Novel multifunctional inspection robot

Abstract

The invention discloses a novel multifunctional inspection robot, and relates to the technical field of robots, the novel multifunctional inspection robot comprises a support frame, a walking mechanism and a cleaning mechanism, the end part of the support frame is provided with a camera located in a transparent protective cover, the walking mechanism is arranged on the support frame, and the cleaning mechanism is arranged at the end part of the support frame. The walking mechanism can adapt to pipelines with different diameters and shapes, and it is ensured that the robot smoothly walks in the pipelines. The air injection hole of the nozzle of the cleaning mechanism is obliquely arranged towards the transparent protective cover, so that impurities can be more effectively blown away from the surface of the protective cover, the clear view field of the camera is kept, and the acquired image information is accurate and reliable. Moreover, the operation of the cleaning mechanism is combined with the driving of the walking mechanism, and an additional power source is not needed, so that the structure is simplified, and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a novel multifunctional inspection robot. Background Technology

[0002] Pipeline inspection is a crucial task in industrial production and municipal infrastructure, used to promptly detect blockages, corrosion, leaks, and other problems within pipelines to ensure their proper functioning. Traditional pipeline inspection relies primarily on manual labor, which has several drawbacks: firstly, manual inspection is inefficient, especially in long pipelines or complex environments, consuming significant time and manpower; secondly, manual inspection often lacks access to narrow or hazardous areas, creating blind spots and leading to missed issues. While pipeline inspection robots have emerged with technological advancements, most existing robots are limited in function, capable only of simple image acquisition or movement, and cannot effectively clean impurities from camera housings, resulting in blurry images and compromising the accuracy and reliability of inspections. Summary of the Invention

[0003] The purpose of this invention is to provide a novel multifunctional inspection robot to overcome the above-mentioned defects in the prior art.

[0004] A novel multifunctional inspection robot includes a support frame, a walking mechanism, and a cleaning mechanism. A camera is installed at the end of the support frame and located inside a transparent protective cover. The walking mechanism is mounted on the support frame and is used to move inside a pipe. The cleaning mechanism is located at the end of the support frame and is used to clean impurities on the transparent protective cover.

[0005] Preferably, the support frame includes end plates and guide rods, two end plates are provided, and a guide rod is provided between the two end plates, and the camera and transparent protective cover are provided on the end plates.

[0006] Preferably, the walking mechanism includes a fixed plate, a first motor, a movable plate, outriggers, a second motor, and a drive plate. Two fixed plates are symmetrically arranged on the guide rod. Each fixed plate is rotatably connected to a corresponding end plate by a drive screw. Each drive screw is equipped with a first drive gear. The two fixed plates are rotatably connected to the same shaft. The two ends of the shaft are respectively equipped with second drive gears that mesh with the first drive gear. The first motor is located between the two fixed plates, and its output shaft is connected to one of the drive screws. Each drive screw is helically connected to a movable plate via a screw nut. The movable plate is slidably connected to the guide rod. Each fixed plate is hinged with several outriggers via pins. Each outrigger has symmetrical support plates on both sides at its end. A walking wheel is rotatably connected between two support plates. One outrigger on each fixed plate is equipped with a second motor on its side. A drive cylinder is installed on the output shaft of the second motor. The drive cylinder is equipped with a second bevel gear that meshes with a first bevel gear on the walking wheel. One end of the drive plate is hinged to the movable plate via a pin, and the other end of the drive plate is hinged to the outrigger via a pin.

[0007] Preferably, the cleaning mechanism includes a movable rod, an air chamber ring, a hose, and a nozzle. The movable rod is slidably connected to a support on the side of the support plate. The inner end of the movable rod is provided with a piston head, which is inserted into a connecting cylinder on the side of the support. The outer end of the movable rod is provided with a rod inserted into a drive groove on the surface of the drive cylinder. The air chamber ring is provided on the end plate and sleeved on the outside of the transparent protective cover. The air chamber ring is connected to the connecting cylinder through a hose. The nozzle is provided on the air chamber ring.

[0008] Preferably, the drive groove has a peak-valley structure and is arranged along the circumferential surface of the drive cylinder.

[0009] Preferably, the nozzles are provided in a plurality of units and are evenly distributed along the circumference of the air chamber ring.

[0010] Preferably, the nozzle's air jet holes are angled toward the transparent protective cover.

[0011] Preferably, the guide rods are provided in a plurality of them and are evenly distributed between the two end plates.

[0012] Preferably, the support plate is connected to the support leg by a number of bolts.

[0013] The beneficial effects achieved by this invention are as follows:

[0014] 1. The walking mechanism of this application uses a motor to drive a lead screw to rotate, which in turn moves a movable plate on a guide rod, causing the outriggers to rotate under the action of the drive plate. This achieves contact between the walking wheels and the inner wall of the pipe, providing strong support for the robot's stable movement within the pipe. Furthermore, a second motor drives the walking wheels to rotate via a second bevel gear and a first bevel gear on the drive cylinder, propelling the robot to move within the pipe. This driving method is compact, has high transmission efficiency, and can adapt to pipes of different diameters and shapes, ensuring smooth robot movement within the pipe.

[0015] 2. The moving rod of the cleaning mechanism in this application engages with the drive groove on the drive cylinder via an insert rod. When the drive cylinder rotates, the insert rod moves within the drive groove, causing the moving rod to reciprocate. This, in turn, causes the piston head to reciprocate within the connecting cylinder, propelling gas through the hose, air chamber ring, and nozzle towards the transparent protective cover, thus cleaning impurities from the cover. The nozzle's air jet orifice is angled towards the transparent protective cover, more effectively blowing impurities away from its surface, maintaining a clear view for the camera, and ensuring accurate and reliable image information. Furthermore, the operation of the cleaning mechanism is integrated with the drive of the traveling mechanism, eliminating the need for an additional power source, simplifying the structure, and reducing costs. Attached Figure Description

[0016] Figure 1 This is a side view of the entire invention.

[0017] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0018] Figure 3 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the cleaning mechanism of the present invention.

[0020] Figure 5 This is a schematic diagram of the moving rod and piston head of the present invention.

[0021] In the diagram, 1. Support frame; 11. End plate; 12. Guide rod; 2. Walking mechanism; 21. Fixed plate; 22. Drive screw; 221. Drive gear one; 23. Rotating shaft; 231. Drive gear two; 24. Motor one; 25. Moving plate; 26. Support leg; 261. Support plate; 262. Walking wheel; 263. Bevel gear one; 27. Motor two; 28. Drive cylinder; 281. Bevel gear two; 29. ​​Drive plate; 3. Cleaning mechanism; 31. Moving rod; 32. Support; 33. Piston head; 34. Connecting cylinder; 35. Drive groove; 36. Insert rod; 37. Air chamber ring; 38. Hose; 39. Nozzle; 4. Transparent protective cover. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion.

[0024] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0025] like Figure 1-5 As shown, the present invention provides a novel multifunctional inspection robot, characterized in that: it includes a support frame 1, a walking mechanism 2 and a cleaning mechanism 3. The support frame 1 includes an end plate 11 and guide rods 12. There are two end plates 11, and a plurality of guide rods 12 are evenly distributed between the two end plates 11. A camera located inside a transparent protective cover 4 is installed on the end plate 11.

[0026] It should be noted that the walking mechanism 2 is mounted on the support frame 1 and is used to move inside the pipeline. The walking mechanism 2 includes a fixed plate 21, a motor 24, a moving plate 25, a support leg 26, a motor 27, and a drive plate 29. Two fixed plates 21 are symmetrically arranged on the guide rod 12. Each fixed plate 21 is rotatably connected to the corresponding end plate 11 by a drive screw 22. Each drive screw 22 is equipped with a drive gear 221. The two fixed plates 21 are rotatably connected to the same rotating shaft 23. The two ends of the rotating shaft 23 are respectively provided with drive gears 231 that mesh with the corresponding drive gear 221. The motor 24 is located between the two fixed plates 21 and its output shaft is connected to one of the drive screws 22. Each drive screw 22 is screwed with a moving plate 25 through a screw nut. The moving plate 25 is slidably connected to the guide rod 12. The motor 24 drives the drive screw 22 to rotate, so that the moving plate 25 can move to the corresponding position, thereby adapting to the inspection of pipelines of different sizes.

[0027] In addition, each fixed plate 21 is hinged with several legs 26 by pins. Each leg 26 has several support plates 261 connected by bolts on both sides of its end. A walking wheel 262 is rotatably connected between two support plates 261. One of the legs 26 on each fixed plate 21 is equipped with a second motor 27 on its side. A drive cylinder 28 is installed on the output shaft of the second motor 27. The drive cylinder 28 is equipped with a second bevel gear 281 that meshes with the first bevel gear 263 on the walking wheel 262. One end of the drive plate 29 is hinged to the moving plate 25 by pins, and the other end of the drive plate 29 is hinged to the leg 26 by pins. The second motor 27 drives the walking wheel 262 to rotate, so that the walking wheel 262 moves in the pipeline.

[0028] Additionally, the cleaning mechanism 3 is located at the end of the support frame 1 and is used to clean impurities on the transparent protective cover 4. The cleaning mechanism 3 includes a moving rod 31, an air chamber ring 37, a hose 38, and a nozzle 39. The moving rod 31 is slidably connected to the support 32 on the side of the support plate 261. The inner end of the moving rod 31 is provided with a piston head 33, which is inserted into the connecting cylinder 34 on the side of the support 32. The outer end of the moving rod 31 is provided with a rod 36 inserted into the driving groove 35 on the surface of the driving cylinder 28. The driving groove 35 has a peak-valley structure and is set along the circumferential surface of the driving cylinder 28. Through the peak-valley structure of the driving groove 35, the piston head 33 on the moving rod 31 can reciprocate in the connecting cylinder 34, thereby causing the gas to be sprayed through the hose 38, the air chamber ring 37, and the nozzle 39 onto the transparent protective cover 4 to clean the transparent protective cover 4.

[0029] However, the air chamber ring 37 is disposed on the end plate 11 and sleeved on the outside of the transparent protective cover 4. The air chamber ring 37 is connected to the connecting cylinder 34 through the hose 38. Several nozzles 39 are provided and are evenly distributed along the circumference of the air chamber ring 37. The air jet holes of the nozzles 39 are inclined towards the transparent protective cover 4, so that the nozzles 39 can better clean the transparent protective cover 4 with air jets.

[0030] Detailed implementation methods and principles:

[0031] During operation, the robot of this application is placed in the pipe to be inspected. Then, the output shaft of motor 24 is controlled to rotate, which drives one of the drive screws 22 to rotate. The drive gear 221 on this drive screw 22 drives the other drive screw 22 to rotate through the drive gear 231 on the rotating shaft 23, so that the two drive screws 22 rotate at the same time. The drive screw 22 drives the moving plate 25 to move on the guide rod 12, so that the support leg 26 rotates under the action of the drive plate 29, and the walking wheel 262 on the support leg 26 contacts the inner wall of the pipe. The information collected inside the pipe is transmitted to the control terminal through the camera in the transparent protective cover 4.

[0032] When the robot is inspecting, the output shaft of the control motor 27 drives the drive cylinder 28 to rotate. The bevel gear 281 on the drive cylinder 28 drives the walking wheel 262 to rotate through the bevel gear 263, thereby driving the robot to move in the pipeline. While the drive cylinder 28 is rotating, it drives the insertion rod 36 on the moving rod 31 to move in the drive groove 35 through the drive groove 35. This causes the moving rod 31 to drive the piston head 33 to reciprocate in the connecting cylinder 34. Gas is sprayed onto the transparent protective cover 4 through the hose 38 via the air chamber ring 37 and the nozzle 39 to blow away impurities on the transparent protective cover 4.

[0033] The embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A novel multi-functional inspection robot, characterized in that: It includes a support frame (1), a walking mechanism (2) and a cleaning mechanism (3). The end of the support frame (1) is equipped with a camera located inside a transparent protective cover (4). The walking mechanism (2) is located on the support frame (1) and is used to move inside the pipe. The cleaning mechanism (3) is located at the end of the support frame (1) and is used to clean impurities on the transparent protective cover (4).

2. The novel multi-functional inspection robot according to claim 1, characterized in that: The support frame (1) includes an end plate (11) and a guide rod (12). There are two end plates (11), and the guide rod (12) is provided between the two end plates (11). The camera and the transparent protective cover (4) are located on the end plate (11).

3. The novel multi-functional inspection robot according to claim 2, characterized in that: The walking mechanism (2) includes a fixed plate (21), a motor (24), a moving plate (25), a support leg (26), a second motor (27), and a drive plate (29). Two fixed plates (21) are symmetrically arranged on the guide rod (12). Each fixed plate (21) is rotatably connected to a corresponding end plate (11) by a drive screw (22). Each drive screw (22) is equipped with a drive gear (221). The two fixed plates (21) are rotatably connected to the same rotating shaft (23). The two ends of the rotating shaft (23) are respectively provided with drive gears (231) that mesh with the corresponding drive gears (221). The motor (24) is located between the two fixed plates (21) and its output shaft is connected to one of the drive screws (22). Each drive screw (22) is connected to a drive gear (231) that meshes with the corresponding drive gear (221). A movable plate (25) is screwed to a screw nut. The movable plate (25) is slidably connected to the guide rod (12). Each fixed plate (21) is hinged with several legs (26) by a pin. Each leg (26) has a support plate (261) symmetrically arranged on both sides of its end. A walking wheel (262) is rotatably connected between two support plates (261). One of the legs (26) on each fixed plate (21) has a motor (27) on its side. A drive cylinder (28) is installed on the output shaft of the motor (27). The drive cylinder (28) has a bevel gear (281) that meshes with the bevel gear (263) on the walking wheel (262). One end of the drive plate (29) is hinged to the movable plate (25) by a pin, and the other end of the drive plate (29) is hinged to the leg (26) by a pin.

4. A novel multi-functional inspection robot according to claim 3, characterized in that: The cleaning mechanism (3) includes a moving rod (31), an air chamber ring (37), a hose (38), and a nozzle (39). The moving rod (31) is slidably connected to the support (32) on the side of the support plate (261). The inner end of the moving rod (31) is provided with a piston head (33), which is inserted into the connecting cylinder (34) on the side of the support (32). The outer end of the moving rod (31) is provided with a rod (36) inserted into the driving groove (35) on the surface of the driving cylinder (28). The air chamber ring (37) is provided on the end plate (11) and sleeved on the outside of the transparent protective cover (4). The air chamber ring (37) is connected to the connecting cylinder (34) through the hose (38). The nozzle (39) is provided on the air chamber ring (37).

5. A novel multi-functional inspection robot according to claim 4, characterized in that: The drive groove (35) has a peak-valley structure and is arranged along the circumferential surface of the drive cylinder (28).

6. A novel multi-functional inspection robot according to claim 4, characterized in that: The nozzle (39) is provided in several parts and is evenly distributed along the circumference of the air chamber ring (37).

7. A novel multi-functional inspection robot according to claim 4, characterized in that: The nozzle (39) has its air jets angled toward the transparent protective cover (4).

8. A novel multi-functional inspection robot according to claim 2, characterized in that: The guide rod (12) is provided in several parts and is evenly distributed between the two end plates (11).

9. A novel multi-functional inspection robot according to claim 3, characterized in that: The support plate (261) is connected to the support leg (26) by a number of bolts.

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