Underground pipeline detection robot and detection method thereof

Abstract

The present invention discloses an underground pipeline detection robot and a detection method thereof, comprising: a body that can be folded and adjusted, the body comprising a middle body one and a middle body two, an adjustment mechanism is provided between the middle body one and the middle body two, the adjustment mechanism comprises a driving gear rotating at one end of the middle body two and a driven gear fixedly connected to the middle body one; the design of the supporting roller enables the robot to stably support and assist in turning up and down in the pipeline, further improving the flexibility of the robot; a camera is rotatably arranged on the end of the robot body, which can take real-time photos of the internal situation of the pipeline and transmit the data to the outside, so as to facilitate real-time observation and analysis by personnel; a sampling part comprises a micro screw conveyor, a collecting bottle and a metal exhaust pipe, and negative pressure is extracted from the collecting bottle by a vacuum pump, and debris collected in the micro screw conveyor is sucked into the collecting bottle, so as to facilitate subsequent detection and analysis.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to an underground pipeline detection robot and a detection method thereof. Background Art

[0002] While laying the pipeline, it is also necessary to record the geographical location, internal structure and other information of the pipeline, so as to keep abreast of the pipeline information and avoid the occurrence of pipeline digging accidents during the pipe laying construction due to unclear underground pipeline conditions. There are currently two commonly used underground gas pipeline detection methods. For new pipelines, pipeline detection and positioning are usually carried out before the pipeline is connected and ventilated; for old pipelines, the upstream and downstream valves are usually closed, the underground pipeline is dug out, and the detection equipment is placed inside the pipeline after cutting both sides of the pipeline to detect the pipeline information. This results in the entire pipeline detection cycle of more than 2 days. This process not only costs a lot of money, but also affects the normal gas life of users around the pipeline, and increases the pipeline safety risk at the pipeline cutting point. Therefore, in response to the current problems, it is necessary to design and develop a device that can enter the pipeline through the pipeline release valve and record the geographical location, internal structure and other information of the pipeline. Summary of the invention

[0003] The object of the present invention is to provide an underground pipeline detection robot and a detection method thereof to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: an underground pipeline detection robot, comprising:

[0005] A vehicle body that can be folded and adjusted, the vehicle body comprising a middle vehicle body 1 and a middle vehicle body 2, an adjustment mechanism being arranged between the middle vehicle body 1 and the middle vehicle body 2, the adjustment mechanism comprising a driving gear rotating at one end of the middle vehicle body 2 and a driven gear fixed to the middle vehicle body 1, the driving gear being meshed and connected with the driven gear, and being used to drive the end of the middle vehicle body 1 and the end of the middle vehicle body 2 to move in opposite directions at the same time;

[0006] Support rollers are placed in the middle and end of the vehicle body to support the inner wall of the pipe and assist in turning up and down;

[0007] The end vehicle body is rotatably placed at both ends of the vehicle body, and the end vehicle body includes a rotatably arranged camera and a sampling part, and the sampling part includes a micro screw conveyor, a collecting bottle, and a metal exhaust pipe for pumping the collecting bottle into a negative pressure, and one end of the metal exhaust pipe is fixedly connected to an extraction pipe connected to the end of the micro screw conveyor, and is used to introduce the internal objects of the micro screw conveyor into the collecting bottle;

[0008] The driving part is arranged at one end of the end vehicle body, and comprises driving wheels rotatable along the X-axis and the Y-axis, and is used for driving the whole vehicle body to move straight and transversely in the pipeline.

[0009] Preferably, one end of the middle car body 2 is rotatably connected to a transmission shaft, the driving gear is fixedly connected to both ends of the transmission shaft, the end of the transmission shaft is rotatably connected to a connecting plate, the connecting plate is rotatably connected to a driven gear, one side of the driven gear is fixedly connected to a transmission plate, the transmission plate is fixedly connected to the middle car body 1, the end of the middle car body 2 is fixedly connected to a motor 2, the output end of the motor 2 is fixedly connected to a worm, the outer side of the worm is meshingly connected to a worm wheel, and the worm wheel is fixedly connected to the middle of the transmission shaft.

[0010] Preferably, one end of the middle car body two is slidably connected to the telescopic end one through a sliding rod, and one end of the middle car body one is slidably connected to the telescopic end three through a sliding rod. The middle car body one and the middle car body two are both fixedly connected with an electric telescopic rod four inside, and the telescopic end one and the telescopic end three are fixedly connected to the output ends of the corresponding electric telescopic rod four.

[0011] Preferably, the end car body includes a front-end car body and a rear-end car body, the interior of the front-end car body and the rear-end car body are both fixedly connected with an electric telescopic rod 1, one end of the front-end car body is slidably connected with a telescopic end 2 via a sliding rod, and one end of the rear-end car body is slidably connected with a telescopic end 4 via a sliding rod, the interior of the front-end car body and the rear-end car body are both fixedly connected with an electric telescopic rod 1, and the telescopic end 2 and the telescopic end 4 are fixedly connected to the output end of the corresponding electric telescopic rod 1.

[0012] Preferably, a bracket is fixedly connected to the top of the front end vehicle body, and the camera is rotatably installed in the middle of the bracket. A driving motor for driving the camera to rotate is fixedly connected to one side of the bracket, and a rotating motor for driving the bracket to rotate is fixedly connected to the inside of the front end vehicle body, and a GPS positioning module is provided inside the front end vehicle body.

[0013] Preferably, a placement seat is fixedly connected to the top of the front end vehicle body, a plurality of placement grooves are equidistantly provided on the outer side of the placement seat, a collecting bottle is installed inside the placement groove, a pressing cover is provided on the top of the placement seat for pressing and fixing the collecting bottle in the placement groove, a sealing cover is provided on the top of the collecting bottle, a hole is provided in the middle of the sealing cover for inserting a metal exhaust pipe, a rubber pad is provided at the bottom of the hole, one end of the rubber pad is connected to the sealing cover, and in a natural state, the rubber pad is in a horizontal state to seal the hole.

[0014] Preferably, a U-shaped frame is provided inside the front end vehicle body, and two electric telescopic rods three are fixedly connected inside the U-shaped frame, and the output end of the electric telescopic rod three is fixedly connected to the top of the inner wall of the front end vehicle body, and a motor three is fixedly connected inside the U-shaped frame. The exhaust end of the vacuum pump is connected to a metal exhaust pipe through a rotating joint, and the metal exhaust pipe is an inverted L-shaped structure. A sealing gasket is fixedly connected to the outside of the metal exhaust pipe, and a motor four is fixedly connected inside the U-shaped frame. The output end of the motor four is transmission-connected to the metal exhaust pipe through a transmission gear assembly, and an electric telescopic rod two is fixedly connected inside the front end vehicle body, and the output end of the electric telescopic rod two is fixedly connected to a micro screw conveyor.

[0015] Preferably, the driving unit also includes a transmission tube rotatably connected to the ends of the front end vehicle body and the rear end vehicle body, which is used for transmission and storage lines. Motor 1 is fixedly connected to the interior of the front end vehicle body and the rear end vehicle body. Motor 1 is transmission-connected to the transmission tube through a worm gear transmission assembly. A double-headed motor is fixedly connected to one end of the transmission tube, and the driving wheels are respectively fixedly connected to both ends of the double-headed motor.

[0016] Preferably, it also includes a recycling mechanism, which includes a cast iron seat, a rotating iron seat is rotatably connected to the bottom of the cast iron seat, a plurality of permanent magnets are embedded and installed at the bottom of the double-headed motor, a plurality of magnetic holes corresponding to the permanent magnets are opened in the middle of the rotating iron seat, and when the magnetic holes are misaligned with the permanent magnets, the front car body and the rotating iron seat shield the magnetism of the permanent magnets, the top of the cast iron seat is fixedly connected to a storage rack, the middle part of the storage rack is rotatably connected to a winding roller and a reciprocating screw rod, the winding roller and the reciprocating screw rod are connected by a belt assembly, the outer side of the reciprocating screw rod is threadedly connected to a slider, the middle part of the slider is slidably connected to a guide rod fixed to the storage rack, the outer side of the winding roller is wrapped with a hose, a data cable and a steel wire rope connected to the rear end car body are arranged inside the fuel pipe, one side of the storage rack is slidably connected to a mounting plate, one side of the mounting plate is fixedly connected to a motor five for driving the winding roller to rotate, and the middle part of the mounting plate is threadedly connected to a separation screw for clutching the motor five and the winding roller.

[0017] A detection method for an underground pipeline detection robot comprises the following steps:

[0018] The detection robot is allowed to enter the pipeline through the pipeline release valve;

[0019] The front and rear driving wheels drive the detection robot forward, and the camera and GPS module collect the images and positions inside the pipeline, and transmit the collected information through the data line;

[0020] When a bend occurs in the pipeline, the angle between the middle vehicle body 1 and the middle vehicle body 2 is adjusted by the adjustment mechanism, so that the support rollers at the ends of the middle vehicle body 1 and the middle vehicle body 2 are in contact with the inner wall of the pipeline and squeezed and fixed. The front vehicle body is adjusted in angle so that the front vehicle body enters the bend upward or downward. The support rollers are in contact with the inner wall of the pipeline by changing the angle between the middle vehicle body 1 and the middle vehicle body 2, thereby fixing the entire vehicle body in the pipeline, and driving the detection robot to move by the driving wheel.

[0021] When sampling, the driving wheel drives the body to move sideways, and cooperates with the extension and retraction of the micro screw conveyor to make the micro screw conveyor contact with the sample to be sampled. The micro screw conveyor transports the sample inward and inserts it into the collection bottle through the metal vacuum pipe and the extraction pipe. The vacuum pump draws negative pressure out of the collection bottle. Under the action of negative pressure, the small particles inside the micro screw conveyor enter the collection bottle, thereby completing the collection.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: the robot body can be folded and adjusted, and the angle between the middle body one and the middle body two can be adjusted by adjusting the mechanism (such as the driving gear, the driven gear and the transmission shaft, etc.), so that the robot can adapt to pipes of different diameters and curvatures; the design of the supporting rollers enables the robot to stably support and assist in turning up and down in the pipe, further improving the flexibility of the robot; a camera is installed on the rotating body at the end of the robot, which can take real-time photos of the internal situation of the pipe and transmit the data to the outside, facilitating real-time observation and analysis by personnel; the sampling part includes a micro screw conveyor, a collecting bottle and a metal exhaust pipe, and the negative pressure in the collecting bottle is extracted by a vacuum pump, and the debris collected in the micro screw conveyor is sucked into the collecting bottle, which is convenient for subsequent detection and analysis; the length of the robot body is adjustable, and the two ends and the middle body of the robot can be extended by an electric telescopic rod. The robot can be made longer or shorter to adapt to pipes of different diameters; the driving wheel can rotate along the X-axis and Y-axis through a double-headed motor and a transmission tube, so that the robot can move straight, move sideways, and even perform complex steering operations in the pipe; support rollers are provided in the middle and ends of the robot body to form stable support points with the inner wall of the pipe, ensuring that the robot will not shake or deviate from the track when moving in the pipe; at the bend, the body angle is adjusted by the adjustment mechanism, so that the support rollers are in close contact with the inner wall of the pipe and squeezed and fixed, ensuring that the robot can pass through the bend smoothly; the design of the recovery mechanism enables the robot to be easily recovered after completing the detection task; the robot and the iron pipe are adsorbed by the cooperation of the rotating iron seat and the permanent magnet, making it easy to pull the robot out of the pipe; the design of the winding roller and the reciprocating screw enables the hoses in the robot recovery process to be arranged in order to prevent interlacing and entanglement, thereby improving the recovery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the structure when the supporting roller of the present invention contacts the inner wall of the pipe;

[0024] Figure 2 It is a schematic diagram of the structure of the present invention when the vehicle body is in a horizontal position;

[0025] Figure 3 It is a structural schematic diagram of the metal exhaust pipe of the present invention;

[0026] Figure 4 It is a schematic diagram of the structure of the vacuum pump of the present invention;

[0027] Figure 5 It is a schematic diagram of the structure of the micro screw conveyor of the present invention;

[0028] Figure 6 It is a schematic diagram of the position structure of the permanent magnet and the magnetic suction hole of the present invention;

[0029] Figure 7 It is a structural schematic diagram of the driving gear of the present invention;

[0030] Figure 8 It is a schematic diagram of the structure of the rubber pad inside the collecting bottle of the present invention.

[0031] In the figure: 1. middle body 1; 2. middle body 2; 3. front body; 4. rear body; 5. driving wheel; 6. double-headed motor; 7. transmission tube; 8. motor 1; 9. electric telescopic rod 1; 10. electric telescopic rod 2; 11. micro screw conveyor; 12. permanent magnet; 13. magnetic suction hole; 14. telescopic end 1; 15. telescopic end 2; 16. telescopic end 3; 17. telescopic end 4; 18. support roller; 19. transmission shaft; 20. driving gear; 21. driven gear; 22. motor 2; 23. Worm gear; 24. Drive plate; 25. Motor three; 26. Electric telescopic rod three; 27. U-shaped frame; 28. Vacuum pump; 29. ​​Motor four; 30. Metal exhaust pipe; 31. Placement seat; 32. Collection bottle; 33. Pressure cap; 34. Extraction tube; 35. Camera; 36. Cast iron seat; 37. Rotating iron seat; 38. Storage rack; 39. Reciprocating screw; 40. Slider; 41. Winding roller; 42. Motor five; 43. Separation screw; 44. Connecting plate; 45. Electric telescopic rod four. DETAILED DESCRIPTION

[0032] 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.

[0033] See also Figure 1-Figure 8The present invention provides a technical solution: an underground pipeline detection robot, comprising: a body that can be folded and adjusted, the body comprising a middle body 1 and a middle body 2, an adjustment mechanism is provided between the middle body 1 and the middle body 2, an accordion portion is provided at the connection between the middle body 1 and the middle body 2, the adjustment mechanism comprises a driving gear 20 rotating at one end of the middle body 2 and a driven gear 21 fixed to the middle body 1, the driving gear 20 is meshed and connected with the driven gear 21, and is used to drive the end of the middle body 1 and the end of the middle body 2 to move in opposite directions at the same time; a supporting roller 18 is placed in the middle of the body and the end, used to support the inner wall of the pipeline and assist in turning up and down; the end vehicle body is rotatably placed at both ends of the vehicle body, the end vehicle body includes a rotatably set camera 35 and a sampling part, the sampling part includes a micro screw conveyor 11, a collecting bottle 32 and a metal exhaust pipe 30 for pumping the collecting bottle 32 into a negative pressure, one end of the metal exhaust pipe 30 is fixedly connected to an extraction pipe 34 connected to the end of the micro screw conveyor 11, which is used to introduce the internal objects of the micro screw conveyor 11 into the collecting bottle 32; the driving part is placed at one end of the end vehicle body, the driving part includes a driving wheel 5 that can rotate along the X-axis and the Y-axis, which is used to drive the entire vehicle body to move straight and laterally in the pipeline.

[0034] It should be noted that the present invention is provided with a controller and a data processing processor. When the smooth pipeline moves, the front and rear driving wheels 5 drive the entire robot to move forward, and the camera 35 takes pictures of the internal situation of the pipeline and transmits the data, which is convenient for the outside personnel to observe in real time. When lateral movement is required, the motor 18 drives the driving wheel 5 to rotate along the X-axis through the transmission tube 7, thereby driving the entire robot to move horizontally, and the angle of the forward movement of the entire robot can be adjusted by a single driving wheel 5, so that it can move in different directions. When a bend appears in the pipeline, the angle between the middle car body 1 and the middle car body 2 is adjusted by the adjustment mechanism, so that the support rollers 18 at the ends of the middle car body 1 and the middle car body 2 are in contact with the inner wall of the pipeline and squeezed and fixed. By adjusting the angle of the front car body 3, the front car body 3 enters the bend upward or downward. Under the action of the driving wheel 5, it can smoothly move in the vertical pipeline and smoothly inside it. The negative pressure in the corresponding collection bottle 32 is extracted by the vacuum pump 28, so that the debris collected inside the micro screw conveyor 11 is collected, which is convenient for subsequent detection.

[0035] like Figure 2 , 7As shown, one end of the middle car body 2 is rotatably connected to the transmission shaft 19, the driving gear 20 is fixedly connected to the two ends of the transmission shaft 19, the end of the transmission shaft 19 is rotatably connected to the connecting plate 44, the connecting plate 44 is rotatably connected to the driven gear 21, one side of the driven gear 21 is fixedly connected to the transmission plate 24, the transmission plate 24 is fixedly connected to the middle car body 1, the end of the middle car body 2 is fixedly connected to the motor 22, the output end of the motor 22 is fixedly connected to the worm, the outer side of the worm is meshed with the worm wheel 23, the worm wheel 23 is fixedly connected to the middle of the transmission shaft 19, one end of the middle car body 2 is slidably connected to the telescopic end 14 through a sliding rod, and one end of the middle car body 1 is slidably connected to the telescopic end 3 16 through a sliding rod.

[0036] It should be noted that, when the angle between the middle car body 1 and the middle car body 2 is adjusted, the motor 22 drives the worm wheel 23 to rotate through the worm, and the worm wheel 23 rotates through the transmission plate 24 brought by the transmission shaft 19, and the driving gear 20 drives the driven gear 21 to rotate by meshing with the driven gear 21, and the driven gear 21 drives the middle car body 1 to rotate through the transmission plate 24, so that the angle between the middle car body 1 and the middle car body 2 is adjusted, and the centers of the driving gear 20 and the driven gear 21 are both rotatably connected to the transmission plate 24, and one side of the transmission plate 24 is rotatably connected to the support roller 18, so that it can be squeezed and contacted with the inside of the top pipe through the support roller 18, and the middle car body 1, the middle car body 2 and the inner wall of the pipe form a triangular structure, so that the car body is stabilized and convenient for the car body to move in the vertical pipe.

[0037] like Figure 1 , 2 As shown in , 5, the middle car body 1 and the middle car body 2 are both fixedly connected with an electric telescopic rod 45, and the telescopic end 14 and the telescopic end 3 16 are fixedly connected to the output end of the corresponding electric telescopic rod 45. The end car bodies include a front car body 3 and a rear car body 4, and the front car body 3 and the rear car body 4 are both fixedly connected with an electric telescopic rod 9, one end of the front car body 3 is slidably connected with the telescopic end 2 15 through a sliding rod, and one end of the rear car body 4 is slidably connected with the telescopic end 4 17 through a sliding rod, and the front car body 3 and the rear car body 4 are both fixedly connected with the electric telescopic rod 9, and the telescopic end 2 15 and the telescopic end 4 17 are fixedly connected to the output end of the corresponding electric telescopic rod 9.

[0038] It should be noted that when the present invention is used for different pipe diameters, the overall length of the vehicle body can be adjusted. By extending the electric telescopic rod 19, the rear end vehicle body 4 is separated from the telescopic end 4 17, and the front end vehicle body 3 is separated from the telescopic end 2 15, wherein one side of the telescopic end 2 15 and the telescopic end 4 17 are fixedly connected with a sliding rod, and the sliding rod is slidably connected to the rear end vehicle body 4, so that the two ends of the robot can be extended, and the electric telescopic rod 4 45 can be extended to separate the telescopic end 3 16 from the middle vehicle body 1, and the telescopic end 14 is separated from the middle vehicle body 2 2, so that the middle vehicle body is extended, so that it can be used for pipes with larger apertures, and the extension of the vehicle body allows the support roller 18 to contact the corresponding two sides of the inner wall of the pipe, and fixation and movement are achieved with the assistance of the support roller 18.

[0039] like Figure 1 , 2 As shown, a bracket is fixedly connected to the top of the front end vehicle body 3, and a camera 35 is rotatably installed in the middle of the bracket. A driving motor for driving the camera 35 to rotate is fixedly connected to one side of the bracket, and a rotating motor for driving the bracket to rotate is fixedly connected to the inside of the front end vehicle body 3. A GPS positioning module is arranged inside the front end vehicle body 3.

[0040] It should be noted that the driving motor of the present invention is fixedly connected to one side of the bracket, and is used to drive the camera 35 to rotate along the Y-axis direction. The rotating motor drives the bracket to rotate along the Z-axis direction. The rotation function of the bracket and the camera can help the robot better monitor the surrounding environment under different driving conditions. The GPS module provides location data for the system.

[0041] like Figure 3 , 4As shown in , 8, a placement seat 31 is fixedly connected to the top of the front end body 3, and a plurality of placement grooves are equidistantly provided on the outer side of the placement seat 31, and a collecting bottle 32 is installed inside the placement groove. A pressure cover 33 for pressing and fixing the collecting bottle 32 in the placement groove is provided on the top of the placement seat 31 for lifting. A rotating shaft is fixed on the top of the collecting bottle 32, and the pressure cover 33 is slidably installed on the outer side of the rotating shaft, and a spring is sleeved between the end of the rotating shaft and the pressure cover 33, and the pressure cover 33 is pressed and fixed on the top of the placement seat 31 by elastic force, and a plurality of holes corresponding to the collecting bottle 32 are equidistantly provided in the middle of the pressure cover 33, and a sealing cover is provided on the top of the collecting bottle 32, and a hole for inserting the metal exhaust pipe 30 is provided in the middle of the sealing cover, and a rubber pad is provided at the bottom of the hole, and one end of the rubber pad is connected to the sealing cover. In a natural state, the rubber pad is in a horizontal state to block the hole, and a U-shaped The U-shaped frame 27 has two electric telescopic rods 3 26 fixedly connected inside, and the output end of the electric telescopic rod 3 26 is fixedly connected to the top of the inner wall of the front end car body 3. The U-shaped frame 27 has a motor 3 25 fixedly connected inside, and the exhaust end of the vacuum pump 28 is connected to the metal exhaust pipe 30 through a rotating joint. The metal exhaust pipe 30 is an inverted L-shaped structure, and a sealing gasket is fixedly connected to the outside of the metal exhaust pipe 30. The U-shaped frame 27 has a motor 4 29 fixedly connected inside, and the output end of the motor 4 29 is connected to the metal exhaust pipe 30 through a transmission gear assembly. The transmission gear assembly includes a driven gear fixedly connected to the outside of the metal exhaust pipe 30 and a driving gear fixedly connected to the output end of the motor 4 29. The driving gear and the driven gear are meshed with each other. The front end car body 3 has an electric telescopic rod 2 10 fixedly connected inside, and the output end of the electric telescopic rod 2 10 is fixedly connected to the micro screw conveyor 11.

[0042] It should be noted that, when collecting debris or rust residue from the internal pipe, the electric telescopic rod 3 26 contracts to drive the U-shaped frame 27 to rise, and the U-shaped frame 27 drives the metal exhaust pipe 30 to rise, and the motor 4 29 drives the metal exhaust pipe 30 to rotate through the transmission gear set, so that the metal exhaust pipe 30 corresponds to the top of the collection bottle 32, and the electric telescopic rod 3 26 extends to drive the U-shaped frame 27 to move downward, so that the end of the metal exhaust pipe 30 is inserted into the hole at the top of the collection bottle 32, and the end of the metal exhaust pipe 30 pushes open the rubber pad at the bottom of the hole, and the sealing pad on the outside of the metal exhaust pipe 30 is made of rubber material, and the sealing pad blocks the hole, so that the inside of the collection bottle 32 is a closed environment, and the vacuum pump 2 8 The inside of the collecting bottle 32 is evacuated to a negative pressure, and the driving wheel 5 drives the machine to move horizontally, and cooperates with the electric telescopic rod 10 to drive the micro screw conveyor 11 to extend and retract, so that one end of the micro screw conveyor 11 contacts the debris, and the screw conveying rod of the micro screw conveyor 11 conveys impurities to the inside of the micro screw conveyor 11. The blades of the micro screw conveyor 11 are provided with spikes, which can contact and crush the conveyed objects. Under the action of the negative pressure of the collecting bottle 32 and the extraction tube 34, when the debris particles are transported to the end of the micro screw conveyor 11, they enter the collecting bottle 32 through the extraction tube 34. When the metal exhaust pipe 30 is raised, the rubber pad seals the sealing cover of the collecting bottle 32.

[0043] like Figure 1 , 2 As shown in Figures 5 and 6, the driving unit also includes a transmission tube 7 rotatably connected to the ends of the front-end vehicle body 3 and the rear-end vehicle body 4, which is used for transmission and storage lines. A motor 8 is fixedly connected to the interior of the front-end vehicle body 3 and the rear-end vehicle body 4. The motor 8 is connected to the transmission tube 7 through a worm gear transmission assembly. A double-headed motor 6 is fixedly connected to one end of the transmission tube 7, and the driving wheels 5 are respectively fixedly connected to both ends of the double-headed motor 6.

[0044] It should be noted that the double-headed motor 6 of the present invention is fixedly connected to the transmission tube 7, the wire connecting the double-headed motor 6 passes through the middle of the transmission tube 7, and is connected to the controller through an electric slip ring. When the driving wheel 5 is needed to drive the robot to move forward, the double-headed motor 6 drives the driving wheel 5 to move along the Y-axis. When the robot needs to move laterally, the motor 8 drives the transmission tube 7 to move along the X-axis through the worm gear transmission assembly, so that the transmission tube 7 drives the driving wheel 5 to move along the X-axis through the double-headed motor 6, thereby realizing the lateral movement of the robot.

[0045] like Figure 2 , 6As shown, it also includes a recycling mechanism, which includes a cast iron seat 36, the bottom of the cast iron seat 36 is rotatably connected to a rotating iron seat 37, a plurality of permanent magnets 12 are embedded and installed at the bottom of the double-headed motor 6, a plurality of magnetic holes 13 corresponding to the permanent magnets 12 are opened in the middle of the rotating iron seat 37, when the magnetic holes 13 are misaligned with the permanent magnets 12, the front end vehicle body 3 and the rotating iron seat 37 shield the magnetism of the permanent magnets 12, the top of the cast iron seat 36 is fixedly connected to a storage rack 38, the middle of the storage rack 38 is rotatably connected to a winding roller 41 and a reciprocating screw rod 39, and the winding roller 41 and the reciprocating screw rod 39 are connected by a leather The belt assembly is connected for transmission, the outer side of the reciprocating screw rod 39 is threadedly connected to a slider 40, the middle part of the slider 40 is slidably connected to a guide rod fixed to the storage rack 38, a hose is wrapped around the outer side of the winding roller 41, and a data cable and a steel wire rope connected to the rear end vehicle body 4 are arranged inside the fuel pipe, one end of the data cable passes through the end of the winding roller 41 and is connected to the equipment through an electric slip ring, one side of the storage rack 38 is slidably connected to a mounting plate, one side of the mounting plate is fixedly connected to a motor 42 for driving the winding roller 41 to rotate, and the middle part of the mounting plate is threadedly connected to a separation screw 43 for clutching the motor 42 and the winding roller 41.

[0046] It should be noted that, when the present invention recycles the robot, the rotating iron seat 37 is rotated so that the magnetic suction hole 13 at the bottom of the rotating iron seat 37 corresponds to the permanent magnet 12 at the bottom of the cast iron seat 36, and the closed iron space formed by the rotating iron seat 37 and the cast iron seat 36 is in an open state, so that it no longer shields the magnetic field of the permanent magnet 12. Under the action of suction, the front end vehicle body 3 is adsorbed on the iron pipe. When the robot moves into the inside of the pipe, the motor 42 is separated from the winding roller 41 to prevent the motor 42 from causing load resistance to the winding roller 41. When the robot is recycled, the separation screw 43 is rotated to separate the winding roller 41 through the separation screw. The rod 43 drives the mounting plate to move on the motor seat, so that the polygonal shaft at the output end of the motor five 42 cooperates with the polygonal hole at the end of the winding roller 41, and the winding roller 41 is driven to rotate by the motor five 42. The end of the winding roller 41 drives the reciprocating screw rod 39 to rotate through the belt and the pulley. The reciprocating screw rod 39 drives the slider 40 to slide back and forth on the guide rod. The top of the slider 40 is rotatably connected to two guide columns, and the hose is placed between the two guide columns. The slider 40 arranges the hose wound by the winding roller 41 in an orderly reciprocating manner to prevent interlacing and entanglement when opening, and the robot is pulled out of the pipeline by the winding of the winding roller 41.

[0047] A detection method for an underground pipeline detection robot comprises the following steps:

[0048] The robot is sent into the pipeline; the driving wheel drives the robot to move forward, and the camera and GPS module collect information: the robot moves forward through the front and rear driving wheels 5, pushing the robot forward in the pipeline; the camera 35 is responsible for collecting images or videos inside the pipeline, usually used to identify obstacles, corrosion or other abnormal conditions in the pipeline; the GPS module is used to locate the robot in real time, ensuring that the robot can move accurately in the pipeline and report the current position; when there is a bend in the pipeline, the robot needs to adjust its posture to pass through the bend smoothly; by adjusting the middle body 1 and the middle body 2 2, controls the contact between the support roller 18 and the inner wall of the pipe to achieve stability and positioning; the support roller will contact the inner wall of the pipe and play a fixing role to prevent the robot from sliding or losing control in the curved pipe; the angle adjustment of the front body 3 helps the robot enter the curve, so that the front body can adapt to the changes of the curved pipe; by adjusting the angle of the middle body, it can ensure that the robot can remain stable throughout the curve and avoid collision with the inner wall of the pipe; by changing the angle of the front body 3 and the middle body, the robot can be fixed at the curved pipe and ensure stability during movement; the robot can The robot can smoothly pass through various bends in the pipeline; where sampling is required, the robot drives the body to move horizontally through the driving wheel 5; the horizontal movement allows the robot to reach a specific position in the pipeline for sampling; the elasticity of the micro screw conveyor 11 allows it to contact the object to be sampled, the sediment and corrosion inside the pipeline; the screw conveyor delivers the sample material into the robot through rotation; the metal exhaust pipe 30 is connected to the extraction pipe 34 to transport the collected sample to the collection bottle 32; the vacuum pump 28 extracts the negative pressure in the collection bottle 32 through the extraction pipe, and under the action of the negative pressure, the micro screw conveyor Small particles transported by the robot (such as sediment in the pipeline) will be sucked into the collection bottle; this operation ensures the integrity of the sample and avoids sample leakage; the negative pressure of the vacuum pump helps to collect the sample completely, so that even small particles can be effectively collected in the collection bottle, and the entire sampling process is very automated and efficient; the robot works through multiple drive and adjustment systems, can cope with complex environments and terrains in the pipeline (such as bends, etc.), and can monitor and collect data (such as images, positions, samples, etc.) in real time; from entering the pipeline, automatically adjusting the posture, completing sample collection, to finally delivering the sample to the collection bottle.

[0049] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0050] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0051] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0052] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An underground pipeline detection robot, characterized in that: include: A vehicle body that can be folded and adjusted, the vehicle body comprising a middle vehicle body one (1) and a middle vehicle body two (2), an adjustment mechanism being provided between the middle vehicle body one (1) and the middle vehicle body two (2), the adjustment mechanism comprising a driving gear (20) rotating on one end of the middle vehicle body two (2) and a driven gear (21) fixedly connected to the middle vehicle body one (1), the driving gear (20) and the driven gear (21) being meshingly connected and used to drive the end of the middle vehicle body one (1) and the end of the middle vehicle body two (2) to move in opposite directions simultaneously; Support rollers (18), the support rollers (18) being disposed at the middle and end portions of the vehicle body and being used to support the inner wall of the pipe and assist in turning up and down; An end vehicle body, the end vehicle body being rotatably disposed at both ends of the vehicle body, the end vehicle body comprising a rotatably disposed camera (35) and a sampling portion, the sampling portion comprising a micro screw conveyor (11) having spiral blades with spikes, a collecting bottle (32), and a metal exhaust pipe (30) for exhausting the collecting bottle (32) into a negative pressure, one end of the metal exhaust pipe (30) being fixedly connected to an extraction pipe (34) connected to the end of the micro screw conveyor (11) for introducing objects inside the micro screw conveyor (11) into the collecting bottle (32); A driving unit, the driving unit is disposed at one end of the end vehicle body, the driving unit comprises a driving wheel (5) rotatable along an X-axis and a Y-axis, and is used to drive the entire vehicle body to move straight and transversely in the pipe; The end body comprises a front body (3) and a rear body (4), the front body (3) and the rear body (4) are both fixedly connected with an electric telescopic rod (9), one end of the front body (3) is slidably connected with a telescopic end (15) via a slide rod, and one end of the rear body (4) is slidably connected with a telescopic end (17) via a slide rod, the front body (3) and the rear body (4) are both fixedly connected with an electric telescopic rod (9), and the telescopic end (15) and the telescopic end (17) are fixedly connected with the output end of the corresponding electric telescopic rod (9); The top of the front vehicle body (3) is fixedly connected to a placement seat (31), a plurality of placement grooves are equidistantly formed on the outside of the placement seat (31), a collecting bottle (32) is installed inside the placement groove, a pressing cover (33) is provided on the top of the placement seat (31) for pressing and fixing the collecting bottle (32) in the placement groove, a sealing cover is provided on the top of the collecting bottle (32), a hole is provided in the middle of the sealing cover for inserting the metal exhaust pipe (30), a rubber pad is provided at the bottom of the hole, one end of the rubber pad is connected to the sealing cover, and in a natural state, the rubber pad is in a horizontal state to seal the hole.

2. The underground pipeline detection robot according to claim 1, characterized in that: One end of the middle car body 2 (2) is rotatably connected to a transmission shaft (19), the driving gear (20) is fixedly connected to both ends of the transmission shaft (19), the end of the transmission shaft (19) is rotatably connected to a connecting plate (44), the connecting plate (44) is rotatably connected to a driven gear (21), one side of the driven gear (21) is fixedly connected to a transmission plate (24), the transmission plate (24) is fixedly connected to the middle car body 1 (1), the end of the middle car body 2 (2) is fixedly connected to a motor 2 (22), the output end of the motor 2 (22) is fixedly connected to a worm, the outer side of the worm is meshingly connected to a worm wheel (23), the worm wheel (23) is fixedly connected to the middle of the transmission shaft (19).

3. The underground pipeline detection robot according to claim 2, characterized in that: One end of the middle car body 2 (2) is slidably connected to the telescopic end 1 (14) via a sliding rod, and one end of the middle car body 1 (1) is slidably connected to the telescopic end 3 (16) via a sliding rod. The middle car body 1 (1) and the middle car body 2 (2) are both fixedly connected to an electric telescopic rod 4 (45) inside, and the telescopic end 1 (14) and the telescopic end 3 (16) are fixedly connected to the output ends of the corresponding electric telescopic rod 4 (45).

4. The underground pipeline detection robot according to claim 3, characterized in that: A bracket is fixedly connected to the top of the front vehicle body (3); a camera (35) is rotatably mounted in the middle of the bracket; a driving motor for driving the camera (35) to rotate is fixedly connected to one side of the bracket; a rotating motor for driving the bracket to rotate is fixedly connected to the interior of the front vehicle body (3); and a GPS positioning module is arranged inside the front vehicle body (3).

5. The underground pipeline detection robot according to claim 4, characterized in that: A U-shaped frame (27) is provided inside the front end vehicle body (3), two electric telescopic rods (26) are fixedly connected inside the U-shaped frame (27), the output end of the electric telescopic rod (26) is fixedly connected to the top of the inner wall of the front end vehicle body (3), a motor (25) is fixedly connected inside the U-shaped frame (27), an exhaust end of the vacuum pump (28) is connected to a metal exhaust pipe (30) via a rotary joint, the metal exhaust pipe (30) is an inverted L-shaped structure, a sealing gasket is fixedly connected to the outside of the metal exhaust pipe (30), a motor (29) is fixedly connected inside the U-shaped frame (27), the output end of the motor (29) is transmission-connected to the metal exhaust pipe (30) via a transmission gear assembly, an electric telescopic rod (10) is fixedly connected inside the front end vehicle body (3), and the output end of the electric telescopic rod (10) is fixedly connected to the micro screw conveyor (11).

6. The underground pipeline detection robot according to claim 5, characterized in that: The driving unit further comprises a transmission tube (7) rotatably connected to the ends of the front vehicle body (3) and the rear vehicle body (4), for transmission and storage circuits; a motor (8) is fixedly connected inside the front vehicle body (3) and the rear vehicle body (4); the motor (8) is transmission-connected to the transmission tube (7) via a worm gear transmission assembly; one end of the transmission tube (7) is fixedly connected to a double-headed motor (6); and the driving wheel (5) is respectively fixedly connected to the two ends of the double-headed motor (6).

7. The underground pipeline detection robot according to claim 6, characterized in that: The vehicle also includes a recovery mechanism, the recovery mechanism including a cast iron seat (36), the bottom of the cast iron seat (36) being rotatably connected to a rotating iron seat (37), a plurality of permanent magnets (12) being embedded and installed at the bottom of the double-headed motor (6), a plurality of magnetic holes (13) corresponding to the permanent magnets (12) being provided in the middle of the rotating iron seat (37), when the magnetic holes (13) and the permanent magnets (12) are misaligned, the front vehicle body (3) and the rotating iron seat (37) shield the magnetism of the permanent magnets (12), the top of the cast iron seat (36) being fixedly connected to a storage rack (38), the middle of the storage rack (38) being rotatably connected to a winding roller (41) and a reciprocating screw rod (39), The winding roller (41) is connected to the reciprocating screw rod (39) through a belt assembly transmission, the outer side of the reciprocating screw rod (39) is threadedly connected to a slider (40), the middle part of the slider (40) is slidably connected to a guide rod fixed to the storage rack (38), the outer side of the winding roller (41) is wrapped with a hose, the inside of the hose is provided with a data line and a steel wire rope connected to the rear end vehicle body (4), one side of the storage rack (38) is slidably connected to a mounting plate, one side of the mounting plate is fixedly connected to a motor five (42) for driving the winding roller (41) to rotate, and the middle part of the mounting plate is threadedly connected to a separation screw rod (43) for clutching the motor five (42) and the winding roller (41).

8. The detection method of an underground pipeline detection robot according to claim 7, characterized in that: The following steps are involved: The detection robot is allowed to enter the pipeline through the pipeline release valve; The front and rear driving wheels (5) drive the detection robot to move forward, and the camera (35) and the GPS module collect images and positions inside the pipeline, and transmit the collected information through the data line; When a bend occurs in the pipe, the angle between the middle car body 1 (1) and the middle car body 2 (2) is adjusted by the adjustment mechanism, so that the support rollers (18) at the ends of the middle car body 1 (1) and the middle car body 2 (2) contact the inner wall of the pipe and are squeezed and fixed, and the angle of the front car body (3) is adjusted so that the front car body (3) enters the bend upward or downward, and the support rollers (18) contact the inner wall of the pipe by changing the angle between the middle car body 1 (1) and the middle car body 2 (2), thereby fixing the entire car body in the pipe, and driving the detection robot to move by the driving wheel (5); When sampling, the driving wheel (5) drives the vehicle body to move laterally, and cooperates with the extension and retraction of the micro screw conveyor (11) so that the micro screw conveyor (11) contacts the sample to be sampled. The micro screw conveyor (11) conveys the sample inwardly and inserts it into the collection bottle (32) through the metal exhaust pipe (30) and the extraction pipe (34). The vacuum pump (28) extracts negative pressure from the collection bottle (32). Under the action of the negative pressure, the small particles inside the micro screw conveyor (11) enter the collection bottle (32), thereby completing the collection.

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