Intelligent inspection robot for drainage pipe network and use method of intelligent inspection robot

Abstract

The invention belongs to the technical field of pipeline inspection robots, particularly relates to an intelligent inspection robot for a drainage pipe network and a use method of the intelligent inspection robot, and aims to solve the problems that existing sludge hinders the robot from moving forwards and a camera is blocked by sewage and sludge, according to the scheme, the intelligent inspection robot comprises a moving vehicle, and the camera is fixed to the top of the moving vehicle; the water drainage pipeline inspection device comprises a mobile vehicle and is characterized in that the mobile vehicle is used for inspecting a water drainage pipeline, a sludge guide channel is formed in the mobile vehicle, a rotating disc is rotatably connected to one side of the mobile vehicle and is used for discharging sludge into the sludge guide channel, and an auger is rotatably connected to the interior of the sludge guide channel and is used for discharging the sludge to the outside. The rotating disc can scatter sludge on a forward road and discharge the sludge into the sludge guide channel, the auger and the sewage discharge hose are matched to uniformly spray the sludge in the sludge guide channel on the inner wall of a pipeline, the situation that the sludge is accumulated again to hinder return of the moving vehicle is avoided, and sewage can flow back into the sludge guide channel in the process of washing the glass protective cover.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline inspection robots, and in particular to an intelligent inspection robot for drainage pipe networks and a method for using the robot. Background Art

[0002] Drainage network refers to an underground pipeline system used to guide and transport water resources. Drainage network can be divided into water distribution network, sewage network and flood control network according to the type of water resources transported. When drainage network is used for a long time, it needs to be inspected by robots to check whether the pipeline is damaged or blocked.

[0003] In the prior art, there are still the following deficiencies when using robots to inspect drainage pipe networks:

[0004] 1. Due to the long-term use of the drainage network, a large amount of silt is easily accumulated on the inner wall of the bottom of the pipe. Therefore, when the robot moves, the silt is easy to hinder the robot's progress, causing the robot to be blocked and unable to move forward;

[0005] 2. Sewage and sludge are attached to the inner wall of the drainage network. When the robot moves, the sludge and sewage on the inner wall of the top of the pipe drip onto the robot, causing the camera to be blocked and the inspection to be unable to continue;

[0006] In view of the above problems, the present invention proposes an intelligent inspection robot for drainage pipe network and a method for using the robot. Summary of the invention

[0007] The purpose of the present invention is to solve the shortcomings of the existing silt hindering the robot's progress and the camera being blocked by sewage and sludge, and to propose a drainage network intelligent inspection robot and a method of using the same.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] An intelligent inspection robot for drainage pipe network, comprising a mobile vehicle, a camera is fixed on the top of the mobile vehicle for inspecting drainage pipes, a mud guide is provided in the mobile vehicle, a rotating disk is rotatably connected to one side of the mobile vehicle for discharging sludge into the mud guide, and an auger is rotatably connected in the mud guide for discharging sludge to the outside;

[0010] It also includes a sewage hose fixed on the side of the mobile vehicle away from the rotating disk, and the sewage hose is connected to the mud guide channel, and is used to evenly spray the sludge in the mud guide channel onto the inner wall of the drainage pipeline;

[0011] A glass protective cover is fixedly arranged on the top of the mobile vehicle for protecting the camera. A driving motor is arranged in the mobile vehicle. A rotating shaft is fixed to the output shaft of the driving motor, and the rotating shaft can drive the rotating disk and the auger to rotate.

[0012] A cleaning structure is arranged on one side of the mobile vehicle and is used to drive the rotating disk to rotate and clean the silt on the forward road;

[0013] The swing structure is arranged on the side of the mobile vehicle away from the rotating disk and is used to drive the sewage hose to swing back and forth, so as to evenly spray the sludge in the mud guide channel onto the inner wall of the drainage pipeline;

[0014] A driving structure, disposed in the mobile vehicle, for synchronously driving the cleaning structure and the swinging structure through a rotating shaft;

[0015] The cleaning structure is arranged in the mobile vehicle and is used for cleaning the blocked glass protective cover.

[0016] In a possible design, the cleaning structure includes a rotating tube rotating on one side of the mobile vehicle, and one end of the rotating tube is fixedly connected to the side of the rotating disk close to the mobile vehicle, the rotating tube is connected to the mud guide, the outer wall fixed sleeve of the rotating tube is provided with a gear ring, the rotating disk is provided with a conical hole connected to the rotating tube, the side of the rotating disk away from the mobile vehicle is provided with a plurality of mud removal plates, and the mud removal plates are inclined, the rotating disk drives the mud removal plates to rotate to drive the silt into the conical hole, and the side of the mud removal plates away from the rotating disk is provided with a serrated edge , which is used to break up large particles of impurities in the sludge to prevent the rotating tube and the tapered hole from being blocked; the driving motor drives the gear to rotate through the rotating shaft, and the gear drives the rotating tube and the rotating disk to rotate through the gear ring. Therefore, the rotating disk and the demudifier rotate while the mobile vehicle moves forward slowly, and the serrated edge on one side of the demudifier can cut the sludge into pieces to prevent the rotating tube, the mud guide channel and the tapered hole from being blocked. Since the demudifier is placed at an angle, the sludge enters the tapered hole and the rotating tube along the demudifier, and then enters the mud guide channel, and the auger throws the sludge backwards.

[0017] In a possible design, the swing structure includes a rotating rod that rotates on one side of the mobile vehicle through a base, the outer wall of the rotating rod is fixedly sleeved with a rotating rod, a pull rod is fixed to the bottom of one side of the rotating rod, a collar is fixed to the bottom end of the pull rod, and the collar is sleeved on the outer wall of the sewage hose, the rotating rod drives the sewage hose to swing through the collar, a cam is fixed to the bottom end of the rotating rod, a guide groove is provided on one side of the bottom of the cam, a pin is slidably fitted in the guide groove, a U-shaped frame is slidably connected to one side of the mobile vehicle, and the pin is fixed to the top of the U-shaped frame, the movement of the U-shaped frame drives the cam to swing back and forth through the cooperation of the pin and the guide groove, and the U-shaped frame A rectangular groove is provided, in which a pin rod is slidably fitted, one side of the mobile vehicle is rotatably connected to a disc located in the U-shaped frame, and the pin rod is fixed on the side of the disc deviating from the center of the circle, and one end of the rotating shaft of the auger is fixedly connected to the center position of the disc; the rotating shaft of the auger drives the disc to rotate, and the disc drives the U-shaped frame and the pin column to move back and forth in a straight line through the cooperation of the pin rod and the rectangular groove, and the cooperation of the pin column and the guide groove drives the cam and the rotating rod to rotate back and forth, and the rotating rod drives the sewage hose to swing through the cooperation of the rotating rod, the pull rod and the ring, so that the sludge can be evenly distributed on the inner wall of the drain pipe when discharging the sludge, so as to avoid the discharged sludge from accumulating again and hindering the return of the mobile vehicle.

[0018] In one possible design, the driving structure includes a transmission chamber arranged in the mobile vehicle, the driving motor is fixed on an inner wall of one side of the transmission chamber, one end of the rotating shaft rotates and passes through an inner wall of one side of the transmission chamber and is fixed with a gear, and the gear is meshed with a gear ring to drive the rotating disk to rotate, the outer wall fixed sleeve of the rotating shaft is provided with a first synchronous wheel, and the first synchronous wheel is located in the transmission chamber, a base plate is fixed on the top inner wall of the mud guide channel, a second synchronous wheel is rotatably connected in the base plate, the second synchronous wheel and the first synchronous wheel are connected through a synchronous belt transmission, the other end of the rotating shaft of the auger rotates and extends into the base plate and is fixedly connected with the second synchronous wheel to drive the auger to run and discharge sludge; the driving motor drives the gear to rotate through the rotating shaft, and the gear drives the rotating tube and the rotating disk to rotate through the gear ring, so that the sludge can be shredded and discharged into the mud guide channel, the rotating shaft also drives the auger to rotate through the cooperation of the first synchronous wheel, the second synchronous wheel and the synchronous belt, and the auger discharges the sludge in the mud guide channel to the rear through the sewage hose, and the sludge is cleaned and discharged at the same time.

[0019] In one possible design, the cleaning structure includes a liquid storage tank arranged in a mobile vehicle, a water pump is fixed in the liquid storage tank, a liquid injection pipe is fixedly passed through the top of the glass protective cover, the liquid outlet end of the water pump is connected with the bottom end of the liquid injection pipe through a drainage pipe, the top end of the liquid injection pipe is fixedly passed through the glass protective cover and fixed with a hollow disk, and the liquid injection pipe is connected with the hollow disk, and a plurality of drainage holes are provided at the bottom of the hollow disk for flushing the glass protective cover with clean water; when the glass protective cover is covered with sewage and sludge on the inner wall of the top of the drainage pipe during the movement of the mobile vehicle, the water pump injects the clean water in the liquid storage tank into the liquid injection pipe and the hollow disk through the drainage hose, and the clean water is evenly sprinkled on the glass protective cover through the drainage holes for flushing the sewage and sludge thereon, thereby ensuring that the camera can continue to perform inspection operations.

[0020] In a possible design, an annular liquid collecting tank is provided on the top of the mobile vehicle, and the annular liquid collecting tank is concentric with the camera, and a return liquid hole is provided on the bottom inner wall of the annular liquid collecting tank, and the return liquid hole is connected to the mud guide channel, so as to discharge the cleaned water into the mud guide channel; the flushing water flows back to the mud guide channel through the cooperation of the annular liquid collecting tank and the return liquid hole, thereby increasing the moisture content in the sludge in the mud guide channel and preventing the sludge from drying and sticking to the inner wall of the mud guide channel.

[0021] In a possible design, an L-shaped mounting frame is fixed to one side of the mobile vehicle close to the rotating disk, and a protective arc plate is fixed to the top of the L-shaped mounting frame for shielding mud and water thrown out by the rotating disk.

[0022] In a possible design, a plurality of balls are embedded in the outer wall of the rotating disk, and the balls are in contact with the inner wall of the bottom of the drain pipe to support the rotating disk.

[0023] In one possible design, an airbag is fixed to one side of the mobile vehicle close to the rotating disk, a bending plate is fixed to one side of the airbag, and the top of the bending plate is slidably connected to the bottom of the L-shaped mounting frame, an air intake pipe is fixed to the top of the airbag, and the top of the air intake pipe is fixedly passed through the L-shaped mounting frame, an exhaust pipe is fixed to the bottom of the airbag, and both the air intake pipe and the exhaust pipe are provided with a one-way valve inside for allowing air to enter the air intake pipe and exhaust the air from the exhaust pipe, a supporting plate is fixed to one side of the mobile vehicle, a rotating hollow ring is fixed to the top of the supporting plate, and the rotating hollow ring is rotatably sleeved on the outer wall of the rotating pipe, the bottom end of the exhaust pipe is fixedly extended into the rotating hollow ring, and the rotating The inner wall of the hollow ring is provided with a plurality of exhaust holes, and the rotating tube is provided with a plurality of inclined holes, and the inclined holes are intermittently connected with the exhaust holes, so as to push the silt in the rotating tube toward the mud channel. A plurality of hemispherical blocks are fixed on the side of the rotating disk close to the moving vehicle, and the hemispherical blocks cooperate with the bending plates to squeeze the airbags; when the rotating disk rotates, the rotating disk continuously squeezes the airbags through the cooperation of the hemispherical blocks and the bending plates, and when the airbags are squeezed, the gas inside them is discharged into the rotating hollow ring through the exhaust pipe, and when the inclined holes are aligned with the exhaust holes, the air in the rotating hollow ring enters the rotating tube through the inclined holes, which can just push the silt from the rotating tube into the mud channel, thereby preventing the silt from accumulating in the rotating tube.

[0024] In the present application, a method for using a drainage network intelligent inspection robot comprises the following steps:

[0025] S1. Start the mobile vehicle and enter the drainage pipe. When encountering silt obstruction, the driving motor is linked with the gear ring through the gear to drive the mud removal plate to rotate at high speed. Its serrated edge effectively breaks up the silt and discharges it backwards through the auger and the sewage hose to ensure smooth forward movement.

[0026] S2. When the desilting plate rotates, the air bag is squeezed by the hemispherical block and the bending plate to release gas to the rotating hollow ring; when the inclined hole is aligned with the exhaust hole, the gas pushes the silt into the mud guide channel smoothly to prevent silt accumulation;

[0027] S3, the first synchronous wheel, the second synchronous wheel and the synchronous belt drive the auger to rotate, which not only discharges the sludge, but also makes the sewage hose swing, ensuring that the sludge is evenly spread on the pipe wall to avoid obstacles in the return journey;

[0028] S4. During the movement, the water pump automatically sprays clean water onto the glass protective cover to remove attached dirt, and collects waste water through the reflux system to increase the moisture content of the sludge in the mud guide channel to prevent drying and blockage.

[0029] Beneficial effects:

[0030] In the present invention, a conical hole is provided in the rotating disk, and a plurality of mud removal plates are provided on the side of the rotating disk away from the mobile vehicle, and the mud removal plates are arranged in an inclined manner, and a serrated edge is provided on the side of the mud removal plates away from the rotating disk; the rotating tube drives the rotating disk and the mud removal plates to rotate, and the mud removal plates can cut the sludge into pieces through the serrated edges, thereby preventing the rotating tube, the mud guide channel and the conical hole from being blocked. Since the mud removal plates are arranged in an inclined manner, the sludge enters the conical hole and the rotating tube along the mud removal plates, thereby opening a way for the mobile vehicle to move forward, so that the mobile vehicle can continue to inspect the pipeline;

[0031] In the present invention, a rotating rod is fixedly sleeved on the outer wall of the rotating rod, and the rotating rod drives the sewage hose to swing through a pull rod and a collar, and a cam is fixed on the bottom end of the rotating rod, and a pin is slidably matched with the bottom of the cam through a guide groove, and the pin is fixed to the top of the U-shaped frame, and the U-shaped frame is slidably matched with a pin through a rectangular groove, and the pin is fixed on the side of the disc deviating from the center of the circle; the disc rotates, and the disc drives the U-shaped frame to move back and forth in a straight line through the cooperation of the pin and the rectangular groove, and the cooperation of the pin and the guide groove drives the cam, the rotating rod, and the sewage hose to swing, so that the sludge can be evenly distributed on the inner wall of the drainage pipe, so as to prevent the discharged sludge from piling up again and hindering the return of the mobile vehicle;

[0032] In the present invention, an annular liquid collecting trough is provided on the top of the mobile vehicle, and a liquid return hole is provided on the bottom inner wall of the annular liquid collecting trough, and the liquid return hole is connected to the mud guide channel; the flushing water flows back to the mud guide channel through the cooperation of the annular liquid collecting trough and the liquid return hole, thereby increasing the moisture content in the sludge in the mud guide channel and preventing the sludge from drying and adhering to the inner wall of the mud guide channel.

[0033] In the present invention, during the forward inspection process of the mobile vehicle, the auger and the rotating disk are driven to rotate at the same time, the rotating disk can break up the silt on the forward road and discharge it into the mud guide channel, and the cooperation of the auger and the sewage hose can evenly spray the silt in the mud guide channel on the inner wall of the pipeline to prevent the silt from accumulating again and hindering the return of the mobile vehicle, and in the process of flushing the glass protective cover, the sewage can flow back into the mud guide channel to prevent the silt from sticking to the inner wall of the mud guide channel, thereby enabling the mobile vehicle to smoothly complete the inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the three-dimensional structure of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0035] Figure 2 This is a schematic diagram of the main cross-sectional structure of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0036] Figure 3 A schematic diagram of a three-dimensional cross-sectional structure of a mobile vehicle and a glass protective cover of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0037] Figure 4 A schematic diagram of a three-dimensional cross-sectional structure of a base plate of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0038] Figure 5 A schematic diagram of a three-dimensional cross-sectional structure of a rotating disk of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0039] Figure 6 A schematic diagram of the three-dimensional structure of a rotating disk and a mud removal plate of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0040] Figure 7 A schematic diagram of the three-dimensional structure of a rotating rod, a U-shaped frame and a collar of an intelligent inspection robot for drainage pipe networks provided in Example 1 of the present invention;

[0041] Figure 8 A schematic diagram of a three-dimensional cross-sectional structure of a cam of a drainage network intelligent inspection robot provided in Example 1 of the present invention;

[0042] Fig. 9 A schematic diagram of a three-dimensional cross-sectional structure of a hollow plate and a liquid injection pipe of an intelligent inspection robot for a drainage network provided in Example 1 of the present invention;

[0043] Fig.10 A schematic diagram of the three-dimensional structure of an airbag, a rotating hollow ring and a hemispherical block of an intelligent inspection robot for a drainage network provided in Example 2 of the present invention;

[0044] Fig.11 This is a schematic diagram of a three-dimensional sectional explosion structure of an airbag, a rotating tube and a rotating hollow ring of an intelligent inspection robot for a drainage network provided in Example 2 of the present invention.

[0045] In the figure: 1, mobile vehicle; 2, mud guide; 3, auger; 4, camera; 5, rotating pipe; 6, rotating disk; 7, sewage hose; 8, transmission chamber; 9, driving motor; 10, rotating shaft; 11, gear; 12, gear ring; 13, tapered hole; 14, mud removal plate; 15, serrated edge; 16, ball bearing; 17, L-shaped mounting bracket; 18, protective arc plate; 19, base plate; 20, first synchronous wheel; 21, second synchronous wheel; 22, rotating rod; 23, rotating rod; 24, pull rod; 25, sleeve Ring; 26, disc; 27, U-shaped frame; 28, rectangular groove; 29, pin rod; 30, cam; 31, guide groove; 32, pin column; 33, liquid storage tank; 34, water pump; 35, glass protective cover; 36, liquid injection pipe; 37, hollow disk; 38, drainage hole; 39, annular liquid collecting tank; 40, return hole; 41, air bag; 42, air inlet pipe; 43, bending plate; 44, hemispherical block; 45, rotating hollow ring; 46, exhaust pipe; 47, support plate; 48, exhaust hole; 49, inclined hole. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0047] Example 1

[0048] Reference Figure 1-Figure 3 The inspection robot is used in the field of pipeline inspection robots and mainly includes a mobile vehicle 1, which is designed to be able to move freely in the drainage pipeline. A camera 4 is fixedly installed on the top of the mobile vehicle 1 for real-time shooting and transmitting the internal situation of the drainage pipeline to realize the inspection function.

[0049] Reference Figure 2-Figure 4 A mud guide 2 is provided inside the mobile vehicle 1, and the mud guide 2 runs through the front and rear ends of the mobile vehicle 1, and is used to collect and transport silt. An auger 3 is rotatably connected in the mud guide 2, and the auger 3 is driven to rotate by a driving motor 9 through a rotating shaft 10, so that the silt in the mud guide 2 is thrown backward into the drainage pipeline.

[0050] Reference Figure 2 , Figure 5 and Figure 6The cleaning structure includes a rotating disk 6 rotatably connected to one side of the mobile vehicle 1, and the rotating disk 6 is connected to the mud guide 2 through a rotating tube 5. A plurality of mud removal plates 14 are evenly distributed on the side of the rotating disk 6 away from the mobile vehicle 1. These mud removal plates 14 are inclined, and the edges of the mud removal plates 14 are provided with serrated edges 15, which are used to break large particles of impurities in the sludge during the rotation process and guide the sludge into the rotating tube 5 and the tapered hole 13. A gear ring 12 is provided on the outer wall of the rotating tube 5. The driving motor 9 drives the gear 11 to rotate through the rotating shaft 10, and the gear 11 is meshed with the gear ring 12, thereby driving the rotating tube 5 and the rotating disk 6 to rotate synchronously.

[0051] Reference Figure 2 A sewage hose 7 is fixed on the side of the mobile vehicle 1 away from the rotating disk 6. The sewage hose 7 is connected to the mud guide channel 2 and is used to evenly spray the sludge in the mud guide channel 2 onto the inner wall of the drainage pipeline.

[0052] Reference Figure 2 , Figure 7 and Figure 8 In order to realize the reciprocating swing of the sewage hose 7, a swing structure is provided. Specifically, a rotating rod 22 is rotatably connected to one side of the mobile vehicle 1 through the base, and a rotating rod 23 is fixedly sleeved on the outer wall of the rotating rod 22. A pull rod 24 is fixed to the bottom of one side of the rotating rod 23, and a collar 25 is fixed to the bottom end of the pull rod 24, and the collar 25 is sleeved on the outer wall of the sewage hose 7. A cam 30 is fixed to the bottom end of the rotating rod 22, and a guide groove 31 is provided on one side of the bottom of the cam 30, and a pin 32 is slidably fitted in the guide groove 31. A U-shaped frame 27 is also slidably connected to one side of the mobile vehicle 1, and the pin 32 is fixed to the top of the U-shaped frame 27. A rectangular groove 28 is provided in the U-shaped frame 27, and a pin 29 is slidably fitted in the rectangular groove 28, and the pin 29 is fixed to the side of the disc 26 that deviates from the center of the circle. The disc 26 is rotatably connected to one side of the mobile vehicle 1, and its center position is fixedly connected to the rotating shaft of the auger 3.

[0053] Specifically, when the rotating shaft of the auger 3 rotates, the disc 26 is driven to rotate, and then the U-shaped frame 27 and the pin 32 are driven to move back and forth linearly through the cooperation of the pin 29 and the rectangular groove 28. The sliding of the pin 32 in the guide groove 31 drives the cam 30 and the rotating rod 22 to rotate back and forth, and finally drives the sewage hose 7 to swing through the cooperation of the rotating rod 23, the pull rod 24 and the collar 25.

[0054] Reference Figure 2-Figure 4, the driving structure is designed to be integrated inside the mobile vehicle 1. First, a transmission cavity 8 is provided at the bottom of the mobile vehicle 1, and the transmission cavity 8 is used to accommodate and support the driving motor 9. The driving motor 9 is firmly fixed on one side of the inner wall of the transmission cavity 8 to ensure its stable operation. One end of the rotating shaft 10 rotates through one side of the inner wall of the transmission cavity 8 through a bearing, and the other end thereof is fixedly connected to a gear 11. This gear 11 is meshed with a gear ring 12 fixed on the periphery of the rotating disk 6, thereby realizing power transmission.

[0055] Specifically, when the driving motor 9 is started, it drives the rotating shaft 10 to rotate, and then drives the rotating disk 6 and the rotating tube 5 connected thereto to rotate together through the meshing action of the gear 11 and the gear ring 12.

[0056] Reference Figure 2-Figure 4 In order to simultaneously drive the auger 3 to discharge the sludge, a first synchronous wheel 20 is fixedly sleeved on the outer wall of the rotating shaft 10, and the first synchronous wheel 20 is located in the transmission chamber 8. A base plate 19 is fixed on the top inner wall of the mud guide 2, and a second synchronous wheel 21 is rotatably connected in the base plate 19. The first synchronous wheel 20 and the second synchronous wheel 21 are tightly connected by a synchronous belt to achieve synchronous transmission of power. The other end of the rotating shaft of the auger 3 extends into the base plate 19 and is fixedly connected to the second synchronous wheel 21.

[0057] Specifically, when the rotating shaft 10 rotates, the auger 3 will also rotate synchronously through the transmission effect of the first synchronous wheel 20, the synchronous belt and the second synchronous wheel 21, so that the sludge in the mud guide channel 2 is discharged to the rear through the sewage hose 7.

[0058] Reference Figure 2 and Figure 3 In order to protect the camera 4 from damage, a glass protective cover 35 is fixed on the top of the mobile vehicle 1. The glass protective cover 35 is designed to be transparent and solid, which can protect the camera 4 and ensure the shooting effect. A cleaning structure is also set in the mobile vehicle 1 to regularly clean the glass protective cover 35 blocked by silt to ensure its transparency and ensure the shooting quality of the camera 4.

[0059] Reference Figure 2 , Figure 3 and Fig. 9The cleaning structure includes a liquid storage tank 33 provided in the mobile vehicle 1 for storing clean water. A water pump 34 is fixedly installed in the liquid storage tank 33 for pumping out the clean water and delivering it to the part that needs to be cleaned. A liquid injection pipe 36 is fixedly passed through the top of the glass protective cover 35, and the bottom end of the liquid injection pipe 36 is connected to the liquid outlet end of the water pump 34 through a drain pipe to receive the clean water from the liquid storage tank 33. The top end of the liquid injection pipe 36 is fixedly passed through the glass protective cover 35 and is connected to a hollow disk 37, and the clean water enters the hollow disk 37 through the liquid injection pipe 36. A plurality of drainage holes 38 are evenly distributed on the bottom of the hollow disk 37.

[0060] Specifically, when the clean water fills the hollow disk 37 , it will be evenly sprayed onto the glass protective cover 35 through the drainage holes 38 to rinse it, thereby removing the sewage and sludge attached thereto and ensuring a clear field of view for the camera 4 .

[0061] Reference Figure 2 and Figure 3 In order to more effectively utilize the clean water and avoid its waste, an annular liquid collecting tank 39 is also provided on the top of the mobile vehicle 1. The annular liquid collecting tank 39 is arranged coaxially with the camera 4 to collect the clean water after flushing. The bottom inner wall of the annular liquid collecting tank 39 is provided with one or more liquid return holes 40, which are connected to the mud guide 2.

[0062] Specifically, after the cleaning water is sprayed on the glass protective cover 35 and rinsed, most of the cleaning water will flow into the annular liquid collecting groove 39 along the surface of the glass protective cover 35. Subsequently, the cleaning water flows back into the mud guide 2 through the liquid return hole 40 and mixes with the sludge therein. This can not only increase the moisture content in the sludge and prevent it from sticking to the inner wall of the mud guide 2 after drying, but also reduce the waste of cleaning water to a certain extent and improve resource utilization.

[0063] Reference Figure 2 and Figure 5 In the structure of the mobile vehicle 1, an L-shaped mounting frame 17 is specially designed and fixed on the side close to the rotating disk 6. This mounting frame not only plays a role of stable support, but also shields the muddy water that may be thrown out by the rotating disk 6 during the rotation process through the protective arc plate 18 fixed on its top. The shape and position of the protective arc plate 18 are precisely calculated to ensure that the muddy water can be effectively prevented from splashing onto other parts of the robot or the working environment, thereby improving the overall safety and cleanliness.

[0064] Reference Figure 5 and Figure 6In order to reduce the friction between the rotating disk 6 and the inner wall of the bottom of the drain pipe and provide stable support in a complex environment, a plurality of balls 16 are embedded on the outer wall of the rotating disk 6. These balls 16 are in close contact with the inner wall of the bottom of the drain pipe, so that the rotating disk 6 can rotate more smoothly, reducing wear and energy consumption.

[0065] In summary, the intelligent inspection robot for drainage network of the present invention not only improves the stability and dredging efficiency of the robot in the drainage network through the carefully designed L-shaped mounting frame 17, protective arc plate 18, and ball bearing 16, but also effectively prevents the splashing of mud and water, thereby significantly improving the overall working performance and reliability.

[0066] Through the above structural design, the intelligent inspection robot for drainage pipe network of this embodiment can move autonomously in the drainage pipe, and use the camera 4 for inspection at the same time, and collect the sludge on the way forward and transfer it to the mud guide 2 through the rotating disk 6 and the mud removal plate 14. The auger 3 throws the sludge backwards, and the reciprocating swing of the sewage hose 7 ensures that the sludge can be evenly sprayed on the inner wall of the drainage pipe, avoiding the accumulation of sludge to hinder the return of the robot. In addition, the glass protective cover 35 effectively protects the camera 4, and the cleaning structure ensures a clear view of the camera 4. The whole system has a compact structure, is easy to operate, and has significant effects, which greatly improves the efficiency and accuracy of drainage pipe network inspection.

[0067] Example 2

[0068] refer to Fig.10 and Fig.11 , improved on the basis of Example 1: In addition, in order to further improve the dredging efficiency and prevent silt from accumulating inside the robot, an airbag 41 system is designed to be used in conjunction with the rotating disk 6. The system includes an airbag 41 fixed to the side of the mobile vehicle 1 close to the rotating disk 6, and an air intake pipe 42 and an exhaust pipe 46 connected to the airbag 41. The air intake pipe 42 passes through the top of the L-shaped mounting frame 17 and is used to inflate the airbag 41; a support plate 47 is fixed on one side of the mobile vehicle 1, and a rotating hollow ring 45 is fixedly set on the support plate 47, and the exhaust pipe 46 is connected to a specially designed rotating hollow ring 45, and the rotating hollow ring 45 is rotatably sleeved on the outer wall of the rotating tube 5.

[0069] A bending plate 43 is also fixed to one side of the airbag 41, and the top of the bending plate 43 is slidably connected to the bottom of the L-shaped mounting frame 17 to ensure that the airbag 41 can move smoothly when squeezed. At the same time, a plurality of hemispherical blocks 44 are fixed to the side of the rotating disk 6 close to the moving vehicle 1, and these hemispherical blocks 44 will come into contact with the bending plate 43 and squeeze the airbag 41 when the rotating disk 6 rotates.

[0070] Specifically, when the rotating disk 6 rotates, the hemispherical block 44 periodically contacts the bending plate 43, thereby continuously squeezing the airbag 41. When the airbag 41 is squeezed, the gas inside is discharged into the rotating hollow ring 45 through the exhaust pipe 46. Since the inner wall of the rotating hollow ring 45 is provided with a plurality of exhaust holes 48, and the rotating tube 5 is provided with an inclined hole 49 intermittently connected to the exhaust hole 48, when a certain inclined hole 49 is aligned with the corresponding exhaust hole 48, the air in the rotating hollow ring 45 will enter the rotating tube 5 through the inclined hole 49. This design cleverly utilizes the pressure difference of the gas to push the sludge in the rotating tube 5 toward the mud channel 2, effectively avoiding the accumulation of sludge in the rotating tube 5.

[0071] In summary, the intelligent inspection robot for drainage pipe network of the present invention effectively prevents the accumulation of muddy water and silt by carefully designing structures such as the airbag 41 and its matching air pipe system and the rotating hollow ring 45, thereby significantly improving the overall working performance and reliability.

[0072] A method for using a drainage network intelligent inspection robot comprises the following steps:

[0073] S1. Place the mobile vehicle 1 in the drainage pipe. When the mobile vehicle 1 encounters accumulated silt in front of it and hinders its progress, the desilting plate 14 is driven to rotate quickly by the rotating disk 6. When moving forward, the silt is broken up and discharged to the rear through the auger 3 and the sewage hose 7, thereby opening the way forward. In specific operation, the driving motor 9 drives the gear 11 to rotate through the rotating shaft 10, and the gear 11 drives the rotating pipe 5 and the rotating disk 6 to rotate through the gear ring 12. Therefore, the rotating disk 6 and the desilting plate 14 of the mobile vehicle 1 rotate during the slow forward movement, and the serrated edge 15 on one side of the desilting plate 14 can cut the silt into pieces to prevent the rotating pipe 5, the mud guide 2 and the tapered hole 13 from being blocked. Since the desilting plate 14 is placed at an angle, the silt enters the tapered hole 13 and the rotating pipe 5 along the desilting plate 14, and then enters the mud guide 2, and the auger 3 throws the silt to the rear.

[0074] S2. When the rotating disk 6 rotates, the rotating disk 6 continuously squeezes the airbag 41 through the cooperation of the hemispherical block 44 and the bending plate 43. When the airbag 41 is squeezed, the gas inside it is discharged into the rotating hollow ring 45 through the exhaust pipe 46. When the inclined hole 49 is aligned with the exhaust hole 48, the air in the rotating hollow ring 45 enters the rotating tube 5 through the inclined hole 49, which can just push the silt from the rotating tube 5 into the mud guide 2, avoiding the silt from accumulating in the rotating tube 5;

[0075] S3, the rotating shaft 10 drives the auger 3 to rotate through the cooperation of the first synchronous wheel 20, the second synchronous wheel 21 and the synchronous belt, and the auger 3 discharges the sludge in the mud guide 2 to the rear through the sewage hose 7, and the rotating shaft of the auger 3 drives the disc 26 to rotate, and the disc 26 drives the U-shaped frame 27 and the pin 32 to move back and forth through the cooperation of the pin 29 and the rectangular groove 28. The cooperation of the pin 32 and the guide groove 31 drives the cam 30 and the rotating rod 22 to rotate back and forth, and the rotating rod 22 drives the sewage hose 7 to swing through the cooperation of the rotating rod 23, the pull rod 24 and the collar 25, so that the sludge can be evenly distributed on the inner wall of the drainage pipe when discharging the sludge, so as to avoid the discharged sludge from accumulating again and hindering the return of the mobile vehicle 1;

[0076] S4. When the glass protective cover 35 is covered by sewage and sludge on the inner wall of the top of the drain pipe during the movement of the mobile vehicle 1, the water pump 34 injects the clean water in the liquid storage tank 33 into the injection pipe 36 and the hollow plate 37 through the drainage hose, and the clean water is evenly sprinkled on the glass protective cover 35 through the drainage hole 38 to flush the sewage and sludge thereon, and the flushing water flows back to the mud guide channel 2 through the cooperation of the annular liquid collecting groove 39 and the return hole 40, thereby increasing the moisture content in the sludge in the mud guide channel 2 and preventing the sludge from drying and sticking to the inner wall of the mud guide channel 2.

[0077] However, as is well known to those skilled in the art, the working principles and wiring methods of the drive motor 9, camera 4 and water pump 34 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art may make any optional selections according to their needs or convenience.

[0078] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A drainage network intelligent inspection robot, It is characterized in that The mobile vehicle (1) comprises a mobile vehicle (1), a camera (4) is fixed on the top of the mobile vehicle (1) for inspecting the drainage pipeline, a mud guide (2) is provided inside the mobile vehicle (1), a rotating disk (6) is rotatably connected to one side of the mobile vehicle (1) for discharging sludge into the mud guide (2), and an auger (3) is rotatably connected inside the mud guide (2) for discharging the sludge to the outside; It also includes a sewage hose (7) fixed to a side of the mobile vehicle (1) away from the rotating disk (6), and the sewage hose (7) is connected to the mud guide channel (2) and is used to evenly spray the sludge in the mud guide channel (2) onto the inner wall of the drainage pipeline; A glass protective cover (35) is fixedly arranged on the top of the mobile vehicle (1) for protecting the camera (4). A driving motor (9) is arranged inside the mobile vehicle (1). A rotating shaft (10) is fixed to the output shaft of the driving motor (9), and the rotating shaft (10) can drive the rotating disk (6) and the auger (3) to rotate. A cleaning structure is arranged on one side of the moving vehicle (1) and is used to drive the rotating disk (6) to rotate and clean the sludge on the road ahead; A swing structure is arranged on a side of the mobile vehicle (1) away from the rotating disk (6) and is used to drive the sewage hose (7) to swing back and forth, so as to evenly spray the sludge in the mud guide channel (2) onto the inner wall of the drainage pipeline; A driving structure, arranged in the moving vehicle (1), for synchronously driving the cleaning structure and the swinging structure via a rotating shaft (10); The cleaning structure is arranged in the mobile vehicle (1) and is used for cleaning the blocked glass protection cover (35).

2. The intelligent inspection robot for drainage pipe network according to claim 1, It is characterized in that The cleaning structure comprises a rotating tube (5) rotating on one side of the mobile vehicle (1), and one end of the rotating tube (5) is fixedly connected to a side of a rotating disk (6) close to the mobile vehicle (1), the rotating tube (5) is connected to the mud guide channel (2), the outer wall of the rotating tube (5) is fixedly sleeved with a gear ring (12), the rotating disk (6) is provided with a conical hole (13) connected to the rotating tube (5), the rotating disk (6) is provided with a plurality of mud removal plates (14) on the side away from the mobile vehicle (1), and the mud removal plates (14) are arranged in an inclined manner, the rotating disk (6) drives the mud removal plates (14) to rotate and drive the mud into the conical hole (13), and the mud removal plates (14) are provided with a serrated edge (15) on the side away from the rotating disk (6) for breaking up large particles of impurities in the mud.

3. The intelligent inspection robot for drainage pipe network according to claim 1, It is characterized in that The swing structure comprises a rotating rod (22) which is rotated on one side of the mobile vehicle (1) through a base, a rotating rod (23) is fixedly sleeved on the outer wall of the rotating rod (22), a pull rod (24) is fixedly provided on the bottom of one side of the rotating rod (23), a collar (25) is fixedly provided on the bottom end of the collar (24), and the collar (25) is sleeved on the outer wall of the sewage hose (7), the rotating rod (23) drives the sewage hose (7) to swing through the collar (25), a cam (30) is fixedly provided on the bottom end of the rotating rod (22), a guide groove (31) is provided on one side of the bottom of the cam (30), a pin (32) is slidably fitted in the guide groove (31), and the One side of the mobile vehicle (1) is slidably connected to a U-shaped frame (27), and a pin (32) is fixed on the top of the U-shaped frame (27). The movement of the U-shaped frame (27) drives the cam (30) to swing back and forth through the cooperation of the pin (32) and the guide groove (31). A rectangular groove (28) is provided in the U-shaped frame (27), and a pin rod (29) is slidably matched in the rectangular groove (28). One side of the mobile vehicle (1) is rotatably connected to a disk (26) located in the U-shaped frame (27), and the pin rod (29) is fixed on a side of the disk (26) that deviates from the center of the circle. One end of the rotating shaft of the auger (3) is fixedly connected to the center position of the disk (26).

4. The intelligent inspection robot for drainage pipe network according to claim 1, It is characterized in that The driving structure comprises a transmission chamber (8) arranged in the mobile vehicle (1), the driving motor (9) is fixed to an inner wall of one side of the transmission chamber (8), one end of the rotating shaft (10) rotates through the inner wall of one side of the transmission chamber (8) and is fixed with a gear (11), and the gear (11) is meshed with a gear ring (12) for driving the rotating disk (6) to rotate, the outer wall of the rotating shaft (10) is fixedly sleeved with a first synchronous wheel (20), and the first synchronous wheel (20) is located in the transmission chamber (8), the top inner wall of the mud guide (2) is fixed with a base plate (19), and the base plate (19) is rotatably connected with a second synchronous wheel (21), and the second synchronous wheel (21) is connected to the first synchronous wheel (20) through a synchronous belt transmission, and the other end of the rotating shaft of the auger (3) rotates and extends into the base plate (19) and is fixedly connected with the second synchronous wheel (21), so as to drive the auger (3) to discharge sludge.

5. The intelligent inspection robot for drainage pipe network according to claim 1, It is characterized in that The cleaning structure comprises a liquid storage tank (33) arranged in the mobile vehicle (1), a water pump (34) is fixed in the liquid storage tank (33), a liquid injection pipe (36) is fixedly passed through the top of the glass protection cover (35), the liquid outlet end of the water pump (34) is connected to the bottom end of the liquid injection pipe (36) through a drainage pipe, the top end of the liquid injection pipe (36) is fixedly passed through the glass protection cover (35) and is fixed with a hollow disk (37), and the liquid injection pipe (36) is connected to the hollow disk (37), and a plurality of drainage holes (38) are provided at the bottom of the hollow disk (37) for flushing the glass protection cover (35) with clean water.

6. The intelligent inspection robot for drainage pipe network according to claim 1, It is characterized in that The top of the mobile vehicle (1) is provided with an annular liquid collecting groove (39), and the annular liquid collecting groove (39) is cocentric with the camera (4). The bottom inner wall of the annular liquid collecting groove (39) is provided with a liquid return hole (40), and the liquid return hole (40) is connected to the mud guide channel (2) for discharging cleaned water into the mud guide channel (2).

7. The intelligent inspection robot for drainage pipe network according to claim 2, It is characterized in that An L-shaped mounting frame (17) is fixed on one side of the mobile vehicle (1) close to the rotating disk (6), and a protective arc plate (18) is fixed on the top of the L-shaped mounting frame (17) for shielding muddy water thrown out by the rotating disk (6).

8. The intelligent inspection robot for drainage pipe network according to claim 1, It is characterized in that A plurality of balls (16) are embedded in the outer wall of the rotating disk (6), and the balls (16) are in contact with the inner wall of the bottom of the drain pipe, so as to support the rotating disk (6).

9. The intelligent inspection robot for drainage pipe network according to claim 8, It is characterized in that An air bag (41) is fixed on one side of the mobile vehicle (1) close to the rotating disk (6), a bending plate (43) is fixed on one side of the air bag (41), and the top of the bending plate (43) is slidably connected to the bottom of the L-shaped mounting frame (17), an air intake pipe (42) is fixed on the top of the air bag (41), and the top end of the air intake pipe (42) is fixedly passed through the L-shaped mounting frame (17), an exhaust pipe (46) is fixed on the bottom of the air bag (41), and both the air intake pipe (42) and the exhaust pipe (46) are provided with a one-way valve inside, which is used to allow air to enter the air intake pipe (42) and to allow air to exit the exhaust pipe (46), and a support plate (47) is fixed on one side of the mobile vehicle (1), and the support plate A rotating hollow ring (45) is fixed on the top of the rotating tube (47), and the rotating hollow ring (45) is rotatably sleeved on the outer wall of the rotating tube (5). The bottom end of the exhaust pipe (46) is fixedly extended into the rotating hollow ring (45). The inner wall of the rotating hollow ring (45) is provided with a plurality of exhaust holes (48). The rotating tube (5) is provided with a plurality of inclined holes (49), and the inclined holes (49) are intermittently connected with the exhaust holes (48) for pushing the silt in the rotating tube (5) toward the mud channel (2). A plurality of hemispherical blocks (44) are fixed on the side of the rotating disk (6) close to the moving vehicle (1), and the hemispherical blocks (44) cooperate with the bending plate (43) to squeeze the airbag (41).

10. The method for using the intelligent inspection robot for drainage pipe network according to claim 9, It is characterized in that The following steps are involved: S1. Start the mobile vehicle (1) and enter the drainage pipe. When encountering silt obstruction, the driving motor (9) is linked with the gear ring (12) through the gear (11) to drive the mud removal plate (14) to rotate at high speed. The serrated edge (15) of the mud removal plate effectively breaks up the silt and discharges it backwards through the auger (3) and the sewage hose (7), ensuring smooth forward movement. S2, while the desilting plate (14) rotates, the hemispherical block (44) and the bending plate (43) squeeze the air bag (41), releasing gas to the rotating hollow ring (45); when the inclined hole (49) is aligned with the exhaust hole (48), the gas pushes the silt to smoothly enter the silt guide channel (2), preventing silt accumulation; S3, the first synchronous wheel (20), the second synchronous wheel (21) and the synchronous belt drive the auger (3) to rotate, which not only discharges the sludge, but also makes the sewage hose (7) swing, ensuring that the sludge is evenly spread on the pipe wall to avoid obstacles in the return journey; S4. During the travel, the water pump (34) automatically sprays clean water onto the glass protective cover (35) to remove attached dirt, and collects waste water through the reflux system to increase the moisture content of the sludge in the mud channel (2) to prevent drying and clogging.

Images