An intelligent inspection robot for drainage pipe networks and its usage method

Abstract

The present invention belongs to the technical field of pipeline inspection robots, and in particular to an intelligent inspection robot for drainage pipe networks and its usage method. Aiming at the problems that the existing sludge hinders the progress of the robot and the camera is blocked by sewage and sludge, the following solution is now proposed, which includes a mobile vehicle. A camera is fixed on the top of the mobile vehicle for inspecting the drainage pipeline. A mud guide channel is provided inside the mobile vehicle. A rotating disk is rotatably connected to one side of the mobile vehicle for discharging the sludge into the mud guide channel. A screw conveyor is rotatably connected inside the mud guide channel for discharging the sludge to the outside. In the present invention, the screw conveyor and the rotating disk are driven to rotate simultaneously. The rotating disk can break up the sludge on the forward path and discharge it into the mud guide channel, and the cooperation of the screw conveyor and the sewage discharge hose can evenly spray the sludge in the mud guide channel on the inner wall of the pipeline, avoiding the re-accumulation of sludge from hindering the return of the mobile vehicle. Moreover, during the process of flushing the glass protective cover, the sewage can flow back into the mud guide channel.

Description

Technical Field

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

[0002] A drainage pipe network refers to an underground pipeline system used to guide and transport water resources. According to the types of water resources transported, the drainage pipe network can be divided into a water distribution pipe network, a sewage pipe network, and a flood control pipe network. During long-term use, a drainage pipe network needs to be inspected by a robot to check whether there are any damages or blockages in the pipes.

[0003] In the prior art, there are still the following deficiencies when inspecting a drainage pipe network by a robot:

[0004] 1. Due to the long-term use of the drainage pipe network, a large amount of silt is likely to accumulate on the inner wall of the bottom of the pipe. Therefore, when the robot moves, the silt easily hinders the progress of the robot, resulting in the robot being blocked and unable to move forward;

[0005] 2. The inner wall of the drainage pipe network is attached with sewage and sludge. 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 a drainage pipe network and a method for using the same. Summary of the Invention

[0007] The purpose of the present invention is to solve the shortcomings that the existing silt hinders the progress of the robot and the camera is blocked by sewage and sludge, and to propose an intelligent inspection robot for a drainage pipe network and a method for using the same.

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

[0009] An intelligent inspection robot for a drainage pipe network includes a mobile vehicle. A camera is fixed on the top of the mobile vehicle for inspecting a drainage pipeline. A mud guide channel is arranged inside the mobile vehicle. A rotating disk is rotatably connected to one side of the mobile vehicle for discharging silt into the mud guide channel. A screw conveyor is rotatably connected inside the mud guide channel for discharging the silt to the outside;

[0010] It further includes a sewage discharge hose fixed to the side of the mobile vehicle away from the rotating disk, and the sewage discharge hose is communicated with the mud guide channel for evenly spraying the silt in the mud guide channel on 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 inside the mobile vehicle. The output shaft of the driving motor is fixed with a rotating shaft, and the rotating shaft can drive the rotating disk and the screw conveyor to rotate;

[0012] The cleaning structure is arranged on one side of the mobile vehicle and is used to drive the rotating disc to rotate and clean the silt on the forward path.

[0013] The swinging structure is arranged on the side of the mobile vehicle away from the rotating disc and is used to drive the sewage discharge hose to swing reciprocally, and evenly spray the silt in the mud guiding channel on the inner wall of the drainage pipeline.

[0014] The driving structure is arranged inside the mobile vehicle and is used to synchronously drive the cleaning structure and the swinging structure through the rotating shaft.

[0015] The cleaning structure is arranged inside the mobile vehicle and is used to clean the blocked glass protective cover.

[0016] In a possible design, the cleaning structure includes a rotating pipe that rotates on one side of the mobile vehicle, and one end of the rotating pipe is fixedly connected to the side of the rotating disc close to the mobile vehicle. The rotating pipe is communicated with the mud guiding channel. A toothed ring is fixedly sleeved on the outer wall of the rotating pipe. A conical hole communicated with the rotating pipe is arranged inside the rotating disc. A plurality of mud removing plates are arranged on the side of the rotating disc away from the mobile vehicle, and the mud removing plates are inclined. The rotating disc drives the mud removing plates to rotate and drive the silt into the conical hole. A serrated edge is arranged on the side of the mud removing plate away from the rotating disc, which is used to break the large particle impurities in the silt to prevent the rotating pipe and the conical hole from being blocked. The driving motor drives the gear to rotate through the rotating shaft, and the gear drives the rotating pipe and the rotating disc to rotate through the toothed ring. Therefore, during the slow forward movement of the mobile vehicle, the rotating disc and the mud removing plates rotate, and the serrated edge on one side of the mud removing plate can cut the silt to prevent the rotating pipe, the mud guiding channel and the conical hole from being blocked. Since the mud removing plates are inclined, the silt enters the conical hole and the rotating pipe along the mud removing plates, and then enters the mud guiding channel, and the auger throws the silt backward.

[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 a possible design, the cleaning structure includes a liquid storage bin arranged inside the moving vehicle. A water pump is fixed inside the liquid storage bin. A liquid injection pipe is fixedly penetrated through the top of the glass protective cover. The liquid outlet end of the water pump is communicated with the bottom end of the liquid injection pipe through a drain pipe. The top end of the liquid injection pipe fixedly penetrates through the glass protective cover and is fixed with a hollow disc, and the liquid injection pipe is communicated with the hollow disc. A plurality of liquid discharge holes are provided at the bottom of the hollow disc for flushing the glass protective cover with cleaning water. When the glass protective cover is covered with sewage and sludge on the inner wall of the top of the drain pipe during the movement of the moving vehicle, the water pump injects the cleaning water in the liquid storage bin into the liquid injection pipe and the hollow disc through a drain hose, and the cleaning water is evenly sprinkled on the glass protective cover through the liquid discharge holes for flushing the sewage and sludge thereon, ensuring that the camera can continue to perform the inspection operation.

[0020] In a possible design, a circular liquid collecting groove is provided at the top of the moving vehicle, and the circular liquid collecting groove is concentric with the camera. A liquid return hole is provided on the inner wall of the bottom of the circular liquid collecting groove, and the liquid return hole is communicated with the mud guiding channel for discharging the cleaned water into the mud guiding channel. The water after flushing flows back into the mud guiding channel through the cooperation of the circular liquid collecting groove and the liquid return hole, increasing the moisture contained in the silt in the mud guiding channel and preventing the silt from drying and adhering to the inner wall of the mud guiding channel.

[0021] In a possible design, an L-shaped mounting bracket is fixed on one side of the moving vehicle close to the rotating disc. A protective arc-shaped plate is fixed on the top of the L-shaped mounting bracket for blocking the muddy water thrown out by the rotating disc.

[0022] In a possible design, a plurality of rolling balls are embedded on the outer wall of the rotating disc, and the rolling balls are in contact with the inner wall of the bottom of the drain pipe for supporting the rotating disc.

[0023] In a possible design, an airbag is fixed to one side of the mobile vehicle close to the rotating disk. One side of the airbag is fixed with a bent plate, and the top of the bent plate is slidably connected to the bottom of the L-shaped mounting bracket. The top of the airbag is fixed with an air inlet pipe, and the top end of the air inlet pipe fixedly penetrates through the L-shaped mounting bracket. The bottom of the airbag is fixed with an exhaust pipe. One-way valves are arranged inside both the air inlet pipe and the exhaust pipe for allowing air to enter through the air inlet pipe and exit through the exhaust pipe. One side of the mobile vehicle is fixed with a support plate. The top of the support plate is fixed with a rotating hollow ring, 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. A plurality of exhaust holes are arranged on the inner wall of the rotating hollow ring. A plurality of inclined holes are arranged in the rotating pipe, and the inclined holes are intermittently communicated with the exhaust holes for pushing the sludge in the rotating pipe towards the mud guiding channel. A plurality of hemispherical blocks are fixed to one side of the rotating disk close to the mobile vehicle, and the hemispherical blocks cooperate with the bent plate to squeeze the airbag. When the rotating disk rotates, the rotating disk continuously squeezes the airbag through the cooperation of the hemispherical blocks and the bent plate. When the airbag is squeezed, the gas inside it is discharged into the rotating hollow ring through the exhaust pipe. When the inclined holes are aligned with the exhaust holes, the air in the rotating hollow ring enters the rotating pipe through the inclined holes, which can just push the sludge from the rotating pipe into the mud guiding channel, avoiding sludge accumulation in the rotating pipe.

[0024] In this application, a method for using an intelligent inspection robot for a drainage pipe network includes the following steps:

[0025] S1. Start the mobile vehicle to enter the drainage pipe. When encountering sludge obstruction, the driving motor drives the gear to link with the toothed ring, driving the mud removal plate to rotate at a high speed. The serrated edge effectively breaks the sludge, and discharges it backward through the auger and the sewage discharge hose to ensure smooth progress.

[0026] S2. While the mud removal plate rotates, the airbag is squeezed by the hemispherical blocks and the bent plate to release gas into the rotating hollow ring. When the inclined holes are aligned with the exhaust holes, the gas pushes the sludge into the mud guiding channel smoothly to prevent sludge 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 discharge hose swing to ensure that the sludge is evenly distributed on the pipe wall to avoid obstacles during the return journey.

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

[0029] Beneficial effects:

[0030] In the present invention, a conical hole is provided inside the rotating disk. 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 inclined. A serrated edge is provided on the side of the mud removal plate away from the rotating disk. The rotating pipe drives the rotating disk and the mud removal plates to rotate, and the mud removal plates can cut the silt into pieces through the serrated edges, avoiding blockage of the rotating pipe, the mud guiding channel and the conical hole. Since the mud removal plates are inclined, the silt enters the conical hole and the rotating pipe along the mud removal plates, thereby being able to open the way for the mobile vehicle to move forward and enabling the mobile vehicle to continue the pipeline inspection;

[0031] In the present invention, a rotating rod is fixedly sleeved on the outer wall of the rotating rod. The rotating rod drives the sewage discharge hose to swing through a pull rod and a collar. A cam is fixed at the bottom of the rotating rod. The bottom of the cam is slidably matched with a pin through a guiding groove, and the pin is fixed on the top of the U-shaped frame. The U-shaped frame is slidably matched with a pin rod through a rectangular groove, and the pin rod is fixed on the side of the disk deviating from the center; the disk rotates, and the disk drives the U-shaped frame to reciprocate linearly through the cooperation of the pin rod and the rectangular groove. The cooperation of the pin and the guiding groove drives the cam, the rotating rod and the sewage discharge hose to swing, which can evenly distribute the silt on the inner wall of the drainage pipe, avoiding the re-accumulation of the discharged silt to hinder the return of the mobile vehicle;

[0032] In the present invention, an annular liquid collecting groove is provided on the top of the mobile vehicle. A liquid return hole is provided on the inner wall of the bottom of the annular liquid collecting groove, and the liquid return hole is communicated with the mud guiding channel; the water after flushing flows back into the mud guiding channel through the cooperation of the annular liquid collecting groove and the liquid return hole, increasing the moisture contained in the silt in the mud guiding channel and avoiding the silt from drying and sticking to the inner wall of the mud guiding channel.

[0033] In the present invention, during the forward inspection of the mobile vehicle, the auger and the rotating disk are driven to rotate simultaneously. The rotating disk can break up the silt on the forward path and discharge it into the mud guiding channel, and the cooperation of the auger and the sewage discharge hose can evenly spray the silt in the mud guiding channel on the inner wall of the pipeline, avoiding the re-accumulation of the silt to hinder the return of the mobile vehicle. And during the flushing process of the glass protective cover, the sewage can flow back into the mud guiding channel to prevent the silt from sticking to the inner wall of the mud guiding channel, so that the mobile vehicle can smoothly complete the inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a three-dimensional structural schematic diagram of an intelligent inspection robot for a drainage pipeline network provided in Embodiment 1 of the present invention;

[0035] Figure 2 is a front sectional structural schematic diagram of an intelligent inspection robot for a drainage pipeline network provided in Embodiment 1 of the present invention;

[0036] Figure 3 is a three-dimensional sectional structural schematic diagram of the mobile vehicle and the glass protective cover of an intelligent inspection robot for a drainage pipeline network provided in Embodiment 1 of the present invention;

[0037] Figure 4 The three-dimensional sectional structure diagram of the substrate of an intelligent inspection robot for a drainage pipe network provided in Embodiment 1 of the present invention;

[0038] Figure 5 The three-dimensional sectional structure diagram of the rotating disk of an intelligent inspection robot for a drainage pipe network provided in Embodiment 1 of the present invention;

[0039] Figure 6 The three-dimensional structure diagram of the rotating disk and the mud removal plate of an intelligent inspection robot for a drainage pipe network provided in Embodiment 1 of the present invention;

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

[0041] Figure 8 The three-dimensional sectional structure diagram of the cam of an intelligent inspection robot for a drainage pipe network provided in Embodiment 1 of the present invention;

[0042] Figure 9 The three-dimensional sectional structure diagram of the hollow disk and the liquid injection pipe of an intelligent inspection robot for a drainage pipe network provided in Embodiment 1 of the present invention;

[0043] Figure 10 The three-dimensional structure diagram of the airbag, rotating hollow ring and hemispherical block of an intelligent inspection robot for a drainage pipe network provided in Embodiment 2 of the present invention;

[0044] Figure 11 The three-dimensional sectional exploded structure diagram of the airbag, rotating pipe and rotating hollow ring of an intelligent inspection robot for a drainage pipe network provided in Embodiment 2 of the present invention.

[0045] In the figure: 1, mobile vehicle; 2, mud guiding channel; 3, auger; 4, camera; 5, rotating pipe; 6, rotating disk; 7, sewage discharge hose; 8, transmission cavity; 9, driving motor; 10, rotating shaft; 11, gear; 12, toothed ring; 13, conical hole; 14, mud removing plate; 15, serrated edge; 16, ball; 17, L-shaped mounting bracket; 18, protective arc-shaped plate; 19, base plate; 20, first synchronous pulley; 21, second synchronous pulley; 22, rotating rod; 23, turning rod; 24, pull rod; 25, collar; 26, disk; 27, U-shaped frame; 28, rectangular groove; 29, pin rod; 30, cam; 31, guiding groove; 32, pin column; 33, liquid storage bin; 34, water pump; 35, glass protective cover; 36, liquid injection pipe; 37, hollow disk; 38, liquid discharge hole; 39, annular liquid collecting groove; 40, liquid 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 implementation mode

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

[0047] Embodiment 1

[0048] Refer to Figures 1 - 3 , the inspection robot, which is applied in the field of pipeline inspection robots, mainly includes a mobile vehicle 1, and the mobile vehicle 1 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 taking and transmitting the internal situation of the drainage pipeline in real time to realize the inspection function.

[0049] Refer to Figures 2 - 4 , a mud guiding channel 2 is arranged inside the mobile vehicle 1, and the mud guiding channel 2 runs through the front and rear ends of the mobile vehicle 1 for collecting and transmitting silt. An auger 3 is rotatably connected in the mud guiding channel 2, and the auger 3 is driven to rotate by a driving motor 9 through a rotating shaft 10, so as to throw the silt in the mud guiding channel 2 backward into the drainage pipeline.

[0050] Refer to Figure 2 、 Figure 5 and Figure 6, the cleaning structure includes a rotating disk 6 rotatably connected to one side of the moving vehicle 1. The rotating disk 6 is connected to the mud guiding channel 2 through a rotating pipe 5. A plurality of mud removing plates 14 are evenly distributed on the side of the rotating disk 6 away from the moving vehicle 1. These mud removing plates 14 are inclined, and serrated edges 15 are provided at the edges of the mud removing plates 14 for breaking large particle impurities in the sludge during rotation and guiding the sludge into the rotating pipe 5 and the conical hole 13. A toothed ring 12 is fixedly sleeved on the outer wall of the rotating pipe 5. The driving motor 9 drives the gear 11 to rotate through the rotating shaft 10, and the gear 11 meshes with the toothed ring 12, thereby driving the rotating pipe 5 and the rotating disk 6 to rotate synchronously.

[0051] Refer to Figure 2 , on the side of the moving vehicle 1 away from the rotating disk 6, a sewage discharge hose 7 is fixed. The sewage discharge hose 7 is connected to the mud guiding channel 2 and is used to evenly spray the sludge in the mud guiding channel 2 on the inner wall of the drainage pipeline.

[0052] Refer to Figure 2 , Figure 7 and Figure 8 , in order to realize the reciprocating swing of the sewage discharge hose 7, a swing structure is provided. Specifically, a rotating rod 22 is rotatably connected to one side of the moving 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 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. The collar 25 is sleeved on the outer wall of the sewage discharge hose 7. A cam 30 is fixed to the bottom end of the rotating rod 22. A guiding groove 31 is provided on one side of the bottom of the cam 30, and a pin 32 is slidably engaged in the guiding groove 31. A U-shaped frame 27 is also slidably connected to one side of the moving 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 rod 29 is slidably engaged in the rectangular groove 28, and the pin rod 29 is fixed to the side of the disk 26 deviating from the center. The disk 26 is rotatably connected to one side of the moving vehicle 1, and its center position is fixed to the rotating shaft of the auger 3.

[0053] Specifically, when the rotating shaft of the auger 3 rotates, it will drive the disk 26 to rotate, and then drive the U-shaped frame 27 and the pin 32 to reciprocate linearly through the cooperation of the pin rod 29 and the rectangular groove 28. The sliding of the pin 32 in the guiding groove 31 drives the cam 30 and the rotating rod 22 to rotate reciprocally, and finally drives the sewage discharge hose 7 to swing through the cooperation of the rotating rod 23, the pull rod 24 and the collar 25.

[0054] Refer to Figures 2 - 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 this transmission cavity 8 is used to accommodate and support the driving motor 9. The driving motor 9 is firmly fixed to the inner wall on one side of the transmission cavity 8 to ensure its stable operation. One end of the rotating shaft 10 rotatably penetrates through the inner wall on one side of the transmission cavity 8 through a bearing, and the other end is fixedly connected with a gear 11. This gear 11 meshes with the toothed ring 12 fixed on the periphery of the rotating disk 6, thus realizing power transmission.

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

[0056] Refer to Figures 2 - 4 , in order to drive the auger 3 to discharge silt simultaneously, a first synchronous pulley 20 is also fixedly sleeved on the outer wall of the rotating shaft 10, and this first synchronous pulley 20 is located inside the transmission cavity 8. On the top inner wall of the mud guiding channel 2, a substrate 19 is fixed, and a second synchronous pulley 21 is rotatably connected inside the substrate 19. The first synchronous pulley 20 and the second synchronous pulley 21 are tightly connected by a synchronous belt, realizing synchronous power transmission. The other end of the rotating shaft of the auger 3 extends into the substrate 19 and is fixedly connected with the second synchronous pulley 21.

[0057] Specifically, when the rotating shaft 10 rotates, through the transmission action of the first synchronous pulley 20, the synchronous belt and the second synchronous pulley 21, the auger 3 also rotates synchronously, thereby discharging the silt in the mud guiding channel 2 through the sewage discharge hose 7 to the rear.

[0058] Refer to Figure 2 and Figure 3 , in order to protect the camera 4 from damage, a glass protective cover 35 is fixedly provided on the top of the mobile vehicle 1. This glass protective cover 35 is designed to be a transparent and strong structure, which can not only protect the camera 4 but also ensure the shooting effect. A cleaning structure is also provided inside the mobile vehicle 1 for regularly cleaning the glass protective cover 35 blocked by silt to ensure its transparency and guarantee the shooting quality of the camera 4

[0059] Refer to Figure 2 、 Figure 3 and Figure 9, The cleaning structure includes a liquid storage bin 33 arranged inside the mobile vehicle 1 for storing cleaning water. A water pump 34 is fixedly installed inside the liquid storage bin 33 for pumping out the cleaning water and delivering it to the parts that need to be cleaned. A liquid injection pipe 36 is fixedly penetrated through the top of the glass protective cover 35. The bottom end of the liquid injection pipe 36 is communicated with the liquid outlet end of the water pump 34 through a drain pipe to receive the cleaning water from the liquid storage bin 33. The top end of the liquid injection pipe 36 is fixedly penetrated through the glass protective cover 35 and connected with a hollow disc 37. The cleaning water enters the hollow disc 37 through the liquid injection pipe 36. A plurality of liquid discharge holes 38 are evenly distributed at the bottom of the hollow disc 37.

[0060] Specifically, when the hollow disc 37 is filled with cleaning water, it will be evenly sprayed on the glass protective cover 35 through these liquid discharge holes 38 to wash it, thereby removing the attached sewage and sludge on it and ensuring the clear vision of the camera 4.

[0061] Refer to Figure 2 and Figure 3 , In order to more effectively utilize the cleaning water and avoid its waste, a circular liquid collecting trough 39 is also arranged on the top of the mobile vehicle 1. The circular liquid collecting trough 39 is concentric with the camera 4 to collect the cleaning water after flushing. One or more liquid return holes 40 are arranged on the inner wall of the bottom of the circular liquid collecting trough 39. These liquid return holes 40 are communicated with the mud guiding channel 2.

[0062] Specifically, when the cleaning water is sprayed on the glass protective cover 35 and the flushing is completed, most of the cleaning water will flow into the circular liquid collecting trough 39 along the surface of the glass protective cover 35. Subsequently, these cleaning waters flow back into the mud guiding channel 2 through the liquid return holes 40 and are mixed with the sludge therein. This not only increases the water content in the sludge and avoids it sticking to the inner wall of the mud guiding channel 2 after drying, but also reduces the waste of cleaning water to a certain extent and improves the resource utilization rate.

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

[0064] Refer to Figure 5 and Figure 6, 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 complex environments, multiple ball bearings 16 are embedded on the outer wall of the rotating disk 6. These ball bearings 16 are in close contact with the inner wall of the bottom of the drain pipe, enabling the rotating disk 6 to rotate more smoothly, reducing wear and energy consumption.

[0065] In summary, the intelligent inspection robot for drainage pipe networks of the present invention, through the carefully designed L-shaped mounting bracket 17, protective arc plate 18, and ball bearings 16, not only improves the stability and silt cleaning efficiency of the robot in the drainage pipe network, but also effectively prevents the splashing of muddy water, significantly enhancing the overall working performance and reliability.

[0066] Through the above structural design, the intelligent inspection robot of this embodiment can move autonomously in the drainage pipeline, while using the camera 4 for inspection, and collecting and transporting the silt on the forward path to the mud guiding channel 2 through the rotating disk 6 and the mud removing plate 14. The auger 3 throws the silt backward, and the reciprocating swing of the sewage hose 7 ensures that the silt can be evenly sprayed on the inner wall of the drainage pipeline to prevent the accumulation of silt from hindering 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 entire system has a compact structure, simple operation, and remarkable effects, greatly improving the efficiency and accuracy of the inspection of the drainage pipe network.

[0067] Embodiment 2

[0068] Reference Figure 10 and Figure 11 , On the basis of Embodiment 1, an improvement is made: In addition, to further improve the silt cleaning efficiency and prevent the accumulation of silt inside the robot, an airbag 41 system used in conjunction with the rotating disk 6 is designed. This system includes an airbag 41 fixed on one side of the mobile vehicle 1 close to the rotating disk 6, as well as an air inlet pipe 42 and an exhaust pipe 46 connected to the airbag 41. The air inlet pipe 42 passes through the top of the L-shaped mounting bracket 17 for inflating the airbag 41; a support plate 47 is fixed on one side of the mobile vehicle 1, a rotating hollow ring 45 is fixedly arranged on the support plate 47, and the exhaust pipe 46 is connected to a specially designed rotating hollow ring 45, which is rotatably sleeved on the outer wall of the rotating pipe 5.

[0069] One side of the airbag 41 is also fixed with a bent plate 43, and the top of the bent plate 43 is slidably connected to the bottom of the L-shaped mounting bracket 17 to ensure that the airbag 41 can move smoothly when being squeezed. At the same time, multiple hemispherical blocks 44 are fixed on the side of the rotating disk 6 close to the mobile vehicle 1, and these hemispherical blocks 44 will come into contact with 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 bent 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 there are multiple exhaust holes 48 provided on the inner wall of the rotating hollow ring 45, and there is an inclined hole 49 in the rotating pipe 5 that is intermittently communicated with 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 pipe 5 through the inclined hole 49. This design cleverly utilizes the pressure difference of the gas to push the silt in the rotating pipe 5 towards the mud guiding channel 2, effectively preventing the silt from accumulating in the rotating pipe 5.

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

[0072] A method for using an intelligent inspection robot for drainage pipe networks includes the following steps:

[0073] S1. Place the mobile vehicle 1 in the drainage pipe. When the accumulation of silt in front of the mobile vehicle 1 hinders its progress, drive the mud removal plate 14 to rotate rapidly through the rotating disk 6, break the silt during forward movement, and discharge it to the rear through the auger 3 and the sewage hose 7, thereby opening the way forward; specifically in operation, the drive 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 toothed ring 12. Therefore, during the slow forward movement of the mobile vehicle 1, the rotating disk 6 and the mud removal plate 14 rotate, and the serrated edge 15 on one side of the mud removal plate 14 can cut the silt, preventing the rotating pipe 5, the mud guiding channel 2, and the conical hole 13 from being blocked. Since the mud removal plate 14 is inclined, the silt enters the conical hole 13 and the rotating pipe 5 along the mud removal plate 14, and then enters the mud guiding channel 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 bent plate 43. When the airbag 41 is squeezed, the gas inside it is discharged towards 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 pipe 5 through the inclined hole 49, just able to push the silt from the rotating pipe 5 into the mud guiding channel 2, preventing the silt from accumulating in the rotating pipe 5;

[0075] S3. The rotating shaft 10 drives the auger 3 to rotate through the cooperation of the first synchronous pulley 20, the second synchronous pulley 21 and the synchronous belt. The auger 3 discharges the silt in the mud guide channel 2 backward through the sewage discharge hose 7. Moreover, the rotating shaft of the auger 3 drives the disc 26 to rotate. The disc 26 drives the U-shaped frame 27 and the pin 32 to move reciprocally in a straight line through the cooperation of the pin rod 29 and the rectangular groove 28. The cooperation of the pin 32 and the guiding groove 31 drives the cam 30 and the rotating rod 22 to rotate reciprocally. The rotating rod 22 drives the sewage discharge hose 7 to swing through the cooperation of the rotating rod 23, the pull rod 24 and the collar 25. Thus, when discharging silt, the silt can be evenly distributed on the inner wall of the drain pipe, avoiding the re-accumulation of the discharged silt to hinder the return of the mobile vehicle 1.

[0076] S4. During the movement of the mobile vehicle 1, when the glass protective cover 35 is covered by the sewage and sludge on the inner wall of the top of the drain pipe, the water pump 34 injects the clean water in the liquid storage bin 33 into the liquid injection pipe 36 and the hollow disc 37 through the drain hose. And the clean water is evenly sprinkled on the glass protective cover 35 through the liquid discharge holes 38 to wash the sewage and sludge thereon. And the washed water flows back into the mud guide channel 2 through the cooperation of the annular liquid collecting groove 39 and the liquid return hole 40, increasing the water content contained in the silt in the mud guide channel 2 and avoiding the silt from drying and adhering 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, the camera 4 and the water pump 34 are common knowledge. They all belong to conventional means or well-known common knowledge, and will not be elaborated here. Those skilled in the art can make any selection according to their needs or convenience.

[0078] The above is only the preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present invention.

Claims

1. A drainage network intelligent inspection robot, 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); A cleaning structure, arranged in the mobile vehicle (1), for cleaning the blocked glass protective cover (35); 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 (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), a side of the rotating disk (6) away from the mobile vehicle (1) is provided with a plurality of mud removal plates (14), 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 side of the mud removal plates (14) away from the rotating disk (6) is provided with a serrated edge (15) for breaking up large particles of impurities in the mud; 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). 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), and is used to drive the auger (3) to discharge sludge; 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).

2. The intelligent inspection robot for drainage pipe network according to claim 1, 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.

3. The intelligent inspection robot for drainage pipe network according to claim 2, 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).

4. The intelligent inspection robot for drainage pipe network according to claim 3, 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).

5. The intelligent inspection robot for drainage pipe network according to claim 4, 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).

6. The method for using the intelligent inspection robot for drainage pipe network according to claim 5, 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.

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