UV (ultraviolet) curing repair inspection robot

Abstract

The invention relates to the technical field of inspection robots, and discloses a UV curing repair inspection robot which comprises a case, a wheel driving assembly, a rotation detection mechanism, an angle adjusting mechanism, a clamping assembly, a movement limiting mechanism and a lifting repair mechanism, a protective cover is fixedly mounted on the upper surface of the case, and exhaust holes are formed in the two sides of the protective cover; the wheel driving assembly comprises a servo motor, and the servo motor is fixedly installed on the inner surface of the machine box. A driving bevel gear on the outer surface of a transmission shaft drives a driven bevel gear to rotate together, and when the driven bevel gear rotates, the driven bevel gear is driven to rotate together through connection of a rotating shaft; the driving bevel gear drives the linkage bevel gear to rotate together through surface clamping teeth, and when the linkage bevel gear is driven to rotate, through rotation of the limiting rod, the rotating base drives the sensor to rotate together with the limiting rod as the center so as to scan and inspect the inner wall of the pipeline.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to a UV ultraviolet light curing repair inspection robot. Background Art

[0002] UV curing repair inspection robot is a robot system that uses UV curing technology for repair and inspection. It usually includes a robot chassis, sensors, cameras and UV curing devices. The robot can detect and identify damaged surfaces, such as cracks, broken points, etc. through the sensors and cameras it carries. Once a problem is found, the robot will use a UV ultraviolet light curing device to repair it. The Chinese patent "CN202310992813.2" discloses a UV ultraviolet light curing repair inspection robot, which proposes: in the field of pipeline repair robots, it is used for pipeline repair, and it includes a body with walking wheels, the body drives the rocker gearbox to drive the rocker drive shaft to slide horizontally along the guide groove through the rocker drive motor and drives the active rocker and the auxiliary rocker to swing through the rocker bar hole of the active rocker, and the active rocker and the auxiliary rocker drive the speed change housing to move relative to the body; the speed change housing has a seat body drive motor, the seat body drive motor is located at the input end of the speed change housing, the output end of the speed change housing is connected to the seat body shaft, the seat body shaft is connected to the rotating seat body, the rotating seat body is rotatably connected to the curing assembly, and the curing assembly is distributed with a number of curing lamp groups, and the curing lamp group extends in the direction away from the body. In view of the above technical scheme, the irradiation angle, extension direction, etc. of the UV light curing device can be flexibly adjusted to adapt to pipeline repairs at different locations.

[0003] It can be seen from the above-mentioned device that although a UV ultraviolet light curing repair robot is proposed, which is more convenient for repairing pipelines at different positions, the applicant believes that the following defects still exist:

[0004] 1. When the above-mentioned UV ultraviolet light curing repair robot is inspecting and repairing inside the pipeline, due to its large size, it is only suitable for inspection and repair inside large pipelines. In addition, a large number of ultraviolet lamps are installed, and the energy consumption is high when performing light repair inside the pipeline. The ultraviolet lamps are installed in large numbers and the steering adjustment angle radius is large, which makes it easy to collide and damage the ultraviolet light. The overall body is integrated and it is not convenient to disassemble for inspection and replace accessories separately, resulting in high costs and poor adaptability.

[0005] 2. During the inspection of the inside of the pipeline, the existing UV ultraviolet light curing repair robot sets multiple cameras to detect in multiple directions at the same time. Instead of a single detector following the movement of the robot to synchronously perform multi-angle rotation detection, the overall structure is complex and increases the cost. In addition, when inspecting the inside of the pipeline, the robot sets a moving component to irradiate ultraviolet light to the damaged part for repair, and the ultraviolet light emitter cannot be freely rotated in all directions for positioning and repair, resulting in low work efficiency and high cost. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a UV ultraviolet light curing repair inspection robot, which has the advantages of small overall size, low cost and is suitable for various pipeline inspections. The body can maintain stable and continuous output of ultraviolet light during curing and repair, and is easy to disassemble and convenient for staff to perform repairs and maintenance. It only needs a single detector and an ultraviolet light emitter to inspect all directions. The problem is that during the inspection of the inside of the pipeline by the existing UV ultraviolet light curing repair robot, multiple cameras are set to perform simultaneous detection in multiple directions, instead of a single detector following the movement of the robot to perform multi-angle rotation detection synchronously, and the overall structure is complicated and the cost is increased. In addition, when inspecting the inside of the pipeline, a moving component is set by the robot to allow ultraviolet light to irradiate and repair the damaged part, but the ultraviolet light emitter cannot be freely rotated and positioned in all directions on a spherical track for repair, resulting in low work efficiency and high cost.

[0007] The technical solution of the present invention: a UV ultraviolet light curing repair inspection robot comprises a chassis, a wheel drive assembly, a rotation detection mechanism, an angle adjustment mechanism, a clamping assembly, a movement limiting mechanism, and a lifting and repairing mechanism. A moving groove is arranged below the chassis, a protective cover is fixedly installed on the upper surface of the chassis, exhaust holes are arranged on both sides of the protective cover, the wheel drive assembly comprises a servo motor, the servo motor is fixedly installed on the inner surface of the chassis, the servo motor is fixedly connected with a transmission shaft through an output shaft, a driving sprocket is fixedly installed on the outer surface of the transmission shaft, the driving sprocket is connected with two driven sprockets through chain transmission, the two driven bevel gears are located on the left and right sides of the driving sprocket, the inner surfaces of the two driven sprockets are fixedly installed with wheel axles, the outer surfaces of the two wheel axles are fixedly installed with limiting rollers, two wheels are fixedly installed at both ends of the wheel axle, the rotation detection mechanism comprises an active bevel gear, the active bevel gear is fixedly installed on the outer surface of the transmission shaft, and the active bevel gear is installed with a passive bevel gear through surface tooth meshing.

[0008] Preferably, a rotating shaft is fixedly mounted on the upper end of the passive bevel gear, and the rotating shaft is movably mounted on the inner surface of the chassis and extends from the top of the chassis. A driving bevel gear is fixedly mounted on the upper end of the rotating shaft, and the driving bevel gear is mounted with a linkage bevel gear through surface tooth meshing. A limiting rod is fixedly mounted on the inner surface of the linkage bevel gear, and a rotating base is fixedly mounted on the middle outer surface of the linkage bevel gear and the limiting rod at the left end.

[0009] Preferably, the angle adjustment mechanism includes a drive motor, the drive motor is fixedly mounted on the upper surface of the chassis, the drive motor is installed inside the protective cover, the drive motor is fixedly connected to a connecting rod via an output shaft, and a worm is fixedly mounted on the outer surface of the connecting rod.

[0010] Preferably, both ends of the worm are movably mounted on the inner surface of a worm bracket, the worm bracket is fixedly mounted on the upper surface of the chassis, the worm is mounted with a turbine through surface thread engagement, and a hollow tube is fixedly mounted on the upper surface of the turbine.

[0011] Preferably, the hollow tube is movably sleeved and installed on the outer surface of the rotating shaft, the outer surface of the hollow tube is sleeved with a support rod, the support rod is fixedly installed on the outer surface of the worm bracket, the upper surface of the hollow tube is fixedly installed with a limit rod base, the inner surfaces on both sides of the limit rod base are movably connected with the limit rod, and the driving bevel gear is movably installed on the upper surface of the limit rod base.

[0012] Preferably, the clamping assembly comprises a clamping base plate, the clamping base plate is fixedly mounted on the outer surface of the rotating base, sliding grooves are provided on both sides above the clamping base plate, and sliding rods are fixedly mounted on the inner surface of the sliding grooves.

[0013] Preferably, a tension spring is sleeved and installed on the outer surface of the sliding rod, and a clamp is fixedly connected to the lower end of the tension spring. The clamp is movably installed on the outer surface of the sliding rod, and a sensor is clamped and installed on the inner side of the clamp and the clamp bottom plate. An ultraviolet light emitter is arranged on the outer surface of the sensor, and two rows of cameras are arranged on the outer surface of the sensor.

[0014] Preferably, the movement limiting mechanism includes a servo cylinder, which is fixedly mounted on the inner surface of the chassis, and the servo cylinder is fixedly connected to a push rod via an output shaft, and the outer surface of the push rod is fixedly connected to a tooth plate, and a limiting shaft is movably mounted on the inner surface of the tooth plate, and the limiting shaft is fixedly mounted on the inner surface of the chassis, and the tooth plate is installed with a rotating gear via surface tooth meshing, and a tooth plate is also provided on the left side of the rotating gear.

[0015] Preferably, the outer surfaces of the tooth plates on both sides are provided with limit grooves, a telescopic rod is fixedly installed on the inner surface of the limit groove, a limit spring is sleeved on the outer surface of the telescopic rod, a buckle is fixedly installed at the front end of the telescopic rod, the buckle is movably installed on the inner surface of the buckle base, and the buckle base is fixedly installed on the inner surface of the chassis.

[0016] Preferably, the lifting and repairing mechanism includes a fixing rod, which is fixedly mounted on the lower surface of the left tooth plate, and the fixing rod is movably arranged on the inner surface of the movable groove. A cross bar is fixedly mounted on the lower surface of the fixing rod, and support rod bases are fixedly mounted on the outer surfaces of both sides of the cross bar, and the support rod bases are movably mounted on the inner surface of the slide rail, and the slide rail is fixedly mounted on the lower surface of the chassis.

[0017] Preferably, a first rotating rod is movably mounted on the inner surface of the support rod base, a first support rod is fixedly mounted on the outer surface of the first rotating rod, a second rotating rod is fixedly mounted on the inner surface of the other end of the first support rod, the second rotating rod is movably mounted on the inner surface of the support plate base, the support plate base is movably mounted inside the slide, and the slide is arranged on the inner surface of the support plate.

[0018] Preferably, a support shaft is fixedly installed on the middle inner surface of the first support rod, a second support rod is movably installed on the outer surface of the support shaft, the second support rod is movably arranged on the inner surface of the first support rod, a support rod base movably installed on the left end of the second support rod is fixedly installed on the lower surface of the chassis, and the right end of the second support rod is movably installed on the outer surface of the support plate.

[0019] The present invention has the following beneficial effects:

[0020] (1) Through the cooperation between the wheel drive assembly and the rotation detection mechanism, when the servo motor rotates, the active sprocket drives the two driven sprockets to rotate, and the two driven sprockets drive the limit rod and the wheels on both sides of the limit rod to rotate, so that the four wheels drive the robot to walk in a straight line inside the pipeline. The pipeline inspected by this robot is usually linear, so there is no need to add a steering mechanism. When the wheel rotates, the active bevel gear on the outer surface of the transmission shaft drives the passive bevel gear to rotate together. When the passive bevel gear rotates, it drives the driving bevel gear to rotate together through the connection of the rotating shaft. The driving bevel gear drives the linkage bevel gear to rotate together through the surface teeth. When the linkage bevel gear is driven to rotate, the limit rod rotates, and the rotating base drives the sensor to rotate around the limit rod as the center to scan and inspect the inner wall of the pipeline;

[0021] (2) Through the cooperation between the rotation detection mechanism and the angle adjustment mechanism, after the sensor rotates around the limit rod, the drive motor is started, and the drive motor drives the turbine to rotate through the worm. When the turbine rotates, it drives the hollow tube to rotate together, and the limit rod base also rotates with the hollow tube. When the limit rod base rotates, it drives the linked bevel gear on the outer surface of the limit rod to revolve. At this moment, the servo motor is still in the on state. When the linked bevel gear revolves, the drive bevel gear is still driven to rotate, and the revolution of the linked bevel gear is offset to prevent the static state of the driven bevel gear from driving the linked bevel gear to rotate when the sensor is sensing in parallel. When the limit rod base drives the sensor to perform parallel rotation scanning, the drive motor stops working, and the sensor continues to rotate around the limit rod to scan and inspect the inside of the pipeline. A single sensor can be used to inspect the damage inside the pipeline without blind spots, effectively reducing the maintenance cost of the manufacturing machine.

[0022] (3) By limiting the coordination between the moving mechanism and the lifting and repairing mechanism, the sensor detects the damage and transmits the command to open the servo cylinder to drive the buckle to move. The initial position of the buckle is next to the limit roller. After the servo cylinder is turned on, the limit roller is immediately clamped to prevent the scanning position from shifting. After that, the tooth plates on both sides continue to move. The buckle contracts inward through the telescopic rod and the limit roller is still limited by the support force of the limit spring. When the tooth plates on both sides continue to move, the fixed rod under the left tooth plate drives the cross bar to move. The cross bar pushes the support rod bases on both sides to move in the slide rail. When the support rod bases on both sides move, they drive the first support rod and the second support rod to rotate downward and descend. The first support rod and the second support rod As the support pole descends, it drives the support plate below to descend together. The support plates on both sides continue to descend and touch the ground to lift the inspection robot, maintain the stability of the inspection robot, and make the distance between the ultraviolet light emitter and the damaged part in the pipeline shorter. After the ascent is completed, the ultraviolet light emitter is turned on to emit UV ultraviolet light for curing and repairing. UV ultraviolet light curing repair technology is a fast curing repair method. It uses ultraviolet light to irradiate specific photosensitive materials to make them cure quickly and form a solid repair layer. This method has the advantages of fast curing speed, environmental friendliness, and no need for additional heating. The inspection robot is supported by the support plates on both sides to ensure the fixation of the inspection robot. UA ultraviolet light curing repair is more efficient.

[0023] (4) Through the cooperation between the clamping assembly and the sensor, one end of the sensor is inserted into the inner side of the clamping plate and then pulled outward. The clamping plate is driven to move outward by the elasticity of the tension spring. When it moves to the periphery, the other side of the sensor is installed into the inside of the clamping base plate and then the sensor is released. The clamping base plate and the clamping plate clamp the sensor in place, which facilitates the disassembly and charging of the sensor and the UV light curing emitter or the inspection and maintenance of the sensor and the UV light curing emitter by the staff, and reduces the overall volume to save manufacturing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the internal structure of the protective cover of the present invention;

[0026] Figure 3 It is a schematic diagram of the internal structure of the chassis of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the wheel drive assembly of the present invention;

[0028] Figure 5 It is a structural schematic diagram of the rotation detection mechanism of the present invention;

[0029] Figure 6 This is a schematic diagram of the angle adjustment mechanism structure of the present invention;

[0030] Figure 7 It is a schematic diagram of the structure of the clamping assembly of the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of the movement limiting mechanism of the present invention;

[0032] Fig. 9 It is a schematic diagram of the structure of the lifting and repairing mechanism of the present invention.

[0033] The markings in the accompanying drawings are:

[0034] 1-chassis; 11-protective cover; 12-worm support; 13-support rod; 14-moving slot;

[0035] 2-wheel drive assembly; 21-servo motor; 22-transmission shaft; 23-driving sprocket; 24-chain; 25-driven sprocket; 26-axle; 27-wheel; 28-limiting roller;

[0036] 3-rotation detection mechanism; 31-active bevel gear; 32-passive bevel gear; 33-rotating shaft; 34-driving bevel gear; 35-linked bevel gear; 36-limiting rod; 37-rotating base;

[0037] 4-angle adjustment mechanism; 41-driving motor; 42-connecting rod; 43-worm; 44-turbine; 45-hollow tube; 46-limiting rod base;

[0038] 5-clamping assembly; 51-clamping base plate; 52-slide groove; 53-slide rod; 54-tension spring; 55-clamping plate; 6-sensor; 7-ultraviolet light emitter;

[0039] 8-limiting movement mechanism; 81-servo cylinder; 82-thrust rod; 83-tooth plate; 84-limiting groove; 85-telescopic rod; 86-limiting spring; 87-buckle; 88-buckle base; 89-rotating gear; 810-limiting shaft;

[0040] 9-lifting repair mechanism; 91-fixed rod; 92-cross rod; 93-support rod base; 94-slide rail; 95-first rotating rod; 96-first supporting rod; 97-second rotating rod; 98-support plate base; 99-slideway; 910-second supporting rod; 911-support shaft; 912-support plate. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0042] The UV ultraviolet light curing repair inspection robot comprises a chassis 1, a wheel driving assembly 2, a rotation detection mechanism 3, an angle adjustment mechanism 4, a clamping assembly 5, a movement limiting mechanism 8, and a lifting repair mechanism 9. A moving slot 14 is arranged below the chassis 1, a protective cover 11 is fixedly installed on the upper surface of the chassis 1, and exhaust holes are arranged on both sides of the protective cover 11. The wheel driving assembly 2 comprises a servo motor 21, which is fixedly installed on the inner surface of the chassis 1, and the servo motor 21 is fixedly connected to a transmission shaft 22 through an output shaft;

[0043] The rotation detection mechanism 3 includes an active bevel gear 31, which is fixedly mounted on the outer surface of the transmission shaft 22, and the active bevel gear 31 is mounted with a passive bevel gear 32 through surface tooth meshing; a rotating shaft 33 is fixedly mounted on the upper end of the passive bevel gear 32, and a driving bevel gear 34 is fixedly mounted on the upper end of the rotating shaft 33, and a linkage bevel gear 35 is mounted on the driving bevel gear 34 through surface tooth meshing, and a limit rod 36 is fixedly mounted on the inner surface of the linkage bevel gear 35, and a rotating base 37 is fixedly mounted on the middle outer surface of the limit rod 36.

[0044] The angle adjustment mechanism 4 includes a driving motor 41, which is fixedly installed on the upper surface of the chassis 1. The driving motor 41 is fixedly connected to a connecting rod 42 through an output shaft, and a worm 43 is fixedly installed on the outer surface of the connecting rod 42; a worm bracket 12 is fixedly installed on the upper surface of the chassis 1, and both ends of the worm 43 are movably installed on the inner surface of the worm bracket 12, and a turbine 44 is installed on the worm 43 through surface thread engagement, and a hollow tube 45 is fixedly installed on the upper surface of the turbine 44; the hollow tube 45 is movably sleeved and installed on the outer surface of the rotating shaft 33, and a support rod 13 is sleeved and installed on the outer surface of the hollow tube 45, and the support rod 13 is fixedly installed on the outer surface of the worm bracket 12, and a limit rod base 46 is fixedly installed on the upper surface of the hollow tube 45, and the inner surfaces on both sides of the limit rod base 46 are movably connected to the limit rod 36.

[0045] The clamping assembly 5 includes a clamping base plate 51, which is fixedly installed on the outer surface of the rotating base 37. Slide grooves 52 are provided on both sides above the clamping base plate 51. A slide rod 53 is fixedly installed on the inner surface of the slide groove 52. A tension spring 54 is sleeved on the outer surface of the slide rod 53. A clamping plate 55 is fixedly connected to the lower end of the tension spring 54. A sensor 6 is clamped and installed on the inner side of the clamping plate 55 and the outer surface of the sensor 6 is provided with an ultraviolet light emitter 7.

[0046] The movement limiting mechanism 8 includes a servo cylinder 81, which is fixedly installed on the inner surface of the chassis 1. The servo cylinder 81 is fixedly connected to a push rod 82 through an output shaft. The outer surface of the push rod 82 is fixedly connected to a toothed plate 83. The toothed plate 83 is installed with a rotating gear 89 through surface tooth meshing. A toothed plate 83 is also provided on the left side of the rotating gear 89. Limiting grooves 84 are provided on the outer surfaces of the toothed plates 83 on both sides. A telescopic rod 85 is fixedly installed on the inner surface of the limiting groove 84. A limiting spring 86 is sleeved on the outer surface of the telescopic rod 85. A buckle 87 is fixedly installed at the front end of the telescopic rod 85.

[0047] The lifting and repairing mechanism 9 includes a fixed rod 91, which is fixedly installed on the lower surface of the left tooth plate 83, a cross bar 92 is fixedly installed on the lower surface of the fixed rod 91, and support rod bases 93 are fixedly installed on the outer surfaces of both sides of the cross bar 92, a slide rail 94 is fixedly installed on the lower surface of the chassis 1, and the support rod base 93 is movably installed on the inner surface of the slide rail 94; a first rotating rod 95 is movably installed on the inner surface of the support rod base 93, a first support rod 96 is fixedly installed on the outer surface of the first rotating rod 95, and a second rotating rod 97 is fixedly installed on the inner surface of the other end of the first support rod 96, a support plate base 98 is movably installed inside the slide 99, and the second rotating rod 97 is movably installed on the inner surface of the support plate base 98, a support shaft 911 is fixedly installed on the middle inner surface of the first support rod 96, and a second support rod 910 is movably installed on the outer surface of the support shaft 911.

[0048] Embodiment 1 of the present invention

[0049] See also Figure 1-7 The UV ultraviolet light curing repair inspection robot includes a chassis 1, a wheel drive assembly 2, a rotation detection mechanism 3, an angle adjustment mechanism 4, a clamping assembly 5, a movement limiting mechanism 8, and a lifting repair mechanism 9. A moving groove 14 is arranged below the chassis 1. A protective cover 11 is fixedly installed on the upper surface of the chassis 1, and exhaust holes are arranged on both sides of the protective cover 11. The wheel drive assembly 2 includes a servo motor 21, which is fixedly installed on the inner surface of the chassis 1. The servo motor 21 is fixedly connected to a transmission shaft 22 through an output shaft. A driving sprocket 23 is fixedly installed on the outer surface of the transmission shaft 22. The driving sprocket 23 is connected to two driven sprockets 25 through a chain 24. The two driven bevel gears 25 are located on the left and right sides of the driving sprocket 23. The inner surface of the two driven sprockets 25 The surfaces are fixedly mounted with axles 26, and limiting rollers 28 are fixedly mounted on the outer surfaces of the two axles 26. Two wheels 27 are fixedly mounted at both ends of the axles 26. The rotation detection mechanism 3 includes an active bevel gear 31, which is fixedly mounted on the outer surface of the transmission shaft 22. The active bevel gear 31 is mounted with a passive bevel gear 32 through surface tooth meshing. A rotating shaft 33 is fixedly mounted on the upper end of the passive bevel gear 32. The rotating shaft 33 is movably mounted on the inner surface of the chassis 1 and extends from the top of the chassis 1. A driving bevel gear 34 is fixedly mounted on the upper end of the rotating shaft 33. A linkage bevel gear 35 is mounted on the driving bevel gear 34 through surface tooth meshing. A limiting rod 36 is fixedly mounted on the inner surface of the linkage bevel gear 35. The linkage bevel gear 35 is engaged with the left end of the limiting rod 36. The limiting rod 36 A rotating base 37 is fixedly installed on the middle outer surface, and the angle adjustment mechanism 4 includes a driving motor 41, which is fixedly installed on the upper surface of the chassis 1, and the driving motor 41 is installed inside the protective cover 11. The driving motor 41 is fixedly connected to a connecting rod 42 through an output shaft, and a worm 43 is fixedly installed on the outer surface of the connecting rod 42. Both ends of the worm 43 are movably installed on the inner surface of the worm bracket 12, and the worm bracket 12 is fixedly installed on the upper surface of the chassis 1. The worm 43 is installed with a turbine 44 through surface thread engagement, and a hollow tube 45 is fixedly installed on the upper surface of the turbine 44. The hollow tube 45 is movably sleeved and installed on the outer surface of the rotating shaft 33, and a support rod 13 is sleeved and installed on the outer surface of the hollow tube 45. The support rod 13 is fixedly installed on the outer surface of the worm bracket 12. A limit rod base 46 is fixedly installed on the upper surface of the core tube 45, and the inner surfaces on both sides of the limit rod base 46 are movably connected to the limit rod 36. The driving bevel gear 34 is movably installed on the upper surface of the limit rod base 46. The clamping assembly 5 includes a clamping base plate 51, and the clamping base plate 51 is fixedly installed on the outer surface of the rotating base 37. Slide grooves 52 are provided on both sides above the clamping base plate 51. A slide rod 53 is fixedly installed on the inner surface of the slide groove 52. A tension spring 54 is sleeved on the outer surface of the slide rod 53. A clamping plate 55 is fixedly connected to the lower end of the tension spring 54. The clamping plate 55 is movably installed on the outer surface of the slide rod 53. A sensor 6 is clamped and installed on the inner side of the clamping plate 55 and the clamping base plate 51. An ultraviolet light emitter 7 is provided on the outer surface of the sensor 6, and two rows of cameras are provided on the outer surface of the sensor 6.

[0050] Embodiment 2 of the present invention

[0051] See also Figure 3 , Figure 4 , Figure 8 , Fig. 9 The movement limiting mechanism 8 includes a servo cylinder 81, which is fixedly mounted on the inner surface of the chassis 1. The servo cylinder 81 is fixedly connected to a push rod 82 through an output shaft. A tooth plate 83 is fixedly connected to the outer surface of the push rod 82. A limit shaft 810 is movably mounted on the inner surface of the tooth plate 83. The limit shaft 810 is fixedly mounted on the inner surface of the chassis 1. The tooth plate 83 is mounted with a rotating gear 89 through surface tooth engagement. A tooth plate 83 is also arranged on the left side of the rotating gear 89. The outer surfaces of the tooth plates 83 on both sides are provided with limit The inner surface of the limit groove 84 is fixedly installed with a telescopic rod 85, and the outer surface of the telescopic rod 85 is sleeved with a limit spring 86. The front end of the telescopic rod 85 is fixedly installed with a buckle 87, and the buckle 87 is movably installed on the inner surface of the buckle base 88. The buckle base 88 is fixedly installed on the inner surface of the chassis 1. The lifting repair mechanism 9 includes a fixed rod 91, which is fixedly installed on the lower surface of the left tooth plate 83, and the fixed rod 91 is movably set on the inner surface of the movable groove 14. The lower surface of the fixed rod 91 is fixedly installed There is a cross bar 92, and support rod bases 93 are fixedly installed on the outer surfaces of both sides of the cross bar 92. The support rod base 93 is movably installed on the inner surface of the slide rail 94, and the slide rail 94 is fixedly installed on the lower surface of the chassis 1. A first rotating rod 95 is movably installed on the inner surface of the support rod base 93, and a first support rod 96 is fixedly installed on the outer surface of the first rotating rod 95. A second rotating rod 97 is fixedly installed on the inner surface of the other end of the first support rod 96. The second rotating rod 97 is movably installed on the inner surface of a support plate base 98, and the support plate base 98 is movably installed inside a slideway 99. The slideway 99 is arranged on the inner surface of a support plate 912, a support shaft 911 is fixedly installed on the middle inner surface of the first support rod 96, and a second support rod 910 is movably installed on the outer surface of the support shaft 911. The second support rod 910 is movably arranged on the inner surface of the first support rod 96, and the support rod base 93 movably installed on the left end of the second support rod 910 is fixedly installed on the lower surface of the chassis 1, and the right end of the second support rod 910 is movably installed on the outer surface of the support plate 912.

[0052] The complete usage steps and working principle of the above-mentioned embodiment 2 are as follows:

[0053] First, install one end of the sensor 6 base into the inner side of the clamping plate 55, and pull the sensor 6 outward after one end of the sensor 6 enters the inner side of the clamping plate 55. The clamping plate 55 is driven to move outward by the elasticity of the tension spring 54. When it moves to the periphery, install the other side of the sensor 6 into the inside of the clamping base plate 51 and then release the sensor 6. The clamping base plate 51 and the clamping plate 55 clamp the sensor 6. Next, turn on the servo motor 21 to drive the transmission shaft 22 to rotate. When the transmission shaft 22 rotates, the active sprocket 23 drives the driven sprockets 25 on both sides to rotate. When the driven sprockets 25 on both sides rotate, the wheel axle 26 on the inner surface thereof is driven to rotate, and the rotating shaft 26 drives the wheels 27 on both sides to rotate, thereby achieving the rotation of both sides. The wheel 27 drives the inspection robot to move back and forth in the pipeline to check whether the inside of the pipeline is damaged. When the transmission shaft 22 drives the active sprocket 23 to rotate, it also drives the active bevel gear 31 on the outer surface of the transmission shaft 22 to rotate. The active bevel gear 31 drives the passive bevel gear 32 to rotate through the surface teeth. When the passive bevel gear 32 rotates, it drives the driving bevel gear 34 to rotate through the connection of the rotating shaft. The driving bevel gear 34 drives the linkage bevel gear 35 to rotate through the surface teeth. When the linkage bevel gear 35 is driven to rotate, the rotating base 37 drives the sensor 6 to rotate around the limit rod 36 as the center through the rotation of the limit rod 36 to scan and inspect the inside of the pipeline.

[0054] Secondly, after the sensor 6 rotates 180 degrees around the limit rod 36, the drive motor 41 is started. The drive motor 41 drives the turbine 44 to rotate through the worm 43. When the turbine 44 rotates, it drives the hollow tube 45 to rotate together. The limit rod base 46 also rotates with the hollow tube 45. When the limit rod base 46 rotates, it drives the linked bevel gear 35 on the outer surface of the limit rod 36 to revolve. At this moment, the servo motor 21 is still in the on state. When the linked bevel gear 35 revolves, the drive bevel gear 34 is still driven to rotate, and the linked bevel gear 35 revolves. The revolutions of the gear 35 cancel each other out to prevent the stationary state of the driven bevel gear 34 from driving the linked bevel gear 35 to rotate when the sensor 6 is sensing in parallel. After the limit rod base 46 drives the sensor 6 to rotate 360 ​​degrees in parallel for scanning, the drive motor 41 stops working and the sensor 6 continues to rotate 180 degrees with the limit rod 36 as the center to scan and inspect the inside of the pipeline. When the sensor 6 scans the damaged point in the pipeline, the drive motor 41 can be controlled to accurately adjust the angle of the sensor 6 to the place that needs to be repaired, and then the servo motor 21 and the drive motor 41 are controlled to stop at the same time.

[0055] When the gear plates 83 on both sides are displaced, the buckle 87 on the outer surface of the gear plate 83 first contacts the limit roller 28, and the buckle 87 firmly presses against the teeth of the limit roller 28 to prevent the wheel from rotating and deviating again. After the buckle 87 presses against the limit roller 28, the gear plate 83 continues to move, and the buckle 87 contracts inwardly through the telescopic rod 85 and still limits the movement of the limit roller 28 through the supporting force of the limit spring 86. When the gear plates 83 on both sides continue to move, the fixed rod 91 under the left gear plate 83 drives the cross bar 92 to move, and the cross bar 92 pushes the support rod bases 93 on both sides to move in the slide rails 94. The shaft 911 connects the first support rod 96 and the second support rod 910, so that the first support rod 96 drives the second support rod 910 to tilt and rotate downward with the support shaft 911, driving the support plate 912 to move downward. The support plates 912 on both sides continue to descend and touch the ground to lift the inspection robot, maintain the stability of the inspection robot, and make the distance between the ultraviolet light emitter 7 and the damaged part in the pipeline shorter. After the ascent is completed, the ultraviolet light emitter 7 is turned on to emit UV ultraviolet light for curing and repair. UV ultraviolet light curing repair technology is a fast curing repair method. It uses ultraviolet light to irradiate specific photosensitive materials to make them cure quickly and form a solid repair layer. This method has the advantages of fast curing speed, environmental friendliness, and no need for additional heating. The inspection robot is supported by the support plates 912 on both sides to ensure the fixation of the inspection robot. UA ultraviolet light curing repair is more efficient.

[0056] Working principle of the present invention:

[0057] When in use, first, through the wheel drive assembly 2, the rotation detection mechanism 3 and the angle adjustment mechanism 4, the wheel 27 is driven to move forward in the pipeline while driving the sensor 6 to perform rotational scanning in the pipeline. The servo motor 21 and the drive motor 41 are used in coordination to enable the sensor 6 to inspect the pipeline without blind spots. When the sensor 6 detects a damaged part, the servo motor 21 is turned off and the servo cylinder 81 is started. The wheel 27 is limited by the buckle 87, and the support rod bases 93 on both sides are driven by the cross bar 92 to enable the support plate 912 to prop up the inspection robot, so that the ultraviolet light emitter can perform curing and repair on the damaged part with higher efficiency and closer distance.

[0058] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0059] 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. UV light curing repair inspection robot, its characteristics are: The invention comprises a chassis (1), a wheel drive assembly (2), a rotation detection mechanism (3), an angle adjustment mechanism (4), a clamping assembly (5), a movement limiting mechanism (8), and a lifting and repairing mechanism (9); a moving groove (14) is arranged below the chassis (1); a protective cover (11) is fixedly mounted on the upper surface of the chassis (1); exhaust holes are arranged on both sides of the protective cover (11); the wheel drive assembly (2) comprises a servo motor (21); the servo motor (21) is fixedly mounted on the inner surface of the chassis (1); and the servo motor (21) is fixedly connected to a transmission shaft (22) via an output shaft; The rotation detection mechanism (3) comprises an active bevel gear (31), the active bevel gear (31) is fixedly mounted on the outer surface of the transmission shaft (22), and the active bevel gear (31) is mounted with a passive bevel gear (32) through surface tooth meshing; A rotating shaft (33) is fixedly mounted on the upper end of the passive bevel gear (32), a driving bevel gear (34) is fixedly mounted on the upper end of the rotating shaft (33), a linkage bevel gear (35) is mounted on the driving bevel gear (34) through surface engagement, a limiting rod (36) is fixedly mounted on the inner surface of the linkage bevel gear (35), and a rotating base (37) is fixedly mounted on the middle outer surface of the limiting rod (36); The clamping assembly (5) comprises a clamping base plate (51), the clamping base plate (51) is fixedly mounted on the outer surface of the rotating base (37), and slide grooves (52) are provided on both sides above the clamping base plate (51), a slide rod (53) is fixedly mounted on the inner surface of the slide groove (52), a tension spring (54) is sleeved on the outer surface of the slide rod (53), a clamping plate (55) is fixedly connected to the lower end of the tension spring (54), a sensor (6) is clamped and mounted on the inner side of the clamping base plate (55) and the outer surface of the sensor (6) is provided with an ultraviolet light emitter (7).

2. The UV light curing repair inspection robot according to claim 1 is characterized in that: The angle adjustment mechanism (4) comprises a drive motor (41), the drive motor (41) is fixedly mounted on the upper surface of the chassis (1), the drive motor (41) is fixedly connected to a connecting rod (42) via an output shaft, and a worm (43) is fixedly mounted on the outer surface of the connecting rod (42).

3. The UV light curing repair inspection robot according to claim 2 is characterized in that: A worm support (12) is fixedly mounted on the upper surface of the chassis (1), two ends of the worm (43) are movably mounted on the inner surface of the worm support (12), a turbine (44) is mounted on the worm (43) through surface thread engagement, and a hollow tube (45) is fixedly mounted on the upper surface of the turbine (44).

4. The UV light curing repair inspection robot according to claim 3 is characterized in that: The hollow tube (45) is movably sleeved and installed on the outer surface of the rotating shaft (33); a support rod (13) is sleeved and installed on the outer surface of the hollow tube (45); the support rod (13) is fixedly installed on the outer surface of the worm support (12); a limit rod base (46) is fixedly installed on the upper surface of the hollow tube (45); and the inner surfaces on both sides of the limit rod base (46) are movably connected to the limit rod (36).

5. The UV light curing repair inspection robot according to claim 1 is characterized in that: The movement limiting mechanism (8) comprises a servo cylinder (81), the servo cylinder (81) is fixedly mounted on the inner surface of the chassis (1), the servo cylinder (81) is fixedly connected to a push rod (82) via an output shaft, the outer surface of the push rod (82) is fixedly connected to a toothed plate (83), the toothed plate (83) is mounted with a rotating gear (89) via surface tooth engagement, and a toothed plate (83) is also provided on the left side of the rotating gear (89).

6. The UV light curing repair inspection robot according to claim 5 is characterized in that: The outer surfaces of the tooth plates (83) on both sides are provided with limit grooves (84), the inner surfaces of the limit grooves (84) are fixedly mounted with telescopic rods (85), the outer surfaces of the telescopic rods (85) are sleeved with limit springs (86), and the front ends of the telescopic rods (85) are fixedly mounted with buckles (87).

7. The UV light curing repair inspection robot according to claim 5 is characterized in that: The lifting and repairing mechanism (9) comprises a fixing rod (91), the fixing rod (91) being fixedly mounted on the lower surface of the left tooth plate (83), a cross bar (92) being fixedly mounted on the lower surface of the fixing rod (91), support rod bases (93) being fixedly mounted on the outer surfaces of both sides of the cross bar (92), a slide rail (94) being fixedly mounted on the lower surface of the chassis (1), and the support rod base (93) being movably mounted on the inner surface of the slide rail (94).

8. The UV light curing repair inspection robot according to claim 7 is characterized in that: A first rotating rod (95) is movably mounted on the inner surface of the support rod base (93); a first support rod (96) is fixedly mounted on the outer surface of the first rotating rod (95); a second rotating rod (97) is fixedly mounted on the inner surface of the other end of the first support rod (96); a support plate base (98) is movably mounted inside the slideway (99); the second rotating rod (97) is movably mounted on the inner surface of the support plate base (98); a support shaft (911) is fixedly mounted on the middle inner surface of the first support rod (96); and a second support rod (910) is movably mounted on the outer surface of the support shaft (911).

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