 are fixedly connected to support arms 205. A linear motor 206 is fixedly installed between the two support arms 205, and the output end of the linear motor 206 is fixedly connected to a support leg 208. The linear motor 206 can accurately control the extension and contraction of the support leg 208. By adjusting the speed and position of the motor, precise motion control can be achieved to ensure the stability and reliability of the support leg 208. The installation space of the linear motor 206 is relatively small, and it can be more flexibly integrated into the structure of the support leg 208, saving the overall space and weight of the robot.

[0025] Specifically, the bottom of the linear motor 206 is fixedly connected to a guide frame 207, the support leg 208 is slidably connected to the inside of the guide frame 207, and the bottom of the support leg 208 is fixedly connected to a foot pad 209. The guide frame 207 accurately guides the movement of the support leg 208, and the foot pad 209 can prevent the support leg 208 from sliding when it moves, causing the claw-propelled crawler to tip over.

[0026] Specifically, the cable reel 10 includes two bases 1001, and an installation frame 1002 is fixedly connected on the front and rear sides of the two bases 1001. An anti-slip pad is provided at the bottom of the base 1001. The cable reel 10 is equipped with a standard floating cable with a length of 500 meters. The cable has 2 core wires with a diameter of 7mm, 300 kg Kevlar anti-drawing wire, and imported polyurethane sheath. It is waterproof, wear-resistant, acid-resistant, alkali-resistant, and corrosion-resistant. The cable reel 10 is also provided with a wireless interface and a network port.

[0027] Specifically, a rotating seat 1003 is fixedly connected to the top of the two installation frames 1002 , and a rotating shaft 1004 is rotatably connected between the two rotating seats 1003 .

[0028] Furthermore, a cable reel 1005 is fixedly connected to the middle of the rotating shaft 1004, and a servo motor 1006 is fixedly installed on the front side of the rear side of the front mounting frame 1002. The output end of the servo motor 1006 passes through the mounting frame 1002 and is fixedly connected to a pulley. The pulley is connected to the rotating shaft 1004 through a synchronous belt 1007. The servo motor 1006 drives the pulley to rotate, which drives the rotating shaft 1004 to rotate through the synchronous belt 1007, thereby realizing the rotation of the cable reel 1005 and the retraction and release of the cable.

[0029] Working principle: When the claw-type propulsion crawler walks, it achieves walking through the movement of the mechanical leg 2. The output end of the first servo 202 in the mechanical leg 2 drives the bogie 203 to rotate forward and backward, realizes the swing of the mechanical leg 2 and drives the claw-type propulsion crawler to walk. The output end of the second servo 204 will drive the support arm 205 to rotate up and down, thereby raising the height of the frame 1, and the output end of the linear motor 206 will promote the extension and shortening of the support leg 208, and further adjust the height of the mechanical leg 2. The above structure is coordinated and controlled by the intelligent control terminal 3.

[0030] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and the specification only describe the principles of the utility model. The utility model may be subject to various changes and improvements without departing from the spirit and scope of the utility model. These changes and improvements fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. An intelligent robot for detecting sludge in urban pipe networks, characterized by: The invention comprises a claw-type propulsion crawler and a cable drum (10), wherein the claw-type propulsion crawler comprises a frame (1), a hexapod mechanical leg (2) is fixedly mounted on the outer periphery of the frame (1), an intelligent control terminal (3) is fixedly mounted on the top surface of the frame (1), a rotating motor (6) is fixedly mounted on the front end of the upper surface of the frame (1), an electric push rod (7) is fixedly connected to the output end of the rotating motor (6), a rotating camera (8) is fixedly mounted on the top of the electric push rod (7), a lighting lamp (9) is fixedly mounted on the front side of the frame (1), a mounting frame (4) is fixedly connected to the top surface of the intelligent control terminal (3), and a radar (5) is fixedly mounted on the top of the mounting frame (4).

2. The intelligent robot for detecting sludge in urban pipe networks according to claim 1 is characterized by: The mechanical leg (2) comprises a fixing frame (201) fixedly connected to the side of the frame (1), a first steering gear (202) being fixedly installed inside the fixing frame (201), and output ends on both sides of the first steering gear (202) being fixedly connected to a bogie (203).

3. The intelligent robot for detecting sludge in urban pipe networks according to claim 2 is characterized in that: A second steering gear (204) is fixedly installed inside the bogie (203), output ends on both sides of the second steering gear (204) are fixedly connected to support arms (205), a linear motor (206) is fixedly installed between the two support arms (205), and the output end of the linear motor (206) is fixedly connected to a support leg (208).

4. The intelligent robot for detecting sludge in urban pipe networks according to claim 3 is characterized by: The bottom of the linear motor (206) is fixedly connected to a guide frame (207), the support leg (208) is slidably connected to the inside of the guide frame (207), and the bottom of the support leg (208) is fixedly connected to a foot pad (209).

5. The intelligent robot for detecting sludge in urban pipe networks according to claim 1 is characterized in that: The cable drum (10) comprises two bases (1001), and a mounting frame (1002) is fixedly connected to the front and rear sides of the two bases (1001), and a non-slip pad is provided at the bottom of the base (1001).

6. The intelligent robot for detecting sludge in urban pipe networks according to claim 5 is characterized by: A rotating seat (1003) is fixedly connected to the top of the two installation frames (1002), and a rotating shaft (1004) is rotatably connected between the two rotating seats (1003).

7. The intelligent robot for detecting sludge in urban pipe networks according to claim 6 is characterized by: A cable drum (1005) is fixedly connected to the middle of the rotating shaft (1004), and a servo motor (1006) is fixedly installed on the front side of the rear side of the front mounting frame (1002). The output end of the servo motor (1006) passes through the mounting frame (1002) and is fixedly connected to a pulley, and the pulley is transmission-connected to the rotating shaft (1004) via a synchronous belt (1007).

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