A robot for detecting underground pipelines in cities

Abstract

The present invention discloses a robot for urban underground pipeline inspection, including a pipeline inspection robot, the pipeline inspection robot including a robot and a cable reel connected to the robot, the robot consisting of a robot body, tires, a front camera, a front high beam, a lifting connecting rod, a rear high beam, a navigation socket and a handle, the tires are evenly installed on both sides of the robot body, the front camera is installed at the front end of the robot body and a protective rod is arranged on the periphery, the front high beam is located at the rear side of the front camera and is connected to the lifting connecting rod, the lower end of the lifting connecting rod is installed on the robot body, the rear high beam, the navigation socket and the handle are all installed at the tail of the robot body, and a cable is connected between the navigation socket and the cable reel. The present invention designs a high-definition CCTV pipeline inspection crawling robot, which can be used for DN300-2000mm pipelines, and is remotely controlled, and personnel are on the ground, thus ensuring the safety of construction personnel.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a robot used for detecting urban underground pipelines. Background Art

[0002] Underground pipelines are pipes laid underground for the transportation of liquids, gases or loose solids. In ancient China, underground drainage pipes made of fired clay were already used. In the Ming Dynasty, when Beijing was the capital, bricks and stone strips were used extensively to build underground drainage pipes. The width was about 1 meter and the height was about 2 meters. There are many types of modern underground pipelines, including circular, elliptical, semi-elliptical, multi-center, oval, rectangular (single hole, double hole and multi-hole), horseshoe and other cross-sectional forms. They are built with materials such as steel, cast iron, concrete, reinforced concrete, prestressed concrete, brick, stone, asbestos cement, clay, plastic, fiberglass (reinforced plastic) and so on. Urban underground pipeline maintenance is an indispensable component and requires regular maintenance.

[0003] However, the existing maintenance methods of urban underground pipelines have the following problems: (1) In most cases, people need to enter the pipelines for inspection. Since there are many toxic gases in the sewage pipe network, personal safety cannot be guaranteed after entering. In addition, for small-diameter pipelines, people cannot enter and need to use special tools for maintenance, which is very cumbersome; (2) The pipeline robots used in the existing technology are prone to rollover, jamming, and construction takes a lot of time due to the lack of power and design structure. They cannot be used normally in complex pipelines, which will have a great impact on pipeline detection. Therefore, it is necessary to design corresponding technical solutions to solve the existing technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide a robot for urban underground pipeline detection, which solves the problems raised in the background technology and meets the actual use requirements.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot for urban underground pipeline inspection, comprising a pipeline inspection robot, the pipeline inspection robot comprising a robot and a cable reel connected to the robot, the robot consisting of a robot body, tires, a front camera, a front high beam, a lifting connecting rod, a rear high beam, a navigation socket and a handle, the tires are evenly installed on both sides of the robot body, the front camera is installed at the front end of the robot body and a protective rod is arranged on the periphery, the front high beam is located on the rear side of the front camera and is connected to the lifting connecting rod, the lower end of the lifting connecting rod is installed on the robot body, the rear high beam, the navigation socket and the handle are all installed at the tail of the robot body, a cable is connected between the navigation socket and the cable reel, and the connection between the cable and the cable reel An aviation plug is installed, a wire stop rod is installed above the aviation plug, the wire reel comprises a wire reel box and a wire reel mechanism installed in the wire reel box, four sets of wire reel casters are evenly installed on the bottom of the wire reel box and a flap bracket is movably connected to the top, a lithium battery is also provided at the tail of the wire reel box and a push-pull handle is installed at the front end, the wire reel mechanism comprises a wire reel built into the wire reel box and a manual handle installed on one side of the wire reel, a wiring head is installed at one end of the wire reel, the wiring head is connected to the cable and a reciprocating shaft is rotatably provided on one side, a driving motor is installed at one end of the reciprocating shaft, a reciprocating structure is movably provided on the reciprocating shaft and a wire pressure wheel is provided in parallel on the outside, the cable passes through the reciprocating structure, and the lithium battery is also connected to a power switch, a jog button and an emergency stop button.

[0006] As a preferred embodiment of the present invention, the protection rod is arranged in a ring shape outside the front camera, and the protection rod is made of steel.

[0007] As a preferred embodiment of the present invention, the lifting connecting rod is composed of an electric push rod, which is arranged in an inclined shape and has an end connected to the front high beam lamp.

[0008] As a preferred embodiment of the present invention, two groups of the wire stopper rollers are arranged in parallel, and the cable is inserted between the two groups of the wire stopper rollers.

[0009] As a preferred embodiment of the present invention, a charging socket and a discharging socket are respectively installed on the lithium battery, and the charging socket is located below the discharging socket.

[0010] As a preferred embodiment of the present invention, the tires can be installed in four or six groups, and the tires in several groups have the same specifications and the same height.

[0011] As a preferred embodiment of the present invention, the power output end of the driving motor is connected to the reciprocating shaft, and the surface of the reciprocating shaft is a threaded structure.

[0012] As a preferred embodiment of the present invention, the reciprocating structure includes a main board and a threading port opened on the main board, a threaded groove is opened at one end of the main board and a slide groove is opened at the other end, the reciprocating shaft is inserted into the threaded groove, the wire pressure wheel is inserted into the slide groove, and the cable passes through the threading port.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] 1. This scheme designs a high-definition CCTV pipeline inspection crawling robot, which can be used for DN300-2000mm pipelines. Through remote control, personnel are on the ground, which ensures the safety of construction workers.

[0015] 2. The pipeline robot designed in this scheme takes into account the complex working environment in the pipeline, and studies the motion trajectory and corresponding control laws in the pipeline. After improvement, it can carry out normal construction in the pipeline. Through robot detection, it can understand the situation in the pipeline and handle the complex environment in the pipeline to achieve high efficiency and high quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall schematic diagram of the present invention;

[0017] Figure 2 This is a structural diagram of the robot described in the present invention;

[0018] Figure 3 This is a structural diagram of the cable reel of the present invention;

[0019] Figure 4 A top view of the cable reel of the present invention;

[0020] Figure 5 It is a schematic diagram of the back-and-forth structure of the present invention.

[0021] In the figure: 1-robot, 2-cable reel, 3-robot body, 4-tire, 5-front camera, 6-front high beam, 7-lifting connecting rod, 8-rear high beam, 9-navigation socket, 10-handle, 11-protection rod, 12-cable, 13-navigation plug, 14-wire rod, 15-cable reel box, 16-cable reel caster, 17-flip bracket, 18-lithium battery, 19-hand push handle, 20-cable reel, 21-manual handle, 22-connection head, 23-reciprocating shaft, 24-drive motor, 25-reciprocating structure, 26-wire pressure wheel, 27-power switch, 28-jog button, 29-emergency stop button, 30-charging navigation socket, 31-discharging navigation socket, 32-main board, 33-threading port, 34-threaded notch, 35-slide. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] See also Figure 1-5 The present invention provides a technical solution: a robot for detecting underground pipelines in cities, including a pipeline detection robot, the pipeline detection robot including a robot 1 and a cable reel 2 connected to the robot 1, the robot 1 consisting of a robot body 3, a tire 4, a front camera 5, a front high beam 6, a lifting connecting rod 7, a rear high beam 8, an air socket 9 and a handle 10, the tire 4 being mounted on both sides of the robot body 3, the front camera 5 being mounted on the front end of the robot body 3 and having a protective rod 11 disposed on the periphery, the front high beam 6 being located on the rear side of the front camera 5 and being connected to the lifting connecting rod 7, the lower end of the lifting connecting rod 7 being mounted on the robot body 3, the rear high beam 8, the air socket 9 and the handle 10 being all mounted on the tail of the robot body 3, a cable 12 being connected between the air socket 9 and the cable reel 2, an air plug 13 being mounted at the connection between the cable 12 and the cable reel 2, the air plug 13 A wire stop rod 14 is installed on the top, and the wire reel 2 includes a wire reel box 15 and a wire winding mechanism installed in the wire reel box 15. Four sets of wire reel casters 16 are evenly installed on the bottom of the wire reel box 15 and a flap bracket 17 is movably connected to the top. A lithium battery 18 is also provided at the tail of the wire reel box 15 and a push-pull handle 19 is installed at the front end. The wire winding mechanism includes a wire winding roller 20 built into the wire reel box 15 and a manual handle 21 installed on one side of the wire winding roller 20. A wiring head 22 is installed at one end of the wire winding roller 20. The wiring head 22 is connected to the cable 12 and a reciprocating shaft 23 is rotatably provided on one side. A driving motor 24 is installed at one end of the reciprocating shaft 23. A reciprocating structure 25 is movably provided on the reciprocating shaft 23 and a wire pressure wheel 26 is provided in parallel on the outside. The cable 12 passes through the reciprocating structure 25. The lithium battery 18 is also connected to a power switch 27, a jog button 28 and an emergency stop button 29.

[0024] Further improvement, such as Figure 2 As shown: the protection rod 11 is arranged in a ring shape outside the front camera 5. The protection rod 11 is made of steel material, which can achieve the purpose of protecting the front camera 5.

[0025] Further improvement, such as Figure 2 As shown: the lifting connecting rod 7 is composed of an electric push rod, which is arranged in an inclined shape and the end of the electric push rod is connected to the front high beam lamp 6. The front high beam lamp 6 is driven by the electric push rod to adjust its height.

[0026] Further improvement, such as Figure 1 As shown, two groups of wire stoppers 14 are arranged in parallel, and the cable 12 is inserted between the two groups of wire stoppers 14 to facilitate the guidance of the cable 12.

[0027] Further improvement, such as Figure 3 As shown: a charging socket 30 and a discharging socket 31 are respectively installed on the lithium battery 18, and the charging socket 30 is located below the discharging socket 31 for charging and discharging processing.

[0028] Further improvement, such as Figure 2 As shown: the tires 4 can be installed in four or six groups, and several groups of tires 4 have the same specifications and the same height, and can be selected according to needs.

[0029] Further improvement, such as Figure 4 As shown: the power output end of the driving motor 24 is connected to the reciprocating shaft 23, and the surface of the reciprocating shaft 23 is a threaded structure, which is designed to facilitate the reciprocating shaft 23 to drive the main board 32 to move.

[0030] Specifically, the reciprocating structure 25 includes a main board 32 and a threading opening 33 provided on the main board 32. A threaded groove 34 is provided at one end of the main board 32 and a slide groove 35 is provided at the other end. The reciprocating shaft 23 is inserted into the threaded groove 34, the wire pressure wheel 26 is inserted into the slide groove 35, and the cable 12 passes through the threading opening 33. The reciprocating shaft 23 is driven to rotate by the driving motor 24. During the rotation process, the reciprocating shaft 23 drives the main board 32 to move back and forth along the slide groove 35 through the threaded structure on the surface, thereby driving the upper cable 12 to move synchronously, so that the cable can be wound up at different positions of the winding roller 20.

[0031] When in use: When the robot pipeline detection of the present invention is carried out for underground pipeline construction, firstly Figure 1 The robot 1 shown is placed in the manhole, and the cable reel 2 is opened. The robot 1 is placed in the construction position in the manhole. During the construction process, the camera 1 is first placed as shown in FIG. Figure 2Move forward as shown, replace the tire 4 according to the size of the pipe diameter, and adjust the front high beam 6 to raise or lower it according to the diameter of the pipe. Before operation, plug in the aviation plug 4 and push the wire drum roller 1. The motor installed at one end of the wire winding roller 20 can be driven by the lithium battery 18 to drive the wire winding roller 20 to rotate for automatic winding and relaxation. It can also be manually driven by the manual handle 21 to press the wire through the wire pressing wheel 26. After the construction is completed, unplug the aviation plug 13 and put the aviation plug 13 with wire into the special plug on the wire winding drum 2. The robot 1 is disconnected from the cable reel 2 by pressing the inching button 28, or manually reeling the cable during the construction process. If there is any special situation, please press the emergency stop button 29 to stop the cable. After the completion, the air plug 13 returns to the designated position of the air plug, so that the operator can know the status of the cable reel 1 at any time. The pipeline inspection robot is a mechanical, electrical and instrument integration that can automatically walk along the inside of the pipeline, with a variety of sensors and operations or computer automatic control to perform pipeline operations. The system consists of a controller, a crawler, a camera, a cable turntable and a display. The crawler is equipped with a high-definition integrated camera. The pipeline robot is a set of CCTV and camera detection equipment that comprehensively detects the underwater part of the pipeline. The pipeline robot is small and exquisite, and one person can complete the operation, improve work efficiency, and enhance quality. It can be used to detect pipelines with diameters ranging from 300mm to 2000mm; the crawler and the camera adopt a waterproof design with good sealing performance, and the IP68 level can be used for underwater detection (under positive pressure). The battery life of the large-capacity lithium battery is more than 8 hours. During the inspection process, defect images can be quickly captured, and the inspection report can be obtained immediately after the inspection is completed. In addition, the slope curve of the pipeline can be obtained in real time during the inspection process to determine the internal deposition of the pipeline. It is connected to the control system through a cable reel. The high-precision cable reel does not affect the retracting and releasing lines. It can be used for 200-meter-long cables and is suitable for pipe diameters of 300mm--3000mm. The operating screen control system controls the following functions, such as: forward, backward, turning, stopping, speed adjustment of the crawler; lifting, lowering, and lighting adjustment of the lens mount; horizontal or vertical rotation, focusing, zooming, etc. of the lens, front and rear view switching, etc. After verification by a large number of customers, it has been widely used in pipeline inspection, mine inspection, tunnel acceptance, fire rescue, disaster support, high temperature, toxic environment, etc. During the inspection process, the control system can display and record the images sent back by the lens and the status information of the crawler in real time, and can enter notes through the touch screen. We independently developed the model and used a digital camera. The built-in camera resolution reaches 3 million pixels to 5 million pixels. The higher the camera resolution, the stronger the robot's ability to distinguish various defects such as blockage, collapse, dislocation, and cracks inside the pipeline. The 6-wheel drive and imported motor enable the CCTV robot to have the ability to climb a slope of less than 30°, overcome obstacles of 15cm, and carry a load of 80Kg.

[0032] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A robot for urban underground pipeline detection, including a pipeline detection robot, characterized in that: The pipeline inspection robot comprises a robot (1) and a cable reel (2) connected to the robot (1); the robot (1) comprises a robot body (3), a tire (4), a front camera (5), a front high beam light (6), a lifting connecting rod (7), a rear high beam light (8), a navigation socket (9) and a handle (10); the tire (4) is mounted on both sides of the robot body (3); the front camera (5) is mounted on the front end of the robot body (3) and a protective rod (11) is arranged on the periphery; the front high beam light (6) is ) is located at the rear side of the front camera (5) and is connected to the lifting connecting rod (7), the lower end of the lifting connecting rod (7) is installed on the robot body (3), the rear high beam light (8), the navigation socket (9) and the handle (10) are all installed at the tail of the robot body (3), a cable (12) is connected between the navigation socket (9) and the cable reel (2), an aviation plug (13) is installed at the connection between the cable (12) and the cable reel (2), a wire stop rod (14) is installed above the aviation plug (13), and the cable reel (2) is connected to the rear end of the robot body (3). The reel (2) comprises a wire reel housing (15) and a wire winding mechanism installed in the wire reel housing (15); four sets of wire reel casters (16) are evenly installed at the bottom of the wire reel housing (15) and a flap bracket (17) is movably connected to the top; a lithium battery (18) is also arranged at the tail of the wire reel housing (15) and a push handle (19) is installed at the front; the wire winding mechanism comprises a wire winding roller (20) built into the wire reel housing (15) and a manual handle (21) installed on one side of the wire winding roller (20); A wiring head (22) is installed at one end of the wire roller (20), the wiring head (22) is connected to the cable (12) and a reciprocating shaft (23) is rotatably arranged on one side, a driving motor (24) is installed at one end of the reciprocating shaft (23), a reciprocating structure (25) is movably arranged on the reciprocating shaft (23) and a wire pressure wheel (26) is arranged parallel to the outer side, the cable (12) passes through the reciprocating structure (25), and the lithium battery (18) is also connected to a power switch (27), a jog button (28) and an emergency stop button (29).

2. The robot for urban underground pipeline detection according to claim 1, characterized in that: The protective rod (11) is arranged in a ring shape outside the front camera (5), and the protective rod (11) is made of steel.

3. The robot for urban underground pipeline detection according to claim 1, characterized in that: The lifting connecting rod (7) is composed of an electric push rod, which is arranged in an inclined shape and has an end connected to the front high beam lamp (6).

4. The robot for urban underground pipeline detection according to claim 1, characterized in that: Two groups of the wire stopper rods (14) are arranged in parallel, and the cables (12) are inserted between the two groups of the wire stopper rods (14).

5. The robot for urban underground pipeline detection according to claim 1, characterized in that: The lithium battery (18) is respectively provided with a charging port (30) and a discharging port (31), and the charging port (30) is located below the discharging port (31).

6. The robot for urban underground pipeline detection according to claim 1, characterized in that: The tires (4) can be installed in four or six groups, and the tires (4) in several groups have the same specifications and the same height.

7. The robot for urban underground pipeline inspection according to claim 1, characterized in that: The power output end of the driving motor (24) is connected to the reciprocating shaft (23), and the surface of the reciprocating shaft (23) is in a threaded structure.

8. The robot for urban underground pipeline detection according to claim 7, characterized in that: The reciprocating structure (25) comprises a main board (32) and a threading opening (33) provided on the main board (32); a threaded notch (34) is provided at one end of the main board (32) and a slide groove (35) is provided at the other end; the reciprocating shaft (23) is inserted into the threaded notch (34), the wire pressure wheel (26) is inserted into the slide groove (35), and the cable (12) passes through the threading opening (33).

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