Automatic maintenance robot for pipeline in comprehensive pipe gallery and using method of automatic maintenance robot

Abstract

The invention belongs to the technical field of comprehensive pipe galleries, and particularly relates to an automatic pipeline maintenance robot in a comprehensive pipe gallery and a using method thereof.The automatic pipeline maintenance robot comprises two sets of circular plates, a plurality of first box bodies are fixedly installed on the outer sides of the circular plates in an annular arrangement mode, and first electric push rods are fixedly installed in the first box bodies; and a push rod of the first electric push rod is fixedly provided with an extrusion rod, a telescopic assembly is arranged between the two sets of circular plates, and an overhauling assembly is further arranged between the two sets of circular plates. The first box body, the first electric push rod and the extrusion rod are arranged on the circular plates, and the telescopic assembly is arranged between the two circular plates, so that when a pipeline in the comprehensive pipe gallery is overhauled, the slipping phenomenon of the automatic overhauling robot can be avoided, and the moving stability of the automatic overhauling robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated pipe corridors, and in particular to an automatic pipeline maintenance robot in an integrated pipe corridor and a method for using the robot. Background Art

[0002] A comprehensive pipeline corridor is a public tunnel and ancillary facilities built underground in the city to accommodate two or more types of municipal pipelines. Through unified planning and management, it solves the problem of repeated excavation caused by the scattered laying of traditional pipelines and improves the operating efficiency of urban infrastructure.

[0003] Currently, when inspecting and maintaining pipelines in integrated pipe corridors, automated inspection robots are often used to enter the inner pipes for inspection. However, existing automated inspection robots generally rely on rollers to move within the inner pipes, which can cause slippage, especially in water pipes. Therefore, an automated inspection robot for pipelines in integrated pipe corridors and a method for its use are disclosed. Summary of the Invention

[0004] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0005] A robot for automatically inspecting and repairing pipelines in a comprehensive pipe gallery comprises two groups of circular plates, a plurality of first boxes being fixedly installed on the outer sides of the circular plates in a circular arrangement, a first electric push rod being fixedly installed in the first box body, an extrusion rod being fixedly installed on the push rod of the first electric push rod, a telescopic assembly being provided between the two groups of circular plates, and an inspection assembly being also provided between the two groups of circular plates.

[0006] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the telescopic component includes:

[0007] a second box body, the second box body being fixedly mounted on a set of circular plates;

[0008] The second electric push rod is fixedly mounted in the second box body, and a push rod of the second electric push rod is fixedly mounted on another set of circular plates.

[0009] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the maintenance component includes:

[0010] An annular plate fixedly mounted on a set of circular plates;

[0011] A hollow tube rotatably connected to the annular plate via a bearing;

[0012] Cameras, a plurality of cameras are provided on the outside of the hollow tube;

[0013] Light bulbs are provided on the hollow tubes located on both sides of the camera.

[0014] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the maintenance component further includes:

[0015] a first box body, the first box body being fixedly mounted on the annular plate;

[0016] a first servo motor, wherein the first servo motor is fixedly installed in the first box;

[0017] a first gear, wherein the output shaft of the first servo motor is fixedly mounted with the first gear via a rotating shaft;

[0018] The second gear is fixedly mounted on the hollow tube, and the first gear and the second gear are meshed and connected.

[0019] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, it also includes:

[0020] The scraping component is used for scraping impurities in the inner pipe, and the scraping component is arranged on the circular plate.

[0021] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the scraping component includes:

[0022] A second box body, on which the opposite ends of the two groups of circular plates are fixedly mounted;

[0023] a second servo motor, wherein the second servo motor is fixedly installed in the second box;

[0024] The block is fixedly mounted on the output shaft of the second servo motor.

[0025] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the scraping component further includes:

[0026] A third box body, with both ends of the block being fixedly mounted with the third box body;

[0027] a third electric push rod, the third electric push rod being fixedly mounted in the third box body;

[0028] A metal scraper, the push rod of the third electric push rod is fixedly mounted with the metal scraper;

[0029] A telescopic rod is fixedly installed between the block and the metal scraper.

[0030] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the scraping component further includes:

[0031] The utility model relates to a grinding component for grinding a metal scraper, and the grinding component is arranged on a circular plate.

[0032] As a preferred solution of the automatic pipeline maintenance robot in the integrated pipeline corridor described in the present invention, the grinding component includes:

[0033] A third box body is fixedly mounted on both sides of the opposite ends of the two groups of circular plates;

[0034] a third servo motor, wherein the third servo motor is fixedly installed in the third box;

[0035] A fourth box body, wherein the output shaft of the third servo motor is fixedly mounted on the fourth box body;

[0036] a fourth electric push rod, wherein the fourth electric push rod is fixedly installed in the fourth box body;

[0037] Grinding stone, the push rod of the fourth electric push rod is fixedly installed with the grinding stone, and the metal scraper can pass through the grinding stone when rotating.

[0038] A method for using an automatic pipeline maintenance robot in a comprehensive pipeline corridor includes the following specific steps:

[0039] S1: The circular plate is placed in the pipe in the integrated pipe gallery. At this time, the first electric push rod is used to squeeze the inner wall of the pipe. After squeezing, if it needs to be moved, the fixation of the left circular plate will be canceled first. Then, the left circular plate will be moved by the second electric push rod until it moves to a suitable position and is fixed. After that, the fixation of the right circular plate is canceled and moved toward the left circular plate until it moves to a suitable position and is fixed. Based on this, the circular plate can be moved in the pipe in the integrated pipe gallery.

[0040] S2: During the movement, the first servo motor will cause the hollow tube to drive the camera to rotate, so as to take a comprehensive picture of the inner wall of the pipe to detect whether there is any problem inside the pipe;

[0041] S3: During the movement, the third electric push rod will first make the metal scraper contact the inner wall of the pipe. After contact, the second servo motor will rotate the metal scraper to scrape off the impurities on the inner wall of the pipe.

[0042] S4: When the metal scraper is worn, the position of the grinding stone will be adjusted through the cooperation of the third servo motor and the fourth electric push rod. After the position of the grinding stone is adjusted, the metal scraper will be in contact with the grinding stone through the cooperation of the second servo motor and the third electric push rod. At this time, the grinding stone will be moved back and forth by the fourth electric push rod to grind the metal scraper.

[0043] Compared with existing technologies:

[0044] 1. By arranging the first box body, the first electric push rod and the extrusion rod on the circular plate, and by arranging the telescopic assembly between the two sets of circular plates, the automatic maintenance robot can be prevented from slipping when inspecting pipelines in the integrated pipeline corridor, thereby improving the movement stability of the automatic maintenance robot;

[0045] 2. By arranging a scraping component on the circular plate, it is possible to scrape away impurities in the inner pipes when inspecting and repairing the pipes in the integrated pipe gallery, which not only improves the inspection effect but also extends the service life of the pipes to a certain extent;

[0046] 3. By arranging a grinding component on the circular plate, the metal scraper can be ground when the metal scraper is worn, and the service life of the metal scraper is increased by grinding the metal scraper. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a front view schematic diagram of the structure of the present invention;

[0048] Figure 2 For the present invention Figure 1 A schematic diagram of the structure at center A;

[0049] Figure 3 It is a side view schematic diagram of the circular plate of the present invention;

[0050] Figure 4 A schematic side view of a partial structure of a scraping assembly according to the present invention;

[0051] Figure 5 This is a schematic diagram of the metal scraper structure of the present invention;

[0052] Figure 6 This is a schematic diagram of the extrusion rod structure of the present invention.

[0053] In the figure: a circular plate 10, a first box body 11, a first electric push rod 12, an extrusion rod 13, a second box body 20, a second electric push rod 21, a hollow tube 30, a camera 31, a light bulb 32, a first box body 33, a first servo motor 34, a first gear 35, a second gear 36, a second box body 40, a second servo motor 41, a block 42, a third box body 43, a third electric push rod 44, a metal scraper 45, a telescopic rod 46, a third box body 50, a third servo motor 51, a fourth box body 52, a fourth electric push rod 53, and a grinding stone 54. DETAILED DESCRIPTION

[0054] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0055] The present invention provides a robot for automatic pipeline maintenance in a comprehensive pipeline corridor. Figures 1-6 , including two groups of circular plates 10, a number of first box bodies 11 are fixedly installed on the outer side of the circular plates 10 in a circular arrangement, a first electric push rod 12 is fixedly installed in the first box body 11, and an extrusion rod 13 is fixedly installed on the push rod of the first electric push rod 12. A telescopic component is provided between the two groups of circular plates 10, and a maintenance component is also provided between the two groups of circular plates 10.

[0056] The telescopic assembly includes: a second box body 20 and a second electric push rod 21;

[0057] The second box body 20 is fixedly mounted on one set of circular plates 10 , the second electric push rod 21 is fixedly mounted in the second box body 20 , and the push rod of the second electric push rod 21 is fixedly mounted on another set of circular plates 10 .

[0058] The maintenance assembly includes: an annular plate, a hollow tube 30, a camera 31, a light bulb 32, a first box 33, a first servo motor 34, a first gear 35, and a second gear 36;

[0059] The annular plate is fixedly mounted on a group of circular plates 10, the hollow tube 30 is rotatably connected to the annular plate through bearings, a plurality of cameras 31 are provided on the outside of the hollow tube 30, and light bulbs 32 are provided on the hollow tube 30 on both sides of the camera 31, the first box body 33 is fixedly mounted on the annular plate, the first servo motor 34 is fixedly mounted in the first box body 33, the output shaft of the first servo motor 34 is fixedly mounted with a first gear 35 through a rotating shaft, the second gear 36 is fixedly mounted on the hollow tube 30, and the first gear 35 and the second gear 36 are meshed and connected; wherein, the camera 31 and the light bulb 32 are powered by a battery, and the battery is mounted on the hollow tube 30.

[0060] It also includes: a scraping assembly for scraping impurities in the inner pipe, and the scraping assembly is arranged on the circular plate 10;

[0061] The scraping assembly includes: a second box body 40, a second servo motor 41, a block 42, a third box body 43, a third electric push rod 44, a metal scraper 45, and a telescopic rod 46;

[0062] The opposite ends of the two groups of circular plates 10 are fixedly mounted with a second box body 40, the second servo motor 41 is fixedly mounted in the second box body 40, the block 42 is fixedly mounted on the output shaft of the second servo motor 41, both ends of the block 42 are fixedly mounted with a third box body 43, the third electric push rod 44 is fixedly mounted in the third box body 43, the push rod of the third electric push rod 44 is fixedly mounted with a metal scraper 45, and the telescopic rod 46 is fixedly mounted between the block 42 and the metal scraper 45.

[0063] The scraping assembly further includes a grinding assembly for grinding the metal scraper 45 , and the grinding assembly is provided on the circular plate 10 .

[0064] The grinding assembly includes: a third box body 50, a third servo motor 51, a fourth box body 52, a fourth electric push rod 53, and a grinding stone 54;

[0065] A third box body 50 is fixedly installed on both sides of the opposite ends of the two groups of circular plates 10, the third servo motor 51 is fixedly installed in the third box body 50, the output shaft of the third servo motor 51 is fixedly installed on the fourth box body 52, the fourth electric push rod 53 is fixedly installed in the fourth box body 52, the push rod of the fourth electric push rod 53 is fixedly installed with a grinding stone 54, and the metal scraper 45 can pass through the grinding stone 54 when rotating.

[0066] Among them, a sealing ring is provided at the push rod connection between the box body (first box body 11, second box body 20, third box body 43, fourth box body 52) and the electric push rod (first electric push rod 12, second electric push rod 21, third electric push rod 44, fourth electric push rod 53), and a sealing ring is provided at the output shaft connection between the box body (first box body 33, second box body 40, third box body 50) and the servo motor (first servo motor 34, second servo motor 41, third servo motor 51); in addition, the material of the box body and the third box body is preferably a heat-conductive material.

[0067] A method for using an automatic pipeline maintenance robot in a comprehensive pipeline corridor includes the following specific steps:

[0068] S1: The circular plate 10 is placed in the pipe in the integrated pipe gallery. At this time, the squeezing rod 13 is squeezed against the inner wall of the pipe by the first electric push rod 12. After squeezing, if it needs to be moved, the fixation of the left circular plate 10 is first canceled. Then, the left circular plate 10 is moved by the second electric push rod 21 until the left circular plate 10 moves to a suitable position and is fixed. After that, the fixation of the right circular plate 10 is canceled and moved toward the left circular plate 10 until the right circular plate 10 moves to a suitable position and is fixed. Based on this, the circular plate can be moved in the pipe in the integrated pipe gallery.

[0069] S2: During the movement, the first servo motor 34 is used to rotate the hollow tube 30 and the camera 31 to take a comprehensive picture of the inner wall of the pipe to detect whether there is any problem inside the pipe;

[0070] S3: During the movement, the third electric push rod 44 will first make the metal scraper 45 contact the inner wall of the pipe. After contact, the second servo motor 41 will rotate the metal scraper 45 to scrape off impurities on the inner wall of the pipe.

[0071] S4: When the metal scraper 45 is worn, the position of the grinding stone 54 will be adjusted through the cooperation of the third servo motor 51 and the fourth electric push rod 53. After the position of the grinding stone 54 is adjusted, the metal scraper 45 will be brought into contact with the grinding stone 54 through the cooperation of the second servo motor 41 and the third electric push rod 44. At this time, the grinding stone 54 will be moved back and forth by the fourth electric push rod 53 to grind the metal scraper 45.

[0072] Although the present invention has been described above with reference to embodiments, various modifications may be made thereto and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as there are no structural conflicts, the various features of the embodiments disclosed herein may be combined with each other in any manner, and the omission of an exhaustive description of such combinations in this specification is solely for the sake of space and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic pipeline maintenance robot in a comprehensive pipeline corridor, characterized in that: The invention comprises two groups of circular plates (10), wherein a plurality of first boxes (11) are fixedly installed on the outer sides of the circular plates (10) in a circular arrangement, wherein a first electric push rod (12) is fixedly installed in the first box body (11), and an extrusion rod (13) is fixedly installed on the push rod of the first electric push rod (12), and a telescopic component is provided between the two groups of circular plates (10), and an inspection component is also provided between the two groups of circular plates (10).

2. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 1 is characterized in that: The telescopic assembly comprises: A second box body (20), the second box body (20) is fixedly mounted on a set of circular plates (10); A second electric push rod (21) is fixedly mounted in the second box body (20), and a push rod of the second electric push rod (21) is fixedly mounted on another set of circular plates (10).

3. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 1 is characterized in that: The maintenance component includes: an annular plate fixedly mounted on a set of circular plates (10); A hollow tube (30), wherein the hollow tube (30) is rotatably connected to the annular plate via a bearing; Cameras (31), a plurality of cameras (31) are provided on the outside of the hollow tube (30); Light bulbs (32) are provided on the hollow tubes (30) located on both sides of the camera (31).

4. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 3 is characterized in that: The maintenance assembly further comprises: A first box body (33), the first box body (33) is fixedly mounted on the annular plate; a first servo motor (34), the first servo motor (34) being fixedly mounted in the first box (33); a first gear (35), wherein the output shaft of the first servo motor (34) is fixedly mounted with the first gear (35) via a rotating shaft; The second gear (36) is fixedly mounted on the hollow tube (30), and the first gear (35) and the second gear (36) are meshed and connected.

5. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 1 is characterized in that: Also includes: A scraping assembly is used for scraping impurities in an inner pipe, and the scraping assembly is arranged on a circular plate (10).

6. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 5 is characterized in that: The scraping assembly comprises: A second box (40), the second box (40) being fixedly mounted on the opposite ends of the two groups of circular plates (10); a second servo motor (41), the second servo motor (41) being fixedly mounted in the second box (40); A block (42) is fixedly mounted on the output shaft of the second servo motor (41).

7. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 6 is characterized in that: The scraping assembly also includes: A third box body (43), with the third box body (43) fixedly mounted on both ends of the block (42); A third electric push rod (44), wherein the third electric push rod (44) is fixedly installed in the third box body (43); A metal scraper (45), the push rod of the third electric push rod (44) is fixedly mounted with the metal scraper (45); A telescopic rod (46) is fixedly installed between the block (42) and the metal scraper (45).

8. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 7 is characterized in that: The scraping assembly also includes: A grinding assembly is used for grinding a metal scraper (45), and the grinding assembly is arranged on a circular plate (10).

9. The automatic pipeline maintenance robot in the integrated pipeline corridor according to claim 8 is characterized in that: The grinding assembly comprises: A third box (50), on both sides of the opposite ends of the two groups of circular plates (10) are fixedly mounted with the third box (50); a third servo motor (51), the third servo motor (51) being fixedly mounted in the third box (50); a fourth box body (52), the output shaft of the third servo motor (51) being fixedly mounted on the fourth box body (52); a fourth electric push rod (53), wherein the fourth electric push rod (53) is fixedly installed in the fourth box body (52); A grinding stone (54) is fixedly mounted on the push rod of the fourth electric push rod (53), and the metal scraper (45) can pass through the grinding stone (54) when rotating.

10. A method for using an automatic pipeline maintenance robot in a comprehensive pipeline corridor, characterized in that: The specific steps are as follows: S1: The circular plate (10) is placed in the pipe in the integrated pipe gallery. At this time, the squeezing rod (13) is squeezed against the inner wall of the pipe by the first electric push rod (12). After squeezing, if it is necessary to move, the fixation of the left circular plate (10) is first canceled. Then, the left circular plate (10) is moved by the second electric push rod (21) until the left circular plate (10) moves to a suitable position and is fixed. After that, the fixation of the right circular plate (10) is canceled and the right circular plate (10) is moved toward the left circular plate (10) until the right circular plate (10) moves to a suitable position and is fixed. Based on this, the circular plate can be moved in the pipe in the integrated pipe gallery. S2: During the movement, the hollow tube (30) is driven by the first servo motor (34) to rotate the camera (31) to take a comprehensive picture of the inner wall of the pipe to detect whether there is any problem inside the pipe; S3: During the movement, the third electric push rod (44) will first make the metal scraper (45) contact the inner wall of the pipe. After the contact, the second servo motor (41) will make the metal scraper (45) rotate to scrape off the impurities on the inner wall of the pipe. S4: When the metal scraper (45) is worn, the position of the grinding stone (54) is adjusted by the cooperation of the third servo motor (51) and the fourth electric push rod (53). After the position of the grinding stone (54) is adjusted, the metal scraper (45) is brought into contact with the grinding stone (54) by the cooperation of the second servo motor (41) and the third electric push rod (44). At this time, the grinding stone (54) is reciprocated by the fourth electric push rod (53) to grind the metal scraper (45).

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