Pipeline detection robot

Abstract

The invention relates to the technical field of pipeline detection, in particular to a pipeline detection robot which comprises a driving mechanism. The device further comprises a supporting mechanism, a detection mechanism and a dredging mechanism. The driving mechanism, the detection mechanism and the dredging mechanism are all installed on the supporting mechanism. The supporting mechanism supports the detection mechanism and the dredging mechanism, the driving mechanism provides power for the detection mechanism and the dredging mechanism, the detection mechanism detects the internal environment of the pipeline, and the dredging mechanism dredges the blocked position in the pipeline. The supporting mechanism is placed in the drainage pipeline, the supporting mechanism and the dredging mechanism are unfolded, then the driving mechanism provides power for the supporting mechanism and drives the supporting mechanism to move in the pipeline, meanwhile, the detection mechanism detects the situation in the pipeline, and after the blockage position is detected, the driving mechanism provides power for the dredging mechanism; and the dredging mechanism dredges the blocked position, so that the practicability of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and particularly to a pipeline detection robot. Background Art

[0002] A robot for pipeline detection, namely a pipeline detection robot, also known as a pipeline CCTV detection robot, is an automated device specifically used for internal pipeline detection. For example, a pipeline detection robot disclosed in the invention patent with the publication number CN114811264B and a recyclable pipeline detection robot disclosed in the invention patent with the publication number CN111237587B, etc., can all achieve pipeline detection.

[0003] During a rainstorm, since some drainage wells are directly opened, a lot of garbage directly enters the drainage pipeline, causing the drainage pipeline to be blocked and serious waterlogging on the road surface. Therefore, it is necessary to detect the drainage pipe to determine the blockage location. However, the existing pipeline detection robot has a relatively simple mechanism, which is not convenient for detecting the blockage location in the pipeline in water. And after detecting the blockage location, it is not convenient to clean the blockage location, resulting in poor practicability. Therefore, it is urgent to improve the existing equipment to solve the above problems. Summary of the Invention

[0004] To solve the above technical problems, the present invention provides a pipeline detection robot that puts a support mechanism into the drainage pipeline, unfolds the support mechanism and the dredging mechanism, then provides power for the support mechanism through a driving mechanism to drive the support mechanism to move in the pipeline. At the same time, the internal situation of the pipeline is detected through a detection mechanism. After detecting the blockage location, power is provided for the dredging mechanism through the driving mechanism to dredge the blockage location, thereby improving the practicability of the equipment.

[0005] A pipeline detection robot of the present invention includes a driving mechanism; it also includes a support mechanism, a detection mechanism and a dredging mechanism, and the driving mechanism, the detection mechanism and the dredging mechanism are all installed on the support mechanism; The support mechanism supports the detection mechanism and the dredging mechanism, the driving mechanism provides power for the detection mechanism and the dredging mechanism, the detection mechanism detects the internal environment of the pipeline, and the dredging mechanism dredges the blockage location in the pipeline; Put the support mechanism into the drainage pipeline, unfold the support mechanism and the dredging mechanism, then provide power for the support mechanism through the driving mechanism to drive the support mechanism to move in the pipeline. At the same time, detect the situation inside the pipeline through the detection mechanism. After detecting the blockage location, provide power for the dredging mechanism through the driving mechanism to dredge the blockage location, thereby improving the practicability of the equipment.

[0006] Preferably, the support mechanism includes a first support column, two sets of plugs, and a braking mechanism. A drainage passage is provided inside the first support column. Longitudinal grooves are provided at both the left and right ends of the first support column. External threads are provided on the left and right portions of the first support column. The two sets of plugs are respectively installed in the longitudinal grooves at the left and right ends of the first support column, and the braking mechanism is installed at one end of the first support column. It unfolds in the pipeline through the braking mechanism, and cooperates with the dredging mechanism to support the first support column and the detection mechanism. Then, water is ejected through the braking mechanism to push the braking mechanism and the dredging mechanism to move in the pipeline, thereby improving the practicability of the device.

[0007] Preferably, the braking mechanism includes a second support column, a first nut, a first high-pressure nozzle, multiple first telescopic motors, a sliding sleeve, multiple support rods, multiple connecting rods, multiple springs, multiple rollers, and multiple braking plates. A first drain pipe is provided inside the second support column. A first longitudinal convex head is provided at one end of the second support column, and a jack is provided on the first longitudinal convex head. The first nut is rotatably sleeved on one end of the second support column. The first high-pressure nozzle is fixedly installed at the other end of the second support column. The multiple first telescopic motors are all fixedly installed on the second support column. The sliding sleeve is slidably installed on the second support column, and one end of each of the multiple first telescopic motors is connected to the sliding sleeve. One end of each of the multiple support rods is hinged to the other end of the second support column. One end of each of the multiple connecting rods is respectively hinged to the multiple support rods, and the other end of each of the multiple connecting rods is hinged to the sliding sleeve. The multiple springs are respectively installed at the other ends of the multiple support rods. The multiple rollers are respectively installed on the multiple springs. The multiple braking plates are respectively fixedly installed on the multiple support rods. Insert the other end of the second support column into the longitudinal groove at the left end of the first support column, and insert the plug in the longitudinal groove at the left end of the first support column into the jack on the second support column. At the same time, make the first drain pipe inside the second support column communicate with the drainage passage inside the first support column. Then rotate the first nut to thread the first nut with the second support column to limit the second support column. Then place the first support column in the pipeline. Through the extension of the multiple first telescopic motors, the sliding sleeve slides on the second support column. Through the transmission of the multiple connecting rods, the multiple support rods unfold, and the multiple rollers are supported on the inner wall of the pipeline, cooperating with the dredging mechanism to support the first support column and the detection mechanism. The water is discharged into the first drain pipe of the second support column through the driving mechanism, and then the first high-pressure nozzle is opened to eject the water. The multiple rollers rotate on the inner wall of the pipeline to make the device move in the pipeline. And when the dredging mechanism is performing dredging work, through the continuous extension of the multiple first telescopic motors, the multiple support rods continue to unfold to squeeze the multiple springs. Then the multiple springs contract to make the multiple braking plates support on the inner wall of the pipeline to limit the device, thereby improving the practicability of the device.

[0008] Preferably, the detection mechanism includes an angle adjustment mechanism and multiple ultrasonic probes. The angle adjustment mechanism is rotatably installed in the first support column, and multiple ultrasonic probes are all installed on the angle adjustment mechanism. The position of the multiple ultrasonic probes is adjusted by the angle adjustment mechanism, and then ultrasonic waves are emitted by the multiple ultrasonic probes to detect the environment inside the pipeline. At the same time, the detection results are transmitted to the controller in the hands of the ground staff, enabling the staff to timely understand the situation inside the pipeline, thereby improving the practicability of the equipment.

[0009] Preferably, the angle adjustment mechanism includes a rotating ring, a first motor, and multiple support frames. The rotating ring is rotatably installed in the first support column, the first motor is fixedly installed in the first support column, and a first toothed ring is provided on the rotating ring. A first gear is provided on the output shaft of the first motor, and the first gear is meshed with the first toothed ring. The multiple support frames are all installed on the rotating ring, and the multiple ultrasonic probes are respectively installed on the multiple rotating rings. By turning on the first motor, through the meshing transmission of the first gear and the first toothed ring, the rotating ring is driven to rotate, the positions of the multiple support frames are adjusted, and then the positions of the multiple ultrasonic probes are adjusted, thereby improving the practicability of the equipment.

[0010] Preferably, the dredging mechanism includes a third support column, a second nut, multiple second telescopic motors, a bearing, multiple water spray pipes, multiple second connecting rods, multiple universal wheels, multiple second high-pressure nozzles, a water delivery pipe, multiple connecting hoses, a housing, a second motor, and multiple cutting knives. One end of the third support column is provided with a second long strip-shaped protrusion, and a second jack is arranged on the second long strip-shaped protrusion. A second drain pipe is arranged inside the third support column. The second nut is rotatably sleeved on one end of the third support column. Multiple second telescopic motors are fixedly installed on the third support column. The bearing is slidably installed on the third support column, and one end of each of the multiple second telescopic motors is connected to the inner ring of the third support column. The water delivery pipe is rotatably installed on the other end of the third support column. One end of each of the multiple water spray pipes is hinged to the water delivery pipe. One end of each of the multiple second connecting rods is respectively hinged to the multiple water spray pipes, and the multiple water spray pipes are respectively communicated with the inside of the water delivery pipe through the multiple connecting hoses. The other end of each of the multiple second connecting rods is hinged to the outer ring of the bearing. Multiple universal wheels are respectively rotatably installed on the other end of the multiple water spray pipes. The housing and the second motor are both fixedly installed on the third support column, and the second motor is located in the housing. A second gear is arranged on the output shaft of the second motor. A second toothed ring is arranged on the water delivery pipe, and the second gear is meshed with the second toothed ring. Multiple cutting knives are respectively installed on the multiple water spray pipes. Insert the second long strip-shaped protrusion of the third support column into the long strip-shaped groove at the right end of the first support column, and insert the plug in the long strip-shaped groove at the right end of the first support column into the jack on the second long strip-shaped protrusion of the third support column. At the same time, make the second drain pipe in the third support column communicate with the drainage passage in the first support column. Then rotate the second nut to thread-connect the second nut to the first support column to fix the third support column. After that, place the first support column in the pipeline. Through the extension of the multiple second telescopic motors, the bearing slides on the third support column. Through the transmission of the multiple second connecting rods, the multiple water spray pipes are unfolded, so that the multiple universal wheels support on the inner wall of the pipeline, and cooperate with the braking mechanism to support the equipment, facilitating the movement of the equipment in the pipeline. After detecting the blockage position, the water is discharged into the second support column through the driving mechanism. The water flows through the first support column, the third support column, the water delivery pipe, and the multiple connecting hoses in sequence and then enters the multiple water spray pipes respectively. Then open the multiple second high-pressure nozzles to spray the water. At the same time, open the housing and drive the water delivery pipe to rotate, so that the multiple cutting knives cut the garbage at the blockage position, completing the dredging of the blockage position, thereby improving the practicability of the equipment.

[0011] Preferably, the driving mechanism includes a base, a frame, a coiling shaft, a third toothed ring, a third motor, a third gear, and a delivery pipe. The frame is installed on the base. The coiling shaft is rotatably installed on the frame. A rotary joint is provided at the front end of the coiling shaft, and a rotary connecting pipe is provided at the rear end of the coiling shaft. A connection port is provided in the middle of the coiling shaft. The rotary joint and the rotary connecting pipe on the coiling shaft are both connected to the connection port in the coiling shaft. The third toothed ring is sleeved on the front part of the coiling shaft. The third motor is fixedly installed on the frame. The third gear is installed on the output shaft of the third motor, and the third gear is meshed with the third toothed ring. One end of the delivery pipe is installed on the second support column, and the other end of the delivery pipe is connected to the connection port in the middle of the coiling shaft, and the delivery pipe is coiled on the coiling shaft. Connect the rotary connector on the coiling shaft to the power supply, connect the rotary connecting pipe on the coiling shaft to the high-pressure water source, and then turn on the third motor. Through the meshing transmission of the third gear and the third toothed ring, the coiling shaft releases the delivery pipe, which facilitates the movement of the braking mechanism and the dredging mechanism in the pipeline. At the same time, electric energy and high-pressure water are continuously delivered to the braking mechanism, the detection mechanism, and the dredging mechanism through the delivery pipe, enabling the equipment to continuously work in the pipeline, thereby improving the practicability of the equipment.

[0012] Preferably, the base includes a float and a counterweight. The float is installed at the bottom of the frame, and the counterweight is installed in the middle of the bottom end of the float. Through the float, it is convenient for the driving mechanism to float on the water surface, improving the applicability of the equipment. And through the counterweight to weigh the float, maintaining the stability of the float, thereby improving the practicability of the equipment.

[0013] Preferably, telescopic pipes are sleeved on the multiple groups of first telescopic motors and the multiple groups of second telescopic motors; protecting the multiple groups of first telescopic motors and the multiple groups of connecting rods, thereby improving the practicability of the equipment.

[0014] Preferably, a steel wire, a power cord, and a water delivery pipe are arranged inside the delivery pipe; improving the strength of the delivery pipe through the steel wire, conveying high-pressure water through the water delivery pipe, and conveying electric energy through the power cord, thereby improving the practicability of the equipment.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the cooperation of the braking mechanism and the dredging mechanism, it is convenient for the equipment to support in the pipeline and move in the pipeline by spraying high-pressure water flow, improving the convenience of pipeline detection by the equipment; 2. Dredging the detected blockage position through the dredging mechanism, improving the diversity of functions; 3. Both the braking mechanism and the dredging mechanism are umbrella-shaped mechanisms. After use, they are convenient for storage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the first axonometric structural schematic diagram of the present invention; Figure 2 is the second axonometric structure schematic diagram of the present invention; Figure 3 is the front view structure schematic diagram of the present invention; Figure 4 is the axonometric enlarged structure schematic diagram of the support mechanism, detection mechanism and dredging mechanism of the present invention; Figure 5 is the axonometric enlarged structure schematic diagram of the dredging mechanism of the present invention; Figure 6 is the present invention Figure 5 The enlarged structure schematic diagram of part A in; Figure 7 is the axonometric enlarged structure schematic diagram of the first support column of the present invention; Figure 8 is the right view enlarged structure schematic diagram of the first support column of the present invention; Figure 9 is the front view sectional enlarged structure schematic diagram of the first support column of the present invention; Figure 10 is the sectional schematic diagram of the delivery pipe of the present invention; Figure 11 is the structure schematic diagram of the prior art of the present invention.

[0017] Reference numerals in the drawings: 1, first support column; 2, plug; 3, second support column; 4, first nut; 5, first high-pressure nozzle; 6, first telescopic motor; 7, sliding sleeve; 8, support rod; 9, connecting rod; 10, spring; 11, roller; 12, brake plate; 13, ultrasonic probe; 14, swivel ring; 15, first motor; 16, support frame; 17, third support column; 18, second nut; 19, second telescopic motor; 20, bearing; 21, water spray pipe; 22, second connecting rod; 23, universal wheel; 24, second high-pressure nozzle; 25, water delivery pipe; 26, connecting hose; 27, housing; 28, second motor; 29, crushing knife; 30, frame; 31, winding shaft; 32, third toothed ring; 33, third motor; 34, third gear; 35, delivery pipe; 36, float; 37, counterweight; 38, steel wire; 39, power cord; 40, water supply pipe. Detailed implementation manners

[0018] For the convenience of understanding the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive. Embodiment

[0019] A pipeline inspection robot, comprising a driving mechanism; further comprising a support mechanism, a detection mechanism and a dredging mechanism, and the driving mechanism, the detection mechanism and the dredging mechanism are all installed on the support mechanism; The support mechanism supports the detection mechanism and the dredging mechanism, the driving mechanism provides power for the detection mechanism and the dredging mechanism, the detection mechanism detects the internal environment of the pipeline, and the dredging mechanism dredges the blocked position in the pipeline; The support mechanism includes a first support column 1, two groups of plugs 2 and a braking mechanism. A drainage passage is provided inside the first support column 1. Longitudinal grooves are provided at both the left end and the right end of the first support column 1. External threads are provided at the left and right parts of the first support column 1. The two groups of plugs 2 are respectively installed in the longitudinal grooves at the left and right ends of the first support column 1, and the braking mechanism is installed at one end of the first support column 1; The braking mechanism includes a second support column 3, a first nut 4, a first high-pressure nozzle 5, multiple groups of first telescopic motors 6, a sliding sleeve 7, multiple groups of support rods 8, multiple groups of connecting rods 9, multiple groups of springs 10, multiple groups of rollers 11 and multiple groups of brake plates 12. A first drain pipe is provided inside the second support column 3. A first longitudinal convex head is provided at one end of the second support column 3, and a jack is provided on the first longitudinal convex head. The first nut 4 is rotatably sleeved on one end of the second support column 3. The first high-pressure nozzle 5 is fixedly installed at the other end of the second support column 3. Multiple groups of first telescopic motors 6 are all fixedly installed on the second support column 3. The sliding sleeve 7 is slidably installed on the second support column 3, and one end of each of the multiple groups of first telescopic motors 6 is connected to the sliding sleeve 7. One end of each of the multiple groups of support rods 8 is hinged to the other end of the second support column 3. One end of each of the multiple groups of connecting rods 9 is respectively hinged to the multiple groups of support rods 8. The other end of each of the multiple groups of connecting rods 9 is hinged to the sliding sleeve 7. Multiple groups of springs 10 are respectively installed at the other end of the multiple groups of support rods 8. Multiple groups of rollers 11 are respectively installed on the multiple groups of springs 10. Multiple groups of brake plates 12 are respectively fixedly installed on the multiple groups of support rods 8; The detection mechanism includes an angle adjustment mechanism and multiple groups of ultrasonic probes 13. The angle adjustment mechanism is rotatably installed in the first support column 1, and multiple groups of ultrasonic probes 13 are all installed on the angle adjustment mechanism; The angle adjustment mechanism includes a rotating ring 14, a first motor 15 and multiple groups of support frames 16. The rotating ring 14 is rotatably installed in the first support column 1. The first motor 15 is fixedly installed in the first support column 1, and a first toothed ring is provided on the rotating ring 14. A first gear is provided on the output shaft of the first motor 15, and the first gear is meshed with the first toothed ring. Multiple groups of support frames 16 are all installed on the rotating ring 14, and the multiple groups of ultrasonic probes 13 are respectively installed on the multiple groups of rotating rings 14; The dredging mechanism includes a third support column 17, a second nut 18, multiple second telescopic motors 19, a bearing 20, multiple water spray pipes 21, multiple second connecting rods 22, multiple universal wheels 23, multiple second high-pressure nozzles 24, a water delivery pipe 25, multiple connecting hoses 26, a housing 27, a second motor 28, and multiple crushing knives 29. One end of the third support column 17 is provided with a second long strip-shaped convex head, and a second jack is provided on the second long strip-shaped convex head. A second drain pipe is arranged inside the third support column 17. The second nut 18 is rotatably sleeved on one end of the third support column 17. Multiple second telescopic motors 19 are fixedly installed on the third support column 17. The bearing 20 is slidably installed on the third support column 17, and one end of each of the multiple second telescopic motors 19 is connected to the inner ring of the third support column 17. The water delivery pipe 25 is rotatably installed on the other end of the third support column 17. One end of each of the multiple water spray pipes 21 is hinged to the water delivery pipe 25. One end of each of the multiple second connecting rods 22 is respectively hinged to the multiple water spray pipes 21, and the multiple water spray pipes 21 are respectively communicated with the inside of the water delivery pipe 25 through the multiple connecting hoses 26. The other end of each of the multiple second connecting rods 22 is hinged to the outer ring of the bearing 20. The multiple universal wheels 23 are respectively rotatably installed on the other end of the multiple water spray pipes 21. The housing 27 and the second motor 28 are both fixedly installed on the third support column 17, and the second motor 28 is located in the housing 27. A second gear is arranged on the output shaft of the second motor 28. A second toothed ring is arranged on the water delivery pipe 25, and the second gear is meshed with the second toothed ring. The multiple crushing knives 29 are respectively installed on the multiple water spray pipes 21; Insert the other end of the second support column 3 into the long strip-shaped groove at the left end of the first support column 1, and insert the plug 2 in the long strip-shaped groove at the left end of the first support column 1 into the jack on the second support column 3. At the same time, make the first drain pipe in the second support column 3 communicate with the drainage passage in the first support column 1. Then rotate the first nut 4 to make the first nut 4 threadedly connected to the second support column 3 to limit the second support column 3. Insert the second long strip convex head of the third support column 17 into the long strip-shaped groove at the right end of the first support column 1, and insert the plug 2 in the long strip-shaped groove at the right end of the first support column 1 into the jack on the second long strip convex head of the third support column 17. At the same time, make the second drain pipe in the third support column 17 communicate with the drainage passage in the first support column 1. Then rotate the second nut 18 to make the second nut 18 threadedly connected to the first support column 1 to fix the third support column 17. After that, place the first support column 1 into the pipeline. Through the extension of multiple groups of first telescopic motors 6, make the sliding sleeve 7 slide on the second support column 3. Through the transmission of multiple groups of connecting rods 9, make multiple groups of support rods 8 unfold to support multiple groups of rollers 11 on the inner wall of the pipeline. Through the extension of multiple groups of second telescopic motors 19, make the bearing 20 slide on the third support column 17. Through the transmission of multiple groups of second connecting rods 22, unfold multiple groups of water spray pipes 21 to support multiple groups of universal wheels 23 on the inner wall of the pipeline. Then, through the driving mechanism, drain water into the first drain pipe of the second support column 3, and then open the first high-pressure nozzle 5 to make the first high-pressure nozzle 5 spray water. Multiple groups of rollers 11 and multiple groups of universal wheels 23 rotate on the inner wall of the pipeline to make the equipment move in the pipeline. At the same time, by turning on the first motor 15, through the meshing transmission of the first gear and the first toothed ring, drive the rotating ring 14 to rotate to adjust the positions of multiple groups of support frames 16, and then adjust the positions of multiple groups of ultrasonic probes 13. Through multiple groups of ultrasonic probes 13 emitting ultrasonic waves, detect the environment inside the pipeline, and at the same time transmit the detection results to the controller in the hands of the ground staff, so that the staff can timely understand the situation inside the pipeline. After detecting the blockage position inside the pipeline, through the continuous extension of multiple groups of first telescopic motors 6, make multiple groups of support rods 8 continue to unfold to squeeze multiple groups of springs 10. Then multiple groups of springs 10 contract to make multiple groups of brake plates 12 support on the inner wall of the pipeline to limit the equipment. After that, through the driving mechanism, drain water into the second support column 3. The water flows through the first support column 1, the third support column 17, the water delivery pipe 25 and multiple groups of connecting hoses 26 in sequence and then enters multiple groups of water spray pipes 21 respectively. Then open multiple groups of second high-pressure nozzles 24 to spray water. At the same time, open the outer shell 27 and drive the water delivery pipe 25 to rotate to make multiple groups of cutting knives 29 cut the garbage at the blockage position to complete the dredging of the blockage position, thereby improving the practicability of the equipment. Embodiment

[0020] As Figures 1 to 11As shown in the figure, a pipeline inspection robot includes a driving mechanism; it also includes a support mechanism, a detection mechanism, and a dredging mechanism. The driving mechanism, the detection mechanism, and the dredging mechanism are all installed on the support mechanism; The support mechanism supports the detection mechanism and the dredging mechanism. The driving mechanism provides power for the detection mechanism and the dredging mechanism. The detection mechanism detects the internal environment of the pipeline, and the dredging mechanism dredges the blocked position in the pipeline; The support mechanism includes a first support column 1, two groups of plugs 2, and a braking mechanism. A drainage passage is provided inside the first support column 1. Longitudinal grooves are provided at both the left and right ends of the first support column 1. External threads are provided on the left and right parts of the first support column 1. The two groups of plugs 2 are respectively installed in the longitudinal grooves at the left and right ends of the first support column 1. The braking mechanism is installed at one end of the first support column 1; The braking mechanism includes a second support column 3, a first nut 4, a first high-pressure nozzle 5, multiple groups of first telescopic motors 6, a sliding sleeve 7, multiple groups of support rods 8, multiple groups of connecting rods 9, multiple groups of springs 10, multiple groups of rollers 11, and multiple groups of brake plates 12. A first drain pipe is provided inside the second support column 3. A first longitudinal convex head is provided at one end of the second support column 3, and a jack is provided on the first longitudinal convex head. The first nut 4 is rotatably sleeved on one end of the second support column 3. The first high-pressure nozzle 5 is fixedly installed at the other end of the second support column 3. Multiple groups of first telescopic motors 6 are all fixedly installed on the second support column 3. The sliding sleeve 7 is slidably installed on the second support column 3, and one end of each of the multiple groups of first telescopic motors 6 is connected to the sliding sleeve 7. One end of each of the multiple groups of support rods 8 is hinged to the other end of the second support column 3. One end of each of the multiple groups of connecting rods 9 is respectively hinged to the multiple groups of support rods 8. The other end of each of the multiple groups of connecting rods 9 is hinged to the sliding sleeve 7. Multiple groups of springs 10 are respectively installed at the other end of the multiple groups of support rods 8. Multiple groups of rollers 11 are respectively installed on the multiple groups of springs 10. Multiple groups of brake plates 12 are respectively fixedly installed on the multiple groups of support rods 8; The detection mechanism includes an angle adjustment mechanism and multiple groups of ultrasonic probes 13. The angle adjustment mechanism is rotatably installed in the first support column 1, and multiple groups of ultrasonic probes 13 are all installed on the angle adjustment mechanism; The angle adjustment mechanism includes a rotating ring 14, a first motor 15, and multiple groups of support frames 16. The rotating ring 14 is rotatably installed in the first support column 1. The first motor 15 is fixedly installed in the first support column 1, and a first toothed ring is provided on the rotating ring 14. A first gear is provided on the output shaft of the first motor 15, and the first gear is meshed with the first toothed ring. Multiple groups of support frames 16 are all installed on the rotating ring 14. The multiple groups of ultrasonic probes 13 are respectively installed on the multiple groups of rotating rings 14; The dredging mechanism includes a third support column 17, a second nut 18, multiple second telescopic motors 19, a bearing 20, multiple water spray pipes 21, multiple second connecting rods 22, multiple universal wheels 23, multiple second high-pressure nozzles 24, a water delivery pipe 25, multiple connecting hoses 26, a housing 27, a second motor 28, and multiple crushing knives 29. One end of the third support column 17 is provided with a second long strip-shaped convex head, and a second jack is provided on the second long strip-shaped convex head. A second drain pipe is arranged inside the third support column 17. The second nut 18 is rotatably sleeved on one end of the third support column 17. Multiple second telescopic motors 19 are fixedly installed on the third support column 17. The bearing 20 is slidably installed on the third support column 17, and one ends of multiple second telescopic motors 19 are respectively connected to the inner ring of the third support column 17. The water delivery pipe 25 is rotatably installed on the other end of the third support column 17. One ends of multiple water spray pipes 21 are respectively hinged to the water delivery pipe 25. One ends of multiple second connecting rods 22 are respectively hinged to multiple water spray pipes 21, and multiple water spray pipes 21 are respectively communicated with the inside of the water delivery pipe 25 through multiple connecting hoses 26. The other ends of multiple second connecting rods 22 are respectively hinged to the outer ring of the bearing 20. Multiple universal wheels 23 are respectively rotatably installed on the other ends of multiple water spray pipes 21. The housing 27 and the second motor 28 are both fixedly installed on the third support column 17, and the second motor 28 is located in the housing 27. A second gear is arranged on the output shaft of the second motor 28. A second toothed ring is arranged on the water delivery pipe 25, and the second gear is in meshing connection with the second toothed ring. Multiple crushing knives 29 are respectively installed on multiple water spray pipes 21; The driving mechanism includes a base, a frame 30, a coiling shaft 31, a third toothed ring 32, a third motor 33, a third gear 34, and a delivery pipe 35. The frame 30 is installed on the base. The coiling shaft 31 is rotatably installed on the frame 30, and a rotary joint is arranged at the front end of the coiling shaft 31. A rotary connecting pipe is arranged at the rear end of the coiling shaft 31. A connection port is arranged in the middle of the coiling shaft 31, and the rotary joint and the rotary connecting pipe on the coiling shaft 31 are both connected to the connection port in the coiling shaft 31. The third toothed ring 32 is sleeved on the front part of the coiling shaft 31. The third motor 33 is fixedly installed on the frame 30. The third gear 34 is installed on the output shaft of the third motor 33, and the third gear 34 is in meshing connection with the third toothed ring 32. One end of the delivery pipe 35 is installed on the second support column 3, and the other end of the delivery pipe 35 is connected to the connection port in the middle of the coiling shaft 31, and the delivery pipe 35 is wound on the coiling shaft 31; The base includes a float 36 and a counterweight 37. The float 36 is installed at the bottom of the frame 30, and the counterweight 37 is installed in the middle of the bottom end of the float 36; The multiple first telescopic motors 6 and the multiple second telescopic motors 19 are both sleeved with telescopic pipes; A steel wire 38, a power cord 39, and a water supply pipe 40 are arranged inside the delivery pipe 35; Connect the rotary connector on the coiling shaft 31 to the power supply, and connect the rotary connecting pipe on the coiling shaft 31 to the high-pressure water source. Then turn on the third motor 33. Through the meshing transmission of the third gear 34 and the third toothed ring 32, the coiling shaft 31 loosens the conveying pipe 35. Insert the other end of the second support column 3 into the long strip-shaped groove at the left end of the first support column 1, and insert the plug 2 in the long strip-shaped groove at the left end of the first support column 1 into the jack on the second support column 3. At the same time, make the first drain pipe in the second support column 3 communicate with the drainage passage in the first support column 1. Then rotate the first nut 4 to make the first nut 4 threadedly connected to the second support column 3 to limit the second support column 3. Insert the second long strip convex head of the third support column 17 into the long strip-shaped groove at the right end of the first support column 1, and insert the plug 2 in the long strip-shaped groove at the right end of the first support column 1 into the jack on the second long strip convex head of the third support column 17. At the same time, make the second drain pipe in the third support column 17 communicate with the drainage passage in the first support column 1. Then rotate the second nut 18 to make the second nut 18 threadedly connected to the first support column 1 to fix the third support column 17. Then place the first support column 1 into the pipeline. Through the extension of multiple groups of first telescopic motors 6, the sliding sleeve 7 slides on the second support column 3. Through the transmission of multiple groups of connecting rods 9, multiple groups of support rods 8 are unfolded, and multiple groups of rollers 11 are supported on the inner wall of the pipeline. Through the extension of multiple groups of second telescopic motors 19, the bearing 20 slides on the third support column 17. Through the transmission of multiple groups of second connecting rods 22, multiple groups of water spray pipes 21 are unfolded, and multiple groups of universal wheels 23 are supported on the inner wall of the pipeline. Then, through the driving mechanism, water is discharged into the first drain pipe of the second support column 3. Then turn on the first high-pressure nozzle 5 to make the first high-pressure nozzle 5 spray water. Multiple groups of rollers 11 and multiple groups of universal wheels 23 rotate on the inner wall of the pipeline to make the equipment move in the pipeline. At the same time, by turning on the first motor 15, through the meshing transmission of the first gear and the first toothed ring, the rotating ring 14 is driven to rotate, and the positions of multiple groups of support frames 16 are adjusted, and then the positions of multiple groups of ultrasonic probes 13 are adjusted. Through multiple groups of ultrasonic probes 13 emitting ultrasonic waves, the environment inside the pipeline is detected, and at the same time, the detection results are transmitted to the controller in the hands of the ground staff, so that the staff can timely understand the situation inside the pipeline. After detecting the blockage position in the pipeline, through the continuous extension of multiple groups of first telescopic motors 6, multiple groups of support rods 8 are continuously unfolded to squeeze multiple groups of springs 10. Then multiple groups of springs 10 contract, and multiple groups of brake plates 12 are supported on the inner wall of the pipeline to limit the equipment. Then, through the driving mechanism, water is discharged into the second support column 3. The water flows through the first support column 1, the third support column 17, the water delivery pipe 25 and multiple groups of connecting hoses 26 in sequence and then enters multiple groups of water spray pipes 21 respectively. Then turn on multiple groups of second high-pressure nozzles 24 to spray water. At the same time, open the housing 27 and drive the water delivery pipe 25 to rotate, so that multiple groups of crushing knives 29 cut the garbage at the blockage position to complete the dredging of the blockage position, thereby improving the practicability of the equipment.

[0021] The main functions achieved by the present invention are: improving the convenience of the device for pipeline detection, enhancing the diversity of functions, and improving the convenience of storage; 1. Improving the convenience of the device for pipeline detection: By the cooperation of the braking mechanism and the dredging mechanism, it is convenient for the device to be supported in the pipeline and move in the pipeline by spraying high-pressure water flow, thus improving the convenience of the device for pipeline detection; 2. Enhancing the diversity of functions: The dredging mechanism dredges the detected blockage position, enhancing the diversity of functions; 3. Improving the convenience of storage: Both the braking mechanism and the dredging mechanism are umbrella-shaped mechanisms, which are convenient for storage after use.

[0022] For a pipeline detection robot of the present invention, its installation method, connection method or setting method are all common mechanical methods, and any method that can achieve its beneficial effects can be implemented; The first telescopic motor 6, ultrasonic probe 13, first motor 15, second telescopic motor 19, second motor 28 and third motor 33 of a pipeline detection robot of the present invention are purchased on the market, and those skilled in the art only need to install and operate according to the attached operation manual, without the need for creative labor from those skilled in the art.

[0023] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A pipeline inspection robot, comprising a driving mechanism; characterized in that: It also includes a supporting mechanism, a detecting mechanism and a dredging mechanism, wherein the driving mechanism, the detecting mechanism and the dredging mechanism are all installed on the supporting mechanism; The supporting mechanism supports the detecting mechanism and the unblocking mechanism, the driving mechanism provides power for the detecting mechanism and the unblocking mechanism, the detecting mechanism detects the internal environment of the pipeline, and the unblocking mechanism unblocks the blocked position in the pipeline.

2. A pipeline inspection robot according to claim 1, characterized in that: The support mechanism comprises a first support column (1), two groups of plugs (2) and a brake mechanism, wherein a drainage passage is provided inside the first support column (1), a long strip groove is provided at the left end and the right end of the first support column (1), an external thread is provided at the left and right parts of the first support column (1), the two groups of plugs (2) are respectively installed in the long strip grooves at the left and right ends of the first support column (1), and the brake mechanism is installed at one end of the first support column (1).

3. A pipeline inspection robot as claimed in claim 2, characterized in that: The braking mechanism comprises a second support column (3), a first nut (4), a first high-pressure nozzle (5), a plurality of first telescopic motors (6), a sliding sleeve (7), a plurality of support rods (8), a plurality of connecting rods (9), a plurality of springs (10), a plurality of rollers (11) and a plurality of brake plates (12); a first drainage pipe is arranged inside the second support column (3); a first elongated protrusion is arranged at one end of the second support column (3), and a socket is arranged on the first elongated protrusion; the first nut (4) is rotatably mounted on one end of the second support column (3); the first high-pressure nozzle (5) is fixedly mounted on the other end of the second support column (3); and the plurality of first telescopic motors (6) are arranged inside the second support column (3). The machines (6) are fixedly mounted on the second support column (3), the sliding sleeve (7) is slidably mounted on the second support column (3), and one end of the plurality of first telescopic motors (6) is connected to the sliding sleeve (7), one end of the plurality of support rods (8) is hinged to the other end of the second support column (3), one end of the plurality of connecting rods (9) is hinged to the plurality of support rods (8), the other end of the plurality of connecting rods (9) is hinged to the sliding sleeve (7), the plurality of springs (10) are respectively mounted on the other end of the plurality of support rods (8), the plurality of rollers (11) are respectively mounted on the plurality of springs (10), and the plurality of brake plates (12) are respectively fixedly mounted on the plurality of support rods (8).

4. A pipeline inspection robot as claimed in claim 2, characterized in that: The detection mechanism comprises an angle adjustment mechanism and a plurality of groups of ultrasonic probes (13); the angle adjustment mechanism is rotatably mounted in the first support column (1); and the plurality of groups of ultrasonic probes (13) are all mounted on the angle adjustment mechanism.

5. A pipeline inspection robot as claimed in claim 4, characterized in that: The angle adjustment mechanism comprises a rotating ring (14), a first motor (15) and a plurality of support frames (16); the rotating ring (14) is rotatably mounted in the first support column (1); the first motor (15) is fixedly mounted in the first support column (1); a first gear ring is arranged on the rotating ring (14); a first gear is arranged on the output shaft of the first motor (15); and the first gear is meshingly connected with the first gear ring; the plurality of support frames (16) are all mounted on the rotating ring (14); and the plurality of ultrasonic probes (13) are respectively mounted on the plurality of rotating rings (14).

6. A pipeline inspection robot as claimed in claim 3, characterized in that: The dredging mechanism comprises a third support column (17), a second nut (18), a plurality of second telescopic motors (19), a bearing (20), a plurality of water spray pipes (21), a plurality of second connecting rods (22), a plurality of universal wheels (23), a plurality of second high-pressure nozzles (24), a water pipe (25), a plurality of connecting hoses (26), a housing (27), a second motor (28) and a plurality of crushing knives (29). A second long strip convex head is provided at one end of the third support column (17), and a second plug hole is provided on the second long strip convex head. A second drainage pipe is provided inside the third support column (17). The second nut (18) is rotatably mounted on one end of the third support column (17). The plurality of second telescopic motors (19) are fixedly mounted on the third support column (17). The bearing (20) is slidably mounted on the third support column (17), and one end of the plurality of second telescopic motors (19) is connected to the inner ring of the third support column (17). The water pipe (25) is rotatably mounted on the other end of the third support column (17), one end of each of the plurality of water spray pipes (21) is hinged to the water pipe (25), one end of each of the plurality of second connecting rods (22) is hinged to the plurality of water spray pipes (21), and the plurality of water spray pipes (21) are connected to the inside of the water pipe (25) through a plurality of connecting hoses (26), the other ends of the plurality of second connecting rods (22) are hinged to the outer ring of the bearing (20), and the plurality of universal wheels ( 23) are rotatably mounted on the other end of the plurality of water spray pipes (21), the housing (27) and the second motor (28) are fixedly mounted on the third support column (17), and the second motor (28) is located in the housing (27), a second gear is arranged on the output shaft of the second motor (28), a second gear ring is arranged on the water delivery pipe (25), and the second gear is meshingly connected with the second gear ring, and the plurality of crushing knives (29) are respectively mounted on the plurality of water spray pipes (21).

7. A pipeline inspection robot as claimed in claim 3, characterized in that: The driving mechanism comprises a base, a frame (30), a winding shaft (31), a third gear ring (32), a third motor (33), a third gear (34) and a conveying pipe (35); the frame (30) is mounted on the base; the winding shaft (31) is rotatably mounted on the frame (30); a rotating joint is provided at the front end of the winding shaft (31); a rotating connecting pipe is provided at the rear end of the winding shaft (31); a connecting port is provided at the middle of the winding shaft (31); and the rotating joint and the rotating connecting pipe on the winding shaft (31) are both connected to the winding shaft ( The third gear ring (32) is mounted on the front of the winding shaft (31), the third motor (33) is fixedly mounted on the frame (30), the third gear (34) is mounted on the output shaft of the third motor (33), and the third gear (34) and the third gear ring (32) are meshingly connected, one end of the conveying pipe (35) is mounted on the second support column (3), the other end of the conveying pipe (35) is connected to the connecting port in the middle of the winding shaft (31), and the conveying pipe (35) is wound on the winding shaft (31).

8. A pipeline inspection robot as claimed in claim 7, characterized in that: The base comprises a float (36) and a counterweight (37); the float (36) is mounted on the bottom of the frame (30), and the counterweight (37) is mounted on the middle of the bottom end of the float (36).

9. The pipeline inspection robot according to claim 6, characterized in that: The multiple groups of first telescopic motors (6) and the multiple groups of second telescopic motors (19) are all sleeved with telescopic tubes.

10. The pipeline inspection robot according to claim 7, characterized in that: A steel wire (38), a power line (39) and a water delivery pipe (40) are arranged inside the delivery pipe (35).

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