A new type of sewer pipe crawling robot

Abstract

The present invention relates to a new type of sewer pipeline crawling robot, which includes a traveling main body that can move along the extending direction of the sewer pipeline, a support arm unit connected to the traveling main body via a reset elastic component, and a driving unit respectively connected to the traveling main body and the support arm unit for adjusting the distance between the traveling main body and the support arm unit along the extending direction of the sewer pipeline; for the new type of sewer pipeline crawling robot of the present invention, when there is sludge or other pollutants inside the pipeline, the traveling main body and the support arm unit are respectively driven by the driving unit and the reset elastic component, and the movement of the crawling robot will not be hindered, which is beneficial to the normal operation of the crawling robot; when the inner surface of a part of the pipe body of the pipeline is sunken or convex, the support arm unit can still be in contact and pressed against the inner wall circumference of the sewer pipeline, and the driving unit can still drive the traveling main body to move, and the crawling robot can be used normally.

Description

Technical Field

[0001] The present invention relates to the technical field of crawling robots, and particularly to a novel sewer pipeline crawling robot. Background Art

[0002] Crawling robots are a type of mobile robots. From the perspective of bionics, crawling robots can be classified into: mantis-type crawling robots, spider-type crawling robots, snake robots, inchworm-type crawling robots, etc.; from the perspective of driving methods, they can be classified into: pneumatic crawling robots, electric crawling robots, and hydraulic-driven crawling robots, etc.; from the perspective of working spaces, they can be classified into: pipeline crawling robots, wall crawling robots, and spherical crawling robots, etc.; from the perspective of functional uses, they can be classified into: arc welding crawling robots, inspection crawling robots, cleaning crawling robots, lifting crawling robots, line inspection crawling robots, and toy crawling robots; from the perspective of walking methods, they can be classified into: wheeled, tracked, peristaltic, etc. According to different driving methods and functions, etc., crawling robots with various different structures and uses can be designed, such as pneumatic in-pipe inspection crawling robots, electromagnetic adsorption multi-legged crawling robots, electric-driven wall arc welding crawling robots, etc. Each form of crawling robot has its own application characteristics.

[0003] Patent CN106382434B discloses an intelligent pipeline crawling robot. The invention discloses an intelligent pipeline crawling robot. The conical transmission part is driven by a stepping motor to move linearly, and at the same time, the first slide rod pressing the conical shell slides outwards, so that the first wheel presses against the inner wall of the pipeline. The crawler belt is tightened by the auxiliary device to prevent relative sliding between the crawler belt and the inner wall of the pipeline. Finally, the machine is driven to crawl in the pipeline by the driving device. It uses a lead screw mechanism and a conical transmission part to press the first wheel and the second wheel against the inner wall of the pipeline, so that there is no relative sliding between the crawler belt and the inner wall of the pipeline. The machine is driven to crawl in the pipeline by the driving device. By installing other processing equipment on the robot, the processing process can be completed more easily and efficiently. An intelligent pipeline crawling robot, comprising a frame, a driving device, an auxiliary device, a lead screw mechanism, a conical transmission part, and 3 crawler belts, characterized in that: the frame comprises 2 end covers, 3 connecting frames, and 3 conical slide rails. The connecting frames are fixedly installed between the two end covers, and conical slide rails are arranged at the center lines inside the 3 connecting frames; the driving device comprises a first fixing frame, 3 first square sleeves, 3 first slide rods, 3 first springs, 3 first spring fixing frames, 3 pulleys, 3 first wheel fixing frames, and 3 first wheels. The first fixing frame is fixedly installed on the 3 connecting frames near the right end cover. The first square sleeve is fixedly installed at the left end of the first fixing frame. The pulley is rotatably installed at the inner end of the first slide rod. The first wheel fixing frame is fixedly installed at the outer end of the first slide rod. The first slide rod is slidably installed on the first square sleeve. The first spring fixing frame is fixedly installed on the first slide rod. Both ends of the first spring are fixedly installed between the first spring fixing frame and the first square sleeve. The first wheel is rotatably installed on the first wheel fixing frame. The first spring is in a compressed state during operation; the auxiliary device comprises a second fixing frame, 3 second square sleeves, 3 second slide rods, 3 second spring fixing frames, 3 second springs, 3 second wheel fixing frames, 3 second wheels, 3 third square sleeves, 3 third slide rods, and 3 third springs. The second fixing frame is slidably installed on the 3 connecting frames. The left end of the third slide rod and the right end of the third square sleeve are respectively fixedly installed on the second fixing frame and the end cover. Both ends of the third spring are fixedly installed between the second fixing frame and the end cover, and the third spring is in a stretched state during operation. The second spring fixing frame and the second wheel fixing frame are respectively fixedly installed at the inner and outer ends of the second slide rod. The second slide rod is slidably installed on the left side of the second fixing frame through the second square sleeve. Both ends of the second spring are fixedly installed between the second square sleeve and the second spring fixing frame, and the second spring is in a stretched state during operation. The second wheel is rotatably installed on the second wheel fixing frame. The crawler belts are synchronously installed on the first wheels and the second wheels to drive the robot to move through the first wheels and the second wheels;The lead screw mechanism includes a base, a stepper motor, a lead screw fixing bracket, and a lead screw. The base is horizontally and fixedly installed between the left and right end covers. The stepper motor and the lead screw fixing bracket are fixedly installed on the left and right sides of the top of the base. The left end of the lead screw is fixedly installed on the output shaft of the stepper motor, and the right end is rotatably installed on the lead screw fixing bracket. The conical transmission member includes a lead screw nut, three third fixing brackets, three guide rails, and a conical housing. The lead screw nut is concentric with the conical housing and the two are connected by the third fixing brackets. Guide rails are arranged on the outside of the third fixing brackets, and the guide rails are slidably installed on the conical slide rails of the frame. The lead screw nut is rotatably installed on the lead screw, and the conical housing has a hole at the conical top that is larger than the diameter of the lead screw. The conical transmission member is driven by the stepper motor to move linearly, and at the same time, the first slide rod pressing the conical housing slides outwards.;

[0004] The deficiencies of the above-mentioned intelligent pipeline crawling robot are as follows: 1. When using the above-mentioned intelligent pipeline crawling robot, when there is sludge or other pollutants inside the pipeline, the movement of the crawling robot will be hindered, which is not conducive to the normal operation of the crawling robot; 2. When using the above-mentioned intelligent pipeline crawling robot, when the inner surface of a part of the pipeline body is sunken or convex, the crawler belt will be separated from or pressed too tightly against the inner wall of the pipeline, and the crawling robot cannot be used normally. For this reason, the present invention proposes a new type of sewer pipeline crawling robot. Summary of the Invention

[0005] In view of the state of the prior art, the present invention provides a new type of sewer pipeline crawling robot. When there is sludge or other pollutants inside the pipeline, the traveling body and the support arm unit are respectively driven by the drive unit and the reset elastic component, and the movement of the crawling robot will not be hindered. Therefore, the new type of sewer pipeline crawling robot of the present invention can effectively solve the problems existing in the prior art.

[0006] The present invention is realized through the following technical solutions:

[0007] The present invention provides a new type of sewer pipeline crawling robot, including a traveling body that can move along the extension direction of the sewer pipeline, a support arm unit connected to the traveling body via a reset elastic component, and a drive unit respectively connected to the traveling body and the support arm unit for adjusting the distance between the traveling body and the support arm unit along the extension direction of the sewer pipeline;

[0008] The support arm unit has an expanded state in which it can abut and press against the inner wall circumference of the sewer pipe, and a storage state in which it is stored on one side of the traveling body and is spaced from the inner wall of the sewer pipe; when the support arm unit is in the expanded state, the driving unit is used to drive the traveling body to travel along the extending direction of the sewer pipe; when the expanded state of the support arm unit is switched to the storage state, the reset elastic component is used to drive the support arm unit to travel towards the traveling body.

[0009] Further, the reset elastic component includes a sleeve, an elastic member, and a connecting rod with a blocking block fixed at one end. The sleeve is provided on the traveling body, an installation cavity is formed inside the sleeve, one end of the connecting rod with the blocking block is slidably arranged in the installation cavity, the other end of the connecting rod extends out of the sleeve and is fixedly connected to the support arm unit, the elastic member is arranged inside the sleeve and sleeved on the connecting rod, and the sleeve is fixedly connected to the driving unit; when the support arm unit is in the expanded state, the driving unit is used to drive the sleeve to travel along the extending direction of the sewer pipe. During the traveling state, the elastic member is compressed by the blocking block on one side of the inner cavity of the sleeve. When the support arm unit is switched to the storage state, the elastic restoring force of the elastic member can be used for the connecting rod to drive the support arm unit to displace towards the sleeve direction.

[0010] Further, the support arm unit includes a connecting plate fixedly connected to the end of the connecting rod away from the sleeve, multiple support rods rotatably connected to the connecting plate, multiple abutting blocks respectively and correspondingly arranged at the ends of the multiple support rods away from the connecting plate, a slider slidably connected to the connecting rod, a hinge rod, a housing provided on the sleeve and having an accommodation cavity formed inside, a long pin slidably connected to the housing, and a limiting block arranged inside the housing and rotatably connected to the housing. One end of the long pin close to the slider is fixedly connected to the slider. The sleeve is provided with a limiting groove corresponding to the position of the limiting block. When the long pin abuts against the top of the limiting block, the limiting block is in a horizontal state. When the long pin is separated from the top of the limiting block, one end of the limiting block is clamped into the limiting groove under the action of gravity, so that the limiting block abuts against the end face of the blocking block away from the slider. The multiple support rods are respectively hinged to the slider via a hinge rod. The multiple support rods are arranged in an array along the radial direction of the sewer pipe. The telescopic end of the driving unit is fixedly connected to the slider.

[0011] Further, the traveling body includes two symmetrically distributed support frames. The support frame includes side plates fixedly connected to the sleeve and distributed at intervals, and a sliding plate fixedly connected to the end of the side plate away from the sleeve.

[0012] Furthermore, a sewage suction unit for sewage suction is provided on the traveling body.

[0013] Furthermore, the driving unit is a cylinder.

[0014] Furthermore, the elastic member is a spring.

[0015] Furthermore, the connecting plate includes a connecting body, a plurality of hinged ends provided on the side surface of the connecting body, and a support rod is rotatably connected to the connecting body via one of the hinged ends.

[0016] Furthermore, three support rods are provided, and the three support rods are arranged in an equidistant array in the radial direction of the sewer pipe.

[0017] Furthermore, the abutting block is a rubber cushion block.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] During the use of the novel sewer pipe crawling robot provided by the present invention, first place the whole crawling robot horizontally in the horizontal sewer pipe, then adjust the support arm unit to the unfolded state, the driving unit drives the traveling body to travel along the extending direction of the sewer pipe, and then switch the support arm unit from the unfolded state to the retracted state (at this time, the traveling body is located on the pipe, and the support arm unit is not in contact with the inner wall of the sewer pipe). The reset elastic component drives the support arm unit to move towards the traveling body. Thus, the whole crawling robot has completed a crawling movement and returned to the initial state; for the novel sewer pipe crawling robot of the present invention, when there is sludge or other pollutants inside the pipe, the traveling body and the support arm unit are respectively driven by the driving unit and the reset elastic component, and the movement of the crawling robot will not be hindered, which is beneficial to the normal operation of the crawling robot; when the inner surface of a part of the pipe body is concave or convex, the support arm unit can still abut and press on the circumferential direction of the inner wall of the sewer pipe, and the driving unit can still drive the traveling body to move, and the crawling robot can be used normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic three-dimensional structure diagram of an embodiment of the novel sewer pipe crawling robot provided by the present invention;

[0021] Figure 2 It is a schematic left view structure diagram of an embodiment of the novel sewer pipe crawling robot provided by the present invention;

[0022] Figure 3 is Figure 2 a schematic cross-sectional structure diagram in the A-A direction in

[0023] Figure 4 is Figure 2 a schematic cross-sectional structure diagram in the B-B direction in

[0024] Figure 5 is Figure 4 a partially enlarged structure diagram of part D in

[0025] Reference numerals: 1, traveling body; 11, support frame; 111, side plate; 112, sliding plate; 2, reset elastic component; 21, sleeve; 211, limiting groove; 22, elastic member; 23, connecting rod; 24, blocking block; 3, support arm unit; 31, connecting plate; 311, connecting body; 312, hinged end; 32, support rod; 33, abutting block; 34, slider; 35, hinged rod; 36, housing; 37, long pin; 38, limiting block; 4, driving unit; 5, sewage suction unit. Detailed implementation manners

[0026] The following will specifically describe the preferred embodiments of the present invention with reference to the accompanying drawings. The accompanying drawings form a part of this application and are used together with the embodiments of the present invention to explain the present invention, rather than to limit the present invention.

[0027] Embodiment 1:

[0028] As Figures 1 to 5 shown, a new type of sewer pipeline crawling robot includes a traveling body 1 that can move along the extending direction of the sewer pipeline, a support arm unit 3 connected to the traveling body 1 via a reset elastic component 2, and a driving unit 4 respectively connected to the traveling body 1 and the support arm unit 3 for adjusting the distance between the traveling body 1 and the support arm unit 3 along the extending direction of the sewer pipeline;

[0029] The support arm unit 3 has an unfolded state in which it can abut and press against the inner wall circumference of the sewer pipeline and a stored state in which it is stored on one side of the traveling body 1 and is spaced from the inner wall of the sewer pipeline; when the support arm unit 3 is in the unfolded state, the driving unit 4 is used to drive the traveling body 1 to travel along the extending direction of the sewer pipeline; when the unfolded state of the support arm unit 3 is switched to the stored state, the reset elastic component 2 is used to drive the support arm unit 3 to travel towards the traveling body 1.

[0030] During the use of the novel sewer pipeline crawling robot provided by the present invention, first, the whole crawling robot is horizontally placed in the horizontal sewer pipeline, and then the support arm unit 3 is adjusted to the unfolded state. The driving unit 4 drives the traveling body 1 to travel along the extending direction of the sewer pipeline. Then, the support arm unit 3 is switched from the unfolded state to the retracted state (at this time, the traveling body 1 is located on the pipeline, and the support arm unit 3 has no contact with the inner wall of the sewer pipeline). The reset elastic component 2 drives the support arm unit 3 to travel towards the traveling body 1. Thus, the whole crawling robot has completed a crawling movement and returned to the initial state. For the novel sewer pipeline crawling robot of the present invention, when there is sludge or other pollutants inside the pipeline, the traveling body 1 and the support arm unit 3 are respectively driven by the driving unit 4 and the reset elastic component 2, and the movement of the crawling robot will not be hindered, which is beneficial to the normal operation of the crawling robot. When the inner surface of a part of the pipeline is concave or convex, the support arm unit 3 can still be in contact and pressed against the inner wall of the sewer pipeline in the circumferential direction, and the driving unit 4 can still drive the traveling body 1 to move, and the crawling robot can be used normally.

[0031] Embodiment 2:

[0032] As Figures 1 to 5 shown, a novel sewer pipeline crawling robot includes a traveling body 1 that can move along the extending direction of the sewer pipeline, a support arm unit 3 connected to the traveling body 1 via a reset elastic component 2, and a driving unit 4 respectively connected to the traveling body 1 and the support arm unit 3 for adjusting the distance between the traveling body 1 and the support arm unit 3 along the extending direction of the sewer pipeline.

[0033] The support arm unit 3 has an unfolded state in which it can be in contact and pressed against the inner wall of the sewer pipeline in the circumferential direction and a retracted state in which it is received on one side of the traveling body 1 and is spaced from the inner wall of the sewer pipeline. When the support arm unit 3 is in the unfolded state, the driving unit 4 is used to drive the traveling body 1 to travel along the extending direction of the sewer pipeline. When the unfolded state of the support arm unit 3 is switched to the retracted state, the reset elastic component 2 is used to drive the support arm unit 3 to travel towards the traveling body 1.

[0034] Reference Figures 1 to 4As shown, the reset elastic component 2 includes a sleeve 21, an elastic member 22, and a connecting rod 23 with a stop block fixedly provided at one end. The sleeve 21 is provided on the traveling main body 1. An installation cavity is formed in the sleeve 21. One end of the connecting rod 23 with the stop block is slidably provided in the installation cavity. The other end of the connecting rod 23 extends out of the sleeve 21 and is fixedly connected to the support arm unit 3. The elastic member 22 is provided in the sleeve 21 and sleeved on the connecting rod 23. The sleeve 21 is fixedly connected to the drive unit 4. When the support arm unit 3 is in the deployed state, the drive unit 4 is used to drive the sleeve 21 to travel along the extension direction of the sewer pipe. During the traveling state, the elastic member 22 is compressed by the stop block on one side of the inner cavity of the sleeve 21. When the support arm unit 3 switches to the retracted state, the elastic restoring force of the elastic member 22 can drive the connecting rod to drive the support arm unit 3 to displace towards the sleeve 21.

[0035] During the use of the novel sewer pipe crawling robot provided by the present invention, the whole crawling robot is first horizontally placed in the horizontal sewer pipe. When the support arm unit 3 is in the deployed state, the drive unit 4 drives the sleeve 21 to travel along the extension direction of the sewer pipe. During the traveling state, the elastic member 22 is compressed by the stop block on one side of the inner cavity of the sleeve 21. When the support arm unit 3 switches to the retracted state, the elastic restoring force of the elastic member 22 can drive the connecting rod to drive the support arm unit 3 to displace towards the sleeve 21. Thus, the whole crawling robot has completed a rightward crawling movement and returned to the initial state.

[0036] Embodiment 3:

[0037] As Figures 1 to 5 shown, a novel sewer pipe crawling robot includes a traveling main body 1 that can move along the extension direction of the sewer pipe, a support arm unit 3 connected to the traveling main body 1 via a reset elastic component 2, and a drive unit 4 respectively connected to the traveling main body 1 and the support arm unit 3 for adjusting the distance between the traveling main body 1 and the support arm unit 3 along the extension direction of the sewer pipe.

[0038] The support arm unit 3 has a deployed state in which it can abut and press against the inner wall circumference of the sewer pipe and a retracted state in which it is received on one side of the traveling main body 1 and is spaced from the inner wall of the sewer pipe. When the support arm unit 3 is in the deployed state, the drive unit 4 is used to drive the traveling main body 1 to travel along the extension direction of the sewer pipe. When the deployed state of the support arm unit 3 switches to the retracted state, the reset elastic component 2 is used to drive the support arm unit 3 to travel towards the traveling main body 1.

[0039] The reset elastic component 2 includes a sleeve 21, an elastic member 22, and a connecting rod 23 with a blocking block fixedly provided at one end. The sleeve 21 is provided on the traveling main body 1. An installation cavity is formed in the sleeve 21. One end of the connecting rod 23 with the blocking block is slidably provided in the installation cavity. The other end of the connecting rod 23 extends out of the sleeve 21 and is fixedly connected to the support arm unit 3. The elastic member 22 is provided in the sleeve 21 and sleeved on the connecting rod 23. The sleeve 21 is fixedly connected to the driving unit 4. When the support arm unit 3 is in the unfolded state, the driving unit 4 is used to drive the sleeve 21 to travel along the extension direction of the sewer pipe. During the traveling state, the elastic member 22 is compressed by the blocking block on one side of the inner cavity of the sleeve 21. When the support arm unit 3 is switched to the storage state, the elastic restoring force of the elastic member 22 can drive the connecting rod to drive the support arm unit 3 to displace towards the sleeve 21 direction.

[0040] The support arm unit 3 includes a connecting plate 31 fixedly connected to the end of the connecting rod 23 away from the sleeve 21, multiple support rods 32 rotatably connected to the connecting plate 31, multiple abutting blocks 33 respectively and correspondingly provided at the ends of the multiple support rods 32 away from the connecting plate 31, a slider 34 slidably connected to the connecting rod 23, a hinge rod 35, a housing 36 provided on the sleeve 21 and having an accommodation cavity formed therein, a long pin 37 slidably connected to the housing 36, a limiting block 38 provided inside the housing 36 and rotatably connected to the housing 36. One end of the long pin 37 close to the slider 34 is fixedly connected to the slider 34. A limiting groove 211 is opened at the position of the sleeve 21 corresponding to the limiting block 38. When the long pin 37 abuts against the top of the limiting block 38, the limiting block 38 is in a horizontal state. When the long pin 37 separates from the top of the limiting block 38, one end of the limiting block 38 is clamped into the limiting groove 211 under the action of gravity, so that the limiting block 38 abuts against the end face of the blocking block away from the slider 34. The multiple support rods 32 are respectively hinged to the slider 34 via a hinge rod 35. The multiple support rods 32 are arranged in an array along the radial direction of the sewer pipe. The telescopic end of the driving unit 4 is fixedly connected to the slider 34.

[0041] When the novel sewer pipe crawling robot provided by the present invention is in use, the crawling robot is first placed horizontally in the horizontal sewer pipe as a whole. When the telescopic end of the driving unit 4 is extended and moves to the maximum stroke, the slider 34 moves to the left relative to the connecting rod 23, the support rod 32 is pushed open via the hinge rod 35, and drives the abutment block 33 to be supported to the inner wall of the sewer pipe. At this time, the slider 34 cannot continue to move to the left relative to the connecting rod 23, that is, the abutment block 33, the support rod 32, the hinge rod 35, the slider 34 and the connecting rod 23 are fixed, and the driving unit 4 is still If the extension stroke limit is not reached, the telescopic end of the drive unit 4 continues to extend, and the drive unit 4 will push the sleeve 21 at the right end of the crawling robot and the traveling body 1 to the right and compress the elastic member 22. The long pin 37 and the top of the limit block 38 change from the abutment state to the separation state. Under the action of gravity, one end of the limit block 38 is inserted into the limit groove 211 so that the limit block 38 and the end face of the blocking block away from the slider 34 can be abutted. The rightward advancement of the sleeve 21 and the traveling body 1 is the maximum stroke of the drive unit 4 minus the The slider 34 moves to the left; then the drive unit 4 begins to retract from the maximum extension state to the initial state, the drive unit 4 drives the slider 34 to move rightward relative to the connecting rod 23, and drives the hinge rod 35, the support rod 32 and the abutment block 33 to be recovered, the abutment block 33 is no longer supported to the inner wall of the sewer pipe, the long pin 37 and the top of the limit block 38 change from a separated state to an abutment state, and the limit block 38 is driven by the long pin 37, one end of which extends out of the limit groove 211, so that the limit block 38 and the blocking block are away from the The end faces of the slider 34 are separated, the limit block 38 is in a horizontal state, and the elastic member 22 releases the compression to reset the connecting rod 23, that is, under the joint action of the drive unit 4 and the elastic member 22, the abutment block 33, the support rod 32, the hinged rod 35, the slider 34 and the connecting rod 23 are pulled back to the right, completing the rightward advancement of the abutment block 33, the support rod 32, the hinged rod 35, the slider 34 and the connecting rod 23 of the crawling robot. At this point, the crawling robot as a whole completes a rightward crawling motion and returns to the initial state. When the drive unit 4 extends and moves to the maximum stroke again, and then the oil cylinder retracts from the maximum extension state to the initial state, the crawling robot can repeat the above-mentioned first crawling process, that is, the crawling robot as a whole completes another rightward crawling motion and returns to the initial state. Therefore, the two processes of the drive unit 4 repeatedly extending and moving to the maximum stroke and retracting from the maximum extension state to the initial state can make the crawling robot repeat the above-mentioned crawling motion and continue to move forward.For the novel sewer pipeline crawling robot of the present invention, when there is sludge or other pollutants inside the pipeline, the driving unit 4 first drives the abutting block 33 to support against the inner wall of the sewer pipeline. Then, the driving unit 4 will push the sleeve 21 and the traveling body 1 at the right end of the crawling robot to move forward to the right and compress the elastic member 22. Then, under the combined action of the driving unit 4 and the elastic member 22, components such as the abutting block 33, the support rod 32, the hinge rod 35, the slider 34, and the connecting rod 23 are pulled back to the right, and the whole robot completes a rightward crawling movement and returns to the initial state. The movement of the crawling robot will not be hindered, which is beneficial to the normal operation of the crawling robot; when the inner surface of a part of the pipeline body is concave or convex, the abutting block 33 can still support against the inner wall of the sewer pipeline, and the crawling robot can be used normally.

[0042] Embodiment 4:

[0043] As Figures 1 to 5 shown, a novel sewer pipeline crawling robot includes a traveling body 1 that can move along the extending direction of the sewer pipeline, a support arm unit 3 connected to the traveling body 1 via a reset elastic component 2, and a driving unit 4 respectively connected to the traveling body 1 and the support arm unit 3 for adjusting the distance between the traveling body 1 and the support arm unit 3 along the extending direction of the sewer pipeline;

[0044] The support arm unit 3 has an unfolded state in which it can abut and press against the inner wall circumference of the sewer pipeline and a stored state in which it is stored on one side of the traveling body 1 and is spaced from the inner wall of the sewer pipeline; when the support arm unit 3 is in the unfolded state, the driving unit 4 is used to drive the traveling body 1 to travel along the extending direction of the sewer pipeline; when the unfolded state of the support arm unit 3 is switched to the stored state, the reset elastic component 2 is used to drive the support arm unit 3 to travel towards the traveling body 1.

[0045] The reset elastic component 2 includes a sleeve 21, an elastic member 22, and a connecting rod 23 with a blocking block fixed at one end. The sleeve 21 is provided on the traveling body 1. An installation cavity is formed inside the sleeve 21. One end of the connecting rod 23 with the blocking block is slidably provided in the installation cavity. The other end of the connecting rod 23 extends out of the sleeve 21 and is fixedly connected to the support arm unit 3. The elastic member 22 is provided inside the sleeve 21 and sleeved on the connecting rod 23. The sleeve 21 is fixedly connected to the driving unit 4; when the support arm unit 3 is in the unfolded state, the driving unit 4 is used to drive the sleeve 21 to travel along the extending direction of the sewer pipeline. During the traveling state, the elastic member 22 is compressed by the blocking block on one side of the inner cavity of the sleeve 21. When the support arm unit 3 is switched to the stored state, the elastic restoring force of the elastic member 22 can be used for the connecting rod to drive the support arm unit 3 to displace towards the sleeve 21.

[0046] The support arm unit 3 includes a connecting plate 31 fixedly connected to one end of the connecting rod 23 away from the sleeve 21, a plurality of support rods 32 rotatably connected to the connecting plate 31, a plurality of abutting blocks 33 respectively provided at one ends of the plurality of support rods 32 away from the connecting plate 31, a slider 34 slidably connected to the connecting rod 23, a hinge rod 35, a housing 36 provided on the sleeve 21 and having an accommodation cavity formed therein, a long pin 37 slidably connected to the housing 36, a limiting block 38 provided inside the housing 36 and rotatably connected to the housing 36. One end of the long pin 37 close to the slider 34 is fixedly connected to the slider 34. The sleeve 21 is provided with a limiting groove 211 at a position corresponding to the limiting block 38. When the long pin 37 abuts against the top of the limiting block 38, the limiting block 38 is in a horizontal state. When the long pin 37 separates from the top of the limiting block 38, one end of the limiting block 38 is clamped into the limiting groove 211 under the action of gravity, so that the limiting block 38 abuts against the end face of the blocking block away from the slider 34. The plurality of support rods 32 are respectively hinged to the slider 34 via a hinge rod 35. The plurality of support rods 32 are arranged in an array in the radial direction of the sewer pipe. The telescopic end of the driving unit 4 is fixedly connected to the slider 34.

[0047] Reference Figure 1 and Figure 2 As shown in the reference and, the traveling main body 1 includes two symmetrically distributed support frames 11. The support frame 11 includes side plates 111 fixedly connected to the sleeve 21 and spaced apart, and a sliding plate 112 fixedly connected to one end of the side plate 111 away from the sleeve 21. By providing two symmetrically distributed support frames 11, the traveling main body 1 and the sleeve 21 are made more stable during movement. By providing the sliding plate 112, it is convenient for the traveling main body 1 to move inside the pipe body.

[0048] Reference Figure 1 and Figure 2 As shown in the reference and, a sewage suction unit 5 for sucking sewage is provided on the traveling main body 1. Such a design facilitates the sewage suction unit 5 to absorb pollutants, such as absorbing sludge. Moreover, when the novel sewer pipe crawling robot of the present invention completes a rightward crawling movement and returns to the initial state as a whole, it can reach a new position in the pipe, which is convenient for the sewage suction unit 5 to absorb pollutants at different positions in the pipe, and the effect of absorbing pollutants is better.

[0049] Exemplarily, the driving unit 4 is a cylinder. The fixed end of the cylinder is fixedly connected to the sleeve 21, and the telescopic end of the cylinder is fixedly connected to the slider 34. The driving unit 4 can also be other telescopic members.

[0050] Exemplarily, the elastic member 22 is a spring. Such a design facilitates the compression and reset of the spring, and under the combined action of the driving unit 4 and the elastic member 22, it is convenient for components such as the abutting block 33, the support rod 32, the hinge rod 35, the slider 34, and the connecting rod 23 to be pulled back to the right, which is beneficial to the movement of the crawling robot of the present invention.

[0051] Reference Figure 1 As shown, the connecting plate 31 includes a connecting body 311 and a plurality of hinge ends 312 provided on the side surface of the connecting body 311. One of the support rods 32 is rotatably connected to the connecting body 311 via one of the hinge ends 312. Such a design facilitates the connection and disassembly of the support rod 32 and the connecting body 311, and is also beneficial to the more stable rotation of the support rod 32 relative to the connecting body 311.

[0052] Exemplarily, three support rods 32 are provided, and the three support rods 32 are arranged in an equidistant array along the radial direction of the sewer pipe. The abutting block 33 is a rubber cushion block. Such a design facilitates the movement of the crawling robot of the present invention, which can not only simplify the structure but also achieve the expected effect.

[0053] The working principle of an embodiment of the novel sewer pipe crawling robot of the present invention is as follows:

[0054] When the novel sewer pipe crawling robot provided by the present invention is in use, the crawling robot is first placed horizontally in the horizontal sewer pipe as a whole. When the telescopic end of the driving unit 4 is extended and moves to the maximum stroke, the slider 34 moves to the left relative to the connecting rod 23, the support rod 32 is pushed open via the hinge rod 35, and drives the abutment block 33 to be supported to the inner wall of the sewer pipe. At this time, the slider 34 cannot continue to move to the left relative to the connecting rod 23, that is, the abutment block 33, the support rod 32, the hinge rod 35, the slider 34 and the connecting rod 23 are fixed, and the driving unit 4 is still If the extension stroke limit is not reached, the telescopic end of the drive unit 4 continues to extend, and the drive unit 4 will push the sleeve 21 at the right end of the crawling robot and the traveling body 1 to the right and compress the elastic member 22. The long pin 37 and the top of the limit block 38 change from the abutment state to the separation state. Under the action of gravity, one end of the limit block 38 is inserted into the limit groove 211 so that the limit block 38 and the end face of the blocking block away from the slider 34 can be abutted. The rightward advancement of the sleeve 21 and the traveling body 1 is the maximum stroke of the drive unit 4 minus the The slider 34 moves to the left; then the drive unit 4 begins to retract from the maximum extension state to the initial state, the drive unit 4 drives the slider 34 to move rightward relative to the connecting rod 23, and drives the hinge rod 35, the support rod 32 and the abutment block 33 to be recovered, the abutment block 33 is no longer supported to the inner wall of the sewer pipe, the long pin 37 and the top of the limit block 38 change from a separated state to an abutment state, and the limit block 38 is driven by the long pin 37, one end of which extends out of the limit groove 211, so that the limit block 38 and the blocking block are away from the The end faces of the slider 34 are separated, the limit block 38 is in a horizontal state, and the elastic member 22 releases the compression to reset the connecting rod 23, that is, under the joint action of the drive unit 4 and the elastic member 22, the abutment block 33, the support rod 32, the hinged rod 35, the slider 34 and the connecting rod 23 are pulled back to the right, completing the rightward movement of the abutment block 33, the support rod 32, the hinged rod 35, the slider 34 and the connecting rod 23 of the crawling robot. At this point, the crawling robot as a whole completes a rightward crawling movement and returns to the initial state. Therefore, the drive unit 4 repeats the two processes of extending and moving to the maximum stroke and then retracting from the maximum extension state to the initial state, so that the crawling robot can repeat the above crawling movement and continue to move forward.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to be any form of limitation to the present invention. Any simple modification or equivalent changes made to the above embodiments based on the technical essence of the present invention shall fall within the protection scope of the present invention.

Claims

1. A new type of sewer pipe crawling robot, characterized in that, It includes a traveling body that can move along the extending direction of the sewer pipe, a support arm unit connected to the traveling body via a reset elastic component, and a driving unit respectively connected to the traveling body and the support arm unit for adjusting the distance between the traveling body and the support arm unit along the extending direction of the sewer pipe; The support arm unit has an unfolded state in which it can abut and press against the inner wall circumference of the sewer pipe and a stored state in which it is stored on one side of the traveling body and is spaced from the inner wall of the sewer pipe; when the support arm unit is in the unfolded state, the driving unit is used to drive the traveling body to travel along the extending direction of the sewer pipe; when the unfolded state of the support arm unit is switched to the stored state, the reset elastic component is used to drive the support arm unit to travel towards the traveling body. The reset elastic component includes a sleeve, an elastic member, and a connecting rod with a blocking block fixed at one end. The sleeve is arranged on the traveling body, an installation cavity is formed inside the sleeve, one end of the connecting rod with the blocking block is slidably arranged in the installation cavity, the other end of the connecting rod extends out of the sleeve and is fixedly connected to the support arm unit, the elastic member is arranged inside the sleeve and sleeved on the connecting rod, and the sleeve is fixedly connected to the driving unit; when the support arm unit is in the unfolded state, the driving unit is used to drive the sleeve to travel along the extending direction of the sewer pipe. During the traveling state, the elastic member is compressed by the blocking block on one side of the inner cavity of the sleeve. When the support arm unit is switched to the stored state, the elastic restoring force of the elastic member can drive the connecting rod to drive the support arm unit to displace towards the sleeve direction. The support arm unit includes a connecting plate fixedly connected to the end of the connecting rod away from the sleeve, multiple support rods rotatably connected to the connecting plate, multiple abutting blocks respectively arranged at the ends of the multiple support rods away from the connecting plate, a slider slidably connected to the connecting rod, a hinge rod, a housing arranged on the sleeve and having an accommodation cavity formed inside, a long pin slidably connected to the housing, and a limiting block arranged inside the housing and rotatably connected to the housing. One end of the long pin close to the slider is fixedly connected to the slider. The sleeve is provided with a limiting groove corresponding to the position of the limiting block. When the long pin abuts against the top of the limiting block, the limiting block is in a horizontal state. When the long pin separates from the top of the limiting block, one end of the limiting block is clamped into the limiting groove under the action of gravity for the limiting block to abut against the end face of the blocking block away from the slider. The multiple support rods are respectively hinged to the slider via a hinge rod. The multiple support rods are arranged in an array along the radial direction of the sewer pipe. The telescopic end of the driving unit is fixedly connected to the slider. The driving unit is a cylinder. The connecting plate includes a connecting body, multiple hinge ends arranged on the side surface of the connecting body. One support rod is rotatably connected to the connecting body via one of the hinge ends.

2. The novel sewer pipeline crawling robot according to claim 1, characterized in that, The traveling body includes two symmetrically distributed support frames, and each support frame includes side plates fixedly connected to the sleeve and spaced apart, and a sliding plate fixedly connected to one end of the side plate away from the sleeve.

3. The novel sewer pipeline crawling robot according to claim 1, characterized in that, A sewage suction unit for sucking sewage is provided on the traveling body.

4. The novel sewer pipeline crawling robot according to claim 1, characterized in that, The elastic member is a spring.

5. The novel sewer pipeline crawling robot according to claim 1, characterized in that, There are three support rods, and the three support rods are arranged in an equidistant array along the radial direction of the sewer pipe.

6. The novel sewer pipeline crawling robot according to claim 5, characterized in that, The abutting block is a rubber cushion block.

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