Drainage pipeline detection metamorphic robot

Abstract

The invention discloses a drainage pipeline detection metamorphic robot, which comprises: a main body mechanism comprising a left main plate and a right main plate which are flush with each other, and a space is reserved between the front part and the rear part of each of the left main plate and the right main plate and is used for placing an opening and closing arm for connecting the left main plate and the right main plate; the variable-diameter driving mechanism is arranged on the left main plate, and the driving end of the variable-diameter driving mechanism is connected with the right main plate; the bottoms of the two crawler walking mechanisms are rotationally arranged in the two spaces respectively, and the tops of the two crawler walking mechanisms are arranged outside the two spaces; the two connecting rod mechanisms are in one-to-one correspondence with the two crawler walking mechanisms, the first ends of the connecting rod mechanisms are connected with the tops of the crawler walking mechanisms, and the second ends of the connecting rod mechanisms are hinged to the adjacent opening and closing arms; the detection mechanism is arranged on the main body mechanism; the two main board driving mechanisms are used for driving the left main board and the right main board to move front and back correspondingly. The external size can be changed through metamorphic motion, the robot adapts to detection of drainage pipelines with different pipe diameters, obstacle crossing can be completed by changing the angle of the crawler walking mechanism, and the robot adapts to complex and changeable scenes.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection robots, and more specifically to a drainage pipeline detection metamorphic robot. Background Art

[0002] Patent CN202122437825.8 discloses a six-legged intelligent drainage pipe robot, which does not require manual entry into the pipe for inspection and maintenance, saving time and effort. At the same time, it also avoids the harm of odor in the pipe to the human body. The overall design improves the convenience of pipe endoscopy. However, the robot cannot adapt to the inspection of drainage pipes with different diameters, has weak obstacle crossing ability, cannot adapt to complex and changing scenes, and has a relatively single detection method, and cannot complete multiple defect detection and relevant data collection in the pipe.

[0003] Patent CN202121472286.5 discloses a pipeline robot that can move in a water drainage pipe. When encountering complex pipeline structures such as turns, it can adjust its course according to the actual situation and can travel in water pipes at any angle. However, the robot cannot adapt to the detection of drainage pipes with different diameters, has weak obstacle crossing ability, cannot adapt to complex and changing scenes, and has a relatively single detection method, and cannot complete multiple defect detection and relevant data collection in the pipeline.

[0004] In summary, the existing drainage pipe inspection robots have the following disadvantages: first, the volume is fixed and cannot adapt to the inspection of drainage pipes with different diameters; second, the flexibility is poor, the climbing and obstacle-crossing capabilities are relatively weak, and it is difficult to adapt to complex environments; third, the inspection method is single and cannot complete multiple defect detections and relevant data collection in the pipeline.

[0005] In summary, how to solve any of the above-mentioned shortcomings of the existing drainage pipe inspection robots is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0006] In view of this, the purpose of the present invention is to provide a drainage pipe detection metamorphic robot, which can change the external dimensions through metamorphic movement to adapt to the detection of drainage pipes with different diameters, and can complete obstacle crossing by changing the angle of the crawler walking mechanism to adapt to complex and changeable scenes.

[0007] In order to achieve the above object, the present invention provides the following technical solutions:

[0008] A drainage pipe detection metamorphic robot, comprising:

[0009] The main body mechanism includes a flush left main board and a right main board, with a space left between the front and rear parts of the two main boards for placing an opening and closing arm connecting the left main board and the right main board, and the opening and closing arm performs opening and closing actions corresponding to the movement of the left main board and the right main board in opposite directions and towards each other;

[0010] A variable diameter driving mechanism, which is disposed on the left main plate and has a driving end connected to the right main plate, and is used to drive the left main plate and the right main plate to move in opposite directions or towards each other in the left and right directions;

[0011] Two crawler walking mechanisms, the bottoms of the two crawler walking mechanisms are respectively rotatably arranged in the two spaces, and the tops of the two crawler walking mechanisms are outside the two spaces;

[0012] Two connecting rod mechanisms, corresponding to the two crawler walking mechanisms one by one, wherein the first end of the connecting rod mechanism is connected to the top of the crawler walking mechanism, and the second end of the connecting rod mechanism is hinged to the opening and closing arm adjacent thereto;

[0013] A detection mechanism, arranged on the main mechanism, for performing various defect detection on the drainage pipe;

[0014] The two mainboard driving mechanisms are used to drive the left mainboard and the right mainboard to move forward and backward respectively.

[0015] Preferably, the variable diameter drive mechanism comprises a variable diameter driver and a transmission assembly, the variable diameter driver is arranged on the left main board via a first support, and the output shaft of the variable diameter driver is connected to the right main board via the transmission assembly.

[0016] Preferably, the transmission assembly includes a gear and a rack, the left main board is provided with a slide plate extending along the left-right direction, the rack is slidably arranged on the slide plate, and the end of the rack is provided on the right main board through a second support, the output shaft of the variable diameter drive is arranged along the front-back direction and is sleeved on the gear, and the gear is meshed with the rack.

[0017] Preferably, the opening and closing arm is C-shaped, the opening of the front opening and closing arm faces forward, and the opening of the rear opening and closing arm faces backward.

[0018] Preferably, the opening and closing arm includes a left curved arm and a right curved arm, one end of the left curved arm is hinged to the left main board, one end of the right curved arm is hinged to the right main board, and the other ends of the left curved arm and the right curved arm are coaxially hinged.

[0019] Preferably, the other ends of the left curved arm and the right curved arm are coaxially hinged to the bottom end of a vertical fixed support, and the top end of the fixed support is hinged to the second end of the connecting rod mechanism.

[0020] Preferably, the connecting rod mechanism includes an integrally formed cross bar, a U-shaped rod and two longitudinal rods respectively located on both sides of its opening, the cross bar is hinged to the top end of the fixed support, and the two longitudinal rods are respectively connected to the two sides of the crawler walking mechanism through the two upper flanges.

[0021] Preferably, track fixing plates are provided on both sides of the front ends of the left main board and the right main board, and the two track fixing plates are arranged opposite to each other in the left-right direction;

[0022] Lower flanges are provided on both sides of the bottom of the crawler walking mechanism, and the two lower flanges are correspondingly hinged on the two crawler fixing plates through an integral connecting arm, and the two connecting arms are arranged opposite to each other in the left-right direction.

[0023] Preferably, the detection mechanism comprises:

[0024] A high-definition camera, disposed at the upper end of the front portion of the main body, for photographing the internal environment of the drainage pipe;

[0025] A flow rate and velocity sensor, disposed at the lower end of the main body mechanism, for measuring flow rate and velocity parameters of the water environment inside the drainage pipe;

[0026] A sonar, disposed at the upper end of the main body, for detecting and locating the internal environment of the drainage pipe;

[0027] The ultrasonic probe is arranged at the lower end of the main body mechanism and is used to detect defects such as cracks and corrosion on the inner surface of the drainage pipe.

[0028] Preferably, the mainboard driving mechanism is a spiral driving mechanism.

[0029] When the drainage pipe inspection metamorphic robot provided by the present invention is performing drainage pipe inspection operations, facing drainage pipes with different diameters, it can start the variable diameter driving mechanism so that its driving end drives the right main board to move along the left and right directions back to the left main board. During this process, the front opening and closing arms and the rear opening and closing arms both open to support the left and right main boards to move back to back, thereby achieving the widening of the main body mechanism; conversely, driving the right main board to move toward the left main board along the left and right directions can achieve the narrowing of the main body mechanism. Therefore, the robot can change its external dimensions through metamorphic movement to adapt to the inspection of drainage pipes with different diameters.

[0030] If a larger obstacle that cannot be avoided is encountered, the variable diameter drive mechanism can be activated to drive the left and right main boards to move toward each other in the left and right directions. During this process, the front opening and closing arm performs a closing action, which can pull the second end of the front connecting mechanism backward. The total length of the connecting mechanism remains unchanged. The first end of the connecting mechanism will pull the top of the front crawler walking mechanism upward, and the crawler walking mechanism will rotate to complete the obstacle climbing, drive the two main board drive mechanisms to fit the obstacle, and thus drive the robot to complete the obstacle crossing. It should be noted that during the obstacle crossing process, the rear crawler walking mechanism can provide stable support, and after completing the obstacle crossing, the rear crawler walking mechanism fits the obstacle to ensure the smoothness of the obstacle crossing process.

[0031] If silt or debris deposits to form gullies, the variable diameter drive mechanism can be started to drive the left and right main boards to move back and forth in the left and right directions. During this process, the front opening and closing arms and the rear opening and closing arms both open, and the front connecting mechanism pushes the front crawler walking mechanism downward, and the rear connecting mechanism also pushes the front crawler walking mechanism downward until the front and rear crawler walking mechanisms are adjusted to a horizontal level. When the front and rear crawler walking mechanisms respectively contact the two edges of the gully, the two can cross the gully by rotating.

[0032] In summary, the drainage pipe inspection metamorphic robot provided by the present invention has the following beneficial effects: first, it can change the external dimensions through metamorphic movement to better adapt to the inspection of drainage pipes with different diameters, so that the inspection mechanism carried by the robot can be at a higher position to complete various defect detections and relevant data collection in the pipeline; second, it can cross obstacles or gullies by lifting or lowering movements through the crawler walking mechanism to better adapt to complex and changeable scenes; third, the metamorphic movement and the lifting or lowering movement of the crawler walking mechanism are driven by the same power source, saving energy consumption and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 This is a schematic diagram of the structure of the drainage pipe detection metamorphic robot provided by the present invention;

[0035] Figure 2 This is a schematic diagram of the structure of the drainage pipe inspection metamorphic robot provided by the present invention after removing the right outer shell and the left outer shell;

[0036] Figure 3It is an assembly diagram of the main body mechanism, variable diameter driving mechanism, crawler walking mechanism and connecting rod mechanism provided by the present invention;

[0037] Figure 4 This is a schematic diagram of the installation of the C-shaped opening and closing arm provided by the present invention;

[0038] Figure 5 This is a schematic diagram of the installation of the detection mechanism provided by the present invention.

[0039] Reference numerals:

[0040] 1-main body; 11-left main board; 12-right main board; 13-opening and closing arm; 14-fixed support; 15-first cylindrical pin; 16-second cylindrical pin; 17-rotating secondary pin; 18-rotating secondary nut; 19-track fixing plate; 110-rotating secondary cylindrical pin; 131-left crank arm; 132-right crank arm;

[0041] 2-diameter-changing driving mechanism; 21-diameter-changing driver; 22-first support; 23-gear; 24-rack; 25-slide plate; 26-second support;

[0042] 3- crawler walking mechanism; 31- upper flange; 32- lower flange; 33- connecting arm;

[0043] 4-linkage mechanism; 41-crossbar; 42-shaped bar; 43-longitudinal bar;

[0044] 5-detection mechanism; 51-high-definition camera; 52-camera base; 53-flow rate sensor; 54-sonar; 55-ultrasonic probe;

[0045] 6- Mainboard driving mechanism;

[0046] 7-right housing;

[0047] 8- Left housing. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] The core of the present invention is to provide a drainage pipe detection metamorphic robot, which can change its external dimensions through metamorphic movement to adapt to the detection of drainage pipes with different diameters, and can complete obstacle crossing by changing the angle of the crawler walking mechanism to adapt to complex and changeable scenes.

[0050] It should be noted that in this embodiment, the directions or positional relationships indicated by "upper", "lower", "front", "back", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present application. In addition, "first", "second", and "third" are only used to describe the effect, and cannot be understood as indicating or implying relative importance.

[0051] The present invention provides a drainage pipe detection metamorphic robot, comprising a main body mechanism 1, a variable diameter driving mechanism 2, two crawler walking mechanisms 3, two connecting rod mechanisms 4, a detection mechanism 5 and two mainboard driving mechanisms 6.

[0052] Please refer to Figures 1 to 3 The main body 1 includes a flush left main board 11 and a right main board 12, with space left between the front and rear parts for placing an opening and closing arm 13 connecting the left main board 11 and the right main board 12. The opening and closing arm 13 performs opening and closing actions based on the back-to-back and opposite-to-back movements of the left main board 11 and the right main board 12.

[0053] Specifically, the left main board 11 and the right main board 12 are arranged opposite to each other in the left-right direction, and the two are flush to stably carry various detection components in the detection mechanism 5. When the main body mechanism 1 is in the initial state, the left main board 11 and the right main board 12 are spliced ​​into one body, and a front space is reserved between the front parts of the left main board 11 and the right main board 12 for placing the front opening and closing arm 13, and a rear space is reserved between the rear parts of the left main board 11 and the right main board 12 for placing the rear opening and closing arm 13, thereby, the front and rear parts of the left main board 11 and the right main board 12 are connected by the opening and closing arm 13.

[0054] The first end of the opening and closing arm 13 is hinged to the left main board 11, and the second end is hinged to the right main board 12. Thus, the opening and closing arm 13 moves toward each other with the left main board 11 and the right main board 12 to perform a closing action, and moves away from each other with the left main board 11 and the right main board 12 to perform an opening action.

[0055] Please refer to Figure 3 The variable diameter driving mechanism 2 is arranged on the left main board 11 and its driving end is connected to the right main board 12, which is used to drive the left main board 11 and the right main board 12 to move in opposite directions or towards each other in the left and right directions.

[0056] Specifically, the variable diameter driving mechanism 2 serves as the power source for the variable cell movement of the robot. The variable diameter driving mechanism 2 is installed on the left main board 11. The driving end of the variable diameter driving mechanism 2 is connected to the right main board 12, which can drive the left main board 11 and the right main board 12 to move back to back or towards each other in the left and right directions, thereby widening or narrowing the main mechanism 1, and thus better adapting to the detection of drainage pipes with different diameters.

[0057] Please refer to Figures 1 to 3 , two crawler walking mechanisms 3, the bottoms of the two are respectively rotatably arranged in the two spaces, and the tops are both outside the two spaces.

[0058] Specifically, the two crawler walking mechanisms 3 are divided into a front crawler walking mechanism 3 and a rear crawler walking mechanism 3 according to the direction of the robot's movement. The bottom of the front crawler walking mechanism 3 is located in the front space and is connected to the main mechanism 1 with rotation, and the top of the front crawler walking mechanism 3 extends out of the front space, so that the front crawler walking mechanism 3 has a certain length in the front-to-back direction to meet the basic conditions of crossing obstacles and gullies; the bottom of the rear crawler walking mechanism 3 is located in the rear space and is connected to the main mechanism 1 with rotation, and the top of the rear crawler walking mechanism 3 extends out of the rear space, so that the rear crawler walking mechanism 3 has a certain length in the front-to-back direction to meet the basic conditions of crossing obstacles and gullies. It should be noted that the crawler walking mechanism 3 has a built-in power source that can drive the crawler to travel stably on different terrains. It should be noted that the specific structure of the crawler walking mechanism 3 can refer to the prior art, which is not the focus of protection of the present invention and will not be described in detail herein.

[0059] Please refer to Figures 1 to 3 The two connecting rod mechanisms 4 correspond to the two crawler walking mechanisms 3 one by one. The first end of the connecting rod mechanism 4 is connected to the top of the crawler walking mechanism 3, and the second end is hinged to the opening and closing arm 13 adjacent to it.

[0060] Specifically, the two connecting rod mechanisms 4 are divided into a front connecting rod mechanism 4 and a rear connecting rod mechanism 4 according to the direction of the robot, and the two correspond to the front and rear crawler walking mechanisms 3. The connecting mechanism is a fixed-length part, and the first end of the connecting mechanism is connected to the top of the crawler walking mechanism 3, and the second end is hinged to the opening and closing arm 13.

[0061] In this embodiment, the opening and closing arm 13 is C-shaped, the opening of the front opening and closing arm 13 faces forward, and the opening of the rear opening and closing arm 13 faces rearward. Therefore, when the front opening and closing arm 13 closes, it will pull the second end of the front connecting mechanism to move backward. Since the size of the connecting mechanism is fixed, the first end of the front connecting mechanism will pull the top of the front crawler walking mechanism 3 upward, that is, lift the front crawler walking mechanism 3. Conversely, when the front opening and closing arm 13 opens, it will push the second end of the front connecting mechanism to move forward, and the front crawler walking mechanism 3 can be lowered. The movement principle of the rear crawler walking mechanism 3 is the same as above, and will not be repeated.

[0062] Please refer to Figure 5The detection mechanism 5 is arranged on the main mechanism 1 and is used to perform various defect detection on the drainage pipe. It should be noted that the detection mechanism 5 has various detection components, which can be adjusted and installed on the main mechanism 1 according to actual needs by the user, so that the detection components move with the main mechanism 1.

[0063] The two mainboard driving mechanisms 6 are used to drive the left mainboard 11 and the right mainboard 12 to move forward and backward respectively, so that the robot can float in a watery environment in a drainage pipe and walk on land in a silt-deposited environment.

[0064] The drainage pipe detection metamorphic robot in the above embodiment, facing drainage pipes with different diameters, can start the variable diameter driving mechanism 2 to drive the left main board 11 and the right main board 12 to move backwards in the left and right directions. During this process, the front opening and closing arms 13 and the rear opening and closing arms 13 both open to support the left main board 11 and the right main board 12 to move backwards, so that the main body mechanism 1 can be widened; conversely, the left main board 11 and the right main board 12 are driven to move toward each other in the left and right directions, so that the main body mechanism 1 can be narrowed, so that the robot can change its external dimensions through metamorphic movement to adapt to the detection of drainage pipes with different diameters.

[0065] If a large obstacle that cannot be avoided is encountered, the variable diameter drive mechanism 2 can be started to drive the left main board 11 and the right main board 12 to move toward each other in the left and right directions. During this process, the front opening and closing arm 13 performs a closing action, and the front connecting rod mechanism 4 lifts the front crawler walking mechanism 3 to complete the obstacle climbing, driving the two main board drive mechanisms 6 to fit the obstacle, thereby driving the robot to complete the obstacle crossing. It should be noted that during the obstacle crossing process, the rear crawler walking mechanism 3 can provide stable support, and after completing the obstacle crossing, the rear crawler walking mechanism 3 fits the obstacle to ensure the smoothness of the obstacle crossing process.

[0066] If silt or debris deposits to form gullies, the variable diameter drive mechanism 2 can be started to drive the left main board 11 and the right main board 12 to move back and forth in the left and right directions. During this process, the front opening and closing arms 13 and the rear opening and closing arms 13 both open, and the front and rear connecting rod structures respectively move toward the front and rear crawler walking mechanisms 3 until the front and rear crawler walking mechanisms 3 are adjusted to be horizontal. When the front and rear crawler walking mechanisms 3 respectively contact the two edges of the gully, the two can cross the gully by rotating.

[0067] From the above description, it can be seen that the drainage pipe inspection metamorphic robot provided by the present invention has the following beneficial effects: first, it can change the external dimensions through metamorphic movement to better adapt to the inspection of drainage pipes with different diameters, so that the inspection mechanism 5 carried by the robot can be in a higher position to complete various defect detections and relevant data collection in the pipeline; second, it can cross obstacles or gullies by lifting or lowering the crawler walking mechanism 3 to better adapt to complex and changeable scenes; third, the metamorphic movement and the lifting or lowering movement of the crawler walking mechanism 3 are driven by the same power source, saving energy consumption and cost.

[0068] On the basis of the above-mentioned embodiments, the present invention also includes a control system, and the control system electrical signals connect the variable diameter drive mechanism 2, the crawler walking mechanism 3, the detection mechanism 5 and the main board drive mechanism 6 to control the robot's walking, variable cell movement, crossing obstacles or gullies and other actions, as well as receiving, analyzing and processing the detection signal of the detection mechanism 5, thereby realizing the robot to perform automated detection operations.

[0069] Based on the above examples, please refer to Figure 3 The variable diameter driving mechanism 2 includes a variable diameter driver 21 and a transmission assembly. The variable diameter driver 21 is arranged on the left main board 11 through a first support 22. The output shaft of the variable diameter driver 21 is connected to the right main board 12 through the transmission assembly.

[0070] It can be understood that the output shaft of the variable diameter driver 21 is a straight shaft and is at a certain height from the left main board 11. The transmission assembly is connected between the output shaft of the variable diameter driver 21 and the right main board 12, which not only plays a role in power transmission, but also compensates for the height difference between the output shaft and the right main board 12, which is beneficial for the left main board 11 and the right main board 12 to keep them flush and avoid the main body 1 from tilting and affecting the smooth operation of the robot.

[0071] The variable diameter driver 21 can adopt a planetary reduction servo motor with high precision, high efficiency, good stability and small size. Of course, the variable diameter driver 21 can also adopt other live drivers.

[0072] Considering the specific implementation of the transmission assembly, based on the above embodiments, please refer to Figure 3 The transmission assembly includes a gear 23 and a rack 24. The left main board 11 is provided with a slide plate 25 extending in the left-right direction. The rack 24 is slidably arranged on the slide plate 25, and the end of the rack 24 is arranged on the right main board 12 through a second support 26. The output shaft of the variable diameter driver 21 is arranged in the front-to-back direction and is sleeved with the gear 23, and the gear 23 is meshed with the rack 24.

[0073] Thus, the output shaft of the variable diameter driver 21 can drive the gear 23 to rotate, and the gear 23 drives the rack 24 to slide on the slide 25 in the left and right directions. Since the end of the rack 24 is arranged on the right main board 12 through the second support 26, and the slide 25 is arranged on the left main board 11, the rack 24 can push the left main board 11 and the right main board 12 to move in opposite directions or towards each other. With the transmission assembly of the above structure, on the one hand, the gear 23 and the rack 24 are meshed and transmitted, and the transmission is stable, which can improve the reliability of the robot's cell movement; on the other hand, the rack 24 slides along the slide 25 arranged in the left and right directions, which can avoid the displacement of the left main board 11 and the right main board 12 during the process of moving towards or away from each other, thereby further improving the reliability of the robot's cell movement.

[0074] Preferably, please refer to Figure 2 The second support 26 is an inverted U-shaped structure. The bottom end of the second support 26 is bolted on the right main board 12 and is arranged opposite to the slide plate 25 in the left-right direction. The end of the rack 24 is inserted into the second support 26 and is bolted to the top of the second support 26, so that the rack 24 is horizontally extended along the left-right direction, which is more conducive to the left main board 11 and the right main board 12 moving toward or away from each other and keeping them flush, thereby effectively avoiding displacement during the robot's cell movement.

[0075] Considering the specific structure of the opening and closing arm 13, based on the above embodiment, please refer to Figure 4 The opening and closing arm 13 includes a left curved arm 131 and a right curved arm 132. One end of the left curved arm 131 is hinged to the left main board 11, one end of the right curved arm 132 is hinged to the right main board 12, and the other ends of the left curved arm 131 and the right curved arm 132 are coaxially hinged.

[0076] Specifically, the front opening and closing arm 13 and the rear opening and closing arm 13 have the same structure and installation method. The following is an example of the front opening and closing arm 13. The front of the left main board 11 is provided with a first installation hole, and the front of the right main board 12 is provided with a second installation hole. The first cylindrical pin 15 passes through one end of the left curved arm 131 and is inserted into the first installation hole. One end of the left curved arm 131 forms a revolute connection (i.e., hinged) with the front of the left main board 11. The second cylindrical pin 16 passes through one end of the right curved arm 132 and is inserted into the second installation hole. One end of the right curved arm 132 forms a revolute connection with the front of the right main board 12. The other ends of the left curved arm 131 and the right curved arm 132 form a revolute connection through the third cylindrical pin. Therefore, the opening and closing arm 13 is composed of two hinged curved arms, which can not only realize a larger angle of opening and closing action to adapt to a larger range of pipe diameters, but also the double curved arm can enhance the structural stability of the main structure.

[0077] For further information, please refer to Figure 3, the opening and closing arm 13 is C-shaped. The opening of the front part of the opening and closing arm 13 faces forward, and the opening of the rear part of the opening and closing arm 13 faces backward. That is to say, for the front part of the opening and closing arm 13, both the left curved arm 131 and the right curved arm 132 are bent backward, so that the opening and closing arm 13 formed by the two faces forward; for the rear part of the opening and closing arm 13, both the left curved arm 131 and the right curved arm 132 are bent forward, so that the opening and closing arm 13 formed by the two faces backward.

[0078] In this way, during the operation of the robot in the drainage pipe, if it encounters a large obstacle, the variable diameter driver 21 drives the left main board 11 and the right main board 12 to move relative to each other, even if the main body mechanism 1 becomes narrower. At this time, the front and rear opening and closing arms 13 perform a closing action. Since the opening of the front opening and closing arm 13 faces forward, the front opening and closing arm 13 moves backward relative to the front crawler traveling mechanism 3 in the front-rear direction, and thus the front crawler traveling mechanism 3 can be pulled up by the connecting mechanism, so as to achieve crossing the obstacle. Therefore, with the opening and closing arm 13 of the above structure, when the robot performs the obstacle crossing action, the main body mechanism 1 becomes narrower, so as to avoid the situation that the main body mechanism 1 does not match the diameter of the drainage pipe due to widening while crossing the obstacle.

[0079] Considering the specific connection method between the opening and closing arm 13 and the connecting mechanism, on the basis of the above embodiment, please refer to Figure 4 , the other ends of the left curved arm 131 and the right curved arm 132 are coaxially hinged to the bottom end of the vertical fixed support 14, and the top end of the fixed support 14 is hinged to the second end of the link mechanism 4.

[0080] Specifically, the rotating pair pin 17 sequentially penetrates through the other end of the left curved arm 131, the other end of the right curved arm 132 and the bottom end of the fixed support 14 and is fastened by the rotating pair nut 18. In this way, the fixed support 14 can move back and forth with the opening and closing arm 13. The second end of the connecting mechanism is connected to the top end of the fixed support 14 through the rotating pair cylindrical pin 110, and the fixed support 14 is vertically arranged. Taking the front opening and closing arm 13 as an example, when the opening and closing arm 13 performs a closing action, the opening and closing arm 13 can drive the fixed support 14 to move backward, and the fixed support 14 can pull up the front crawler traveling mechanism 3 more conveniently and smoothly.

[0081] Considering the specific structure of the connecting mechanism, on the basis of the above embodiment, please refer to Figure 3 , the link mechanism 4 includes a cross bar 41, a C-shaped rod 42 integrally formed, and two longitudinal rods 43 respectively located on both sides of its opening. The cross bar 41 is hinged to the top end of the fixed support 14, and the two longitudinal rods 43 are respectively connected to the two side parts of the crawler traveling mechanism 3 through two upper flange plates 31.

[0082] It can be understood that the connecting mechanism is integrally processed and formed, with strong bearing capacity, and can stably drive the crawler running mechanism 3 to make lifting or lowering movements. In addition, the two opposite side portions of the U-shaped rod 42 are respectively located on the two side portions of the crawler running mechanism 3 and are both connected to the side plates of the crawler running mechanism 3 through flanges, which can greatly improve the firmness of the connection between the connecting mechanism and the crawler running mechanism 3, thereby effectively ensuring the stable reliability of the crawler running mechanism 3 to make lifting or lowering movements.

[0083] Considering the specific rotational connection method between the crawler running mechanism 3 and the main body mechanism 1, on the basis of the above embodiments, please refer to Figure 3 and Figure 4 , crawler fixing plates 19 are provided on both sides of the front ends of the left main board 11 and the right main board 12 facing each other, and the two crawler fixing plates 19 are arranged opposite to each other in the left-right direction; lower flange plates 32 are provided on both sides of the bottom of the crawler running mechanism 3, and the two lower flange plates 32 are respectively and correspondingly hinged to the two crawler fixing plates 19 through integral connecting arms 33, and the two connecting arms 33 are arranged opposite to each other in the left-right direction.

[0084] Specifically, lower flange plates 32 are connected to both sides of the bottom of the crawler running mechanism 3 through a plurality of screws, which are divided into a left lower flange plate 32 and a right lower flange plate 32. One end faces away from the crawler running mechanism 3 of both are integrally provided with connecting arms 33, which are divided into a left connecting arm 33 and a right connecting arm 33. The two are respectively hinged to the left crawler fixing plate 19 and the right crawler fixing plate 19. The hinged method can adopt hinge connection, bearing connection, spherical sleeve connection and other methods to realize the rotation of the crawler running mechanism 3 relative to the main body mechanism 1, and at the same time realize the fixed installation of the crawler running mechanism 3 on the main body structure. In addition, the left crawler fixing plate 19, the left connecting arm 33, the right connecting arm 33 and the right crawler fixing plate 19 are arranged in sequence in the left-right direction, which can make the crawler running mechanism 3 arranged in the front-back direction (i.e., the running direction of the robot), so as to avoid lateral deviation of the crawler running mechanism 3 during walking.

[0085] Preferably, the fixed support 14, the link mechanism 4 and the crawler running mechanism 3 are coaxially arranged in the front-back direction, which can avoid the situation of structural damage caused by torsion during the process of the link structure pulling or pushing down the crawler running mechanism 3.

[0086] Regarding the specific implementation manner of the detection mechanism 5, on the basis of any of the above embodiments, please refer to Figure 5 , the detection mechanism 5 includes a high-definition camera 51, a flow velocity sensor 53, a sonar 54 and an ultrasonic probe 55.

[0087] The high-definition camera 51 is arranged at the upper end of the front part of the main body mechanism 1 for photographing the internal environment of the drainage pipe.

[0088] Specifically, the high-definition camera 51 is horizontally arranged at the upper end of the front part of the main body 1 through the camera base 52. The high-definition camera 51 is a high-definition infrared camera to adapt to the internal environment of the drainage pipe with low light source, and to shoot the internal environment of the drainage pipe, and transmit the image and video content to the control system.

[0089] The flow rate and velocity sensor 53 is disposed at the lower end of the main body mechanism 1 and is used to measure the flow rate and velocity parameters of the water environment inside the drainage pipe.

[0090] Specifically, the flow rate sensor 53 is located at the lower end of the main body 1, so as to measure the flow rate parameters of the water environment with more or less water in the drainage pipe, and transmit the measurement results to the control system. The accurate monitoring of the flow rate inside the pipe and the timely discovery of problems such as pipe leakage are beneficial to the protection and utilization of water resources.

[0091] The sonar 54 is disposed at the upper end of the main body 1 and is used to detect and locate the internal environment of the drainage pipe.

[0092] Specifically, sonar detects the surrounding environment by emitting sound waves and receiving the reflected signals. It can provide detailed information about the robot's surroundings, help the robot better understand its environment, and help the robot avoid collisions underwater or in complex ground environments. Sonar can achieve detection and positioning at longer distances.

[0093] The ultrasonic probe 55 is arranged at the lower end of the main body 1, and is used to detect defects such as cracks and corrosion on the inner surface of the drainage pipe. It should be noted that the ultrasonic probe 55 sends ultrasonic waves through the bottom of the probe to perform the detection task, so it needs to be installed at the lower end of the main body 1 to detect defects below the drainage pipe, and defects above the drainage pipe can be detected by sonar.

[0094] Considering the specific implementation of the mainboard drive mechanism 6, based on any of the above embodiments, please refer to Figure 1 , the mainboard driving mechanism 6 is a spiral driving mechanism.

[0095] Specifically, the spiral drive mechanism mainly includes a spiral drum and a built-in spiral propeller. The spiral drum is fixed to the bottom of the left main board 11 or the right main board 12 of the main body 1 by multiple screws. The spiral propeller drives the spiral drum to rotate, and the rotational motion drives the main body 1 to perform linear motion. Therefore, combined with the specific structure and characteristics of the spiral drive mechanism, the robot can complete land walking in a silt deposition environment, and can also complete the robot's floating in water in a watery environment. The spiral drive mechanism itself has a strong ability to cross obstacles and can cope with most obstacles in the pipeline.

[0096] It should be noted that by controlling the start and stop and the rotation speed of the two screw propellers, the speed control of the robot is completed, the differential speed of the left and right spiral drums is achieved, and the turning of the robot is completed.

[0097] Based on any of the above embodiments, please refer to Figure 1 and Figure 3 The present invention further includes a left outer shell 8 and a right outer shell 7, which are respectively covered on the left main board 11 and the right main board 12 and have open ends on both sides opposite to each other in the left and right directions. The two open ends are spliced ​​together so that the interior of the left outer shell 8 and the right outer shell 7 forms a closed space, and the variable diameter drive mechanism 2 can be placed as a whole in the closed space to protect the variable diameter drive mechanism 2 from interference from external impurities, thereby ensuring the reliable and normal operation of the variable diameter drive mechanism 2, thereby improving the reliability of the robot's cell movement, obstacle crossing and gully movement.

[0098] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0099] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0100] The above is a detailed introduction to the drainage pipe detection metamorphic robot provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A drainage pipe detection metamorphic robot, characterized in that: include: The main body mechanism (1) comprises a flush left main board (11) and a right main board (12), with a space left between the front and rear parts of the two for accommodating an opening and closing arm (13) connecting the left main board (11) and the right main board (12), the opening and closing arm (13) performing opening and closing actions corresponding to the movement of the left main board (11) and the right main board (12) away from each other and towards each other; a variable diameter driving mechanism (2), which is arranged on the left main plate (11) and has a driving end connected to the right main plate (12), and is used to drive the left main plate (11) and the right main plate (12) to move in opposite directions or towards each other in the left-right direction; Two crawler walking mechanisms (3), the bottoms of the two crawler walking mechanisms are respectively rotatably arranged in the two spaces, and the tops of the two crawler walking mechanisms are both outside the two spaces; Two connecting rod mechanisms (4) corresponding one to one to the two crawler walking mechanisms (3), wherein the first end of the connecting rod mechanism (4) is connected to the top of the crawler walking mechanism (3), and the second end is hinged to the opening and closing arm (13) adjacent thereto; A detection mechanism (5) is arranged on the main mechanism (1) and is used to perform various defect detection on the drainage pipe; The two mainboard driving mechanisms (6) are respectively used to drive the left mainboard (11) and the right mainboard (12) to move forward and backward.

2. The drainage pipe detection metamorphic robot according to claim 1, characterized in that: The variable diameter drive mechanism (2) comprises a variable diameter driver (21) and a transmission assembly, wherein the variable diameter driver (21) is arranged on the left main board (11) via a first support (22), and an output shaft of the variable diameter driver (21) is connected to the right main board (12) via the transmission assembly.

3. The drainage pipe detection metamorphic robot according to claim 2, characterized in that: The transmission assembly comprises a gear (23) and a rack (24); the left main board (11) is provided with a slide plate (25) extending in the left-right direction; the rack (24) is slidably arranged on the slide plate (25); and an end of the rack (24) is arranged on the right main board (12) via a second support (26); an output shaft of the variable diameter driver (21) is arranged in the front-back direction and sleeved with the gear (23); and the gear (23) is meshed with the rack (24).

4. The drainage pipe detection metamorphic robot according to claim 1, characterized in that: The opening and closing arm (13) is C-shaped, the opening of the front opening and closing arm (13) faces forward, and the opening of the rear opening and closing arm (13) faces backward.

5. The drainage pipe detection metamorphic robot according to claim 1, characterized in that: The opening and closing arm (13) comprises a left curved arm (131) and a right curved arm (132); one end of the left curved arm (131) is hinged to the left main board (11); one end of the right curved arm (132) is hinged to the right main board (12); and the other ends of the left curved arm (131) and the right curved arm (132) are coaxially hinged.

6. The drainage pipe detection metamorphic robot according to claim 5, characterized in that: The other ends of the left curved arm (131) and the right curved arm (132) are coaxially hinged to the bottom end of a vertical fixed support (14), and the top end of the fixed support (14) is hinged to the second end of the connecting rod mechanism (4).

7. The drainage pipe detection metamorphic robot according to claim 6, characterized in that: The link mechanism (4) includes a cross bar (41), a U-shaped rod (42) integrally formed therewith, and two longitudinal rods (43) respectively located on both sides of its opening. The cross bar (41) is hinged to the top end of the fixed support (14), and the two longitudinal rods (43) are respectively connected to both side parts of the crawler traveling mechanism (3) through the two upper flange plates (31).

8. The drainage pipe detection metamorphic robot according to claim 1, characterized in that: Track fixing plates (19) are provided on both sides of the front ends of the left main board (11) and the right main board (12) facing each other, and the two track fixing plates (19) are arranged opposite to each other in the left-right direction; Lower flange plates (32) are provided on both sides of the bottom of the crawler traveling mechanism (3), and the two lower flange plates (32) are respectively and correspondingly hinged to the two track fixing plates (19) through integral connecting arms (33), and the two connecting arms (33) are arranged opposite to each other in the left-right direction.

9. The drainage pipe detection metamorphic robot according to any one of claims 1 to 8, characterized in that: The detection mechanism (5) includes: A high-definition camera (51) is provided at the upper end of the front part of the main body mechanism (1) for photographing the internal environment of the drainage pipe; A flow velocity sensor (53) is provided at the lower end of the main body mechanism (1) for measuring the flow velocity parameters of the internal water environment of the drainage pipe; A sonar (54) is provided at the upper end of the main body mechanism (1) for detecting and positioning the internal environment of the drainage pipe; An ultrasonic probe (55) is provided at the lower end of the main body mechanism (1) for detecting defects such as cracks and corrosion on the internal surface of the drainage pipe.

10. The drainage pipe detection metamorphic robot according to any one of claims 1 to 8, characterized in that: The main board driving mechanism (6) is a spiral driving mechanism.

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