Underground sewage pipeline detection robot

Abstract

The invention relates to the technical field of pipeline detection robots, and discloses an underground sewage pipeline detection robot. Comprising a robot base and driving rollers installed on the front side and the rear side of the robot base, a detection camera body is arranged on the top of the robot base, and a control base is installed on one side of the detection camera body. According to the underground sewage pipeline detection robot, the extension arm composed of the fixing frame, the first oil cylinder, the L-shaped frame and the extension frame is matched with the auxiliary roller driven by the driving piece in the mounting shell, so that the robot can adapt to pipelines with different pipe diameters, and the moving stability of the robot base is improved; when encountering an abrupt obstacle, the first oil cylinder retracts to lift the robot base, the servo motor is started to drive the auxiliary roller to move in an auxiliary mode, the passing ability is enhanced, the buffer spring and the damper between the extension frame and the L-shaped frame can reduce the influence of vibration on the detection camera body, the detection accuracy and the equipment stability are guaranteed, and reliable support is provided for pipeline maintenance.

Description

Technical Field

[0001] This invention relates to the field of pipeline inspection robot technology, specifically to an underground sewage pipeline inspection robot. Background Technology

[0002] An underground sewage pipeline inspection robot is a specialized piece of equipment used for inspecting the internal condition of underground sewage pipelines. It is typically equipped with tracks or wheels for autonomous movement within the pipeline. The robot carries a high-definition camera to capture real-time images of the pipeline's interior, allowing operators to remotely observe for cracks, corrosion, blockages, and other defects. It may also be equipped with various sensors such as sonar and lidar to detect pipeline deformation and diameter changes. Furthermore, the robot is generally waterproof and corrosion-resistant to withstand the harsh conditions of damp and corrosive substances within sewage pipelines, providing crucial inspection information for the maintenance and repair of urban underground sewage pipelines.

[0003] Currently, modern robots are widely used for inspecting urban underground sewage pipes. These robots typically have built-in chips, sensors, and electric rollers, enabling them to carry out inspections efficiently. However, due to the varying internal conditions of different pipes, the traditional method of relying solely on multiple sets of rollers to move within the pipe has significant drawbacks. On the one hand, if there are a large number of impurities inside the pipe, the robot will have difficulty traversing it and is prone to getting stuck, hindering the inspection process. On the other hand, if the robot encounters local unevenness or sudden changes in pipe diameter, its center of gravity is easily unstable, leading to a rollover. This not only damages the robot's own chips, sensors, and other precision components, resulting in substantial losses, but also forces the inspection work to be interrupted, affecting the efficiency of underground sewage pipe inspections. Summary of the Invention

[0004] The purpose of this invention is to provide an underground sewage pipeline inspection robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underground sewage pipeline inspection robot, comprising a robot base and drive rollers installed on the front and rear sides of the robot base, a detection camera body being disposed on the top of the robot base, a control base being installed on one side of the detection camera body, and further comprising:

[0006] A bracket is fixed to one side of the robot base. Positioning plates are fixedly connected to both the front and rear sides of the top of the robot base, and a hanging plate is hinged between one side of the two positioning plates.

[0007] The robot base is fixed to the front and rear sides of the top of the robot base. A support assembly is fixedly connected between one side of the two fixed frames. The support assembly includes two first hydraulic cylinders and a mounting shell. The first hydraulic cylinders are hinged to one side of the fixed frame. The mounting shell is disposed on both sides of the robot base. A drive component is disposed on one side of the mounting shell.

[0008] Preferably, a fixed shell is hinged to the top of one side of the fixed frame, and the piston end of the first oil cylinder is hinged to the bottom of the fixed shell.

[0009] Preferably, a first extension plate is fixedly connected to the top of the fixed shell, a second oil cylinder is fixedly connected to one side of the first extension plate, a second extension plate is fixedly connected to the piston end of the second oil cylinder, and an L-shaped frame is fixedly connected to the bottom of the second extension plate.

[0010] Preferably, a sliding plate is fixedly connected to one side of the L-shaped frame, and a groove is provided inside the fixed shell for limiting the sliding of the sliding plate.

[0011] Preferably, an extension frame is provided on one side of the L-shaped frame, and one side of the two extension frames is fixedly connected to the mounting shell. A buffer spring is fixedly connected between one side of the extension frame and the L-shaped frame.

[0012] Preferably, a damper is fixedly connected to one side of the extension frame, and one side of the damper is fixed to the inside of the L-shaped frame.

[0013] Preferably, the driving component includes a servo motor, which is fixed to one side of the mounting housing. The output end of the servo motor extends into the interior of the mounting housing and is fixedly connected to a first transmission rod. A first meshing wheel is fixedly connected to the surface of the first transmission rod, and a toothed belt is meshed with the surface of the first meshing wheel. A second meshing wheel is meshed with one side of the inside of the toothed belt, and a second transmission rod is fixedly connected to the inside of the second meshing wheel. One end of the second transmission rod is rotatably connected to the interior of the mounting housing via a bearing, and an auxiliary roller is fixedly connected to one end of both the first and second transmission rods.

[0014] Preferably, a limiting frame is rotatably connected to one side of the fixed frame, and a limiting post that slides inside the limiting frame is fixedly connected to one side of the L-shaped frame.

[0015] Preferably, supplementary lights are installed on both the front and rear sides inside the control base, and an interface is installed on the bottom of one side of the robot base.

[0016] Preferably, a connecting seat is fixedly connected to the top of the robot base, and guide rods are hinged between the front and rear sides of the connecting seat and the control seat. Electric telescopic rods are hinged to the front and rear sides of the top of the robot base, and one end of the electric telescopic rod is hinged to one of the guide rods.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] This invention relates to an underground sewage pipeline inspection robot. The robot features an extension arm comprised of a fixed frame, a first hydraulic cylinder, an L-shaped frame, and an extension frame. This extension arm, along with auxiliary rollers driven by a drive unit within the mounting housing, allows for adaptation to pipes of different diameters and improves the stability of the robot's base movement. When encountering abrupt obstacles, the first hydraulic cylinder retracts, raising the robot's base and activating the servo motor to drive the auxiliary rollers, enhancing its maneuverability. Furthermore, the buffer springs and dampers between the extension frame and the L-shaped frame reduce the impact of vibration on the inspection camera, ensuring inspection accuracy and equipment stability, and providing reliable support for pipeline maintenance. Attached Figure Description

[0019] Figure 1 A schematic diagram of the main structure of the underground sewage pipeline inspection robot provided by the present invention;

[0020] Figure 2 This is a schematic diagram of the structure from another perspective provided by the present invention;

[0021] Figure 3 This is a top view structural diagram provided by the present invention;

[0022] Figure 4 A schematic diagram of the descending structure of the support component provided by the present invention;

[0023] Figure 5 A schematic diagram of the support component structure provided by the present invention;

[0024] Figure 6 This is a schematic diagram of the cross-sectional structure of the fixed shell provided by the present invention;

[0025] Figure 7 This is a schematic diagram of the internal structure of the mounting shell provided by the present invention.

[0026] In the diagram: 1. Robot base; 2. Drive roller; 3. Detection camera body; 4. Control base; 5. Hanger; 6. Positioning plate; 7. Hanging plate; 8. Fixing frame; 9. Support assembly; 901. First hydraulic cylinder; 902. Mounting shell; 903. Drive component; 93. Servo motor; 94. First transmission rod; 95. First meshing wheel; 96. Toothed belt; 97. Second meshing wheel; 98. Second transmission rod; 99. Auxiliary roller; 904. Fixing shell; 905. First extension plate; 906. Second hydraulic cylinder; 907. Second extension plate; 908. L-shaped frame; 909. Sliding plate; 910. Slide groove; 911. Extension frame; 912. Buffer spring; 913. Damper; 10. Limiting frame; 11. Limiting post; 12. Supplementary light; 13. Socket; 14. Connecting seat; 15. Guide rod; 16. Electric telescopic rod. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figures 1-7 As shown, an underground sewage pipeline inspection robot includes a robot base 1 and drive rollers 2 installed on the front and rear sides of the robot base 1. A detection camera body 3 is mounted on the top of the robot base 1, and a control base 4 is installed on one side of the detection camera body 3. The robot also includes:

[0029] A bracket 5 is fixed to one side of the robot base 1. Positioning plates 6 are fixedly connected to the front and rear sides of the top of the robot base 1. A hanging plate 7 is hinged between one side of the two positioning plates 6.

[0030] A supplementary light 12 is installed on both the front and rear sides inside the control base 4. An insertion port 13 is installed on the bottom of one side of the robot base 1. A connecting seat 14 is fixedly connected to the top of the robot base 1. Guide rods 15 are hinged between the front and rear sides of the connecting seat 14 and the control base 4. Electric telescopic rods 16 are hinged to the front and rear sides of the top of the robot base 1. One end of the electric telescopic rod 16 is hinged to one of the guide rods 15. The robot base 1 has a built-in DC motor, whose output drives the drive roller 2 to rotate, thereby realizing the movement of the entire base. The detection camera body 3 works in conjunction with the control base 4. The control base 4 also integrates components such as a DC motor, enabling the detection camera body 3 to rotate and adjust. The hanging bracket 5 is fixed in the position of the detection camera body 3, providing protection and facilitating carrying. The positioning plate 6 and the hinged hanging plate 7 cooperate to facilitate the suspension of ropes when the robot descends, thus securing the machine. A person is lowered into the well to ensure stability during the descent. The socket 13 on one side of the robot base 1 is used for electrical connection to an external power supply and control terminal, allowing the operator to view the image transmitted by the detection camera 3 through a remote program. The supplementary light 12 is fixed at the control seat 4 to provide supplementary lighting for the position of the detection camera 3, improving the light conditions in the dark environment of the pipeline and ensuring that the detection camera 3 can carry out detection work normally. The top two sides of the connecting seat 14 are hinged with guide rods 15, which cooperate with the electric telescopic rod 16. When the operator needs to control the detection camera 3 to raise for detection, the electric telescopic rod 16 can be operated through the remote controller to push one of the guide rods 15, thereby causing the hinged control seat 4 to drive the detection camera 3 to rise smoothly for detection work. It should be noted that the above are all existing technologies, which are clearly known to those skilled in the art, and will not be described in detail here.

[0031] Fixed brackets 8 are fixed to the front and rear sides of the top of the robot base 1. A support component 9 is fixedly connected between one side of the two fixed brackets 8. The support component 9 includes two first hydraulic cylinders 901 and a mounting shell 902. The first hydraulic cylinders 901 are hinged to one side of the fixed brackets 8. The mounting shells 902 are set on both sides of the robot base 1. A drive component 903 is set on one side of the mounting shell 902. The fixed brackets 8 facilitate the stable installation of the support component 9. The support component 9, together with the first hydraulic cylinders 901, can assist in subsequent adjustment work. The mounting shells 902 and the drive component 903 can achieve the effect of assisting the movement of the robot base 1. The mounting shells 902 can protect the internal structure of the drive component 903.

[0032] A fixed housing 904 is hinged to the top of one side of the fixed frame 8. The piston end of the first hydraulic cylinder 901 is hinged to the bottom of the fixed housing 904. A first extension plate 905 is fixedly connected to the top of the fixed housing 904. A second hydraulic cylinder 906 is fixedly connected to one side of the first extension plate 905. A second extension plate 907 is fixedly connected to the piston end of the second hydraulic cylinder 906. An L-shaped frame 908 is fixedly connected to the bottom of the second extension plate 907. A sliding plate 909 is fixedly connected to one side of the L-shaped frame 908. A groove 910 for limiting the sliding of the sliding plate 909 is provided inside the fixed housing 904. A limiting frame 10 is rotatably connected to one side of the fixed frame 8. A limiting post 11 that slides inside the limiting frame 10 is fixedly connected to one side of the L-shaped frame 908. The fixed housing 904 is hinged to one side of the fixed frame 8, and its bottom is hinged to the first hydraulic cylinder 901. Therefore, when the user needs to adjust the position of the fixed housing 904, the first hydraulic cylinder 901 can be directly driven. The fixed housing 904, together with the sliding plate 909 and the L-shaped frame 908, extends the extension arm to improve the stability of the robot base 1 during movement. The first extension plate 905 on the top of the fixed housing 904, in conjunction with the second hydraulic cylinder 906, allows the user to adjust the length of the L-shaped frame 908. When the user needs to adjust the length of the L-shaped frame 908, the second hydraulic cylinder 906 is opened. The piston end of the second hydraulic cylinder 906 drives the second extension plate 907, which causes the L-shaped frame 908 to slide the sliding plate 909 within the slide groove 910, thus facilitating subsequent extension work. The top of the sliding plate 909 is protruding, which, together with the slide groove 910, limits the final stroke of the L-shaped frame 908, preventing it from detaching from the slide groove 910. Furthermore, the sliding connection between the limiting frame 10 and the limiting post 11, which are rotatably connected to one side of the fixed frame 8, ensures that the final stroke of the L-shaped frame 908 is limited during flipping or moving, preventing it from falling off.

[0033] An extension frame 911 is provided on one side of the L-shaped frame 908. One side of the two extension frames 911 is fixedly connected to the mounting shell 902. A buffer spring 912 is fixedly connected between one side of the extension frame 911 and the L-shaped frame 908. A damper 913 is fixedly connected to one side of the extension frame 911. One side of the damper 913 is fixed to the inside of the L-shaped frame 908. The buffer spring 912 is fixed between the extension frame 911 and the L-shaped frame 908. When the mounting shell 902 and the drive component 903 contact the inner wall of the pipe, the buffer spring 912 and the damper 913 can absorb vibration energy when encountering bumps or impacts during movement inside the pipe, reducing the impact of vibration on the robot body and the detection equipment, and ensuring the accuracy of detection and the stability of the equipment.

[0034] The drive unit 903 includes a servo motor 93, which is fixed to one side of the mounting housing 902. The output end of the servo motor 93 extends into the interior of the mounting housing 902 and is fixedly connected to a first transmission rod 94. A first meshing wheel 95 is fixedly connected to the surface of the first transmission rod 94, and a toothed belt 96 is meshed with the surface of the first meshing wheel 95. A second meshing wheel 97 is meshed with one side of the inside of the toothed belt 96, and a second transmission rod 98 is fixedly connected to the inside of the second meshing wheel 97. One end of the second transmission rod 98 is rotatably connected to the interior of the mounting housing 902 via a bearing. An auxiliary roller 99 is fixedly connected to one end of both the first transmission rod 94 and the second transmission rod 98. When the user moves the mounting housing 902... 04, along with the L-shaped frame 908 and the extension frame 911, drive the mounting shell 902 and, in conjunction with the first hydraulic cylinder 901, cause the auxiliary roller 99 to flip and contact the bottom of the pipe. At this point, the bottom of the robot base 1 will be suspended. If it encounters uneven impurities, the drive roller 2 of the robot base 1, in conjunction with the auxiliary roller 99, can increase the passability of the robot base 1 as it moves inside the pipe. Furthermore, since the drive component 903 is located on both sides of the robot base 1, the support on both sides of the robot base 1 will be increased. Therefore, even when passing through some uneven impurities, the extended auxiliary rollers 99 on both sides can improve the stability of the robot base 1 during movement.

[0035] Working principle: First, insert the external plug into the socket 13 to power the robot base 1, control base 4, and detection camera 3. Then, hang the cable on the mounting plate 7 and slowly lower the robot into the well. At this time, drive the built-in DC motor to rotate the drive roller 2, thereby moving the robot base 1. With the use of the supplementary light 12, supplementary lighting can be provided to the position of the detection camera 3, improving the light conditions in the dark environment of the pipeline and ensuring that the detection camera 3 can carry out detection work normally. If the operator needs to control the detection camera 3 to raise it for detection, the electric telescopic rod 16 can be controlled through the remote controller to push one of the guide rods 15, thereby causing the hinged control base 4 to drive the detection camera 3 to rise smoothly. The inspection operation can then commence. Simultaneously, if the user needs to unfold the extension arms—namely, the L-shaped frames 908, extension frames 911, and mounting shell 902 on both sides—to coordinate with the auxiliary rollers 99 and fit against the bottom of both sides of the inner wall of the pipe, thereby improving the stability of the robot base 1 during movement, then the first hydraulic cylinder 901 is opened to flip the hinged fixed shell 904. At this time, the sliding plate 909 inside the fixed shell 904 will drive the L-shaped frame 908 to move. As the L-shaped frame 908 moves, it will cause the extension frames 911 and mounting shell 902 to flip. The auxiliary rollers 99 will then unfold and fit against both sides of the inner wall of the pipe. The buffer springs 912 and dampers 913 installed between the L-shaped frame 908 and the extension frames 911 will prevent foreign objects from passing through during movement. To buffer the impact and prevent the robot base 1 from shaking excessively due to the rigid connection of the auxiliary roller 99, which would affect normal detection work, the servo motor 93 does not need to be activated at this time. The auxiliary roller 99 only serves to support the sides of the robot base 1, improving its stability as it moves inside the pipe. If the pipe diameter is wide, two second hydraulic cylinders 906 can be driven simultaneously. The piston end of the second hydraulic cylinder 906 drives the second extension plate 907, which in turn causes the L-shaped frame 908 to move the sliding plate 909 within the slide groove 910, thus extending the auxiliary roller 99 to contact the inner wall of the pipe. If the robot base 1 encounters abrupt obstacles during movement, causing the driving roller 2 to slip or... If the robot cannot pass through, the four first hydraulic cylinders 901 retract simultaneously. The piston ends of the first hydraulic cylinders 901 drive the fixed shell 904, L-shaped frame 908, and extension frame 911 to move the mounting shell 902 relative to each other. At this time, the four auxiliary rollers 99 move closer to each other, and the robot base 1 will slowly rise. Then, the servo motor 93 is turned on, and the output end of the servo motor 93 drives the first transmission rod 94 and the first meshing wheel 95 to rotate. As the first meshing wheel 95 rotates, it engages the toothed belt 96 to drive the second meshing wheel 97 to rotate. As the first transmission rod 94 and the second transmission rod 98 rotate, they synchronously drive the auxiliary rollers 99 to rotate, thereby assisting the robot base 1 to move and improving the passability of the device.

[0036] It should be noted that the first hydraulic cylinder 901, the servo motor 93, and the second hydraulic cylinder 906 in this device are all electrically connected to the control base 4 and the external control terminal via cables, which facilitates adjustment according to actual needs.

[0037] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0038] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robot for inspecting underground sewage pipes, comprising a robot base (1) and drive rollers (2) installed on the front and rear sides of the robot base (1), wherein a detection camera body (3) is provided on the top of the robot base (1), and a control seat (4) is installed on one side of the detection camera body (3), characterized in that, Also includes: A bracket (5) is fixed to one side of the robot base (1). Positioning plates (6) are fixedly connected to the front and rear sides of the top of the robot base (1). A hanging plate (7) is hinged between one side of the two positioning plates (6). Fixed brackets (8) are fixed to the front and rear sides of the top of the robot base (1). A support assembly (9) is fixedly connected between one side of the two fixed brackets (8). The support assembly (9) includes two first hydraulic cylinders (901) and a mounting shell (902). The first hydraulic cylinders (901) are hinged to one side of the fixed brackets (8). The mounting shells (902) are located on both sides of the robot base (1). A drive component (903) is provided on one side of the mounting shells (902).

2. The underground sewage pipeline inspection robot according to claim 1, characterized in that: A fixed shell (904) is hinged to the top of one side of the fixed frame (8), and the piston end of the first oil cylinder (901) is hinged to the bottom of the fixed shell (904).

3. The underground sewage pipeline inspection robot according to claim 2, characterized in that: The top of the fixed shell (904) is fixedly connected to a first extension plate (905), a second oil cylinder (906) is fixedly connected to one side of the first extension plate (905), a second extension plate (907) is fixedly connected to the piston end of the second oil cylinder (906), and an L-shaped frame (908) is fixedly connected to the bottom of the second extension plate (907).

4. The underground sewage pipeline inspection robot according to claim 3, characterized in that: A sliding plate (909) is fixedly connected to one side of the L-shaped frame (908), and a groove (910) for limiting the sliding of the sliding plate (909) is provided inside the fixed shell (904).

5. The underground sewage pipeline inspection robot according to claim 4, characterized in that: An extension frame (911) is provided on one side of the L-shaped frame (908). The two extension frames (911) are fixedly connected to the mounting shell (902) on one side. A buffer spring (912) is fixedly connected between one side of the extension frame (911) and the L-shaped frame (908).

6. The underground sewage pipeline inspection robot according to claim 5, characterized in that: A damper (913) is fixedly connected to one side of the extension frame (911), and one side of the damper (913) is fixed to the inside of the L-shaped frame (908).

7. The underground sewage pipeline inspection robot according to claim 1, characterized in that: The driving component (903) includes a servo motor (93), which is fixed to one side of the mounting housing (902). The output end of the servo motor (93) extends into the interior of the mounting housing (902) and is fixedly connected to a first transmission rod (94). A first meshing wheel (95) is fixedly connected to the surface of the first transmission rod (94). A toothed belt (96) is meshed with the surface of the first meshing wheel (95). A second meshing wheel (97) is meshed with one side of the inside of the toothed belt (96). A second transmission rod (98) is fixedly connected inside the second meshing wheel (97). One end of the second transmission rod (98) is rotatably connected to the inside of the mounting housing (902) through a bearing. An auxiliary roller (99) is fixedly connected to one end of both the first transmission rod (94) and the second transmission rod (98).

8. The underground sewage pipeline inspection robot according to claim 1, characterized in that: One side of the fixed frame (8) is rotatably connected to the limiting frame (10), and one side of the L-shaped frame (908) is fixedly connected to a limiting post (11) that slides inside the limiting frame (10).

9. The underground sewage pipeline inspection robot according to claim 1, characterized in that: The control base (4) is equipped with fill lights (12) on both the front and rear sides, and the robot base (1) is equipped with a socket (13) on the bottom of one side.

10. The underground sewage pipeline inspection robot according to claim 1, characterized in that: The top of the robot base (1) is fixedly connected to a connecting seat (14). The front and rear sides of the connecting seat (14) are hinged to the control seat (4) with guide rods (15). The front and rear sides of the top of the robot base (1) are hinged with electric telescopic rods (16). One end of the electric telescopic rod (16) is hinged to one of the guide rods (15).

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