Anti-collision drainage pipe network anomaly detection robot capable of removing obstacles

Abstract

The invention belongs to the technical field of drainage pipe network detection equipment, and discloses an anti-collision drainage pipe network detection robot capable of removing obstacles, which is composed of a main body, a pre-collision mechanism, a detection device, a walking device and a removing mechanism. A main body is divided into a front end, a machine body and a rear end, a pre-collision mechanism is arranged at the front end and comprises a collision ring, a buffer transmission mechanism and a stop mechanism, and after collision is sensed through a spring plate, a stop switch contact is triggered through a ball head contact block to achieve sudden stop protection. The detection device integrates a vision module, a sonar module and a comprehensive detection module on a sensing block, and is equipped with a hydraulic telescopic arm of a multi-degree-of-freedom bionic mechanical claw for dredging blockage. The drainage pipe network detection robot has the functions of active collision prevention and obstacle avoidance, self-adaptive obstacle removal and multi-environment compatibility.

Description

Technical Field

[0001] The present invention relates to the technical field of drainage pipe network detection equipment, and in particular to a drainage pipe network anomaly detection robot which is collision-resistant and capable of clearing obstacles. Background Art

[0002] During regular inspection and maintenance of underground drainage networks, pipeline inspection robots are usually used for inspection. Equipped with visual sensors, lidar, ultrasonic equipment, etc., they can remotely obtain internal images and structural data of the pipelines.

[0003] However, the existing detection robots still have the following technical bottlenecks in practical applications. For example, a Chinese patent with the publication number CN222458858U discloses a drain pipe video detection robot, which relates to the field of drainage management technology and includes a base plate, a base is fixedly connected to the top edge of the base plate near one side, a first through hole is provided on one side of the base, a rotating shaft is connected to the internal rotation of the first through hole, a connecting block is fixedly sleeved on the outer surface of the rotating shaft, a sliding groove is provided on the top of the connecting block, a shrinking block is slidably connected to the inside of the sliding groove, and a matching connecting block is fixedly connected to the top of the shrinking block. Although the present invention solves the traditional problem of partial drainage detection in the vicinity of the drain outlet, the effect of the existing drainage detection is very one-sided, which makes it inconvenient for the device to perform effective detection, resulting in the method of using the device not being widely used. The existing method is clumsy and not applicable, thereby reducing the effectiveness of the device. However, it still has the following problems:

[0004] Insufficient collision avoidance and obstacle avoidance capabilities: Drainage pipe networks are complex environments, often containing bends, diameter changes, branching structures, and unforeseen obstacles (such as gravel, tree roots, and debris). Existing robots often use rigid shells or simple buffer structures and lack active obstacle avoidance mechanisms. They are prone to collisions at high speeds or in confined spaces, causing equipment damage or mission interruption. Although some solutions have introduced infrared or ultrasonic sensors for obstacle warning, they are limited by the algorithm's response speed and environmental adaptability, making it difficult to achieve accurate and effective avoidance in dynamic and complex scenarios.

[0005] Lack of autonomous obstruction removal function: When there are soft deposits (such as silt) or hard blockages (such as bricks and stones) in the pipeline, existing robots are usually unable to handle them autonomously and need to rely on external equipment or manual intervention to clean them, which greatly affects the continuity and sustainability of detection.

[0006] Limited adaptability to complex environments: Drainage pipes are characterized by high humidity, low visibility, and can even be filled with water. Existing robots often rely on a single drive system (such as tracks or rollers), which lacks grip on wet, slippery, or muddy pipe walls, making them prone to slipping or overturning, resulting in distorted detection data and making them unable to even sneak through pipes filled with water.

[0007] In response to the above problems, the industry urgently needs a drainage network anomaly detection robot that is anti-collision and can clear obstacles. Summary of the Invention

[0008] In view of the above-mentioned technical deficiencies, the purpose of the present invention is to provide a drainage network inspection robot with active anti-collision and obstacle avoidance, adaptive obstacle removal and multi-environment compatibility.

[0009] To solve the above technical problems, the present invention adopts the following technical solution: The present invention provides a drainage network anomaly detection robot that is collision-resistant and can clear obstacles, comprising:

[0010] a main body, said main body comprising a front end, a fuselage, and a rear end;

[0011] A pre-collision mechanism, the pre-collision mechanism being arranged at the front end;

[0012] a detection device, the detection device being arranged on the pre-crash mechanism;

[0013] A running device, the running device comprising a running mechanism 1 arranged at the rear end for diving movement and a running mechanism 2 arranged on the fuselage for normal movement;

[0014] Among them, the detection device includes a visual detection device, a sonar detection device and a comprehensive detection device;

[0015] A clearing mechanism for clearing blockages is also arranged on one side of the detection device.

[0016] Preferably, the pre-collision mechanism comprises:

[0017] an impact ring, the impact ring being coaxial with the fuselage;

[0018] A buffer transmission mechanism, used to buffer the movement of the impact ring when an impact occurs and transmit the collision signal;

[0019] A stop mechanism is arranged on a side of the buffer transmission mechanism away from the impact ring;

[0020] Wherein, the stopping mechanism is used to receive information about the collision of the impact ring and control the walking mechanism to stop moving;

[0021] The stop mechanism comprises a stop block, and a plurality of stop switch contacts are arranged on the stop block at the contact end with the buffer transmission mechanism.

[0022] Preferably, the buffer transfer mechanism includes:

[0023] The sensing end is detachably connected to the impact ring and is used to receive the physical signal of the impact ring colliding;

[0024] The transmission end connects the sensing end and the stop block, and is used to identify the collision signal and perform physical judgment on the signal;

[0025] The sensing end includes a spring plate connected to the impact ring and a sensing block for mounting the spring plate, and the detection device is arranged on the sensing block.

[0026] Preferably, the transmission end comprises a first ball contact block in contact with the sensing block and a second ball contact block connected to the stop block;

[0027] Wherein, a connection groove matching the ball head contact block 2 is arranged on the stop block, and a plurality of stop switch contacts are evenly distributed in the connection groove.

[0028] Preferably, the first walking mechanism is a propeller propeller, and the second walking mechanism is arranged in multiple groups, and the multiple groups of the second walking mechanism are arranged on the fuselage at equal intervals.

[0029] Preferably, each group of the second walking mechanism comprises:

[0030] Two moving wheels, one of which has a built-in hub motor, and the two moving wheels are symmetrically arranged;

[0031] Two support frames, used for installing two moving wheels respectively and both hinged to the fuselage;

[0032] An adjustment mechanism for controlling the synchronous extension of the two support frames on the fuselage;

[0033] Wherein, the regulating mechanism includes:

[0034] An adjusting rod is arranged on one side of the supporting frame;

[0035] A double-headed screw is threadedly connected to the end of the adjusting rod and controls the adjusting rod to move back and forth on its axis;

[0036] A servo motor, wherein the output end of the servo motor is coaxially fixed to the double-headed screw;

[0037] One end of the adjusting rod is hinged to the support frame, and the other end of the adjusting rod is hinged to an adjusting seat threadedly connected to the double-headed screw;

[0038] The two adjustment seats are respectively arranged on the two threads of the double-headed screw.

[0039] Preferably, a protective mechanism for protecting the surface threads of the double-start screw is also arranged on the outer side of the double-start screw.

[0040] Preferably, the protection mechanism includes:

[0041] A plurality of fixed support rings are arranged;

[0042] elastic rubber rings, a plurality of which are arranged;

[0043] A cloth drum, which is arranged in multiple sections and is sleeved on the outside of the double-headed screw and seals the double-headed screw inside;

[0044] The fixed support ring and the elastic rubber ring are alternately arranged on the cloth tube at equal intervals. The cloth tube is made of nylon and is waterproof.

[0045] Preferably, the cleaning mechanism comprises:

[0046] Telescopic arm, the telescopic arm adopts a hydraulic telescopic mechanism;

[0047] A mechanical claw, the mechanical claw being arranged at the telescopic end of the telescopic arm;

[0048] Wherein, the mechanical claw is a bionic mechanical claw with at least three rotational degrees of freedom.

[0049] Preferably, a buoyancy box is arranged on the fuselage between the two sets of walking mechanisms 2, and each of the buoyancy boxes is also arranged with a water inlet valve and an automatic drainage mechanism.

[0050] The beneficial effects of the present invention are:

[0051] The present invention sets up a pre-collision mechanism to actively sense collisions and trigger stop protection, configures a propeller thruster and an adjustable walking mechanism to adapt to different environments, and combines a mechanical claw clearing mechanism to achieve autonomous pipeline dredging. It has the advantages of active anti-collision protection, autonomous dredging of pipeline blockages, and adaptability to complex pipeline network environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0053] Figure 1 A schematic diagram of the structure of a drainage network anomaly detection robot that can avoid collisions and clear obstacles provided by an embodiment of the present invention Figure 1 .

[0054] Figure 2 A schematic diagram of the structure of a drainage network anomaly detection robot that can avoid collisions and clear obstacles provided by an embodiment of the present invention Figure 2 .

[0055] Figure 3 A structural schematic diagram of a pre-collision mechanism of a drainage network anomaly detection robot with anti-collision and obstacle-clearing capabilities provided by an embodiment of the present invention.

[0056] Figure 4 for Figure 3 Schematic diagram of the structure at point A in .

[0057] Figure 5 A schematic structural diagram of an adjustment mechanism of a drainage network anomaly detection robot that is collision-resistant and can clear obstacles provided in an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] 1. Front end; 2. Fuselage; 3. Rear end; 4. Impact ring; 5. Stop block; 6. Stop switch contact; 7. Spring plate; 8. Sensing block; 10. Ball head contact block 1; 11. Ball head contact block 2; 12. Connecting groove; 13. Propeller thruster; 14. Moving wheel; 15. Support frame; 16. Adjustment rod; 17. Double-headed screw; 18. Servo motor; 19. Adjustment seat; 20. Fixed support ring; 21. Elastic rubber ring; 22. Cloth tube; 23. Telescopic arm; 24. Mechanical claw; 25. Float, 26-Through hole. DETAILED DESCRIPTION

[0060] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0061] Existing technologies often face collision risks in complex pipeline environments, insufficient obstacle removal capabilities, and poor mobility. Traditional solutions rely on rigid housings or simple buffer structures, making them ineffective against unexpected collisions. Their detection devices are limited to a single function, making it difficult to comprehensively identify pipeline anomalies. Their travel systems are limited to a single drive mode, failing to accommodate both submersible and land-based mobility. For example, in water-filled pipes, conventional travel mechanisms are prone to slipping or capsizing, resulting in inspection interruptions.

[0062] To address these challenges, a robot with active collision avoidance, multimodal detection, adaptive locomotion, and obstacle removal capabilities must be designed. First, consider how to quickly cushion the impact and transmit signals when a collision occurs to prevent equipment damage. Secondly, integrate vision, sonar, and integrated detection devices to improve anomaly identification accuracy. Finally, specialized locomotion mechanisms must be configured for different pipeline environments, such as propellers for submersible movement and wheels for drying pipelines. Finally, a robotic arm must be positioned alongside the detection device to enable autonomous unblocking.

[0063] Example 1:

[0064] like Figures 1 to 5 As shown, the present invention provides a drainage pipe network anomaly detection robot that is collision-resistant and can clear obstacles, and a drainage pipe network anomaly detection robot that is collision-resistant and can clear obstacles includes a main body, specifically the main body includes a front end 1, a fuselage 2 and a rear end 3;

[0065] The pre-collision mechanism is arranged at the front end for buffering collisions; the detection device integrates visual detection, sonar detection and comprehensive detection functions, and a walking device for overall movement is arranged on the rear end 3. Specifically, the walking device includes a walking mechanism 1 arranged for diving movement and a walking mechanism 2 arranged on the fuselage 2 for ordinary movement. The clearing mechanism is arranged on one side of the detection device for clearing blockages.

[0066] The detection devices include visual detection devices, sonar detection devices, and integrated detection devices. All detection devices are existing technologies, so we directly purchase, install, and use them. For visual detection, we use a multispectral camera, for sonar detection, we use a sonar array, and for integrated detection, we use a laser scanner and a gas sensor array. The following is a brief description of them:

[0067] The multispectral camera is equipped with a waterproof high-definition camera (wide-angle / zoom) and LED high-intensity lighting to capture real-time images of the pipeline inner wall and identify defects such as cracks, leaks, tree root intrusion, and sediment accumulation;

[0068] When used in turbid water, infrared or laser-assisted imaging is used to penetrate the interference of suspended matter, and image algorithms are used to automatically mark defects (such as AI identifying the width and length of cracks in pipe walls);

[0069] The sonar array is suitable for full or half-full pipes. It emits ultrasonic waves through sonar sensors to detect deformation, blockage or sediment thickness in underwater pipes. The principle is that the ultrasonic waves are reflected by obstacles, and the sediment height or pipe diameter change is calculated based on the echo time difference.

[0070] The sonar array for gas detection integrates gas sensors such as methane (CH4) and hydrogen sulfide (H2S) to monitor the concentration of harmful gases in the pipeline in real time. Its principle is to use electrochemical sensors to generate current signals through the reaction between gas molecules and electrodes to determine whether the concentration exceeds the standard.

[0071] Laser detection uses contour scanning technology. A rotating laser probe scans the inner wall of the pipe to generate a 3D contour model with millimeter-level accuracy. The principle is to use a laser rangefinder (LiDAR) to emit a laser beam and receive reflected light to calculate parameters such as the inner diameter of the pipe and ovality deformation.

[0072] The built-in lithium battery pack in the fuselage 2 supports 4-8 hours of continuous operation. It can optionally support wireless charging energy system or use cable power supply. During long-distance detection, waterproof cables are used to simultaneously supply power and transmit data.

[0073] The main control unit uses an embedded processor (such as the ARM Cortex-A series) to run a real-time operating system (RTOS) to coordinate sensors and motion control.

[0074] It has two communication modules, one is fiber optic communication, which realizes real-time return of high-definition video through a towed cable (without delay), and the other is wireless communication, which uses low-frequency radio in cable-free mode (penetrating soil / water).

[0075] The pre-crash mechanism is a component that uses a mechanical structure to buffer the impact of a collision and trigger a stop signal. It specifically includes an impact ring 4 coaxial with the fuselage 2, a buffer transmission mechanism for buffering the movement of the impact ring 4 during a collision and transmitting the collision signal, and a stop mechanism arranged on the side of the buffer transmission mechanism away from the impact ring 4. The pre-crash mechanism is linked to the stop system to quickly interrupt movement when a collision occurs, reducing the risk of equipment damage compared to traditional rigid structures.

[0076] The stop mechanism is used to receive information about the collision of the impact ring 4 and control the walking mechanism to stop moving. The stop mechanism includes a stop block 5, and a plurality of stop switch contacts 6 are arranged on the contact end of the stop block 5 with the buffer transmission mechanism;

[0077] Among them, the impact ring 4 refers to an annular component arranged coaxially with the robot body, which can be specifically implemented by a metal ring or a composite material ring, and is used to receive the collision force of obstacles in the pipeline and transmit the impact to the buffer transmission mechanism. The buffer transmission mechanism refers to a conversion device that converts a mechanical collision signal into an electrical control signal, which can be specifically implemented by an elastic structure composed of a spring plate and a sensing block, which absorbs the impact energy through elastic deformation and triggers the signal transmission link. The stop mechanism refers to an executive component that controls the emergency braking of the walking device, which can be specifically implemented by a stop block 5 with a trigger switch. When the collision signal is transmitted to the stop block, the power of the walking device is cut off by closing the contacts. The stop switch contact 6 refers to a conductive element arranged on the contact surface of the stop block, which can be specifically implemented by a copper alloy contact or a gold-plated spring clip, which triggers the braking command of the walking device by turning on the circuit through physical contact.

[0078] Specifically, when impact ring 4 is struck by an obstacle within the pipeline, the impact force is transmitted to the sensing block via the spring plate, causing displacement of the buffer transmission mechanism. This displacement pushes ball contact block 1 and ball contact block 2 relative to each other within the connecting groove, causing the stop switch contacts to close under pressure. This contact closure generates an electrical signal that is transmitted to the control system of the travel mechanism, immediately cutting off power output and stopping the robot. This entire process achieves real-time transmission of the collision signal and braking response through mechanical linkage, eliminating the need for electronic sensors and complex algorithms.

[0079] Compared to existing technologies, traditional robots employ rigid shells or simple rubber buffers, which only mitigate collision damage but fail to actively trigger braking mechanisms. This solution, through the integration of a mechanical transmission structure and contact switches, synchronizes signal transmission and braking of the travel mechanism upon collision, eliminating the risk of secondary collisions caused by algorithm delays or sensor failure. Furthermore, the purely mechanical triggering mechanism offers greater reliability in wet and muddy environments.

[0080] Through the above technical solution, the present application can quickly cut off the power of the walking device when the front end of the robot collides with an obstacle, preventing the equipment from being damaged in the structure or getting stuck due to continuous propulsion, while ensuring that the detection operation can still handle obstacles through the clearing mechanism after emergency braking, significantly improving the continuity and operational safety of pipeline abnormality detection.

[0081] Example 2

[0082] Based on Example 1, the present application further proposes that the buffer transmission mechanism includes a sensing end and a transmission end. The sensing end is detachably connected to the impact ring 4 and is used to receive the physical signal of the impact ring 4 colliding. The transmission end is connected to the sensing end and the stop block 5 to identify the collision signal and perform physical judgment on the signal. The sensing end includes a spring plate 7 connected to the impact ring 4 and a sensing block 8 for installing the spring plate 7. The detection device is arranged on the sensing block 8, and the impact ring 4 is provided with a through hole for the detection device and the clearing mechanism to work.

[0083] The stiffness parameters of the spring plate 7 need to be debugged to ensure that it is triggered only in the event of a valid collision;

[0084] The spring plate refers to a plate-like structure that absorbs impact energy through elastic deformation. Specifically, it can be implemented using a manganese steel spring plate. When compressed, it generates a reverse force to mitigate mechanical impact. The sensing block refers to a rigid component that supports the spring plate mounting base. Specifically, it can be formed from aluminum alloy and used to maintain the stability of the detection device during impact. The transmission end refers to a power transmission mechanism that converts mechanical displacement into a trigger signal. Specifically, it can be implemented using a matching structure of a ball head contact block and a connecting slot. The relative displacement of the contact surfaces generates an electrical signal.

[0085] Specifically, when the impact ring encounters an obstacle, the spring plate is compressed, causing the sensing block to undergo lateral displacement. This displacement is transmitted to the connection groove of the stop block via the ball contact block at the transmission end, triggering the evenly distributed stop switch contacts to form a closed circuit.

[0086] Through the above technical solution, this application solves the problem that the existing detection robot cannot quickly cut off the power after a collision. The stop mechanism is triggered by a physical contact signal to avoid secondary damage caused by continued movement of the equipment after a collision.

[0087] Preferably, the transmission end includes a ball head contact block 10 in contact with the sensing block 8 and a ball head contact block 2 11 connected to the stop block 5. The stop block 5 is provided with a connection groove 12 matching the ball head contact block 2 11. Several stop switch contacts 6 are evenly distributed in the connection groove 12. A rubber connection piece 9 is also arranged between the connection groove 12 and the ball head contact block 2 11. The uniform distribution of the stop switch contacts means that the conductive contacts are arranged in a ring array in the connection groove. Specifically, an equidistant interval arrangement can be adopted. This arrangement can ensure that the contacts can be triggered to conduct at different collision angles. A damper or locking device is added at the hinge of the support frame (15) and the fuselage (2) to prevent the moving wheel from accidentally retracting during travel. The specific structure is an existing mature technology and will not be described in detail here.

[0088] When the impact ring encounters an obstacle, the spring plate 7 transmits the collision force to the sensing block, and the ball contact block 10 moves accordingly, driving the ball contact block 2 11 and pushing the rubber connecting piece 9 to slide in the connecting groove 12. The rubber connecting piece 9 is a hemispherical rubber sleeve, which is sleeved on the contact end of the ball contact block 2 11 and the connecting groove 12. The guiding effect of the connecting groove 12 causes the ball contact block 2 11 to move, which in turn pushes the rubber connecting piece 9 to move. The spherical structure of the rubber connecting piece 9 forms dynamic contact with the evenly distributed stop switch contacts 6. When any contact is triggered, the servo motor immediately cuts off the power output of the walking mechanism, thereby realizing mechanical discrimination and immediate response to the collision signal. This structure avoids the risk of failure of traditional electronic sensors in humid environments through physical contact signal transmission.

[0089] The rubber connecting piece 9 replaces the ball head contact block 2 11 to directly contact the connecting groove 12 , which can effectively reduce the friction between the ball head contact block 2 11 and the connecting groove 12 and avoid premature wear of each other.

[0090] Example 3:

[0091] Based on Example 2, the present application further proposes a collision-resistant and obstacle-clearing drainage network anomaly detection robot. The walking mechanism 1 is a propeller propeller 13, and the walking mechanism 2 is arranged in multiple groups. The multiple groups of walking mechanism 2 are arranged at equal intervals on the fuselage 2. The propeller propeller 13 is configured at the rear end of the robot. When there is water accumulation in the pipeline or stealth is required, the propeller rotates to generate propulsion to drive the robot forward. The multiple groups of walking mechanism 2 refer to land mobile devices arranged on both sides of the fuselage. Specifically, a wheeled structure can be adopted. The fuselage is evenly stressed through an evenly spaced layout to improve the robot's movement stability in dry or low-water-level pipelines. Through the coordinated work of the propeller propeller 13 and the multiple groups of walking mechanism 2, the robot can autonomously switch movement modes in a complex pipeline environment with alternating dry and wet conditions.

[0092] Among them, the propeller thruster refers to an underwater power device that generates propulsion by rotating blades. It can be specifically realized by a three-blade or five-blade propeller structure driven by a waterproof motor. Its function is to provide stable diving power for the robot in a pipe filled with water.

[0093] Specifically, each set of walking mechanism 2 includes two moving wheels 14, one of which has a built-in hub motor. The two moving wheels 14 are symmetrically arranged. Two support frames 15 are respectively used to mount the two moving wheels 14 and are both hinged to the fuselage 2. The adjustment mechanism is used to control the synchronous extension of the two support frames 15 on the fuselage 2.

[0094] Among them, the adjustment mechanism includes an adjustment rod 16 arranged on one side of the support frame 15, a double-headed screw 17 threadedly connected to the end of the adjustment rod 16 and controlling the reciprocating movement of the adjustment rod 16 on its axis, and a servo motor 18 coaxially fixed to the double-headed screw 17 and driving the double-headed screw 17 to rotate. One end of the adjustment rod 16 is hinged to the support frame 15, and the other end of the adjustment rod 16 is hinged to an adjustment seat 19 threadedly connected to the double-headed screw 17. The two adjustment seats 19 are respectively arranged on the two threads of the double-headed screw 17.

[0095] The built-in hub motor of the moving wheel refers to a structure in which the drive device is integrated into the wheel body. Specifically, this can be achieved by integrating a permanent magnet synchronous motor and a reducer into a single package, giving the moving wheel independent power output capabilities. The support frame 15 is articulated with the fuselage 2, which means that the support frame 15 is rotatably connected to the fuselage 2 via a rotating shaft or ball hinge. Specifically, this can be achieved by using a stainless steel pin and a self-lubricating bearing, providing an adjustable angle mounting base for the moving wheel 14. The double-headed screw 17 refers to a transmission rod with opposite threads at both ends. Specifically, it can be implemented using a trapezoidal thread or ball screw structure. The rotational motion drives the adjustment seats on both sides to produce symmetrical displacement.

[0096] When the inner diameter of the pipe changes or encounters a slippery pipe wall, the servo motor 18 drives the double-headed screw 17 to rotate forward and backward. The reverse threads on both sides of the double-headed screw 17 cause the two adjustment seats 19 to move synchronously in the same direction or opposite directions, driving the adjustment rod 16 to extend and retract axially. The linear motion of the adjustment rod 16 is converted into a rotational motion of the support frame 15 through the hinge point, thereby synchronously adjusting the expansion angle of the moving wheels on both sides. When the pipe diameter becomes larger, the support frame expands outward to allow the moving wheels to contact the pipe wall; when passing through a narrow area, the support frame 15 retracts inward to reduce the overall width. The hub motor provides independent driving force for the moving wheels, and continuously outputs torque while the adjustment mechanism adjusts the angle, ensuring the stable movement of the robot under different pipe diameters and terrain conditions.

[0097] Example 4:

[0098] On the basis of Example 2, the present application further proposes that a protective mechanism is arranged on the outside of the double-headed screw to protect its surface thread, and the protective mechanism includes a fixed support ring 20, an elastic rubber ring 21 and a cloth tube 22. There are multiple fixed support rings 20 and elastic rubber rings 21, and the cloth tube 22 is arranged in multiple sections. It is sleeved on the outside of the double-headed screw 17 to enclose the double-headed screw 17 inside. The fixed support ring 20 and the elastic rubber ring 21 are alternately arranged at equal intervals on the cloth tube 22. The cloth tube 22 is made of nylon and is waterproofed, and lip sealing rings are added at both ends of the cloth tube 22.

[0099] The fixed support ring refers to an annular support structure spaced axially along the double-ended screw. Specifically, it can be implemented using a rigid ring made of metal or engineering plastic. It is used to form a segmented support structure inside the cloth barrel to maintain the stability of the cloth barrel's shape. The elastic rubber ring refers to an elastic annular seal, specifically made of nitrile rubber or silicone. It is used to form a flexible connecting segment between adjacent fixed support rings, allowing the cloth barrel to undergo axial expansion and contraction deformation as the double-ended screw rotates. The cloth barrel refers to a cylindrical protective layer wrapped around the outside of the double-ended screw. Specifically, it can be made of nylon braided cloth impregnated with a polyurethane coating. It is used to form a continuous enclosed space to isolate external sewage from contact with the threads while maintaining the freedom of movement of the adjustment mechanism.

[0100] As the double-threaded screw rotates to move the adjustment seat, the fabric tube wrinkles or stretches as the seat moves, compensated by the elastic deformation of the elastic rubber ring. A fixed support ring provides radial support to prevent the fabric tube from collapsing, while the elastic rubber ring absorbs the length changes caused by the movement of the adjustment mechanism through its own elasticity. The nylon fabric tube is waterproofed to form a physical barrier, preventing sewage and sediment from entering the thread gap of the double-threaded screw. The alternating support rings and rubber rings form a rigid-flexible composite structure, which not only maintains the shape of the protective layer but also adapts to the dynamic movement requirements of the adjustment mechanism.

[0101] The arrangement of the protective mechanism effectively prevents foreign matter such as sewage and silt in the drainage pipe from entering the thread gap of the double-headed screw, avoiding thread jamming caused by accumulation of impurities.

[0102] Example 5

[0103] Based on the third embodiment, the present application further proposes that the cleaning mechanism includes a telescopic arm 23, the telescopic arm 23 adopts a hydraulic telescopic mechanism, and the mechanical claw 24 is arranged at the telescopic end of the telescopic arm 23, and the mechanical claw (24) has at least three rotational degrees of freedom. Biomimetic mechanical claws.

[0104] The hydraulic telescopic mechanism is a mechanical device that achieves linear expansion and contraction through hydraulic drive. This is achieved by combining a cylinder and a piston. The hydraulic oil pressure pushes the piston rod to extend and retract, providing a stable thrust to meet the needs of clearing blockages at different locations within the pipeline. A multi-degree-of-freedom bionic mechanical claw is a grasping device that mimics the structure of biological joints. This is achieved by using a connecting rod mechanism with rotation, opening, closing, and bending capabilities. Through the coordinated movement of multiple joints, it can grasp or crush obstacles of various shapes, thus adapting to the removal of complex foreign objects within pipelines.

[0105] When the detection device identifies the presence of a blockage in the pipeline, the hydraulic telescopic mechanism drives the telescopic arm to extend toward the target position, allowing the mechanical claw to approach the obstacle. The mechanical claw adjusts the posture of the claw according to the shape of the blockage. For example, for block-like hard objects, it is fixed and dragged by clamping, while for soft sediments, it is crushed by rotating the claw teeth. The pressure regulation function of the hydraulic system can control the clamping force applied by the mechanical claw to avoid damage to the inner wall of the pipeline due to excessive force. The multi-degree-of-freedom design of the bionic mechanical claw enables it to flexibly adjust the angle in a narrow space, such as bypassing the protrusions on the pipe wall at a bend to accurately grasp obstacles. In some specific embodiments, the stroke length of the telescopic arm can be 1.5 times the diameter of the pipe to adapt to the operation requirements of different pipe diameters; the surface of the claw teeth of the mechanical claw can be provided with anti-slip grooves to enhance the grasping stability.

[0106] Example 6

[0107] On the basis of the third embodiment, the present application further proposes that a pontoon 25 is arranged between the two sets of walking mechanisms 2 on the fuselage, and each pontoon 25 is also provided with a water inlet valve and an automatic drainage mechanism.

[0108] Among them, the pontoon refers to a cabin with a hollow sealed structure, which can be made of polymer composite materials and filled with lightweight foam to provide buoyancy reserve. Its function is to balance the robot's sinking tendency in water or muddy environments by adjusting the buoyancy. The water inlet valve refers to a valve device that controls the flow of water into the pontoon. Specifically, a solenoid valve or a mechanical one-way valve can be used to allow water to flow in when the weight of the pontoon needs to be increased, thereby improving the robot's diving stability. The automatic drainage mechanism refers to an executive unit that actively discharges the accumulated water in the pontoon. Specifically, a micro air pump or a centrifugal drainage pump can be used to restore the buoyancy reserve by discharging the accumulated water, ensuring that the robot maintains a balanced posture under different water depth conditions.

[0109] Specifically, the pontoons are symmetrically distributed between the two walking mechanisms on both sides of the fuselage. When the robot enters a water-filled pipe, the water inlet valve opens, allowing external water to slowly flow into the pontoons, increasing the overall weight to offset the buoyancy generated by the propeller thrusters, preventing the fuselage from tilting or rolling due to excessive buoyancy. When the robot needs to float or switch to land walking mode, the automatic drainage mechanism is activated to drain the water in the pontoons, reducing the weight and restoring the buoyancy reserve, so that the two walking mechanisms have sufficient support when contacting the pipe wall. The layout design of the pontoons can disperse the load on the fuselage and reduce the risk of local stress concentration, while not affecting the retraction and extension of the two walking mechanisms.

[0110] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A collision-resistant and obstacle-clearing drainage network anomaly detection robot, characterized in that: include: A main body, the main body comprising a front end (1), a fuselage (2) and a rear end (3); A pre-collision mechanism, the pre-collision mechanism being arranged at the front end (1); a detection device, the detection device being arranged on the pre-crash mechanism; A running device, the running device comprising a running mechanism 1 arranged at the rear end (3) for diving movement and a running mechanism 2 arranged on the fuselage (2) for normal movement; Among them, the detection device includes a visual detection device, a sonar detection device and a comprehensive detection device; A clearing mechanism for clearing blockages is also arranged on one side of the detection device.

2. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 1, characterized in that: The pre-collision mechanism comprises: An impact ring (4), the impact ring (4) being coaxial with the fuselage (2); A buffer transmission mechanism for buffering the movement of the impact ring (4) when an impact occurs and transmitting the collision signal; A stop mechanism is arranged on a side of the buffer transmission mechanism away from the impact ring (4); The stopping mechanism is used to receive information indicating that the impact ring (4) has collided and control the walking mechanism to stop moving; The stop mechanism comprises a stop block (5), and a plurality of stop switch contacts (6) are arranged on the stop block (5) at the contact end with the buffer transmission mechanism.

3. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 2, characterized in that: The buffer transfer mechanism comprises: A sensing end, detachably connected to the impact ring (4), for receiving a physical signal indicating a collision of the impact ring (4); The transmission end is connected to the sensing end and the stop block (5), and is used to identify the collision signal and perform physical judgment on the signal; The sensing end comprises a spring plate (7) connected to the impact ring (4) and a sensing block (8) for mounting the spring plate (7), and the detection device is arranged on the sensing block (8).

4. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 3, characterized in that: The transmission end comprises a first ball contact block (10) in contact with the sensing block (8) and a second ball contact block (11) connected to the stop block (5); The stop block (5) is provided with a connection groove (12) matching the second ball head contact block (11), and a plurality of stop switch contacts (6) are evenly distributed in the connection groove (12).

5. The anti-collision and obstacle-clearing drainage network anomaly detection robot according to claim 4, characterized in that: The first walking mechanism is a propeller propeller (13), and the second walking mechanism is arranged in multiple groups, and the multiple groups of the second walking mechanism are arranged at equal intervals on the fuselage (2).

6. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 5, characterized in that: Each group of the second walking mechanism includes: Two moving wheels (14), one of the moving wheels (14) has a built-in hub motor, and the two moving wheels (14) are symmetrically arranged; Two support frames (15), respectively used for mounting two moving wheels (14) and both hinged to the fuselage (2); An adjustment mechanism for controlling the synchronous extension of the two support frames (15) on the fuselage (2); Wherein, the regulating mechanism includes: An adjusting rod (16) is arranged on one side of the supporting frame (15); A double-headed screw (17) is threadedly connected to the end of the adjusting rod (16) and controls the adjusting rod (16) to move back and forth on its axis; A servo motor (18), wherein the output end of the servo motor (18) is coaxially fixed to the double-headed screw (17); One end of the adjusting rod (16) is hinged to the support frame (15), and the other end of the adjusting rod (16) is hinged to an adjusting seat (19) threadedly connected to the double-headed screw (17); The two adjustment seats (19) are respectively arranged on the two threads of the double-headed screw (17).

7. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 6, characterized in that: The outer side of the double-headed screw (17) is also provided with a protection mechanism for protecting the surface threads thereof.

8. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 7, characterized in that: The protection mechanism comprises: A plurality of fixed support rings (20) are arranged; a plurality of elastic rubber rings (21); a cloth cylinder (22) having multiple sections, which is sleeved on the outside of the double-headed screw (17) and seals the double-headed screw (17) inside; The fixed support ring (20) and the elastic rubber ring (21) are alternately arranged at equal intervals on the cloth tube (22), and the cloth tube (22) is made of nylon and is waterproof.

9. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 8, characterized in that: The cleaning mechanism comprises: A telescopic arm (23), wherein the telescopic arm (23) adopts a hydraulic telescopic mechanism; A mechanical claw (24), the mechanical claw (24) being arranged at the telescopic end of the telescopic arm (23); Wherein, the mechanical claw (24) is a bionic mechanical claw with at least three rotational degrees of freedom.

10. The anti-collision and obstacle-clearing drainage pipe network anomaly detection robot according to claim 9, characterized in that: A buoyancy box (25) is arranged on the machine body (2) between the two sets of walking mechanisms, and each buoyancy box (25) is also arranged with a water inlet valve and an automatic drainage mechanism.

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