Tunnel drain cleaning robot vision detection device and method thereof

Abstract

The present application relates to the field of sewer scale removal, and discloses a tunnel sewer scale removal robot visual detection device and method thereof, which comprises a robot main body, a mechanical arm and a cleaning head, the robot main body is provided with the mechanical arm, one end of the mechanical arm is installed with the cleaning head, when the front camera or the rear camera is damaged and affects normal visual detection work, the broken front camera or rear camera is pushed out from the visual detection box through the switching structure, and the transmission structure and the driving structure are matched, after the broken front camera or rear camera is pushed out, the standby camera is automatically rotated, so that the broken front camera or rear camera is stored in the visual detection box, normal visual detection work is carried out through the standby camera, and during the scale removal process in the pipeline, the robot main body does not need to be taken out from the pipeline to replace the front camera or the rear camera, so that the scale removal work can be continued, and the work efficiency is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drainage pipe descaling, and in particular to a tunnel drainage pipe descaling robot visual detection device and method thereof. Background Art

[0002] Tunnels are the primary shortcuts for roads, railways, subways, and other infrastructure to cross mountains and hills. The number and speed of their construction have reached unprecedented levels. Tunnel drainage systems primarily consist of tunnel drainpipes. However, after long-term use, the water in these pipes, rich in carbonate minerals, can become hard and prone to scaling, leading to crystallization and blockage. Furthermore, rock particles and sediment produced by water flow can enter the drainage system and accumulate in low-lying areas, causing blockage. To reduce the impact of this scaling on the drainage system, tunnel drainpipes need to be descaled.

[0003] In the prior art, tunnel drainage pipe cleaning robots use a visual inspection system to accurately locate dirt in the pipes when cleaning the pipes. This allows the cleaning head on the robot arm to accurately clean the dirt in the pipes, reducing the problem of pipe blockage.

[0004] However, in the prior art, the drain pipe cleaning robot uses a camera on a visual detection system to perform visual detection of dirt in the drain pipe. In this way, when the cleaning head cleans dirt or hard dirt in the drain pipe, it is easy for dirt or debris to splash out during the cleaning process, blurring or damaging the camera, affecting the accuracy of dirt detection. The robot needs to be taken out from the drain pipe to repair or replace the camera, which takes a lot of time. After repairing and replacing the camera, the robot needs to be placed in the drain pipe again to continue the cleaning work, which greatly reduces work efficiency. Therefore, there is room for improvement. Summary of the Invention

[0005] In order to solve the problems raised in the above background technology, the present invention provides a tunnel drainage pipe scale cleaning robot visual inspection device and method thereof.

[0006] In a first aspect, the present invention provides a tunnel drainage pipe cleaning robot visual inspection device, which adopts the following technical solutions:

[0007] A tunnel drainage pipe scale cleaning robot visual inspection device comprises a robot body, a robotic arm and a cleaning head, the robotic arm is provided on the robot body, the cleaning head is installed at one end of the robotic arm, a fastening plate is provided on the robotic arm, a support plate is provided on the fastening plate through a mounting structure, a support frame is fastened to the front and rear sides of the support plate by bolts, a first mounting plate is installed on the top of the support frame, vertical plates are fastened to the front and rear sides of the first mounting plate, an adjustment plate is provided between the two vertical plates through an angle adjustment structure, a visual inspection box is fixedly installed in the adjustment plate, two front cameras are provided on the right side of the visual inspection box, a rear camera is provided on the left side of the visual inspection box, three groups of move-out switching structures are provided in the visual inspection box, the three groups of move-out switching structures are provided corresponding to the position settings of the front camera and the rear camera, and protective structures are provided on the visual inspection box corresponding to the front camera and the rear camera;

[0008] The removal switching structure includes three inner grooves opened in the visual inspection box, and the three inner grooves correspond to the position settings of the front camera and the rear camera. An electric telescopic rod is installed on the groove wall at one end of the inner groove, and a movable disk is set at one end of the output shaft of the electric telescopic rod through a decompression structure. Two through-bars are connected at the upper edge of the movable disk. The through-bar is rotated away from the inner wall of one end of the movable disk to connect the switching shaft. The two switching shafts are close to each other and are fixedly connected with a switching sleeve at one end. The two front cameras are installed at one end of the corresponding two switching sleeves, and the rear camera is installed at one end of the remaining switching sleeve. A spare camera is provided at the other end of the switching sleeve, and a transmission structure is provided on one of the through-bars.

[0009] Preferably, the transmission structure includes a rotating rod rotatably connected to the inner wall of one of the through bars near the position of the movable disk, and pulleys are fixedly mounted on the rotating rod and the corresponding switching shaft, and belts are tightly mounted on the two pulleys, and a driving structure is provided between the rotating rod and the groove wall of the inner groove.

[0010] The top end face of said sliding arm is fixedly provided with a toothed connecting strip which is cooperatively connected with said toothed connecting strip.

[0011] Preferably, the reset structure includes a second inclined groove opened on the lower groove wall of the first transverse groove near the first inclined groove, the bottom end of the second inclined groove is connected to the second transverse groove, the second rotating shaft is rotated and inserted into the bottom end of the groove wall at the right end of the second transverse groove, a second blocking block is fixedly mounted on the second rotating shaft, a second torsion spring is mounted on one end of the second rotating shaft, both ends of the second torsion spring are respectively connected to the second blocking block and the inner groove wall of the second inclined groove, and an anti-fall structure is provided at the upper end of the groove wall on the left side of the second inclined groove.

[0012] Preferably, the anti-fall structure includes a slot opened at the upper end of the left side wall of the second inclined slot, an anti-fall block is movably inserted into the slot, a third spring is connected between the anti-fall block and the inner end wall of the slot, and the lower right end of the anti-fall block is an inclined surface.

[0013] Preferably, the protective structure includes three groups of protective covers tightly arranged on the left and right sides of the visual inspection box, and the three groups of protective covers are tightly attached to the front camera and the rear camera respectively. Each of the protective covers is connected to a first fixing bar in the middle of a side surface close to the visual inspection box, and the first fixing bar is movably inserted into the inner groove. A plurality of first springs are connected between the first fixing bar and the wall of the inner groove, and the first fixing bar is connected to a second fixing bar at one end away from the protective cover, and a pressure block is installed at one end of the second fixing bar, and an inclined surface is provided on the side surface of the pressure block close to the first fixing bar.

[0014] Preferably, the decompression structure includes a first extrusion frame connected to one end of the output shaft of the electric telescopic rod, the upper and lower inner walls of the first extrusion frame are sleeved on two pressure blocks, the upper and lower ends of the right side of the first extrusion frame are fixedly connected to a through rod, a moving frame is movably sleeved on the through rod, a connecting rod is connected to the middle of the right side of the moving frame, one end of the connecting rod is connected to the moving disk, a second spring is sleeved on the through rod, and the two ends of the second spring are respectively connected to the first extrusion frame and the moving frame.

[0015] Preferably, the angle adjustment structure includes a second mounting plate installed on the front side of the first mounting plate, a motor is installed on the side of the second mounting plate, the output shaft of the motor passes through the corresponding vertical plate and a second gear is fixedly sleeved on one end, an adjusting rod is fixedly connected at the top end of the front and rear side surfaces of the adjustment plate, the adjusting rod rotates through the vertical plate, and a third gear is fixedly sleeved on one end of the adjusting rod on the front side, and the third gear is meshed with the second gear.

[0016] Preferably, the mounting structure includes a mounting slot provided in the middle of the fastening plate, the mounting frame is inserted into the mounting slot, the mounting frame and the support plate are supported by multiple support bars, and two fixing rods are respectively connected between the front and rear inner walls and the left and right inner walls of the mounting frame. The two groups of fixing rods are distributed at different heights in the mounting frame, and two movable bars are movably sleeved on each group of two fixing rods. The middle of one side of the movable bar is connected to a card plate, and the card plate movably passes through the mounting frame, and a card slot for the card plate to be movably inserted is provided on the wall of the mounting slot, and an extrusion plate is connected in the middle of each of the movable bars. An extrusion groove is provided at the top of the pressure plate, a square column is fixed through the middle of the support plate, the top of the square column is connected to a screw, a second extrusion frame is movably mounted on the square column, a turntable is mounted on the screw, a thread matching the screw is provided on the inner wall of the turntable, the bottom end of the turntable is connected to a connecting cylinder, the bottom end of the connecting cylinder is connected to the second extrusion frame, a driving rod is connected to the bottom of the second extrusion frame near each extrusion plate, the driving rod passes through the bottom end of the support plate and is connected to the chassis, a plurality of bottom rods are connected to the bottom edge of the chassis, the bottom end of the bottom rod is connected to a driving frame, and the driving frame movably passes through the corresponding extrusion groove.

[0017] In a second aspect, the present application provides a tunnel drainage pipe cleaning robot visual inspection method, which adopts the following technical solutions:

[0018] A tunnel drainage pipe descaling robot visual inspection method comprises the following steps:

[0019] Step 1: First, place the robot body in the tunnel drainage pipe. The robot body moves inside the pipe, and the cleaning head is driven by the robotic arm to clean the inner wall of the pipe in all directions.

[0020] Step 2: Cooperate with the front and rear cameras on the visual inspection box to automatically identify the dirt on the inner wall of the pipe, making the pipe cleaning more thorough;

[0021] Step three: in the cleaning process, when the front camera or the rear camera is damaged, the front camera or the rear camera is automatically pushed out from the visual detection box through the movement of the switching structure, the driving structure and the transmission structure, and the standby camera is automatically switched, so that the visual detection work is smoothly carried out without moving the robot main body out of the pipeline for maintenance or replacement;

[0022] Step four: after the pipeline is cleaned, the robot main body is removed to complete the work.

[0023] In summary, the present application has the following beneficial technical effects:

[0024] The present application sets the removal switching structure, the transmission structure and the driving structure, when the front camera or the rear camera is damaged and affects the normal visual detection work, the broken front camera or rear camera is pushed out from the visual detection box through the removal switching structure, and the transmission structure and the driving structure are matched, after the broken front camera or rear camera is pushed out, the standby camera is automatically switched, so that the broken front camera or rear camera is stored in the visual detection box, and the normal visual detection work is carried out through the standby camera, and the robot main body does not need to be taken out from the pipeline to replace the front camera or the rear camera during the cleaning process in the pipeline, so that the cleaning work can be continued, and the work efficiency is greatly improved.

[0025] The present application sets the protection structure and the decompression structure, the protection structure can play a certain protection role for the front camera or the rear camera, and when the front camera or the rear camera is damaged and the standby camera is switched, the protection structure is matched with the decompression structure, and the protection structure is automatically pushed away during switching to ensure the normal switching work of the standby camera.

[0026] The present application sets the mounting structure, which facilitates the installation or disassembly of the visual detection box on the mechanical arm. DETAILED DESCRIPTION

[0027] Figure 1 It is the overall structure schematic diagram of the embodiment of the present application;

[0028] Figure 2 It is the structure schematic diagram of the fastening plate in the embodiment of the present application;

[0029] Figure 3 It is the structure schematic diagram of the visual detection box after disassembly on the support plate in the embodiment of the present application;

[0030] Figure 4 It is the A structure enlarged view of the embodiment of the present application; Figure 3

[0031] Figure 5 ​is a structural schematic view of the first support plate in the embodiment of the present application;

[0032] Figure 6 is a structural schematic view of the visual detection box in the embodiment of the present application;

[0033] Figure 7 is a structural schematic view of the inner groove in the embodiment of the present application;

[0034] Figure 8 is a structural schematic view of the B in the embodiment of the present application Figure 7 ;

[0035] Figure 9 is a structural schematic view of the C in the embodiment of the present application Figure 7 ;

[0036] Figure 10 is a structural schematic view of the D in the embodiment of the present application Figure 7 ;

[0037] Figure 11 is a structural schematic view of the moving-out switching structure in the embodiment of the present application;

[0038] Figure 12 is a structural schematic view of the E in the embodiment of the present application Figure 11 .

[0039] BRIEF DESCRIPTION OF THE DRAWINGS: 1, robot main body; 2, mechanical arm; 3, cleaning head; 4, fastening plate; 5, support plate; 6, support frame; 7, first mounting plate; 8, vertical plate; 9, adjusting plate; 10, visual detection box; 11, front camera; 12, inner groove; 13, electric telescopic rod; 14, moving disc; 15, through strip; 16, switching sleeve; 17, standby camera; 18, switching shaft; 19, belt pulley; 20, belt; 21, rotating rod; 22, first gear; 23, through plate; 24, driving strip; 25, vertical strip; 26, insertion rod; 27, first horizontal groove; 28, first rotating shaft; 29, first blocking block; 30, first inclined groove; 31, second horizontal groove; 32, second rotating shaft; 33, second blocking block; 34, second inclined groove; 35, anti-falling block; 36, first fixed strip; 37, first spring; 38, second fixed strip; 39, pressure receiving block; 40, first extrusion frame; 41, through rod; 42, second spring; 43, moving frame; 44, connecting rod; 45, second mounting plate; 46, motor; 47, second gear; 48, adjusting rod; 49, third gear; 50, mounting groove; 51, mounting frame; 52, fixed rod; 53, moving strip; 54, clamping plate; 55, support strip; 56, square column; 57, screw rod; 58, rotating disc; 59, connecting cylinder; 60, second extrusion frame; 61, driving rod; 62, base disc; 63, base rod; 64, driving frame; 65, extrusion groove; 66, extrusion plate; 67, protective sleeve. DETAILED DESCRIPTION

[0040] The application will be further described below in conjunction with the accompanying drawings. Figures 1-12 The application will be further described below in conjunction with the accompanying drawings.

[0041] The embodiment of the application discloses a tunnel drainage pipe cleaning robot visual detection device.

[0042] Referring to Figures 1-12 A tunnel drainage pipe cleaning robot visual detection device, comprising a robot main body 1, a mechanical arm 2 and a cleaning head 3, the mechanical arm 2 is arranged on the robot main body 1, the cleaning head 3 is installed at one end of the mechanical arm 2, a fastening plate 4 is arranged on the mechanical arm 2, a support plate 5 is arranged on the fastening plate 4 through a mounting structure, a support frame 6 is fastened to the upper front and rear sides of the support plate 5 through bolts, a first mounting plate 7 is installed at the top end of the support frame 6, vertical plates 8 are fastened to the upper front and rear sides of the first mounting plate 7, an adjusting plate 9 is arranged between the two vertical plates 8 through an angle adjusting structure, a visual detection box 10 is fixedly installed in the adjusting plate 9, two front cameras 11 are arranged on the right side of the visual detection box 10, one rear camera is arranged on the left side of the visual detection box 10, three groups of moving-out switching structures are arranged in the visual detection box 10, the three groups of moving-out switching structures are arranged corresponding to the positions of the front cameras 11 and the rear camera, and protection structures are arranged on the visual detection box 10 corresponding to the positions of the front cameras 11 and the rear camera.

[0043] The moving-out switching structure comprises three inner grooves 12 opened in the visual detection box 10, the three inner grooves 12 are arranged corresponding to the positions of the front cameras 11 and the rear camera, an electric telescopic rod 13 is installed on one end of the groove wall of the inner groove 12, a moving disc 14 is arranged at one end of the output shaft of the electric telescopic rod 13 through a decompression structure, two penetrating rods 15 are connected to the upper edge of the moving disc 14, the penetrating rods 15 are rotatably connected to switching shafts 18 at the inner walls of the ends away from the moving disc 14, the switching shafts 18 are fixedly connected to switching sleeves 16 at the ends close to each other, the two front cameras 11 are installed at one end in the corresponding two switching sleeves 16, the rear camera is installed at one end in the remaining one switching sleeve 16, a spare camera 17 is arranged at the other end in the switching sleeve 16, and a transmission structure is arranged on one of the penetrating rods 15.

[0044] The transmission structure comprises a rotating rod 21 rotatably connected to the inner wall of one of the penetrating rods 15 close to the position of the moving disc 14, the rotating rod 21 and the corresponding switching shaft 18 are fixedly sleeved with a belt pulley 19, the two belt pulleys 19 are tightly sleeved with a belt 20, and a driving structure is arranged between the rotating rod 21 and the groove wall of the inner groove 12.

[0045] The driving structure comprises a through plate 23 movably penetrating through the through strip 15 at a position close to the rotating rod 21, the through plate 23 is connected with a driving strip 24 at the front face, the rotating rod 21 is fixedly sleeved with a first gear 22, the driving strip 24 is provided with gear teeth in meshing connection with the first gear 22, the through plate 23 is connected with a vertical strip 25 at the top end, the vertical strip 25 is fixedly penetrated through with a plug rod 26, the inner groove 12 is provided with a first horizontal groove 27 at the groove wall close to the plug rod 26, the inner groove 12 is provided with a second horizontal groove 31 below the groove wall, the first horizontal groove 27 is provided with a first inclined groove 30 at the lower groove wall close to the right end, the first inclined groove 30 is communicated with the second horizontal groove 31 at the bottom end, the first inclined groove 30 is rotatably inserted with a first rotating shaft 28 at the top end of the left side groove wall, the first rotating shaft 28 is fixedly sleeved with a first blocking block 29, the first rotating shaft 28 is sleeved with a first torsional spring at one end, and the first torsional spring is connected to the first blocking block 29 and the inner side groove wall of the first horizontal groove 27 respectively at two ends, and a reset structure is arranged between the first horizontal groove 27 and the second horizontal groove 31.

[0046] The reset structure comprises a second inclined groove 34 arranged at the lower groove wall of the first horizontal groove 27 close to the first inclined groove 30, the second inclined groove 34 is communicated with the second horizontal groove 31 at the bottom end, the second horizontal groove 31 is rotatably inserted with a second rotating shaft 32 at the bottom end of the right end groove wall, the second rotating shaft 32 is fixedly sleeved with a second blocking block 33, the second rotating shaft 32 is sleeved with a second torsional spring at one end, and the second torsional spring is connected to the second blocking block 33 and the inner side groove wall of the second inclined groove 34 respectively at two ends, and an anti-falling structure is arranged at the upper end of the left side groove wall of the second inclined groove 34.

[0047] The anti-falling structure comprises a slot formed at the upper end of the left side slot wall of the second chute 34, and the anti-falling block 35 is movably inserted into the slot. A third spring is connected between the anti-falling block 35 and the inner end slot wall of the slot. The lower right end of the anti-falling block 35 is an inclined surface. When the front camera 11 or the rear camera is damaged by the splashed dirt during the cleaning process of the cleaning head 3 driven by the mechanical arm 2 in the pipeline, and the visual detection work cannot be smoothly performed, the electric telescopic rod 13 is started to drive the moving disc 14 to move away from the electric telescopic rod 13. The moving disc 14 drives the front camera 11 or the rear camera at one end of the through strip 15 to gradually move out of the visual detection box 10. The movement of the through strip 15 drives the top end plug rod 26 at one end of the vertical strip 25 to slide in the first horizontal slot 27. When the plug rod 26 slides to the first blocking block 29, with the continuous movement of the plug rod 26, the first blocking block 29 is pushed to rotate around the first rotating shaft 28 as the axis. When the plug rod 26 is separated from the first blocking block 29, the first blocking block 29 is reversely rotated and reset under the action of the first torsional spring. When the plug rod 26 slides to the right end of the first horizontal slot 27, the front camera 11 and the corresponding spare camera 17 are completely removed from the visual detection box 10. Then, the electric telescopic rod 13 drives the moving disc 14 to move reversely, drives the plug rod 26 to slide reversely in the first horizontal slot 27, and when the plug rod 26 slides to the first blocking block 29, the plug rod 26 slides from the first inclined slot 30 to the second horizontal slot 31 under the blocking of the first blocking block 29. In this process, the plug rod 26 drives the through plate 23 and the driving strip 24 to move downward as a whole, drives the rotating rod 21 to rotate through the first gear 22, and drives the switching shaft 18 and the switching sleeve 16 to rotate half a circle as a whole under the action of the belt pulley 19 and the belt 20, so as to switch out the spare camera 17. Then, with the continuous reverse movement of the moving disc 14, the broken front camera 11 is inserted into the visual detection box 10 for storage. In this way, the switched-out spare camera 17 continues to perform visual detection work during the dirt cleaning process, ensures the smooth progress of the dirt cleaning work, and timely switches the spare camera 17. Therefore, it is not necessary to take out the robot from the pipeline to repair or replace the front camera 11, which saves a lot of working time. When the pipeline cleaning work is completed, the robot main body 1 is taken out from the pipeline to replace the front camera 11. The electric telescopic rod 13 can be started to drive the moving disc 14 to move away from the electric telescopic rod 13. The moving disc 14 drives one end of the plug rod 26 to slide to the right in the second horizontal slot 31. When the plug rod 26 slides to the second blocking block 33, the front camera 11 and the spare camera 17 are completely removed from the visual detection box 10. With the continuous movement of the moving disc 14, the moving disc 14 drives the plug rod 26 to slide from the second inclined slot 34 to the first horizontal slot 27 under the blocking action of the second blocking block 33. In this process, the plug rod 26 drives the driving strip 24 to move upward, and drives the rotating rod 21 to rotate through the first gear 22.Under the action of the pulley 19 and the belt 20, the switching shaft 18 is driven to rotate in the opposite direction, thereby switching back to the front camera 11, facilitating the replacement or maintenance of the front camera 11. When the rod 26 slides in the second inclined slot 34, it squeezes the inclined surface of the anti-drop block 35, pushing the anti-drop block 35 toward the inside of the slot, allowing the rod 26 to slide smoothly from the second inclined slot 34 to the first transverse slot 27. The anti-drop block 35 also serves to block the rod 26. When the rod 26 slides from left to right in the first transverse slot 27, the rod 26 is prevented from sliding directly from the first transverse slot 27 to the second inclined slot 34 under the action of automatic gravity, ensuring that the rod 26 can slide smoothly to the right end of the first transverse slot 27, thereby smoothly switching to the backup camera 17.

[0048] See also Figure 5 、 Figure 6 、 Figure 7 and Figure 12 , the protective structure includes three groups of protective sleeves 67 tightly arranged on the left and right sides of the visual inspection box 10, and the three groups of protective sleeves 67 are respectively tightly attached to the front camera 11 and the rear camera, and each protective sleeve 67 is connected to a first fixing bar 36 in the middle of one side of the visual inspection box 10, and the first fixing bar 36 is movably inserted into the inner groove 12, and a plurality of first springs 37 are connected between the first fixing bar 36 and the groove wall of the inner groove 12, and the end of the first fixing bar 36 away from the protective sleeve 67 is connected to the second fixing bar 38, and a pressure block 39 is installed at one end of the second fixing bar 38, and an inclined surface is provided on the side surface of the pressure block 39 close to the first fixing bar 36. Under the thrust of the first spring 37, the protective sleeve 67 is pushed tightly against the front camera 11 or the rear camera, which plays a certain protective role for the front camera 11 or the rear camera, and reduces the damage caused by the front camera 11 or the rear camera colliding with foreign objects in the pipeline;

[0049] The decompression structure includes a first extrusion frame 40 connected to one end of the output shaft of the electric telescopic rod 13, the inner walls of the upper and lower sides of the first extrusion frame 40 are sleeved on the two pressure blocks 39, and the upper and lower ends of the right side of the first extrusion frame 40 are fixedly connected with a through rod 41, a moving frame 43 is movably sleeved on the through rod 41, and a connecting rod 44 is connected to the middle of the right side of the moving frame 43. One end of the connecting rod 44 is connected to the moving disk 14, and a second spring 42 is sleeved on the through rod 41. The two ends of the second spring 42 are respectively connected to the first extrusion frame 40 and the moving frame 43. The electric telescopic rod 13 drives the moving frame 43 to move. When the movable disk 14 moves to switch the backup camera 17, the electric telescopic rod 13 first drives the first extrusion frame 40 to move. At this time, the first extrusion frame 40 drives the through rod 41 to move on the moving frame 43, and the moving frame 43 is in a stationary state. As the first extrusion frame 40 moves, the first extrusion frame 40 is detached from the pressure block 39. Under the tension of the first spring 37, the first fixing bar 36 is pulled to move, thereby pulling open the corresponding protective cover 67 at the front camera 11, so that the front camera 11 can be smoothly pushed out of the visual inspection box 10 for switching.

[0050] See also Figure 1-Figure 5 The angle adjustment structure includes a second mounting plate 45 mounted on the front side of the first mounting plate 7, a motor 46 is installed on the side of the second mounting plate 45, the output shaft of the motor 46 passes through the corresponding vertical plate 8 and is fixedly sleeved with a second gear 47 on one end, and the top of the front and rear side surfaces of the adjustment plate 9 are fixedly connected to an adjusting rod 48, the adjusting rod 48 rotates and passes through the vertical plate 8, and a third gear 49 is fixedly sleeved on one end of the front adjusting rod 48, and the third gear 49 is meshed with the second gear 47. When performing visual inspection, the motor 46 is started to drive the second gear 47 to rotate, and under the drive of the third gear 49, the adjustment plate 9 and the visual inspection box 10 are driven to rotate as a whole, so as to flexibly adjust the visual inspection angle according to the needs of actual conditions;

[0051] The mounting structure includes a mounting groove 50 provided in the middle of the fastening plate 4, a mounting frame 51 is inserted into the mounting groove 50, and the mounting frame 51 and the support plate 5 are supported by multiple support bars 55. Two fixing rods 52 are respectively connected between the front and rear inner walls and the left and right inner walls of the mounting frame 51. The two groups of fixing rods 52 are distributed at different heights in the mounting frame 51. Two movable bars 53 are movably sleeved on each group of two fixing rods 52. The middle of one side of the movable bar 53 is connected to a card plate 54. The card plate The plate 54 moves through the mounting frame 51, and a card slot for the card plate 54 to be inserted into the mounting groove 50 is provided on the wall of the mounting groove. The middle of each movable bar 53 is connected to an extrusion plate 66, and an extrusion groove 65 is provided at the top of the extrusion plate 66. The middle of the support plate 5 is fixed through the square column 56, and the top of the square column 56 is connected to the screw 57. The second extrusion frame 60 is movably mounted on the square column 56, and a turntable 58 is mounted on the screw 57. The inner wall of the turntable 58 is provided with a thread matching the screw 57. The bottom end of the turntable 58 is connected to a connecting tube 59, and the bottom end of the connecting tube 59 is connected to the second extrusion frame 60. The second extrusion frame 60 is connected to a driving rod 61 near each extrusion plate 66 below. The driving rod 61 passes through the bottom end of the support plate 5 and is connected to the chassis 62. The bottom edge of the chassis 62 is connected to multiple bottom rods 63. The bottom end of the bottom rod 63 is connected to a driving frame 64, which drives the frame 64 to move through the corresponding extrusion slot 65. When installing the visual inspection box 10 on the robot arm 2, first install The frame 51 is inserted into the mounting groove 50 on the fastening plate 4, and then the turntable 58 is rotated downward on the screw 57 to drive the second extrusion frame 60 to move downward through the connecting tube 59, and at the same time drives the driving frame 64 to slide downward on the extrusion groove 65 of the extrusion plate 66. The driving frame 64 squeezes the groove wall of the extrusion groove 65 to push the moving bar 53 to drive the card plate 54 to be inserted into the card slot at the corresponding position, thereby installing the visual inspection box 10 on the robot arm 2, which is simple and convenient to operate.

[0052] The embodiment of the present invention further discloses a tunnel drainage pipe descaling robot visual inspection method, comprising the following steps:

[0053] Step 1: First, place the robot body 1 in the tunnel drainage pipe. The robot body 1 moves in the pipe, and the cleaning head 3 is driven by the robot arm 2 to clean the inner wall of the pipe in all directions.

[0054] Step 2: Cooperate with the front camera 11 and the rear camera on the visual inspection box 10 to automatically identify the dirt on the inner wall of the pipeline, so that the pipeline can be cleaned more thoroughly;

[0055] Step 3: During the cleaning process, if the front camera 11 or the rear camera is damaged, the front camera 11 or the rear camera is automatically pushed out from the visual inspection box 10 by removing the switching structure, the driving structure and the transmission structure, and the backup camera 17 is automatically switched, so that the visual inspection work can be carried out smoothly without removing the pipeline from the robot body 1 for repair or replacement;

[0056] Step 4: After the pipeline is cleaned, the robot body 1 is removed to complete the work.

[0057] The implementation principle of a tunnel drainage pipe cleaning robot visual inspection device and method thereof according to an embodiment of the present invention is as follows: first, the robot body 1 is placed in the drainage pipe to be cleaned, and the cleaning head 3 is driven by the robotic arm 2 to clean the dirt. When the front camera 11 or the rear camera is damaged by dirt splashed during the cleaning process and the visual inspection work cannot be carried out smoothly, the electric telescopic rod 13 is started to first drive the first extrusion frame 40 to move. At this time, the first extrusion frame 40 drives the through rod 41 to move on the moving frame 43, and the moving frame 43 is in a stationary state. As the first extrusion frame 40 moves, the first extrusion frame 40 detaches from the pressure block 39, and under the pulling force of the first spring 37, it pulls the first fixing bar 36 to move, thereby moving the front camera 11, the corresponding protective cover 67 is pulled open, and then as the first extrusion frame 40 continues to move, the movable plate 14 is pushed to move in the direction away from the electric telescopic rod 13, and the movable plate 14 drives the front camera 11 or the rear camera at one end of the penetration bar 15 to gradually move out of the visual inspection box 10, and the movement of the penetration bar 15 drives one end of the insertion rod 26 at the top of the vertical bar 25 to slide in the first transverse groove 27. When the insertion rod 26 slides to the first blocking block 29, as the insertion rod 26 continues to move, it pushes the first blocking block 29 to rotate with the first rotating shaft 28 as the axis. When the insertion rod 26 is disengaged from the first blocking block 29, under the action of the first torsion spring, the first blocking block 29 rotates in the opposite direction to reset. When the penetration bar 15 drives the insertion rod 26 to slide to the first When the front camera 11 and the corresponding backup camera 17 are at the rightmost end of the transverse groove 27, the front camera 11 and the corresponding backup camera 17 are completely removed from the visual inspection box 10, and then the electric telescopic rod 13 drives the movable plate 14 to move in the opposite direction, driving the insertion rod 26 to slide in the opposite direction in the first transverse groove 27, and when the insertion rod 26 slides to the first blocking block 29, under the obstruction of the first blocking block 29, the insertion rod 26 slides from the first inclined groove 30 to the second transverse groove 31. In this process, the insertion rod 26 drives the through plate 23 and the driving bar 24 to move downward as a whole, and drives the rotating rod 21 to rotate through the first gear 22. Under the action of the pulley 19 and the belt 20, the switching shaft 18 and the switching sleeve 16 are driven to rotate half a circle as a whole, thereby switching out the backup camera 17, and then as the movable plate 14 continues to reverse, the front camera 11 and the corresponding backup camera 17 are completely removed from the visual inspection box 10. When the broken front camera 11 is inserted into the visual inspection box 10 for storage, the spare camera 17 that is switched out can be used to continue the visual inspection work during the cleaning process to ensure the smooth progress of the cleaning work and to switch the spare camera 17 in time. In this way, there is no need to take out the robot from the pipeline to repair or replace the front camera 11, which wastes a lot of working time. When the pipeline cleaning work is completed and the robot body 1 is taken out from the pipeline to replace the front camera 11, the electric telescopic rod 13 can be started again to drive the moving disk 14 to move away from the electric telescopic rod 13. The moving disk 14 drives one end of the insertion rod 26 to slide to the right in the second transverse groove 31. When the insertion rod 26 slides to the second blocking block 33,The front camera 11 and backup camera 17 are completely removed from the visual inspection box 10. As the movable plate 14 continues to move, the second blocking block 33 cooperates with the blocking effect, and the movable plate 14 drives the insertion rod 26 to slide from the second inclined slot 34 to the first transverse slot 27. During this process, the insertion rod 26 drives the driving bar 24 upward, which drives the rotating rod 21 to rotate through the first gear 22. Under the action of the pulley 19 and belt 20, the switching shaft 18 rotates in the opposite direction, thereby switching back to the front camera 11. This facilitates the replacement or maintenance of the front camera 11.

[0058] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A tunnel drainage pipe cleaning robot visual inspection device, comprising a robot body (1), a robot arm (2) and a cleaning head (3), characterized in that: A robotic arm (2) is provided on the robot body (1), a cleaning head (3) is installed at one end of the robotic arm (2), a fastening plate (4) is provided on the robotic arm (2), a support plate (5) is provided on the fastening plate (4) via a mounting structure, a support frame (6) is fastened to the front and rear sides of the support plate (5) via bolts, a first mounting plate (7) is installed on the top of the support frame (6), a vertical plate (8) is fastened to the front and rear sides of the first mounting plate (7), and an angle adjustment structure is provided between the two vertical plates (8). An adjustment plate (9) is provided, wherein a visual inspection box (10) is fixedly installed in the adjustment plate (9), two front cameras (11) are provided on the right side of the visual inspection box (10), and a rear camera is provided on the left side of the visual inspection box (10), and three groups of moving-out switching structures are provided in the visual inspection box (10), and the three groups of moving-out switching structures are provided corresponding to the position settings of the front camera (11) and the rear camera, and protective structures are provided on the visual inspection box (10) corresponding to the front camera (11) and the rear camera; The shifting structure includes three inner grooves (12) provided in the visual inspection box (10), the three inner grooves (12) corresponding to the positions of the front camera (11) and the rear camera, an electric telescopic rod (13) is installed on the groove wall at one end of the inner groove (12), a movable disk (14) is arranged at one end of the output shaft of the electric telescopic rod (13) through a decompression structure, two through bars (15) are connected at the upper edge of the movable disk (14), the through bars (15) are rotatably connected to the switching shaft (18) away from the inner wall of one end of the movable disk (14), the two switching shafts (18) are fixedly connected to a switching sleeve (16) at one end close to each other, the two front cameras (11) are installed at one end of the corresponding two switching sleeves (16), the rear camera is installed at one end of the remaining switching sleeve (16), and a spare camera (17) is arranged at the other end of the switching sleeve (16), and a transmission structure is arranged on one of the through bars (15); The transmission structure includes a rotating rod (21) rotatably connected to the inner wall of one of the through bars (15) near the position of the movable disk (14), a pulley (19) is fixedly mounted on the rotating rod (21) and the corresponding switching shaft (18), a belt (20) is tightly mounted on the two pulleys (19), and a driving structure is provided between the rotating rod (21) and the groove wall of the inner groove (12); The driving structure comprises a through plate (23) that movably passes through the through bar (15) near the position of the rotating rod (21), the through plate (23) is connected to a driving bar (24) at the front side, the rotating rod (21) is fixedly provided with a first gear (22), the driving bar (24) is provided with teeth that mesh with the first gear (22), the top of the through plate (23) is connected to a vertical bar (25), the top of the vertical bar (25) is fixedly passed through the insertion rod (26), the groove wall of the inner groove (12) is provided with a first transverse groove (27) near the insertion rod (26), and the groove wall of the inner groove (12) is in the first transverse groove (27). A second transverse groove (31) is provided at the bottom, a first inclined groove (30) is provided at the lower groove wall of the first transverse groove (27) near the right end, the bottom end of the first inclined groove (30) is connected to the second transverse groove (31), a first rotating shaft (28) is rotatably inserted into the top end of the left groove wall of the first inclined groove (30), a first blocking block (29) is fixedly sleeved on the first rotating shaft (28), a first torsion spring is sleeved at one end of the first rotating shaft (28), two ends of the first torsion spring are respectively connected to the first blocking block (29) and the inner groove wall of the first transverse groove (27), and a reset structure is provided between the first transverse groove (27) and the second transverse groove (31); The protective structure includes three groups of protective sleeves (67) tightly arranged on the left and right sides of the visual inspection box (10), and the three groups of protective sleeves (67) are tightly attached to the front camera (11) and the rear camera respectively. Each of the protective sleeves (67) is connected to a first fixing bar (36) near the middle of one side of the visual inspection box (10), and the first fixing bar (36) is movably inserted into the inner groove (12). A plurality of first springs (37) are connected between the first fixing bar (36) and the groove wall of the inner groove (12). The end of the first fixing bar (36) away from the protective sleeve (67) is connected to the second fixing bar (38), and a pressure block (39) is installed at one end of the second fixing bar (38), and an inclined surface is provided on the side of the pressure block (39) close to the first fixing bar (36); The decompression structure includes a first extrusion frame (40) connected to one end of the output shaft of the electric telescopic rod (13), the inner walls of the upper and lower sides of the first extrusion frame (40) are sleeved on two pressure blocks (39), the upper and lower ends of the right side of the first extrusion frame (40) are fixedly connected to a through rod (41), a moving frame (43) is movably sleeved on the through rod (41), a connecting rod (44) is connected to the middle of the right side of the moving frame (43), one end of the connecting rod (44) is connected to the moving disk (14), a second spring (42) is sleeved on the through rod (41), and the two ends of the second spring (42) are respectively connected to the first extrusion frame (40) and the moving frame (43).

2. The tunnel drainage pipe cleaning robot visual inspection device according to claim 1, characterized in that: The reset structure includes a second inclined groove (34) provided on the lower groove wall of the first transverse groove (27) near the first inclined groove (30), the bottom end of the second inclined groove (34) is connected to the second transverse groove (31), the second rotating shaft (32) is rotated and inserted into the bottom end of the groove wall at the right end of the second transverse groove (31), a second blocking block (33) is fixedly sleeved on the second rotating shaft (32), a second torsion spring is sleeved on one end of the second rotating shaft (32), the two ends of the second torsion spring are respectively connected to the second blocking block (33) and the inner groove wall of the second inclined groove (34), and an anti-fall structure is provided at the upper end of the groove wall on the left side of the second inclined groove (34).

3. The tunnel drainage pipe cleaning robot visual inspection device according to claim 2, characterized in that: The anti-fall structure comprises a slot provided at the upper end of the left side slot wall of the second inclined slot (34), an anti-fall block (35) being movably inserted into the slot, a third spring being connected between the anti-fall block (35) and the slot wall at the inner end of the slot, and a lower right end of the anti-fall block (35) being an inclined surface.

4. The tunnel drainage pipe cleaning robot visual inspection device according to claim 1, characterized in that: The angle adjustment structure comprises a second mounting plate (45) mounted on the front side of the first mounting plate (7), a motor (46) mounted on the side of the second mounting plate (45), an output shaft of the motor (46) passing through the corresponding vertical plate (8) and a second gear (47) fixedly sleeved on one end thereof, an adjusting rod (48) fixedly connected at the top ends of the front and rear side surfaces of the adjustment plate (9), the adjusting rod (48) rotatingly passing through the vertical plate (8), a third gear (49) fixedly sleeved on one end of the front side adjustment rod (48), and the third gear (49) and the second gear (47) are meshed and connected with each other.

5. The tunnel drainage pipe cleaning robot visual inspection device according to claim 1, characterized in that: The mounting structure includes a mounting groove (50) provided in the middle of the fastening plate (4), a mounting frame (51) is inserted into the mounting groove (50), and the mounting frame (51) and the support plate (5) are supported by a plurality of support bars (55), and two fixing rods (52) are respectively connected between the front and rear inner walls and the left and right inner walls of the mounting frame (51), and two groups of the fixing rods (52) are distributed at different heights in the mounting frame (51), and two movable bars (53) are movably sleeved on each group of two fixing rods (52), and a card plate (54) is connected to the middle of one side of the movable bar (53), and the card plate (54) movably passes through the mounting frame (51), and a card slot for the card plate (54) to be movably inserted is provided on the wall of the mounting groove (50), and an extrusion plate (66) is connected to the middle of the upper surface of each of the moving bars (53), and an extrusion groove is provided at the top end of the extrusion plate (66). (65), a square column (56) is fixedly passed through the middle of the support plate (5), the top of the square column (56) is connected to the screw (57), a second extrusion frame (60) is movably sleeved on the square column (56), a turntable (58) is sleeved on the screw (57), a thread matching the screw (57) is provided on the inner wall of the turntable (58), the bottom end of the turntable (58) is connected to a connecting tube (59), the bottom end of the connecting tube (59) is connected to the second extrusion frame (60), the second extrusion frame (60) is connected to a driving rod (61) near each extrusion plate (66) below, the driving rod (61) passes through the bottom end of the support plate (5) and is connected to the chassis (62), a plurality of bottom rods (63) are connected to the bottom edge of the chassis (62), the bottom end of the bottom rod (63) is connected to a driving frame (64), and the driving frame (64) movably passes through the corresponding extrusion groove (65).

6. A tunnel drainage pipe cleaning robot visual inspection method, characterized by: The tunnel drainage pipe cleaning robot visual inspection method uses a tunnel drainage pipe cleaning robot visual inspection device according to any one of claims 1 to 5, comprising the following steps: Step 1: First, the robot body (1) is placed in the tunnel drainage pipe, and the robot body (1) moves in the pipe, and the cleaning head (3) is driven by the robotic arm (2) to clean the inner wall of the pipe in all directions; Step 2: Cooperate with the front camera (11) and the rear camera on the visual inspection box (10) to automatically identify the dirt on the inner wall of the pipeline, so that the pipeline can be cleaned more thoroughly; Step 3: During the cleaning process, if the front camera (11) or the rear camera is damaged, the front camera (11) or the rear camera is automatically pushed out from the visual inspection box (10) by removing the switching structure, the driving structure and the transmission structure, and the backup camera (17) is automatically switched, so that the visual inspection work can be carried out smoothly without removing the pipeline from the robot body (1) for repair or replacement; Step 4: After the pipe is cleaned, the robot body (1) is removed to complete the work.

Images