State-adjustable pipeline endoscopic inspection mobile robot
By introducing threaded fit and sliding connection between the concave sleeve plate and the threaded rod into the wheeled pipe inspection robot, the problem of difficulty in adjusting the shape of the wheeled inspection robot to adapt to different pipe diameters is solved, and the normal travel and efficient cleaning of the robot on pipes of different pipe diameters is achieved.
Patent Information
- Application Number
- CN202510144184.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-10
- Publication Date
- 2025-03-25
AI Technical Summary
Existing wheeled pipeline inspection robots find it difficult to adjust their shape to match the inner diameter of the pipeline when inspecting pipelines of different diameters.
By introducing a concave sleeve plate into the wheel drive device and the threaded rod, combining the slidingly connected long sleeve and T-shaped round rod, the distance of the electric roller is adjusted to accommodate different pipe diameters, and the wheel cleaning mechanism and adjustment mechanism ensure that the robot can travel and clean normally.
The morphological adjustment of the wheeled inspection robot on pipes with different pipe diameters is realized to ensure that the robot can travel normally and improve patrol efficiency. At the same time, the mud and dust in the pipeline are effectively cleaned through the wheel cleaning mechanism to avoid affecting the travel.
Smart Images
Figure CN119687311A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of patrol mobile robots, and in particular to a pipeline endoscope patrol mobile robot with adjustable shape. Background Art
[0002] A pipeline inspection robot is an intelligent robot specially used for inspection, testing, and maintenance of various pipelines. The pipeline internal inspection robot can monitor and record the internal conditions of the pipeline, including the status of objects inside the pipeline, the damage of the pipeline, etc. It transmits the video images of the pipeline in real time through a high-definition camera, so that the operator can clearly observe the internal conditions. The robot can replace manual entry into dangerous or difficult-to-reach places for inspection, thereby improving the efficiency of inspection work. Pipeline inspection robots usually use wheeled, crawler or peristaltic movement methods to move in the pipeline. Among them, wheeled pipeline inspection robots have the characteristics of fast movement speed and high flexibility, and are suitable for environments with large pipe diameters and relatively flat pipelines, such as urban drainage pipelines and industrial water pipelines. Most of the existing pipeline inspection robots use wheels to move inside the pipeline, but it is difficult to adjust the wheeled inspection robots to a shape that matches the inner diameter of the pipeline when inspecting pipelines of different diameters. Therefore, we propose a pipeline endoscopic inspection mobile robot with adjustable shape. Summary of the invention
[0003] In order to solve the above technical problems, the present invention provides a pipeline endoscope inspection mobile robot with adjustable shape, comprising: A mounting plate, wherein a fixing connecting rod is disposed on the outer side of the mounting plate; A wheel drive device, which drives the robot as a whole to move in the pipeline through rollers; The outer side of the mounting plate is fixedly connected to one end of a fixed link, and one end of the fixed link away from the mounting plate is fixedly connected to the inner wall of the wheel drive device. Three fixed links are provided, and the three fixed links are distributed on the inner wall of the wheel drive device. Wherein, the wheel drive device comprises: An annular long plate, the inner wall of which is provided with a driving motor; A threaded rod, wherein a limiting long rod is arranged on the outer side of the threaded rod, and the concave sleeve is limited in rotation by arranging a limiting long rod penetrating the concave sleeve on the outer side of the threaded rod, so as to prevent the concave sleeve threadedly connected with the threaded rod from rotating together with the threaded rod, so that the electric roller cannot move normally in the pipeline; The concave sleeve plate is used to adjust the distance between the electric roller and the inner wall of the pipeline by the threaded cooperation between the concave sleeve plate and the threaded rod, so as to prevent the wheeled inspection robot from being difficult to adjust to a shape matching the inner diameter of the pipeline when inspecting pipelines of different diameters. The electric roller is arranged on the inner side of the concave sleeve plate; The inner wall of the annular long plate is fixedly connected to the output end of the driving motor, the driving shaft of the driving motor is fixedly connected to one end of the threaded rod, the bottom of the threaded rod is rotatably connected to the outer side of the annular long plate through a rotating bolt, the concave sleeve is sleeved on the threaded rod and is threadedly connected to the threaded rod, the inner wall of the concave sleeve is rotatably connected to one side of the electric roller through a rotating bolt, and one end of the limiting long rod passes through the concave sleeve and is slidably connected to the concave sleeve; The inner wall of the annular long plate is fixedly connected to one end of the fixed connecting rod; The bottom of the threaded rod is sleeved and fixedly connected with an adjusting mechanism, and the top of the adjusting mechanism is fixedly connected with a wheel cleaning mechanism, and the top of the threaded rod is rotatably connected with a conical top block through a rotating bolt, and the conical top block is arranged at the top of the threaded rod so that the mud and ash fallen thereon can be discharged outwardly through the inclined surface to prevent a large amount of mud and ash cleaned by the wheel cleaning mechanism from accumulating and falling into the concave sleeve plate and affecting the thread fit, and the bottom of the concave sleeve plate is fixedly connected with a first corrugated ring piece, and the bottom of the concave sleeve plate is fixedly connected with a second corrugated ring piece, and the threaded rod is wrapped and covered by arranging the first corrugated ring piece and the second corrugated ring piece on the outside of the threaded rod to prevent the mud and ash cleaned by the wheel cleaning mechanism from adhering to the threaded rod and affecting the thread fit of the threaded rod and the concave sleeve plate, and the bottom of the second corrugated ring piece is fixedly connected with a docking ring plate; The wheel-cleaning mechanism is provided in plurality, and the plurality of the wheel-cleaning mechanisms are distributed on the adjusting mechanism, the first corrugated ring piece is fixedly connected to the bottom of the inner wall of the concave sleeve plate on one side away from the conical top block, and the adjusting mechanism is sleeved on the concave sleeve plate and slidably connected to the concave sleeve plate; The top of the limiting long rod is fixedly connected to the bottom of the conical top block, and the bottom of the docking ring plate is rotatably connected to the top of the adjusting mechanism through a bearing.
[0004] Furthermore, the adjusting mechanism comprises a linkage disc, the top of which is fixedly connected with a long sleeve, and the outer side of the long sleeve is fixedly connected with a curved scraper block, when the curved scraper block rotates, it scrapes and cleans the surface of the docking ring plate and pushes the mud to the outside through thrust to discharge it, so as to prevent a large amount of mud and other debris that have been cleaned from finally falling on the docking ring plate and the linkage disc and affecting the rotation cooperation between the docking ring plate and the linkage disc; a T-shaped round rod is penetrated and slidably connected with the top of the inner wall of the long sleeve, and the slidingly connected long sleeve and the T-shaped round rod cooperate with the concave sleeve plate to move up and down together, so as to prevent the concave sleeve plate from being stuck by the connecting rod between the linkage disc and the annular rotating plate when it moves up and down through threaded cooperation and affect the adjustment; the top of the T-shaped round rod is fixedly connected with the annular rotating plate, and the inner wall of the annular rotating plate is provided with a built-in annular groove, and the inner wall of the built-in annular groove A circular rotating plate is rotatably connected through a bearing, and a built-in annular groove is provided on the inner side of the annular rotating plate to cooperate with the circular rotating plate for rotation, so as to prevent the annular rotating plate and the circular rotating plate from being linked to each other and being unable to achieve separation drive and affect subsequent adjustment cooperation. A square sliding hole is provided on the top of the circular rotating plate, and a square sliding hole is provided on the circular rotating plate to be clamped and fixed with the concave sleeve plate to keep synchronous movement with the concave sleeve plate to prevent the concave sleeve plate from gradually changing relative position with the circular rotating plate when different pipelines need to adjust the shape, resulting in the wheel cleaning mechanism being unable to contact the surface of the electric roller at all times. The linkage disc is sleeved on the bottom of the threaded rod and fixedly connected to the threaded rod, the inner wall of the square sliding hole is fixedly connected to the outer side of the concave sleeve plate, the top of the linkage disc is rotatably connected to the bottom of the docking ring plate through the bearing, and the top of the annular rotating plate is fixedly connected to the bottom of the wheel cleaning mechanism.
[0005] Furthermore, the wheel cleaning mechanism includes a corrugated fixing bar, and the corrugated fixing bars are arranged on both sides of the corrugated scraper to stabilize the corrugated scraper that is in continuous rolling contact with the electric roller, so as to prevent the corrugated scraper from being affected by the rolling thrust of the electric roller and being difficult to make frictional contact with its surface, resulting in poor cleaning effect. A corrugated scraper is fixedly connected to one side of the corrugated fixing bar, and a corrugated scraper is arranged on the surface of the electric roller to scrape and clean it multiple times, so as to prevent the electric roller from gradually accumulating too much mud and dust on the surface when it travels in the pipeline for a long time and affecting the traveling function. The outer surface of the corrugated scraper is provided with corrugated circular holes, and a plurality of corrugated circular holes are arranged on the surface of the corrugated scraper to facilitate the timely passage of the cleaned mud and dust, so as to prevent a large amount of mud and dust from being cleaned. The dirt accumulated in the corrugated recessed area on the inner side of the corrugated scraper blade is difficult to handle and affects the cleaning effect. An arc-shaped brush is fixedly connected to the inner bottom of the corrugated scraper blade. The arc-shaped brush rubs and cleans the surface of the circular rotating plate as the annular rotating plate rotates, thereby preventing a large amount of mud and other debris that have been cleaned from accumulating at the rotating joint between the circular rotating plate and the built-in annular groove and affecting the joint fit. The bottom of the corrugated fixed strip is fixedly connected to the top of the annular rotating plate. A plurality of corrugated fixed strips are provided, and the plurality of corrugated fixed strips are distributed on the annular rotating plate. A plurality of corrugated surface circular holes are provided, and the plurality of corrugated surface circular holes are distributed on the corrugated scraper blade. A plurality of arc-shaped brushes are provided, and the plurality of arc-shaped brushes are distributed at the inner bottom of the corrugated scraper blade.
[0006] The present invention has the beneficial effects: 1. The present invention adjusts the distance between the electric roller and the inner wall of the pipeline by threaded cooperation between the concave sleeve and the threaded rod, thereby preventing the wheeled inspection robot from being difficult to adjust to a shape matching the inner diameter of the pipeline when inspecting pipelines of different diameters. By arranging a sliding connection between a long sleeve and a T-shaped round rod to cooperate with the concave sleeve to move up and down together, it is prevented that the concave sleeve is stuck by the connecting rod between the linkage disc and the annular rotating plate when moving up and down through threaded cooperation to affect the adjustment. By arranging a corrugated scraper on the surface of the electric roller to scrape and clean it multiple times, it is prevented that too much mud and dust gradually accumulate on the surface of the electric roller when the electric roller moves in the pipeline for a long time and affects the moving function.
[0007] 2. The present invention provides a wheel drive device, and adjusts the distance between the electric roller and the inner wall of the pipeline by the threaded cooperation of the concave sleeve and the threaded rod, so as to prevent the wheeled inspection robot from being difficult to adjust to a shape matching the inner diameter of the pipeline when inspecting pipelines of different diameters, and provides a conical top block on the top of the threaded rod so that the mud and ash fallen thereon can be discharged outward through the inclined surface, thereby preventing a large amount of mud and ash cleaned up by the wheel cleaning mechanism from accumulating and falling into the concave sleeve and affecting the threaded cooperation, and provides a limiting long rod penetrating the concave sleeve on the outside of the threaded rod to limit the rotation of the concave sleeve, thereby preventing the concave sleeve threadedly connected to the threaded rod from rotating together with the threaded rod, so that the electric roller cannot move normally in the pipeline, and provides a first corrugated ring sheet and a second corrugated ring sheet on the outside of the threaded rod to wrap and cover the threaded rod, thereby preventing the mud and ash cleaned up by the wheel cleaning mechanism from adhering to the threaded rod and affecting the threaded cooperation between the threaded rod and the concave sleeve.
[0008] 3. The present invention provides an adjusting mechanism by arranging a long sleeve and a T-shaped round rod that are slidably connected to cooperate with the concave sleeve plate to move up and down together, so that the concave sleeve plate is prevented from being stuck by the connecting rod between the linkage disc and the annular rotating plate when the concave sleeve plate moves up and down through the threaded cooperation, affecting the adjustment. By providing a built-in annular groove on the inner side of the annular rotating plate to cooperate with the rotation of the circular rotating plate, the annular rotating plate and the circular rotating plate are prevented from being unable to achieve separation drive and affect subsequent adjustment cooperation. By providing a square sliding hole on the circular rotating plate to be clamped and fixed with the concave sleeve plate, the circular rotating plate is kept in synchronous movement with the concave sleeve plate to prevent the concave sleeve plate from gradually changing its relative position with the circular rotating plate when different pipelines need to adjust their shapes, resulting in the wheel cleaning mechanism being unable to contact the surface of the electric roller at all times. When the curved scraper block rotates, the surface of the docking ring plate is scraped and cleaned, and the mud and ash are pushed outward by thrust to be discharged, so that a large amount of mud and ash and other debris that have been cleaned up are prevented from finally falling on the docking ring plate and the linkage disc, affecting the rotation cooperation of the docking ring plate and the linkage disc.
[0009] 4. The present invention provides a wheel cleaning mechanism and a corrugated scraper on the surface of the electric roller to scrape and clean it multiple times, thereby preventing the electric roller from gradually accumulating too much mud and dust on the surface when it travels in the pipeline for a long time and affecting the traveling function; provides corrugated fixing strips on both sides of the corrugated scraper to stabilize the corrugated scraper that is in continuous rolling contact with the electric roller, thereby preventing the corrugated scraper from being affected by the rolling thrust of the electric roller and being difficult to frictionally contact with the surface of the electric roller, resulting in poor cleaning effect; provides a plurality of corrugated circular holes on the surface of the corrugated scraper to facilitate the timely passage of the cleaned mud and dust, thereby preventing a large amount of cleaned mud and dust from being concentratedly accumulated in the corrugated recessed area on the inner side of the corrugated scraper, which is difficult to handle and affects the cleaning effect; the arc-shaped brush rubs and cleans the surface of the circular rotating plate as the circular rotating plate rotates, thereby preventing a large amount of cleaned mud and dust and other debris from accumulating at the rotating joint between the circular rotating plate and the built-in annular groove and affecting the joint fit. BRIEF DESCRIPTION OF THE DRAWINGS
[0010] Figure 1 This is a schematic diagram of the structure of the pipeline endoscopy inspection mobile robot of the present invention; Figure 2 This is a schematic diagram of the side structure of the pipeline endoscope inspection mobile robot of the present invention; Figure 3 It is a schematic diagram of the bottom structure of the wheel drive device of the present invention; Figure 4 It is a schematic diagram of a partial side section structure of the wheel drive device of the present invention; Figure 5 It is a schematic diagram of the structure of the regulating mechanism of the present invention; Figure 6 It is a schematic diagram of the side section structure of the adjustment mechanism of the present invention; Figure 7 It is a structural schematic diagram of a wheel cleaning mechanism of the present invention; Figure 8 This is a schematic diagram of the second structure of the wheel cleaning mechanism of the present invention; In the figure: 1. mounting plate; 2. fixing connecting rod; 3. wheel drive device; 301. annular long plate; 302. driving motor; 303. threaded rod; 304. limiting long rod; 305. concave sleeve plate; 306. electric roller; 307. adjusting mechanism; 308. wheel cleaning mechanism; 309. conical top block; 310. first corrugated ring piece; 311. second corrugated ring piece; 312. docking ring plate; 3071. linkage disc; 3072. long sleeve; 3073. curved scraper block; 3074. T-shaped round rod; 3075. annular rotating plate; 3076. built-in ring groove; 3077. circular rotating plate; 3078. square sliding hole; 3081. corrugated fixing strip; 3082. corrugated scraper; 3083. corrugated round hole; 3084. arc brush. DETAILED DESCRIPTION
[0011] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.
[0012] For the first embodiment, please refer to Figure 1-Figure 4 The present invention is a pipeline endoscopy inspection mobile robot with adjustable shape, comprising: The mounting plate 1 is provided with a fixing connecting rod 2 on the outer side of the mounting plate 1; A wheel drive device 3, which drives the robot as a whole to move in the pipeline through rollers; The outer side of the mounting plate 1 is fixedly connected to one end of a fixed link 2, and one end of the fixed link 2 away from the mounting plate 1 is fixedly connected to the inner wall of the wheel drive device 3. Three fixed links 2 are provided, and the three fixed links 2 are distributed on the inner wall of the wheel drive device 3. Wherein, the wheel drive device 3 comprises: An annular long plate 301, the inner wall of which is provided with a driving motor 302; A threaded rod 303, a limiting long rod 304 is arranged outside the threaded rod 303; A concave sleeve plate 305, an electric roller 306 is arranged inside the concave sleeve plate 305; The inner wall of the annular long plate 301 is fixedly connected to the output end of the driving motor 302, the driving shaft of the driving motor 302 is fixedly connected to one end of the threaded rod 303, the bottom of the threaded rod 303 is rotatably connected to the outer side of the annular long plate 301 through a rotating bolt, the concave sleeve 305 is sleeved on the threaded rod 303 and is threadedly connected to the threaded rod 303, the inner wall of the concave sleeve 305 is rotatably connected to one side of the electric roller 306 through a rotating bolt, and one end of the limiting long rod 304 passes through the concave sleeve 305 and is slidably connected to the concave sleeve 305; The inner wall of the annular long plate 301 is fixedly connected to one end of the fixed connecting rod 2; The bottom of the threaded rod 303 is sleeved and fixedly connected with an adjustment mechanism 307, the top of the adjustment mechanism 307 is fixedly connected with a wheel cleaning mechanism 308, the top of the threaded rod 303 is rotatably connected with a conical top block 309 through a rotating bolt, the bottom of the conical top block 309 is fixedly connected with a first corrugated ring piece 310, the bottom of the concave sleeve plate 305 is fixedly connected with a second corrugated ring piece 311, and the bottom of the second corrugated ring piece 311 is fixedly connected with a docking ring plate 312; A plurality of wheel cleaning mechanisms 308 are provided, and the plurality of wheel cleaning mechanisms 308 are distributed on the adjustment mechanism 307. The first corrugated ring piece 310 is fixedly connected to the bottom of the inner wall of the concave sleeve plate 305 on one side away from the conical top block 309. The adjustment mechanism 307 is sleeved on the concave sleeve plate 305 and is slidably connected to the concave sleeve plate 305. The top of the limiting long rod 304 is fixedly connected to the bottom of the conical top block 309, and the bottom of the docking ring plate 312 is rotatably connected to the top of the adjustment mechanism 307 through a bearing. When in use, the electrical components such as the camera and sensor that need to perform endoscopy on the pipeline are placed on the mounting plate 1, and the inspection robot is placed in the pipeline as a whole and adjusted to a shape matching the inner diameter of the pipeline through the wheel drive device 3, and then the wheel drive device 3 is used to move in the pipeline to perform peek inspection on the inside of the pipeline. When encountering pipelines of different diameters, the drive motor 302 is started to drive the threaded rod 303 to rotate. When the threaded rod 303 rotates, it drives the concave sleeve plate 305 that is threadedly matched with it and is penetrated by the limiting long rod 304 to move. When the concave sleeve plate 305 moves, it drives the inner electric roller 306 to move together. The distance between the electric roller 306 and the inner wall of the pipeline is adjusted by the threaded matching of the concave sleeve plate 305 and the threaded rod 303. When the threaded rod 303 rotates, it drives the bottom The adjusting mechanism 307 rotates together, and when the adjusting mechanism 307 rotates, it drives the wheel cleaning mechanism 308 on the top to rotate together. The adjusting mechanism 307 drives the wheel cleaning mechanism 308 to keep synchronous movement with the concave sleeve plate 305 and keep in contact with the surface of the electric roller 306 at all times. When the wheel cleaning mechanism 308 rotates, the surface of the electric roller 306 is scraped and cleaned. The mud and ash scraped off by the wheel cleaning mechanism 308 falls on the concave sleeve plate 305. By arranging the conical top block 309 at the top of the threaded rod 303, the mud and ash fallen on it can be dropped outward through the inclined surface. By arranging a limiting long rod 304 that penetrates the concave sleeve plate 305 on the outside of the threaded rod 303, the concave sleeve plate 305 is rotationally limited. When the concave sleeve plate 305 moves up and down, it drives the first corrugated ring piece 310 and the second corrugated ring piece 311 at the top and the bottom to extend and retract. By arranging the first corrugated ring piece 310 and the second corrugated ring piece 311 on the outside of the threaded rod 303, the threaded rod 303 is wrapped and covered.
[0013] For the second embodiment, please refer to Figure 1-Figure 8The present invention provides a pipeline endoscope inspection mobile robot with adjustable shape: the adjustment mechanism 307 includes a linkage disc 3071, the top of the linkage disc 3071 is fixedly connected with a long sleeve 3072, the outer side of the long sleeve 3072 is fixedly connected with a curved scraper block 3073, the top of the inner wall of the long sleeve 3072 is penetrated and slidably connected with a T-shaped round rod 3074, the top of the T-shaped round rod 3074 is fixedly connected with an annular rotating plate 3075, and the inner wall of the annular rotating plate 3075 is provided with a built-in annular groove 3076, The inner wall of the built-in annular groove 3076 is rotatably connected with a circular rotating plate 3077 through a bearing, a square sliding hole 3078 is opened on the top of the circular rotating plate 3077, a linkage disc 3071 is sleeved on the bottom of the threaded rod 303 and fixedly connected to the threaded rod 303, the inner wall of the square sliding hole 3078 is fixedly connected to the outer side of the concave sleeve plate 305, the top of the linkage disc 3071 is rotatably connected to the bottom of the docking ring plate 312 through a bearing, and the top of the annular rotating plate 3075 is fixedly connected to the bottom of the wheel cleaning mechanism 308; The wheel cleaning mechanism 308 includes a corrugated fixing strip 3081, one side of the corrugated fixing strip 3081 is fixedly connected with a corrugated scraper 3082, the outer surface of the corrugated scraper 3082 is provided with a corrugated circular hole 3083, the inner bottom of the corrugated scraper 3082 is fixedly connected with an arc-shaped brush 3084, the bottom of the corrugated fixing strip 3081 is fixedly connected to the top of the annular rotating plate 3075, a plurality of corrugated fixing strips 3081 are provided, and the plurality of corrugated fixing strips 3081 are distributed on the annular rotating plate 3075, a plurality of corrugated circular holes 3083 are provided, and the plurality of corrugated circular holes 3083 are distributed on the corrugated scraper 3082, a plurality of arc-shaped brushes 3084 are provided, and the plurality of arc-shaped brushes 3084 are distributed on the corrugated scraper At the bottom of the inner side of 3082, when in use, the concave sleeve 305 moves up and down, driving the circular rotating plate 3077 to move together, and the circular rotating plate 3077 moves, driving the annular rotating plate 3075 connected to the outer side to move together, and the annular rotating plate 3075 moves up and down, driving the T-shaped round rod 3074 at the bottom to slide in the long sleeve 3072, and by setting the sliding connection of the long sleeve 3072 and the T-shaped round rod 3074 to cooperate with the concave sleeve 305 to move up and down together, the threaded rod 303 rotates, driving the linkage disk 3071 to rotate, and the linkage disk 3071 rotates, driving the long sleeve 3072, the T-shaped round rod 3074, the annular rotating plate 3075 and the curved scraper 3073 at the top to rotate together. A built-in annular groove 3076 is provided on the inner side of the plate 3075 to cooperate with the rotation of the circular rotating plate 3077. A square sliding hole 3078 that is engaged and fixed with the concave sleeve plate 305 is provided on the circular rotating plate 3077 to keep synchronous movement with the concave sleeve plate 305. When the long sleeve 3072 rotates with the linkage disc 3071, it drives the outer curved scraper block 3073 to rotate together. When the curved scraper block 3073 rotates, it scrapes and cleans the surface of the docking ring plate 312 and pushes the mud and ash to the outside through thrust. When the annular rotating plate 3075 rotates, it drives the corrugated fixing bar 3081 on the top to rotate together. The corrugated fixing bar 3081 drives the corrugated scraper 3082 on one side to rotate together with the annular rotating plate 3075. The scraper 3082 can stop when it rotates to contact the surface of the electric roller 306. The electric roller 306 can be scraped and cleaned multiple times by arranging a corrugated scraper 3082 on the surface. The corrugated fixing strips 3081 are arranged on both sides of the corrugated scraper 3082 to stabilize the shape of the corrugated scraper 3082 that is in continuous rolling contact with the electric roller 306. A plurality of corrugated circular holes 3083 are arranged on the surface of the corrugated scraper 3082 to facilitate the timely passage of the cleaned mud and dust. When the annular rotating plate 3075 rotates, the corrugated scraper 3082 drives the arc-shaped brush 3084 at the inner bottom to rotate together. When the annular rotating plate 3075 rotates, the arc-shaped brush 3084 rubs and cleans the surface of the circular rotating plate 3077.
[0014] When the present invention is operated and used, the electrical components such as the camera and the sensor that are required for endoscopy of the pipeline are placed on the mounting plate 1, the inspection robot is placed in the pipeline as a whole and adjusted to a shape matching the inner diameter of the pipeline through the wheel drive device 3, and then the wheel drive device 3 is used to move in the pipeline to perform an inspection of the inside of the pipeline. When encountering pipelines with different diameters, the drive motor 302 is started to drive the threaded rod 303 to rotate. When the threaded rod 303 rotates, it drives the concave sleeve plate 305 that is threadedly matched with it and is penetrated by the limited long rod 304 to move. When the concave sleeve plate 305 moves, it drives the inner electric roller 306 to move together, and the distance between the electric roller 306 and the pipeline is adjusted by the threaded matching of the concave sleeve plate 305 and the threaded rod 303. When the threaded rod 303 rotates, the adjusting mechanism 307 at the bottom is driven to rotate together. When the adjusting mechanism 307 rotates, the wheel cleaning mechanism 308 at the top is driven to rotate together. The adjusting mechanism 307 drives the wheel cleaning mechanism 308 to keep synchronous movement with the concave sleeve 305 and keep in contact with the surface of the electric roller 306 at all times. When the wheel cleaning mechanism 308 rotates, the surface of the electric roller 306 is scraped and cleaned. The wheel cleaning mechanism 308 scrapes the fallen mud and falls on the concave sleeve 305. The concave sleeve 305 is discharged by arranging the conical top block 309 at the top of the threaded rod 303 so that the mud and dust falling thereon fall outward through the inclined surface. The concave sleeve 305 is controlled by the concave sleeve 305. The concave sleeve 305 is rotationally limited, and when the concave sleeve 305 moves up and down, it drives the first corrugated ring piece 310 and the second corrugated ring piece 311 at the top and the bottom to expand and contract. The first corrugated ring piece 310 and the second corrugated ring piece 311 are arranged on the outside of the threaded rod 303 to wrap and cover the threaded rod 303. When the concave sleeve 305 moves up and down, it drives the circular rotating plate 3077 to move together. When the circular rotating plate 3077 moves, it drives the annular rotating plate 3075 connected to the outside to move together. When the annular rotating plate 3075 moves up and down, it drives the T-shaped round rod 3074 at the bottom to slide in the long sleeve 3072. By setting the sliding connection between the long sleeve 3072 and the T-shaped round rod 3074, the concave sleeve 305 moves up and down together, and the threaded rod 3 03 rotates, driving the linkage disc 3071 to rotate. When the linkage disc 3071 rotates, it drives the long sleeve 3072, T-shaped round rod 3074, annular rotating plate 3075 and curved scraper 3073 on the top to rotate together. The inner side of the annular rotating plate 3075 is provided with a built-in annular groove 3076 to cooperate with the rotation of the circular rotating plate 3077. The circular rotating plate 3077 is provided with a square sliding hole 3078 that is fixed with the concave sleeve plate 305 to keep synchronous movement with the concave sleeve plate 305. When the linkage disc 3071 rotates, the long sleeve 3072 drives the outer curved scraper 3073 to rotate together. When the curved scraper 3073 rotates, it scrapes and cleans the surface of the docking ring plate 312 and pushes the mud to the outside through thrust.When the annular rotating plate 3075 rotates, the corrugated fixed bar 3081 on the top is driven to rotate together, and the corrugated fixed bar 3081 drives the corrugated scraper 3082 on one side to rotate together with the annular rotating plate 3075. The corrugated scraper 3082 can stop when it rotates to contact the surface of the electric roller 306. The corrugated scraper 3082 is arranged on the surface of the electric roller 306 to scrape and clean it multiple times. The corrugated fixed bars 3081 are arranged on both sides of the corrugated scraper 3082 to stabilize the corrugated scraper 3082 that is in continuous rolling contact with the electric roller 306. A plurality of corrugated circular holes 3083 are arranged on the surface of the corrugated scraper 3082 to facilitate the timely passage of the cleaned mud and ash. When the annular rotating plate 3075 rotates, the corrugated scraper 3082 drives the arc-shaped brush 3084 at the bottom of the inner side to rotate together. The arc-shaped brush 3084 rubs and cleans the surface of the circular rotating plate 3077 when the annular rotating plate 3075 rotates.
[0015] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.
Claims
1. A mobile pipeline endoscope inspection robot with adjustable shape, characterized in that: include: A mounting plate (1), wherein a fixing connecting rod (2) is arranged on the outer side of the mounting plate (1); A wheel drive device (3), the wheel drive device (3) drives the robot as a whole to move in the pipeline through rollers; The outer side of the mounting plate (1) is fixedly connected to one end of a fixed connecting rod (2), and one end of the fixed connecting rod (2) away from the mounting plate (1) is fixedly connected to the inner wall of the wheel drive device (3), and three fixed connecting rods (2) are provided, and the three fixed connecting rods (2) are distributed on the inner wall of the wheel drive device (3); Wherein, the wheel drive device (3) comprises: An annular long plate (301), wherein the inner wall of the annular long plate (301) is provided with a driving motor (302); A threaded rod (303), wherein a limiting long rod (304) is arranged outside the threaded rod (303); A concave sleeve plate (305), wherein a motorized roller (306) is disposed on the inner side of the concave sleeve plate (305); The inner wall of the annular long plate (301) is fixedly connected to the output end of the driving motor (302); the driving shaft of the driving motor (302) is fixedly connected to one end of the threaded rod (303); the bottom of the threaded rod (303) is rotatably connected to the outer side of the annular long plate (301) via a rotating bolt; the concave sleeve (305) is sleeved on the threaded rod (303) and is threadedly connected to the threaded rod (303); the inner wall of the concave sleeve (305) is rotatably connected to one side of the electric roller (306) via a rotating bolt; and one end of the limiting long rod (304) passes through the concave sleeve (305) and is slidably connected to the concave sleeve (305); The inner wall of the annular long plate (301) is fixedly connected to one end of the fixed connecting rod (2).
2. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 1, characterized in that: An adjusting mechanism (307) is sleeved and fixedly connected to the bottom of the threaded rod (303), a wheel-clearing mechanism (308) is fixedly connected to the top of the adjusting mechanism (307), a conical top block (309) is rotatably connected to the top of the threaded rod (303) via a rotating bolt, a first corrugated ring piece (310) is fixedly connected to the bottom of the concave sleeve plate (305), a second corrugated ring piece (311) is fixedly connected to the bottom of the second corrugated ring piece (311), and a docking ring plate (312) is fixedly connected to the bottom of the second corrugated ring piece (311).
3. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 2, characterized in that: A plurality of the wheel-clearing mechanisms (308) are provided, and the plurality of the wheel-clearing mechanisms (308) are distributed on the adjustment mechanism (307); a side of the first corrugated ring sheet (310) away from the conical top block (309) is fixedly connected to the bottom of the inner wall of the concave sleeve plate (305); and the adjustment mechanism (307) is sleeved on the concave sleeve plate (305) and is slidably connected to the concave sleeve plate (305).
4. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 2, characterized in that: The top of the limiting long rod (304) is fixedly connected to the bottom of the conical top block (309), and the bottom of the docking ring plate (312) is rotatably connected to the top of the adjustment mechanism (307) via a bearing.
5. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 2, characterized in that: The adjustment mechanism (307) comprises a linkage disk (3071), the top of the linkage disk (3071) is fixedly connected to a long sleeve (3072), the outer side of the long sleeve (3072) is fixedly connected to a curved scraper block (3073), the top of the inner wall of the long sleeve (3072) is penetrated by a T-shaped round rod (3074) and is slidably connected thereto, the top of the T-shaped round rod (3074) is fixedly connected to an annular rotating plate (3075), the inner wall of the annular rotating plate (3075) is provided with a built-in annular groove (3076), the inner wall of the built-in annular groove (3076) is rotatably connected to a circular rotating plate (3077) via a bearing, and the top of the circular rotating plate (3077) is provided with a square sliding hole (3078).
6. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 5, characterized in that: The linkage disc (3071) is sleeved on the bottom of the threaded rod (303) and fixedly connected to the threaded rod (303), and the inner wall of the square sliding hole (3078) is fixedly connected to the outer side of the concave sleeve plate (305).
7. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 5, characterized in that: The top of the linkage disc (3071) is rotatably connected to the bottom of the docking ring plate (312) via a bearing, and the top of the annular rotating plate (3075) is fixedly connected to the bottom of the wheel cleaning mechanism (308).
8. The mobile pipeline endoscope inspection robot with adjustable shape according to claim 2, characterized in that: The wheel cleaning mechanism (308) comprises a corrugated fixing strip (3081), one side of the corrugated fixing strip (3081) being fixedly connected to a corrugated scraper (3082), an outer surface of the corrugated scraper (3082) being provided with a corrugated circular hole (3083), and an inner bottom of the corrugated scraper (3082) being fixedly connected to an arc-shaped brush (3084).
9. The shape-adjustable pipeline endoscope inspection mobile robot according to claim 8, characterized in that: The bottom of the corrugated fixing strip (3081) is fixedly connected to the top of the annular rotating plate (3075), a plurality of the corrugated fixing strips (3081) are provided, and the plurality of the corrugated fixing strips (3081) are distributed on the annular rotating plate (3075).
10. The shape-adjustable pipeline endoscope inspection mobile robot according to claim 8, characterized in that: A plurality of the wave surface circular holes (3083) are provided, and the plurality of the wave surface circular holes (3083) are distributed on the wave-shaped scraper (3082); a plurality of the arc-shaped brushes (3084) are provided, and the plurality of the arc-shaped brushes (3084) are distributed on the inner bottom of the wave-shaped scraper (3082).