A pipeline robot based on video radar detection

Abstract

The application discloses a pipeline robot based on video radar detection and relates to the technical field of pipeline detection.The pipeline robot comprises a driving unit, a driving motor and a screw rod;an active unit, a first rocker assembly and a movable adjusting assembly, the movable adjusting assembly being connected with the screw rod and the first rocker assembly, and the movable adjusting assembly being capable of connecting and disconnecting the action force of the screw rod on the first rocker assembly;and a driven unit, a second rocker assembly and a first adjusting block, the first adjusting block being connected with the second rocker assembly, and the first adjusting block controlling the second rocker assembly to swing.The pipeline robot has the beneficial effects that the active unit and the driven unit are arranged, when encountering a pipeline with continuously different diameters, the driven unit, the scraping unit, the active unit and the scraping unit change in sequence to complete the movement in the pipeline with different diameters, meanwhile, the scraper is arranged in the device to push away the sundries blocking the rollers in the pipeline, and the scraper changes synchronously with the driven unit to adapt to the pipeline with continuously different diameters.

Description

Technical Field

[0001] This invention relates to the field of pipeline detection technology, and in particular to a pipeline robot based on video radar detection. Background Technology

[0002] Pipeline detection refers to the use of various detection methods and equipment to detect and locate underground or concealed pipelines, facilitating pipeline maintenance, repair, replacement, and construction. Common pipeline detection methods include geomagnetic methods, electromagnetic methods, ground radar methods, and ultrasonic methods. Pipeline detection is widely used in urban water supply, gas supply, heating, drainage, and telecommunications sectors.

[0003] In water supply or drainage pipes, the inner walls of the pipes are often covered with viscous substances. If a detection device travels through the pipe, its movement will be affected by the viscous substances. In severe cases, the device may become stuck inside the pipe, and the detection work will be impossible, which will have a significant impact on the project. Summary of the Invention

[0004] In this section, as well as in the abstract and title of this application, some simplifications or omissions may be made to avoid obscuring the purpose of this section, the abstract, and the title of this application, and such simplifications or omissions shall not be used to limit the scope of the invention.

[0005] In view of the problems existing in the above or prior art, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide a pipeline robot based on video radar detection, which solves the problems of debris in the pipeline affecting the movement of the detection device, and the inability of the detection device to adapt to the detection work of pipelines with continuous different diameters.

[0007] To solve the above technical problems, the present invention provides the following technical solution: a pipeline robot based on video radar detection, which includes a drive unit, including a drive motor and a lead screw connected to the output end of the drive motor;

[0008] An active unit includes a first rocker assembly and a movable adjustment assembly. The movable adjustment assembly connects the lead screw and the first rocker assembly. The movable adjustment assembly connects the force exerted by the lead screw on the first rocker assembly by placing a locking head into a locking hole, and conversely, disconnects the force exerted by the lead screw on the first rocker assembly by not placing the locking head into the locking hole.

[0009] The driven unit includes a second rocker assembly and a first adjusting block. The first adjusting block connects the second rocker assembly and the lead screw, and the first adjusting block controls the second rocker assembly to swing.

[0010] One end of the first rocker assembly and the second rocker assembly are respectively provided with an active roller and a driven roller.

[0011] In a preferred embodiment of the pipeline robot based on video radar detection according to the present invention, the end of the lead screw away from the drive motor is connected to the detection unit; the drive motor is placed inside the motor housing of the frame unit, the motor housing is connected to the first support rod through a connecting block, the other end of the first support rod is connected to the main outer frame, and the other end of the main outer frame is connected to the detection unit through a second support rod.

[0012] In a preferred embodiment of the pipeline robot based on video radar detection according to the present invention, the active unit includes the first rocker assembly, one end of which is connected to the active roller and the other end of which is connected to the movable adjustment assembly, and one side of the active roller is connected to the drive motor.

[0013] As a preferred embodiment of the pipeline robot based on video radar detection according to the present invention, wherein: the second rocker assembly is connected to the driven roller and the first adjusting block;

[0014] The scraping unit includes a third rocker assembly, one end of which is provided with a scraper, and the other end is connected to the lead screw via a second adjusting block.

[0015] As a preferred embodiment of the pipeline robot based on video radar detection according to the present invention, the lead screw is provided with a first thread, a second thread and a third thread, the first thread is connected to the movable adjustment component, the second thread and the third thread are respectively connected to the first adjustment block and the second adjustment block, one end of the lead screw is connected to the protective frame of the detection unit, and a movable probe is provided inside the protective frame.

[0016] As a preferred embodiment of the pipeline robot based on video radar detection according to the present invention, wherein: the first rocker assembly includes a rocker, one end of a connecting rod is connected in the middle of the rocker, both ends of the rocker are respectively connected to the main outer frame and the active roller through connectors assembled with the rocker, and the other end of the connecting rod is connected to the movable adjustment assembly through the connectors assembled with the connecting rod;

[0017] Similarly, both the second joystick assembly and the aforementioned joystick assembly are connected via the connector.

[0018] As a preferred embodiment of the pipeline robot based on video radar detection according to the present invention, the movable adjustment component includes an outer ring, and a movable adjustment member is provided inside the outer ring. The adjustment member and the outer ring are connected by a locking head. The locking head is used to synchronize the movement of the adjustment member and the outer ring. The locking head is connected to one end of a spring, and the other end of the spring is connected to the outer ring. An electromagnetic coil is provided on one side of the spring.

[0019] In a preferred embodiment of the pipeline robot based on video radar detection described in this invention, the adjusting component includes an adjusting ring, a limiting ring is provided on the outer side of the adjusting ring, and a locking hole is provided on the side of the limiting ring.

[0020] In a preferred embodiment of the pipeline robot based on video radar detection described in this invention, the electromagnetic coil and the drive motor are powered by a battery, which is controlled by a controller.

[0021] In a preferred embodiment of the pipeline robot based on video radar detection described in this invention, the clamp head is made of metal and can be attracted by the magnetic force of the electromagnetic coil.

[0022] The beneficial effects of the present invention are as follows: By setting an active unit and a driven unit, when encountering pipes of different diameters, the driven unit, scraping unit and active unit will change accordingly in sequence to complete the movement change in pipes of different diameters. At the same time, the device is equipped with a scraper, which can push away debris blocking the rollers in the pipe. The scraper will also change synchronously with the driven unit, thus adapting to pipes of different diameters. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0024] Figure 1 This is an overall schematic diagram of a pipeline robot based on video radar detection.

[0025] Figure 2 This is a schematic diagram of the internal structure of a pipeline robot based on video radar detection.

[0026] Figure 3 This is a partial structural diagram of a pipeline robot based on video radar detection.

[0027] Figure 4 A schematic diagram showing the disassembly of the motion control components of a pipeline robot based on video radar detection.

[0028] Figure 5 This is a schematic diagram of the controller principle for a pipeline robot based on video radar detection. Detailed Implementation

[0029] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0031] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0032] Example 1

[0033] Reference Figure 1 and Figure 2 This is the first embodiment of the present invention. This embodiment provides a pipeline robot based on video radar detection, which includes a drive unit (100), including a drive motor (101) and a lead screw (102) connected to the output end of the drive motor (101);

[0034] The active unit (200) includes a first rocker assembly (201) and an active adjustment assembly (204). The active adjustment assembly (204) connects the lead screw (102) and the first rocker assembly (201). The active adjustment assembly (204) connects the force exerted by the lead screw (102) on the first rocker assembly (201) by placing the locking head (204c) in the locking hole (204b-3). Conversely, the force exerted by the lead screw (102) on the first rocker assembly (201) is disconnected by not placing the locking head (204c) in the locking hole (204b-3).

[0035] The driven unit (300) includes a second rocker assembly (302) and a first adjusting block (301). The first adjusting block (301) connects the second rocker assembly (302) and the lead screw (102). The first adjusting block (301) controls the second rocker assembly (302) to swing.

[0036] One end of the first rocker assembly (201) and the second rocker assembly (302) is provided with an active roller (202) and a driven roller (303), respectively.

[0037] The second rocker assembly 302 is connected to the driven roller 303 and the first adjusting block 301. Similarly, the third rocker assembly 402 is connected to the scraper 403 and the second adjusting block 401.

[0038] Preferably, the length of the scraper 403 is longer than the thickness of the roller. The main function of the scraper 403 is to push away obstacles in the roller's travel path to prevent the roller from being obstructed.

[0039] Preferably, the second rocker assembly 302 and the third rocker assembly 402 are based on the same principle, but their motion trajectories are different. When the driven roller 303 gradually retracts, the driven roller 303 deflects counterclockwise. When the scraper 403 gradually retracts, the scraper 403 deflects clockwise.

[0040] Preferably, the driven roller 303 and the scraper 403 move in the same direction. Therefore, when the pipe diameter changes, the driven roller 303 and the scraper 403 will be adjusted synchronously to adapt to the new pipe detection work.

[0041] In use, the drive motor 101 drives the lead screw 102 to rotate, the first adjusting block 301 and the second adjusting block 401 move on the thread, the second rocker assembly 302 and the third rocker assembly 402 deflect, and the driven roller 303 and the scraper 403 also deflect accordingly.

[0042] Example 2

[0043] Reference Figures 1-5 This is the second embodiment of the present invention, which differs from the first embodiment in that it further includes a drive unit (100), including a drive motor (101) and a lead screw (102) connected to the output end of the drive motor (101);

[0044] The active unit (200) includes a first rocker assembly (201) and an active adjustment assembly (204). The active adjustment assembly (204) connects the lead screw (102) and the first rocker assembly (201). The active adjustment assembly (204) connects the force exerted by the lead screw (102) on the first rocker assembly (201) by placing the locking head (204c) in the locking hole (204b-3). Conversely, the force exerted by the lead screw (102) on the first rocker assembly (201) is disconnected by not placing the locking head (204c) in the locking hole (204b-3).

[0045] The driven unit (300) includes a second rocker assembly (302) and a first adjusting block (301). The first adjusting block (301) connects the second rocker assembly (302) and the lead screw (102). The first adjusting block (301) controls the second rocker assembly (302) to swing.

[0046] One end of the first rocker assembly (201) and the second rocker assembly (302) is provided with an active roller (202) and a driven roller (303), respectively.

[0047] Preferably, four of the first rocker assembly 201, the second rocker assembly 302, and the third rocker assembly 402 are arranged in a four-part circular array on the outside of the main outer frame 501. Therefore, four of the active roller 202, the driven roller 303, and the scraper 403 are provided.

[0048] The end of the lead screw 102 away from the drive motor 101 is connected to the detection unit 600; the drive motor 101 is placed inside the motor housing 504 of the frame unit 500, the motor housing 504 is connected to the first support rod 502 through the connecting block 503, the other end of the first support rod 502 is connected to the main outer frame 501, and the other end of the main outer frame 501 is connected to the detection unit 600 through the second support rod 505.

[0049] Preferably, four first support rods 502 and two support rods 505 are provided. Each first support rod 502 and second support rod 505 is located between a rocker assembly 201 and a third rocker assembly 402. The main function of the first support rods 502 and second support rods 505 is to stabilize the motor housing 504 and the detection unit 600.

[0050] The active unit 200 includes a first rocker assembly 201, one end of which is connected to an active roller 202 and the other end is connected to an adjustable assembly 204. One side of the active roller 202 is connected to a drive motor 203.

[0051] Preferably, the drive motor 203 can be a 400W servo motor.

[0052] The second rocker assembly (302) is connected to the driven roller (303) and the first adjusting block (301);

[0053] The scraping unit (400) includes a third rocker assembly (402), one end of which is provided with a scraper (403), and the other end is connected to a lead screw (102) via a second adjusting block (401).

[0054] The lead screw 102 is provided with a first thread 103, a second thread 104 and a third thread 105. The first thread 103 is connected to the movable adjustment component 204. The second thread 104 and the third thread 105 are respectively connected to the first adjustment block 301 and the second adjustment block 401. One end of the lead screw 102 is connected to the protective frame 602 of the detection unit 600. The movable probe 601 is provided inside the protective frame 602.

[0055] Preferably, the protective frame 602 is made of transparent material, such as transparent glass or plastic, and the movable probe 601 can be a rotating camera.

[0056] The first rocker assembly 201 includes a rocker 201a, with one end of a connecting rod 201b connected in the middle of the rocker 201a. The two ends of the rocker 201a are respectively connected to the main outer frame 501 and the active roller 202 through connectors 201c assembled with the rocker 201a. The other end of the connecting rod 201b is connected to the movable adjustment assembly 204 through connectors 201c assembled with the connecting rod 201b.

[0057] Similarly, the second rocker assembly 302 and the second rocker assembly 302 are both connected via connector 201c.

[0058] The movable adjustment component 204 includes an outer ring 204a, inside which a movable adjustment member 204b is disposed. The adjustment member 204b and the outer ring 204a are connected by a locking head 204c. The locking head 204c is used to synchronize the movement of the adjustment member 204b and the outer ring 204a. The locking head 204c is connected to one end of a spring 204d, and the other end of the spring 204d is connected to the outer ring 204a. An electromagnetic coil 204e is disposed on one side of the spring 204d.

[0059] The adjusting component 204b includes an adjusting ring 204b-1, a limiting ring 204b-2 on the outer side of the adjusting ring 204b-1, and a locking hole 204b-3 on the side of the limiting ring 204b-2.

[0060] The electromagnetic coil 204e and the drive motor 101 are powered by the storage battery 800, which is controlled by the controller 700.

[0061] Preferably, the outer ring 204a has a groove inside for placing the limiting ring 204b-2. Therefore, the adjusting ring 204b-1 can rotate within the outer ring 204a due to the action of the limiting ring 204b-2.

[0062] The side of the groove of the limiting ring 204b-2 is provided with an area to accommodate the locking head 204c, the spring 204d, and the electromagnetic coil 204e. In the initial state, the electromagnetic coil 204e is not energized, and the locking head 204c will be placed in the locking hole 204b-3. At this time, the outer ring 204a will rotate together with the adjusting ring 204b-1. When the electromagnetic coil 204e is energized, the locking head 204c will be attracted by magnetic force until it is disengaged from the locking hole 204b-3. At this time, when the adjusting ring 204b-1 rotates, the outer ring 204a will not rotate. At this time, the rotation of the adjusting member 204b is unrestrained, and the adjusting member 204b will rotate with the lead screw 102, but the outer ring 204a is stationary due to the restriction of the first rocker assembly 201.

[0063] Similarly, the structure and principle of the first adjusting block 301 and the second adjusting block 401 are the same as those of the movable adjusting component 204.

[0064] When the device needs to move from a pipe with a larger diameter to a pipe with a smaller diameter, the electromagnetic coils 204e in the first adjusting block 301 and the second adjusting block 401 are not energized, while the electromagnetic coil 204e in the movable adjusting component 204 is energized. At this time, when the lead screw 102 rotates, the second rocker assembly 302 and the third rocker assembly 402 gradually retract to the appropriate position. After that, the driving roller 202 and the driven roller 303 will continue to move a short distance. Then, the electromagnetic coils 204e in the first adjusting block 301 and the second adjusting block 401 are energized, while the electromagnetic coil 204e in the movable adjusting component 204 is not energized. The second rocker assembly 302 and the third rocker assembly 402 remain stationary. After the first rocker assembly 201 deflects to the appropriate position, the device continues to move forward. Conversely, the drive motor 101 drives the lead screw 102 to reverse.

[0065] Preferably, to meet the various needs of practical applications, the device can be equipped with components such as radar detection devices and lighting.

[0066] The card head 204c is made of metal and can be attracted by the magnetic force of the electromagnetic coil 204e.

[0067] In use, the operator first adjusts the positions of the active roller 202, driven roller 303, and scraper 403 according to the initial pipe diameter. Then, the device is manually placed into the pipe to begin pipe detection. When the pipe diameter changes, the operator observes the pipe diameter through the movable probe 601 and adjusts the first rocker assembly 201, the second rocker assembly 302, and the third rocker assembly 402. For specific adjustment methods, refer to the above. After that, the pipe detection work can continue.

[0068] In summary, by setting up the active unit 200 and the driven unit 300, when encountering pipes of different diameters, the driven unit 300, the scraping unit 400, and the active unit 200 will change accordingly in sequence to complete the movement change within pipes of different diameters. At the same time, the device is equipped with a scraper 403, which can push away debris blocking the rollers in the pipe. The scraper 403 will also change synchronously with the driven unit 300, thus adapting to pipes of different diameters.

[0069] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0070] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0071] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0072] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A pipeline robot based on video radar detection, characterized in that: include, The drive unit (100) includes a drive motor (101) and a lead screw (102) connected to the output end of the drive motor (101). The active unit (200) includes a first rocker assembly (201) and an active adjustment assembly (204). The active adjustment assembly (204) connects the lead screw (102) and the first rocker assembly (201). The active adjustment assembly (204) connects the force exerted by the lead screw (102) on the first rocker assembly (201) by placing the locking head (204c) in the locking hole (204b-3), and disconnects the force exerted by the lead screw (102) on the first rocker assembly (201) by not placing the locking head (204c) in the locking hole (204b-3). The driven unit (300) includes a second rocker assembly (302) and a first adjusting block (301). The first adjusting block (301) connects the second rocker assembly (302) and the lead screw (102). The first adjusting block (301) controls the second rocker assembly (302) to swing. One end of the first rocker assembly (201) and the second rocker assembly (302) is provided with an active roller (202) and a driven roller (303), respectively. The movable adjustment component (204) includes an outer ring (204a), inside which a movable adjustment member (204b) is disposed. The adjustment member (204b) and the outer ring (204a) are connected by a locking head (204c). The locking head (204c) is used to synchronize the movement of the adjustment member (204b) and the outer ring (204a). The locking head (204c) is connected to one end of a spring (204d), and the other end of the spring (204d) is connected to the outer ring (204a). An electromagnetic coil (204e) is disposed on one side of the spring (204d). The adjusting component (204b) includes an adjusting ring (204b-1), a limiting ring (204b-2) is provided on the outer side of the adjusting ring (204b-1), and a locking hole (204b-3) is provided on the side of the limiting ring (204b-2). The electromagnetic coil (204e) and the drive motor (101) are powered by a storage battery (800), which is controlled by a controller (700). The card head (204c) is made of metal and can be attracted by the magnetic force of the electromagnetic coil (204e).

2. The pipeline robot based on video radar detection as described in claim 1, characterized in that: The end of the lead screw (102) away from the drive motor (101) is connected to the detection unit (600); the drive motor (101) is placed inside the motor housing (504) of the frame unit (500), the motor housing (504) is connected to the first support rod (502) through the connecting block (503), the other end of the first support rod (502) is connected to the main outer frame (501), and the other end of the main outer frame (501) is connected to the detection unit (600) through the second support rod (505).

3. The pipeline robot based on video radar detection as described in claim 2, characterized in that: The active unit (200) includes the first rocker assembly (201), one end of which is connected to the active roller (202) and the other end is connected to the movable adjustment assembly (204). One side of the active roller (202) is connected to the drive motor (203).

4. The pipeline robot based on video radar detection as described in claim 3, characterized in that: The second rocker assembly (302) connects the driven roller (303) and the first adjusting block (301); The scraping unit (400) includes a third rocker assembly (402), one end of which is provided with a scraper (403), and the other end is connected to the lead screw (102) through a second adjusting block (401).

5. The pipeline robot based on video radar detection as described in claim 4, characterized in that: The lead screw (102) is provided with a first thread (103), a second thread (104) and a third thread (105). The first thread (103) is connected to the movable adjustment assembly (204). The second thread (104) and the third thread (105) are respectively connected to the first adjustment block (301) and the second adjustment block (401). One end of the lead screw (102) is connected to the protective frame (602) of the detection unit (600). The movable probe (601) is provided inside the protective frame (602).

6. The pipeline robot based on video radar detection as described in claim 5, characterized in that: The first rocker assembly (201) includes a rocker (201a), one end of a connecting rod (201b) is connected to the middle of the rocker (201a), and both ends of the rocker (201a) are connected to the main outer frame (501) and the active roller (202) respectively through connectors (201c) assembled with the rocker (201a). The other end of the connecting rod (201b) is connected to the movable adjustment assembly (204) through the connectors (201c) assembled with the connecting rod (201b). Similarly, the second rocker assembly (302) and the third rocker assembly (402) are also connected by the connector (201c).

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