Urban rain and sewage pipe network troubleshooting robot

Abstract

The invention provides an urban rain and sewage pipe network troubleshooting robot. The robot comprises a main body part, an alignment table and a camera shooting unit; the main body part is provided with a plurality of supporting arms arranged in the circumferential direction, the supporting arms are in sliding connection with the main body part, and the main body part is connected with a rotation driving component; the alignment table is connected with the main body piece through a distance adjusting component; the camera shooting unit is arranged on the alignment table. A transmission structure is arranged between the supporting arms and the distance adjusting component, when the distance adjusting component drives the alignment table to move to the position where the camera shooting unit faces the pipe section butt joint position, the transmission structure drives the multiple supporting arms to abut against the inner wall of the pipeline at the same time, so that the main body piece and the pipeline are coaxially arranged, and at the moment, the driving component is rotated to drive the main body piece to rotate; and appearance data acquisition of the inner circumferential surface of the pipeline can be completed through the camera shooting unit. According to the urban rain and sewage pipe network checking robot, appearance data collection of the inner circumferential face of the pipe section butt joint position can be stably and efficiently completed, data errors are reduced, and the reliability of appearance defect degree judgment is guaranteed.

Description

Technical Field

[0001] This application belongs to the field of pipeline inspection technology, specifically relating to a robot for inspecting urban stormwater and sewage pipe networks. Background Technology

[0002] Urban stormwater and sewage pipe networks are typically composed of multiple pipe sections connected sequentially. These connection points are relatively weak points in the entire structure, prone to leakage or misalignment. Regular, efficient, and visually inspecting these connection points is a crucial prerequisite for assessing the health of the pipe network, preventing leaks, and guiding trenchless repair operations.

[0003] In existing technologies, robots equipped with camera units are typically used to enter the interior of pipelines to perform inspection and testing tasks. Specifically, the robot first moves to the target area near the pipe section connection point, and then uses the camera unit to photograph the connection point. During this process, the drive device on the robot needs to move the camera unit around the central axis of the pipeline to achieve continuous video or photographic recording, while ensuring that the distance between the camera unit and the inner wall of the pipeline remains constant, thereby obtaining image or picture data that can fully reflect external defects such as cracks, blockages, and deformation.

[0004] The inventors discovered that, in conventional technical means, the circumferential movement of the camera unit requires the swing axis of the drive arm to be set coaxially with the pipe. However, for pipes with changes in inner diameter, the position of the drive arm is difficult to fully adapt to the change, resulting in errors in the actual data obtained and affecting the operator's judgment of the degree of appearance defects. Summary of the Invention

[0005] This application provides a robot for inspecting urban stormwater and sewage pipe networks, which aims to stably and efficiently collect appearance data of the inner circumference of pipe section joints, reduce data errors, and ensure the reliability of appearance defect assessment.

[0006] To achieve the above objectives, the technical solution adopted in this application is as follows: A robot for inspecting urban stormwater and sewage pipe networks is provided, comprising: The main body is used to travel inside the pipeline and its front and back orientation is parallel to the length direction of the pipeline network. The main body has multiple support arms spaced around its central axis. Each support arm is slidably connected to the main body. When multiple support arms simultaneously abut against the inner wall of the pipeline, the main body is coaxial with the pipeline. Furthermore, the main body is driven by a rotation drive component for rotating about its own central axis. A positioning stage, disposed on the front side of the main body and connected to the main body via an adjusting member, is adapted to move toward or away from the main body; and A camera unit is disposed on the alignment platform, and its orientation is perpendicular to the central axis of the main body; The support arm and the adjusting member have a transmission structure; when the adjusting member drives the alignment platform to move forward, the transmission structure drives each support arm to move outward to abut the inner wall of the pipe.

[0007] In one possible implementation, the front side of the main body has a recessed cavity, and the outer peripheral surface of the main body has a plurality of guide holes communicating with the recessed cavity, and the plurality of support arms are inserted into the plurality of guide holes one by one.

[0008] In one possible implementation, the transmission structure includes: A boss, fixedly disposed on the rear side of the alignment platform, and adapted to be inserted into the cavity; the side of the boss facing each of the support arms is inclined, and the inclined surface is inclined from front to back towards the support arm; and Multiple transmission wheels are rotatably connected to the inner ends of multiple support arms, and each wheel is in contact with the corresponding inclined surface.

[0009] In one possible implementation, the main component includes: A positioning ring is used to be coaxially arranged with the pipe, and the plurality of guide holes are all formed on the outer circumferential surface of the positioning ring; A rear enclosure plate is located behind the positioning ring and is connected to the positioning ring via multiple connecting rods; and The outer sleeve is made of elastic material and is suitable for being fitted around the outer periphery of the multiple connecting rods to close the circumferential opening between the positioning ring and the rear cover plate, and to form the cavity. The outer sleeve has multiple sleeves on its inner side that correspond one-to-one with the multiple connecting rods. Each sleeve is adapted to be engaged with the connecting rod to restrict the extension, retraction and movement of the outer sleeve.

[0010] In one possible implementation, the adjusting member is a linear cylinder fixedly mounted on the main body; the power output axis of the linear cylinder is parallel to the front-rear direction, and the power output end is connected to the alignment platform.

[0011] In one possible implementation, the power output end of the linear cylinder is coaxially connected to a docking screw, and the rear side of the alignment platform is provided with a threaded groove suitable for threaded connection with the docking screw.

[0012] In one possible implementation, the rotation drive component includes: Multiple rollers are rotatably connected to the outer ends of the multiple support arms, one-to-one, and are used to abut against the inner wall of the pipe; and A first rotating motor, connected to one of the rollers, drives the rollers to rotate, thereby transmitting frictional force to the inner wall of the pipe and causing the main body to rotate relative to the pipe.

[0013] In one possible implementation, the urban stormwater and sewage pipe network inspection robot further includes: Both sets of travel wheels are connected to the main body and the alignment platform respectively through connecting frames, and one set of travel wheels is driven by a second rotary motor for driving its rotation; When the main body is coaxially arranged with the pipe, each set of traveling wheels is separated from the inner wall of the pipe.

[0014] In one possible implementation, the connecting frame has a through hole extending in the front-to-back direction, and the connecting frame further includes: A positioning screw is fixedly mounted on the rear side of the corresponding main body or the front side of the alignment platform, and the axial direction of the positioning screw is parallel to the front-rear direction to facilitate passing through the through hole and extending outwards; and A mating nut is threadedly connected to the positioning screw and is adapted to abut against the outer side of the connecting frame to restrict the relative movement of the connecting frame and the corresponding main body or the alignment stage.

[0015] In one possible implementation, the camera unit is fixedly mounted on the rear side of the alignment stage, and the front side of the main body has a reserved slot suitable for embedding the camera unit.

[0016] In this embodiment, multiple support arms are arranged around the central axis of the main body and slidably connected to it. When moving radially outward, they collectively abut against the inner wall of the pipe, thereby positioning the main body at the center of the pipe. Furthermore, the alignment platform is connected to the main body via an adjusting component, which can drive the camera unit to move axially along the pipe to precisely align with the pipe segment joint to be inspected. Simultaneously, a transmission structure is provided between the support arms and the adjusting component, allowing all support arms to extend radially and complete the alignment of the main body relative to the pipe while simultaneously driving the alignment platform to move axially to position the camera unit. Based on this, a rotation drive component, driven by the main body, can drive the entire alignment platform and camera unit, which have completed alignment and positioning, to rotate about the central axis of the pipe, achieving the acquisition of appearance data of the inner circumferential surface of the pipe segment joint.

[0017] The core of the aforementioned synchronous linkage mechanism lies in synchronizing the axial positioning operation of the camera unit with the overall centering adjustment. The principle is as follows: after the main body moves to the detection area, the adjusting component drives the alignment stage to axially feed the camera unit; this linear motion is converted into synchronous, uniform radial expansion motion of multiple support arms through a transmission structure. Regardless of changes in the pipe's inner diameter, this design ensures that the main body is automatically adjusted to the center of the pipe as the camera unit reaches the pipe section connection point. This keeps the camera unit's rotation axis aligned with the pipe's axis, thus maintaining a constant distance from its optical center to the pipe's inner wall during circumferential scanning.

[0018] The urban stormwater and sewage pipe network inspection robot provided in this embodiment, compared with existing technologies, can automatically, quickly, and accurately establish a rotational scanning reference coaxial with the pipe in variable-diameter pipes through a mechanical linkage design of axial movement and radial alignment. This fundamentally solves the problems of camera unit distance fluctuation and imaging perspective distortion caused by non-aligned axes in traditional methods, thereby obtaining circumferential images of the pipe with uniform scale and precise quantification. This not only significantly improves the measurement accuracy and reliability of appearance defects such as crack width and misalignment, but also provides more accurate data for subsequent trenchless repair solutions, improving the overall quality and efficiency of pipe network inspection operations. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional structural diagram of the urban stormwater and sewage pipe network inspection robot provided in this application embodiment; Figure 2 for Figure 1 Side view; Figure 3 For along Figure 2 Cross-sectional view of line AA in the middle; Figure 4 This is a three-dimensional structural diagram of the connecting frame and the traveling wheel used in the embodiments of this application in a combined state; Figure 5 This is a three-dimensional structural diagram of the positioning ring, rear panel, and connecting frame used in the embodiments of this application from an exploded view. Figure 6 This is an exploded structural diagram of the alignment stage and connecting frame used in the embodiments of this application; Figure 7This is a three-dimensional structural diagram of the alignment stage and camera unit used in the embodiments of this application in a combined state; Figure 8 This is a three-dimensional structural diagram of the main component used in the embodiments of this application; Figure 9 This is a cross-sectional structural diagram of the main component used in the embodiments of this application; Figure 10 This is a three-dimensional structural diagram of the outer sleeve used in the embodiments of this application; Figure 11 This is a schematic diagram of the positioning ring, rear enclosure plate, and adjustment component used in the embodiments of this application from an exploded view. Figure 12 This is a three-dimensional structural diagram of the positioning ring and support arm used in the embodiments of this application in a combined state; Figure 13 This is a partial schematic diagram of the rotation drive component and support arm used in the embodiments of this application in a combined state; Figure 14 This is a cross-sectional view of the transmission structure used in the embodiments of this application; Explanation of reference numerals in the attached drawings: 1. Main body component; 11. Positioning ring; 111. Cavity; 112. Guide hole; 113. Reserved groove; 12. Rear enclosure plate; 121. Connecting rod; 13. Outer sleeve; 131. Hoop; 2. Alignment platform; 3. Camera unit; 4. Support arm; 5. Transmission structure; 51. Boss; 511. Threaded groove; 52. Transmission wheel; 10. Adjustment component; 101. Connecting screw; 20. Rotation drive component; 201. Roller; 202. First rotating motor; 30. Traveling wheel; 301. Second rotating motor; 40. Connecting frame; 401. Through hole; 402. Positioning screw; 403. Connecting nut. Detailed Implementation

[0021] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0022] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0023] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0025] Please refer to the following: Figures 1 to 14 The urban stormwater and sewage pipe network inspection robot provided in this application will now be described. The urban stormwater and sewage pipe network inspection robot proposed in this application includes a main body 1, a positioning platform 2, and a camera unit 3.

[0026] The main body 1 is used to travel inside the pipeline, defining the length direction of the pipeline as the front-to-back direction, and the front-to-back orientation of the main body 1 is parallel to the length direction of the pipeline. The main body 1 has multiple support arms 4 spaced around its central axis; each support arm 4 is slidably connected to the main body 1. When the multiple support arms 4 move outward simultaneously and abut against the inner wall of the pipeline, they can support and position the main body 1 at the central axis of the pipeline. The main body 1 is driven by a rotation drive component 20; when the main body 1 is coaxial with the pipeline, the rotation drive component 20 drives the main body 1 to rotate about its own central axis.

[0027] The alignment platform 2 is located on the front side of the main body 1, and the alignment platform 2 is connected to the main body 1 through the adjusting member 10, so that the alignment platform 2 can move relative to the main body 1 in the front-back direction to move closer to or further away from the main body 1 in the front-back direction.

[0028] The camera unit 3 is mounted on the alignment stage 2, and the camera end of the camera unit 3 is perpendicular to the central axis of the main body 1.

[0029] A transmission structure 5 is provided between the support arm 4 and the adjusting member 10 that drives the alignment stage 2 to move. This transmission structure 5 enables each support arm 4 to move radially outward simultaneously when the adjusting member 10 drives the alignment stage 2 to move forward (i.e., away from the main body 1) until it abuts the inner wall of the pipe.

[0030] In this embodiment, the multiple support arms 4 surrounding the main body 1 are its core positioning mechanism. Each support arm 4 is slidably connected to the main body 1 and can extend and retract radially; when they move outward synchronously and press against the inner wall of the pipe, the main body 1 can be accurately positioned at the geometric center of the pipe. At the same time, the alignment platform 2 can move along the axial direction of the pipe through the adjusting member 10, thereby driving the camera unit 3 on it to accurately align with the pipe section interface or specific area to be inspected.

[0031] The key lies in the transmission structure 5 between the support arm 4 and the adjusting component 10. This design creates a synchronous linkage mechanism: when the adjusting component 10 drives the alignment stage 2 and the camera unit 3 to move forward axially to position the target for imaging, this axial movement is automatically converted into synchronous and uniform radial expansion movement of all support arms 4 through the transmission structure 5. This means that after the robot moves to the target pipe section, it automatically completes the alignment adjustment of the main body 1 relative to the current pipe while the moving camera unit 3 performs axial positioning.

[0032] Based on this, the rotation drive component 20 can drive the main body 1, which has completed centering and positioning, to rotate the alignment stage 2 and the camera unit 3 as a whole around the central axis of the pipe. In this way, the camera unit 3 can perform a full-coverage rotational scan of the inner circumferential surface of the pipe section interface and acquire continuous circumferential image data.

[0033] The core advantage of the aforementioned synchronous linkage mechanism lies in its integration of the axial positioning operation of the camera unit 3 with the radial alignment adjustment of the entire robot. The principle is as follows: regardless of changes in the pipe's inner diameter, the linear motion driving the alignment stage 2 forward will force the support arm 4 to extend outward through the transmission structure 5 until it is flush against the pipe wall. This process automatically adapts to the pipe diameter and ensures that when the camera unit 3 reaches the shooting position, the main body 1 has been precisely aligned with the pipe's center. This ensures that the rotation axis of the camera unit 3 always coincides with the pipe's axis, thus maintaining a constant distance from its optical center to any point on the pipe's inner wall during circumferential scanning.

[0034] This design fundamentally eliminates the fluctuations in shooting distance and perspective distortion caused by the misalignment of the robot's axis and the pipe's axis. A constant distance means that the pixel-to-actual-size ratio of the image remains consistent in the circumferential direction, making quantitative measurements of defects such as crack width and misalignment based on the image more accurate and reliable.

[0035] The urban stormwater and sewage pipe network inspection robot provided in this embodiment, compared with existing technologies, achieves rapid, automatic, and accurate establishment of rotational scanning benchmarks in variable-diameter pipe environments through a mechanical linkage design of axial movement and radial alignment. It effectively solves the core technical problems of traditional robots or inspection methods, such as difficulty in pipe alignment, unstable imaging quality, and low measurement accuracy. The obtained, scale-uniform, distortion-free circumferential pipe images not only significantly improve the recognition rate and quantitative assessment accuracy of appearance defects but also provide high-quality data support for subsequent trenchless repair processes, thereby comprehensively improving the automation level, inspection quality, and overall efficiency of pipe network inspection operations.

[0036] In some embodiments, such as Figure 8 , Figure 9 and Figure 12 As shown, a cavity 111 is provided on the front side of the main body 1; and a plurality of guide holes 112 are provided on the outer peripheral surface of the main body 1, and each guide hole 112 is connected to the cavity 111.

[0037] The aforementioned multiple support arms 4 are inserted into multiple guide holes 112 in a one-to-one correspondence, and can perform precise radial sliding under the constraint of the guide holes 112.

[0038] In some embodiments, such as Figure 3 and Figure 14 As shown, the transmission structure 5 includes a boss 51 and multiple transmission wheels 52.

[0039] The boss 51 is fixedly disposed on the rear side of the alignment platform 2, and its shape and size are suitable for insertion into the cavity 111 on the front side of the main body 1. The outer side of the boss 51 facing each support arm 4 is machined into an inclined surface, and the inclined surface gradually slopes outward from front to back.

[0040] Multiple drive wheels 52 are rotatably connected to the inner ends of multiple support arms 4 (i.e., the ends located in the cavity 111) in a one-to-one correspondence, and each drive wheel 52 maintains contact with the inclined surface on its corresponding boss 51.

[0041] By adopting the above technical solution, when the alignment platform 2 is driven forward by the adjusting member 10, the boss 51 fixed on it moves forward synchronously. At this time, since the inclined surface of the boss 51 contacts the transmission wheel 52, the forward movement of the boss 51 converts the axial thrust into the radial component force acting on the transmission wheel 52 through the inclined surface, thereby pushing each support arm 4 to extend outward radially synchronously along its guide hole 112 until it abuts against the pipe wall.

[0042] In practical applications, the axial distance between the main body 1 and the pipe section can be collected by a sensor system pre-installed at the front end of the main body 1. Based on this, the distance can be controlled by the inner diameter of the pipe section, which can ensure that the main body 1 is aligned and the camera unit 3 is positioned synchronously.

[0043] In some embodiments, such as Figure 3 , Figure 8 and Figure 9 As shown, the main body 1 includes a positioning ring 11, a rear plate 12, and an outer sleeve 13.

[0044] The positioning ring 11 serves as the core frame, and its target working state is to be coaxially positioned with the pipeline. Furthermore, the aforementioned multiple guide holes 112 are all formed on the outer circumferential surface of the positioning ring 11 and are spaced apart around the central axis of the positioning ring 11.

[0045] The rear plate 12 is located on the rear side of the positioning ring 11, and the rear plate 12 is fixedly connected to the positioning ring 11 by multiple connecting rods 121, thereby forming a support structure between the two and reserving space.

[0046] The outer sleeve 13 is made of elastic waterproof material and is suitable for being fitted around the outer periphery of multiple connecting rods 121 to close the circumferential opening between the positioning ring 11 and the rear plate 12, and together with the two, form the aforementioned cavity 111, while also serving to waterproof and prevent dirt.

[0047] When it is necessary to inspect or replace parts of this equipment, the outer sleeve 13 can be removed to operate the parts in the cavity 111 through any two adjacent connecting rods 121.

[0048] To prevent the outer sleeve 13 from loosening and causing residual water from the pipe network to enter the cavity 111, please refer to the following: Figures 9 to 11 The inner side of the outer sleeve 13 has multiple sleeves 131 that correspond one-to-one with multiple connecting rods 121. Each sleeve 131 is adapted to be tightly engaged with the corresponding connecting rod 121, and maintains the structural state in which the front and rear ends respectively abut against the positioning ring 11 and the rear plate 12.

[0049] By adopting the above technical solution, the axial expansion and contraction deformation and circumferential movement of the outer sleeve 13 can be effectively limited, ensuring that it is firmly installed and reliably sealed.

[0050] In some embodiments, such as Figure 3 As shown, the adjusting component 10 is a linear cylinder fixedly mounted on the main body 1. The power output shaft of this linear cylinder is parallel to the forward and backward movement direction of the robot, and its power output end is directly connected to the alignment stage 2, and directly drives the alignment stage 2 to move forward and backward through telescopic movement.

[0051] In some embodiments, such as Figure 11 and Figure 14 As shown, the power output end of the linear cylinder is coaxially connected to a docking screw 101; correspondingly, a threaded groove 511 is provided on the rear side of the alignment platform 2.

[0052] In practical use, this threaded groove 511 is suitable for threaded connection with the mating screw 101; this design facilitates the disassembly and installation between the alignment platform 2 and the aforementioned linear cylinder, and makes it convenient for maintenance and replacement of parts.

[0053] In some embodiments, such as Figure 2 and Figure 13 As shown, the rotation drive component 20 includes a plurality of rollers 201 and a first rotation motor 202.

[0054] Multiple rollers 201 are rotatably connected to the outer ends of multiple support arms 4 in a one-to-one correspondence. When the support arm 4 extends outward, its outer end contacts the inner wall of the pipe through the rollers 201.

[0055] The first rotating motor 202 is connected to one of the rollers 201 for driving the roller 201 to rotate.

[0056] By adopting the above technical solution, when the roller 201 rotates, a reaction force is generated by the friction between it and the inner wall of the pipe, which pushes the main body 1, so that the main body 1 can rotate relative to the inner wall of the pipe, thereby driving the alignment stage 2 and the camera unit 3 to achieve circumferential scanning.

[0057] In some embodiments, such as Figure 1 , Figure 2 and Figure 4 As shown, the city's stormwater and sewage pipe network inspection robot also includes two sets of 30-foot-long wheels.

[0058] Two sets of traveling wheels 30 are respectively mounted on the main body 1 and the alignment platform 2, and are connected to the corresponding main body 1 or alignment platform 2 through a connecting frame 40. In this embodiment, one set of traveling wheels 30 is driven by a second rotary motor 301, which drives the traveling wheels 30 to rotate, providing power for the combined structure of the main body 1 and the alignment platform 2 to move back and forth in the pipeline.

[0059] This design has two operating states: Firstly, when the robot is in motion, the support arm 4 retracts inward, and the travel wheel 30 contacts the bottom surface of the pipe wall and provides driving force and support force. Secondly, when the robot reaches the detection point and needs to scan, the support arm 4 extends outward to center and lift the main body 1; at this time, both sets of travel wheels 30 are separated from the inner wall of the pipe to avoid interfering with the precise rotation of the main body 1.

[0060] In some embodiments, such as Figures 4 to 6 As shown, the connecting bracket 40 has a through hole 401 extending in the front-to-back direction. Based on this, the connecting bracket 40 also includes a positioning screw 402 and a mating nut 403.

[0061] The positioning screw 402 is fixedly installed on the rear side of the corresponding main body 1 or the front side of the alignment platform 2, and its axis is parallel to the front-back direction. During installation, the positioning screw 402 passes through the through hole 401 and extends out to achieve the initial positioning of the connecting frame 40 and the main body 1, or the connecting frame 40 and the alignment platform 2.

[0062] The mating nut 403 is threadedly connected to the protruding end of the positioning screw 402. By tightening the mating nut 403 onto the positioning screw 402, the mating nut 403 can be pressed against the outer side of the connecting frame 40 (i.e., the side of the connecting frame 40 facing away from the corresponding main body 1 or the alignment platform 2), thereby installing the connecting frame 40 (and the traveling wheel 30) onto the corresponding main body 1 or the alignment platform 2, to achieve further positioning of the connecting frame 40 and the main body 1, or the connecting frame 40 and the alignment platform 2.

[0063] In some embodiments, such as Figure 7 and Figure 8 As shown, the camera unit 3 is fixedly mounted on the rear side of the alignment stage 2. Based on this, a reserved slot 113 is provided at the corresponding position on the front side of the main body 1.

[0064] When the alignment stage 2 moves backward to a storage position close to the main body 1, the camera unit 3 can be embedded in the reserved slot 113, thereby reducing the overall length of the device when it is not in operation or when it moves in a narrow pipe section, thus improving safety and stability.

[0065] The above content is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A robot for inspecting urban stormwater and sewage pipe networks, characterized in that: include: The main body is used to travel inside the pipeline and its front and back orientation is parallel to the length direction of the pipeline network. The main body has multiple support arms spaced around its central axis. Each support arm is slidably connected to the main body. When multiple support arms simultaneously abut against the inner wall of the pipeline, the main body is coaxial with the pipeline. Furthermore, the main body is driven by a rotation drive component for rotating about its own central axis. An alignment stage is disposed on the front side of the main body and connected to the main body via an adjusting member, so as to be suitable for moving toward or away from the main body; as well as A camera unit is disposed on the alignment platform, and its orientation is perpendicular to the central axis of the main body; The support arm and the adjusting member have a transmission structure; when the adjusting member drives the alignment platform to move forward, the transmission structure drives each support arm to move outward to abut the inner wall of the pipe.

2. The urban stormwater and sewage pipe network inspection robot as described in claim 1, characterized in that, The front side of the main body has a recessed cavity, and the outer peripheral surface of the main body has a plurality of guide holes communicating with the recessed cavity, and the plurality of support arms are inserted into the plurality of guide holes one by one.

3. The urban stormwater and sewage pipe network inspection robot as described in claim 2, characterized in that, The transmission structure includes: A boss, fixedly disposed on the rear side of the alignment platform, and adapted to be inserted into the cavity; the side of the boss facing each of the support arms is inclined, and the inclined surface is inclined from front to back towards the support arm; and Multiple transmission wheels are rotatably connected to the inner ends of multiple support arms, and each wheel is in contact with the corresponding inclined surface.

4. The urban stormwater and sewage pipe network inspection robot as described in claim 2, characterized in that, The main component includes: A positioning ring is used to be coaxially arranged with the pipe, and the plurality of guide holes are all formed on the outer circumferential surface of the positioning ring; A rear enclosure plate is located behind the positioning ring and is connected to the positioning ring via multiple connecting rods; and The outer sleeve is made of elastic material and is suitable for being fitted around the outer periphery of the multiple connecting rods to close the circumferential opening between the positioning ring and the rear cover plate, and to form the cavity. The outer sleeve has multiple sleeves on its inner side that correspond one-to-one with the multiple connecting rods. Each sleeve is adapted to be engaged with the connecting rod to restrict the extension, retraction and movement of the outer sleeve.

5. The urban stormwater and sewage pipe network inspection robot as described in any one of claims 1-4, characterized in that, The adjusting component is a linear cylinder fixedly mounted on the main body; the power output axis of the linear cylinder is parallel to the front-rear direction, and the power output end is connected to the alignment platform.

6. The urban stormwater and sewage pipe network inspection robot as described in claim 5, characterized in that, The power output end of the linear cylinder is coaxially connected to a docking screw, and the rear side of the alignment platform is provided with a threaded groove suitable for threaded connection with the docking screw.

7. The urban stormwater and sewage pipe network inspection robot as described in claim 3, characterized in that, The rotation drive component includes: Multiple rollers are rotatably connected to the outer ends of the multiple support arms, one-to-one, and are used to abut against the inner wall of the pipe; and A first rotating motor, connected to one of the rollers, drives the rollers to rotate, thereby transmitting frictional force to the inner wall of the pipe and causing the main body to rotate relative to the pipe.

8. The urban stormwater and sewage pipe network inspection robot as described in claim 1, characterized in that, The urban stormwater and sewage pipe network inspection robot also includes: Both sets of travel wheels are connected to the main body and the alignment platform respectively through connecting frames, and one set of travel wheels is driven by a second rotary motor for driving its rotation; When the main body is coaxially arranged with the pipe, each set of traveling wheels is separated from the inner wall of the pipe.

9. The urban stormwater and sewage pipe network inspection robot as described in claim 8, characterized in that, The connecting frame has a through hole extending in the front-to-back direction, and the connecting frame also includes: A positioning screw is fixedly mounted on the rear side of the corresponding main body or the front side of the alignment platform, and the axial direction of the positioning screw is parallel to the front-rear direction to facilitate passing through the through hole and extending outwards; and A mating nut is threadedly connected to the positioning screw and is adapted to abut against the outer side of the connecting frame to restrict the relative movement of the connecting frame and the corresponding main body or the alignment stage.

10. The urban stormwater and sewage pipe network inspection robot as described in claim 1, characterized in that, The camera unit is fixedly mounted on the rear side of the alignment stage, and the front side of the main body has a reserved slot suitable for embedding the camera unit.

Images