Variable-diameter sewer network detection robot

Abstract

The application discloses a variable-diameter sewer network detection robot, and belongs to the technical field of robots.The variable-diameter sewer network detection robot comprises a front end module, an intermediate section module, a rear end module, a detection radar and a walking module; the front end module is rotationally connected with one end of the intermediate section module; the rear end module is rotationally connected with the other end of the intermediate section module; the detection radar is arranged on the intermediate section module; the front end module and the rear end module are respectively provided with at least two groups of walking modules in the circumferential direction; the walking module comprises a telescopic sleeve, a screw rod mechanism and a walking wheel; one end of the telescopic sleeve is connected with the front end module or the rear end module; the other end of the telescopic sleeve is a free end; the screw rod mechanism is arranged in the telescopic sleeve and is used for driving the telescopic sleeve to stretch or retract; the walking wheel is arranged at the free end of the telescopic sleeve; and the free end of the telescopic sleeve is further provided with a walking driving motor used for driving the walking wheel to rotate. The robot is designed in a modularized mode, is favorable for quick assembly and maintenance of the modules, the walking module can stretch or retract, and the robot has good pipe diameter adaptability and passability.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a variable-diameter drainage pipe network inspection robot. Background Technology

[0002] During long-term service, drainage pipe networks are susceptible to damage from groundwater erosion, soil loss, joint leakage, loose backfill, and repeated road loads, which can easily lead to voids, cavities, or localized loose areas around the pipes. These types of defects are characterized by their insidious nature, slow development, and severe consequences. Once they expand, they can easily cause pipe instability, ground subsidence, and road damage.

[0003] Existing drainage pipeline inspection equipment mainly includes manual entry inspection devices, ordinary pipeline CCTV inspection equipment and small wheeled pipeline robots. The above solutions are generally applicable to pipeline inspection scenarios that are relatively regular and flat, and mainly focus on tasks such as visual observation inside the pipe, crack identification or sediment detection. For the task of detecting voids around the pipe, since the detection object is located in the soil area outside the pipe wall, the robot is often required to have a more stable support state, a more reliable wall contact relationship and a higher posture control capability inside the pipe. Existing inspection robots have the following problems: (1) Most pipeline robots adopt a fixed geometric dimension design, which is only suitable for single or a few specifications of pipes. When the pipe diameter changes from DN600 to N1200, the fixed structure is difficult to meet the two requirements of small pipe diameter passage and large pipe diameter stable support at the same time. (2) Existing wheeled chassis are mostly based on planar support. After entering the circular pipe, the force relationship between the wheel set and the pipe wall is not ideal, and it is easy to have uneven load on the local wheel set, insufficient contact or slippage, resulting in unstable robot posture. (3) Pipe cavity detection usually requires the detection unit to maintain a relatively stable relative position or coupling state with the pipe wall. However, ordinary robots are prone to pitching, rolling and yaw during movement due to wall joints, slipperiness, sediment or local height differences, which affects the detection accuracy. (4) Drainage pipes are often damp, have water film, silt, joint protrusions, local siltation and other conditions. Existing robots lack designs for circumferential support, adaptive diameter adjustment and multi-point stress stability in pipes, resulting in insufficient operational reliability. Summary of the Invention

[0004] The purpose of this invention is to provide a variable diameter drainage network inspection robot, which has a simple structure, is easy to use, and can effectively improve the above-mentioned problems.

[0005] The embodiments of the present invention are implemented as follows:

[0006] The present invention provides a variable diameter drainage network inspection robot, including a front-end module, a middle section module, a rear-end module, a detection radar, and a walking module;

[0007] The front-end module is rotatably connected to one end of the middle section module, and the rear-end module is rotatably connected to the other end of the middle section module. The front-end module and / or the rear-end module can drive the middle section module to rotate.

[0008] The detection radar is mounted on the intermediate section module;

[0009] The front-end module and the rear-end module are respectively provided with at least two sets of walking modules along the circumference. The walking module includes a telescopic sleeve, a lead screw mechanism and walking wheels. One end of the telescopic sleeve is connected to the front-end module or the rear-end module, and the other end is a free end. The lead screw mechanism is set inside the telescopic sleeve and is used to drive the telescopic sleeve to extend and retract. The walking wheels are set at the free end of the telescopic sleeve. The free end of the telescopic sleeve is also provided with a walking drive motor for driving the walking wheels to rotate.

[0010] Furthermore, the telescopic sleeve includes a fixed sleeve, a first-stage movable sleeve, a second-stage movable sleeve, and a third-stage movable sleeve. One end of the fixed sleeve is connected to the front-end module or the rear-end module. The first-stage movable sleeve is inserted into the fixed sleeve and slidably engaged. The second-stage movable sleeve is inserted into the first-stage movable sleeve and slidably engaged. The third-stage movable sleeve is inserted into the second-stage movable sleeve and slidably engaged. The walking wheel and the walking drive motor are located at the free end of the third-stage movable sleeve.

[0011] The lead screw mechanism includes a primary lead screw, a secondary lead screw, a tertiary lead screw, a primary nut, a secondary nut, a tertiary nut, and a lead screw drive motor. One end of the primary lead screw is supported within the fixed sleeve by a bearing seat. Both the secondary and tertiary lead screws have installation channels extending through their ends. The primary lead screw is inserted into the installation channel of the secondary lead screw, and the secondary lead screw is inserted into the installation channel of the tertiary lead screw. Guide grooves are provided on the outer walls of both the primary and secondary lead screws. Guide rails are provided within the installation channels of both the secondary and tertiary lead screws. The guide groove of the primary lead screw slides in cooperation with the guide rail in the secondary lead screw, and the guide groove on the secondary lead screw slides in cooperation with the guide rail in the tertiary lead screw. The primary nut is threaded into the primary lead screw and fixedly connected to the primary movable sleeve. The primary nut is rotatably connected to one end of the secondary lead screw. The secondary nut is threaded into the secondary lead screw and fixedly connected to the secondary movable sleeve. The secondary nut is rotatably connected to one end of the tertiary lead screw, and the tertiary nut is threaded into the tertiary lead screw and fixedly connected to the tertiary movable sleeve. The lead screw drive motor is driven by one end of the primary lead screw.

[0012] Furthermore, the free end of the telescopic sleeve is provided with a wheel tube, the walking wheels are disposed at both ends of the wheel tube, and the walking drive motor is disposed inside the wheel tube and is connected to the walking wheels for transmission.

[0013] Furthermore, the lead screw drive motor and the first-stage lead screw are connected by belt drive, chain drive, or gear drive.

[0014] Furthermore, the front-end module includes a front-end housing and an NX development board and a front-end control board disposed within the front-end housing. A gimbal mechanism and a front-end lighting lamp are provided on one outer wall of the front-end housing, and a front-end bushing is provided on the other outer wall. A first drive motor is disposed within the front-end bushing. One end of the intermediate section module is rotatably engaged with the front-end bushing, and the output shaft of the first drive motor is connected to the intermediate section module and can rotate synchronously.

[0015] Furthermore, the rear-end module includes a rear-end housing and a rear-end control board disposed within the rear-end housing. A rear-end lighting lamp and a rear-end camera are provided on one outer wall of the rear-end housing, and a rear-end bushing is provided on the other outer wall. A second drive motor is disposed within the rear-end bushing. The end of the intermediate section module away from the front-end module is rotatably engaged with the rear-end bushing. The output shaft of the second drive motor is connected to the intermediate section module and can rotate synchronously.

[0016] Furthermore, the intermediate section module includes an intermediate section housing and an intermediate section control board disposed within the intermediate section housing. A lifter is provided at the upper end of the intermediate section housing, and an intermediate section camera and an intermediate section lighting lamp are provided at the upper end of the lifter. The detection radar is also disposed at the upper end of the lifter. A bushing hole is provided at each end of the intermediate section housing, and the two bushing holes are respectively rotatably engaged with the front bushing and the rear bushing.

[0017] Furthermore, the lifting device is a scissor lift.

[0018] Furthermore, the detection radar is equipped with a laser ranging sensor.

[0019] Furthermore, the gimbal mechanism includes a mounting plate, a U-shaped base, a gimbal camera, a first gimbal drive mechanism, and a second gimbal drive mechanism. The U-shaped base is rotatably supported on one side of the mounting plate, and the gimbal camera is rotatably supported inside the U-shaped base. The first gimbal drive mechanism is located on the side of the mounting plate opposite to the U-shaped base and is used to drive the U-shaped base to rotate. The second gimbal drive mechanism is located inside the U-shaped base and is used to drive the gimbal camera to rotate up and down.

[0020] The beneficial effects of this invention are as follows:

[0021] (1) Modular design facilitates rapid assembly and debugging of each module, as well as quick disassembly, replacement, and maintenance. It also enhances the robot's overall coordination and environmental adaptability, reducing the frequency of manual entry into the drainage network and improving detection efficiency and safety. This facilitates continuous and automated detection of voids around drainage pipes.

[0022] (2) Multiple sets of circumferentially distributed variable diameter support walking modules are adopted, which are more suitable for the stress characteristics of the inner wall of the round tube and have higher support stability. At the same time, the variable diameter telescopic wheel legs support quick disassembly and assembly.

[0023] (3) The walking module adopts a design combining a telescopic sleeve and a multi-stage screw mechanism. The screw mechanism can drive the telescopic sleeve to extend or retract step by step, so that the walking wheels can adaptively adjust the radial extension length according to the change of the inner diameter of the pipe, thereby ensuring that the robot walks stably in different pipe diameters and has good pipe diameter adaptability and passability. The multi-stage screw nesting structure achieves a large telescopic ratio while ensuring coaxiality and smooth movement during the telescopic process. The structure is compact and occupies little space. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 A schematic diagram of the structure of a variable-diameter drainage pipe network inspection robot provided for an embodiment of the present invention;

[0026] Figure 2 A structural diagram from one perspective of the front-end module;

[0027] Figure 3 This is a structural diagram of the front-end module from another perspective;

[0028] Figure 4 This is a schematic diagram of the gimbal mechanism;

[0029] Figure 5 A structural diagram from one perspective of the backend module;

[0030] Figure 6 This is a structural diagram of the backend module from another perspective;

[0031] Figure 7 This is a structural diagram of the intermediate module;

[0032] Figure 8This is a structural diagram of the walking module;

[0033] Figure 9 This is a schematic diagram of a lead screw mechanism.

[0034] In the diagram: 1-Front-end module; 11-Front-end housing; 12-NX development board; 13-Front-end control board; 14-Gimbal mechanism; 141-Mounting plate; 142-U-shaped base; 143-Gimbal camera; 144-First servo; 145-First drive pulley; 146-First driven pulley; 147-Second servo; 148-Second drive pulley; 149-Second driven pulley; 15-Front-end lighting; 16-Front-end bushing; 17-First drive motor; 2-Middle section module; 21-Middle section housing; 22-Middle section control board; 23-Lifter; 24-Middle section camera; 25-Detection radar; 26-Laser rangefinder sensor; 27-Busset hole; 3-Rear-end module; 31-Rear-end housing; 32-Rear-end control board; 33-Rear-end lighting 34-Lamp; 35-Rear end camera; 36-Rear end bushing; 4-Second drive motor; 4-Walking module; 41-Telescopic sleeve; 411-Fixed sleeve; 412-First-stage movable sleeve; 413-Second-stage movable sleeve; 414-Third-stage movable sleeve; 42-Screw mechanism; 421-First-stage screw; 422-Second-stage screw; 423-Third-stage screw; 424-First-stage nut; 425-Second-stage nut; 426-Third-stage nut; 427-Screw drive motor; 428-Telescopic drive pulley; 429-Telescopic driven pulley; 43-Wheel tube; 44-Walking wheel; 45-Walking drive motor. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0037] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0038] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use, or the orientation or positional relationship commonly understood by those skilled in the art. They are used only for the convenience of describing this invention 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, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0039] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; or they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0040] refer to Figure 1 As shown, this embodiment of the invention provides a variable diameter drainage network inspection robot, including a front-end module 1, a middle section module 2, a rear-end module 3, a detection radar 25, and a walking module 4.

[0041] refer to Figure 2 and 3 As shown, the front-end module 1 includes a front-end housing 11 and an NX development board 12 and a front-end control board 13 disposed within the front-end housing 11. A gimbal mechanism 14 and a front-end lighting lamp 15 are provided on one outer wall of the front-end housing 11, and a front-end bushing 16 is provided on the other outer wall. A first drive motor 17 is housed within the front-end bushing 16, and the output end of the first drive motor 17 extends outside the front-end bushing 16. Handles are also provided on both sides of the front-end housing 11 for easy handling. A communication interface is also provided on the front-end housing 11, which is electrically connected to the NX development board 12 and the front-end control board 13.

[0042] refer to Figure 4As shown, the gimbal mechanism 14 includes a mounting plate 141, a U-shaped base 142, a gimbal camera 143, a first gimbal drive mechanism, and a second gimbal drive mechanism. Mounting plate 141 is fixed to the front end of front housing 11. U-shaped base 142 is rotatably supported on the outside of mounting plate 141. Gimbal camera 143 is rotatably supported inside U-shaped base 142. First gimbal drive mechanism is located inside mounting plate 141. First gimbal drive mechanism is used to drive U-shaped base 142 to rotate. First gimbal drive mechanism includes first servo motor 144, first drive pulley 145, first driven pulley 146 and first transmission belt. First servo motor 144 is located on mounting plate 141. First drive pulley 145 is located on the output shaft of first servo motor 144 and can rotate synchronously. First driven pulley 146 is located on the rotating shaft supporting U-shaped base 142 and can rotate synchronously. First transmission belt passes around first drive pulley 145 and first driven pulley 146, so that first servo motor 144 can drive U-shaped base 142 to rotate, and U-shaped base 142 drives gimbal camera 143 to rotate. The second gimbal drive mechanism is located inside the U-shaped base 142 and is used to drive the gimbal camera 143 to rotate up and down. The second gimbal drive mechanism includes a second servo motor 147, a second driving pulley 148, a second driven pulley 149, and a second transmission belt. The second servo motor 147 is located inside the U-shaped base 142. The second driving pulley 148 is located on the output shaft of the second servo motor 147 and can rotate synchronously. The second driven pulley 149 is located on the rotating shaft supporting the U-shaped base 142 and can rotate synchronously. The second transmission belt passes around the second driving pulley 148 and the second driven pulley 149, so that the second servo motor 147 can drive the gimbal camera 143 to rotate up and down.

[0043] The front-end control board 13 is used to control the front-end lighting 15, the first drive motor 17, the gimbal camera 143, the first servo motor 144, the second servo motor 147, etc.

[0044] refer to Figure 5 and 6 As shown, the rear-end module 3 includes a rear-end housing 31 and a rear-end control board 32 disposed within the rear-end housing 31. A rear-end lighting lamp 33 and a rear-end camera 34 are mounted on the outer wall of one end of the rear-end housing 31, and a rear-end bushing 35 is mounted on the outer wall of the other end. A second drive motor 36 is housed within the rear-end bushing 35, and the output end of the second drive motor 36 extends outside the rear-end housing 31. Handles are also provided on both sides of the rear-end housing 31 for easy handling. A communication interface is also provided on the rear-end housing 31, which is electrically connected to the rear-end control board 32. The rear-end control board 32 is used to control the second drive motor 36.

[0045] refer to Figure 7As shown, the intermediate section module 2 includes an intermediate section housing 21 and an intermediate section control board 22 disposed within the intermediate section housing 21. A scissor lift 23 is located at the upper end of the intermediate section housing 21. The scissor lift 23 is driven by an electric push rod. An intermediate section camera 24, an intermediate section light, and a detection radar 25 are located at the upper end of the lift 23. The detection radar 25 is equipped with a laser rangefinder 26, which is used to detect the distance between the radar and the inner wall of the pipe. A communication interface is provided on the intermediate section housing 21, and the communication interface is electrically connected to the intermediate section control board 22. The intermediate section housing 21 has a bushing hole 27 at each end. The two bushing holes 27 are rotatably engaged with the front bushing 16 and the rear bushing 35, respectively. The output ends of the first drive motor 17 and the second drive motor 36 are connected to the intermediate section housing 21. The axis of the output end of the first drive motor 17 and the axis of the output end of the second drive motor 36 are coincident. In this way, the first drive motor 17 and the second drive motor 36 can jointly drive the intermediate section module 2 to rotate, thereby enabling the detection radar 25 to detect the pipeline 360 ​​degrees around its circumference.

[0046] The intermediate section control board 22 is used to control the elevator 23, intermediate section camera 24, intermediate section lighting, detection radar 25, laser rangefinder 26, etc.

[0047] The front housing 11 and the rear housing 31 are respectively provided with three sets of walking modules 4 along the circumference, and the three sets of walking modules 4 are evenly distributed along the circumference.

[0048] refer to Figure 8 and 9 As shown, the walking module 4 includes a telescopic sleeve 41, a lead screw mechanism 42, and walking wheels 44.

[0049] The telescopic sleeve 41 includes a fixed sleeve 411, a primary movable sleeve 412, a secondary movable sleeve 413, and a tertiary movable sleeve 414. One end of the fixed sleeve 411 is detachably connected to the front housing 11 or the rear housing 31, facilitating disassembly, assembly, and maintenance. The primary movable sleeve 412 is inserted into the fixed sleeve 411 and slides within it. The secondary movable sleeve 413 is inserted into the primary movable sleeve 412 and slides within it. The tertiary movable sleeve 414 is inserted into the secondary movable sleeve 413 and slides within it. The fixed sleeve 411, primary movable sleeve 412, secondary movable sleeve 413, and tertiary movable sleeve 414 adopt a rectangular tube structure, but circular, pentagonal, or hexagonal tube structures can also be used.

[0050] The lead screw mechanism 42 includes a primary lead screw 421, a secondary lead screw 422, a tertiary lead screw 423, a primary nut 424, a secondary nut 425, a tertiary nut 426, and a lead screw drive motor 427. One end of the primary lead screw 421 is supported in the fixed sleeve 411 by a bearing seat. Both the secondary lead screw 422 and the tertiary lead screw 423 have installation channels extending through both ends. The primary lead screw 421 is inserted into the installation channel of the secondary lead screw 422, and the secondary lead screw 422 is inserted into the installation channel of the tertiary lead screw 423. Guide grooves are provided along the axial direction on the outer walls of both the primary and secondary lead screws 421 and 422. Guide rails are provided along the axial direction in the installation channels of both the secondary and tertiary lead screws 422 and 423. The guide groove of the primary lead screw 421 slides in engagement with the guide rail in the secondary lead screw 422, and the guide groove on the secondary lead screw 422 slides in engagement with the guide rail in the tertiary lead screw 423. The primary nut 424 is threaded into the primary lead screw 421 and is fixedly connected to one end of the primary movable sleeve 412. A secondary connecting sleeve is provided at the end of the secondary lead screw 422 near the primary nut 424, and the secondary connecting sleeve is rotatably connected to the primary nut 424. In this embodiment, the primary nut 424 is a T-shaped knot. The structure consists of a secondary connecting sleeve fitted around one end of the primary nut 424 and rotatably engaged; a secondary nut 425 threadedly engaged with a secondary lead screw 422; a secondary nut 425 fixedly connected to one end of a secondary movable sleeve 413; a tertiary connecting sleeve rotatably connected to the secondary nut 425 at the end of the tertiary lead screw 423 near the secondary nut 425; in this embodiment, the secondary nut 425 is a T-shaped structure; the tertiary connecting sleeve fitted around one end of the secondary nut 425 and rotatably engaged; a tertiary nut 426 threadedly engaged with the tertiary lead screw 423; a tertiary nut 426 fixedly connected to one end of a tertiary movable sleeve 414; a lead screw drive motor 427 connected to one end of the primary lead screw 421 via belt drive; a telescopic drive pulley 428 on the output shaft of the lead screw drive motor 427; a telescopic driven pulley 429 at one end of the primary lead screw 421; and a telescopic drive pulley 428 and a telescopic driven pulley 429 connected via a telescopic transmission belt.In this way, the primary lead screw 421, secondary lead screw 422, and tertiary lead screw 423 cooperate through guide grooves and guide rails to achieve circumferential fixation and axial sliding. The lead screw drive motor 427 can drive the primary lead screw 421 to rotate. The primary lead screw 421 drives the secondary lead screw 422 and tertiary lead screw 423 to rotate synchronously. The primary lead screw 421 also drives the primary nut 424 to move along its axial direction. At the same time, the primary nut 424 also drives the primary movable sleeve 412 and the secondary lead screw 422 to slide along the axial direction of the primary lead screw 421. The secondary lead screw 422 rotates. The secondary nut 425 is driven to move along its axial direction. At the same time, the secondary nut 425 also drives the secondary movable sleeve 413 and the tertiary screw 423 to slide along the axial direction of the secondary screw 422. When the tertiary screw 423 rotates, it drives the tertiary nut 426 to move along its axial direction. At the same time, the tertiary nut 426 drives the tertiary movable sleeve 414 to slide along the axial direction of the tertiary screw 423, thereby realizing the extension and retraction of the telescopic sleeve 41. In this embodiment, the primary movable sleeve 412, the secondary movable sleeve 413 and the tertiary movable sleeve 414 complete the extension and retraction actions synchronously.

[0051] Of course, the lead screw drive motor 427 and the first-stage lead screw 421 are connected by chain drive or gear drive.

[0052] The free end of the three-stage movable sleeve 414 is provided with a wheel tube 43, and the traveling wheels 44 are rotatably set at both ends of the wheel tube 43. The traveling drive motor 45 is set inside the wheel tube 43, and the output shaft of the traveling drive motor 45 is connected to the rotating shaft of the traveling wheel 44. In this way, the traveling drive motor 45 can drive the traveling wheel 44 to rotate, thereby driving the equipment to move.

[0053] The aforementioned lead screw drive motor 427 and travel drive motor 25 are controlled by corresponding front-end control boards or rear-end control boards.

[0054] The aforementioned front-end control board, back-end control board, and intermediate control board are connected to the host computer or ground workbench via wireless modules (such as WIFI, Bluetooth, etc.) to achieve human-machine interaction. The NX development board 12 is connected to the camera 143 to receive image data collected by the camera 143 and perform target recognition and robot localization processing on the image data (this can be achieved using conventional methods already disclosed in the art). The NX development board 12 sends the target recognition results and robot localization results to the host computer, ground control console, or corresponding control board to assist in generating robot motion control commands, thereby achieving robot motion control within the drainage pipe network detection area.

[0055] The robot operation process of this invention is as follows:

[0056] First, the robot is deployed from the ground shaft into the underground variable-diameter drainage pipe opening. By controlling and adjusting the walking module 4, the telescopic sleeve 41 is extended to the appropriate length for the diameter of the pipe to be tested, so that the walking wheels 44 abut against the pipe wall. The working environment inside the pipe is observed through the gimbal camera 143. Then, the host computer or ground workbench controls the robot to enter the drainage network detection area. After reaching the target area, the lifting device 23 controls the raising and lowering of the detection radar 25. When the laser ranging sensor 26 returns a signal, the detection radar 25 is placed in a suitable detection posture by observing through the cameras 24 on both sides of the detection radar 25. Then, the robot performs pipe cavity detection and data acquisition. After completing the detection, the robot continues to move forward or returns along the original path.

[0057] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. A variable-diameter drainage pipe network inspection robot, characterized in that: It includes a front-end module, a middle-end module, a back-end module, a detection radar, and a walking module; The front-end module is rotatably connected to one end of the middle section module, and the rear-end module is rotatably connected to the other end of the middle section module. The front-end module and / or the rear-end module can drive the middle section module to rotate. The detection radar is mounted on the intermediate section module; The front-end module and the rear-end module are respectively provided with at least two sets of walking modules along the circumference. The walking module includes a telescopic sleeve, a lead screw mechanism and walking wheels. One end of the telescopic sleeve is connected to the front-end module or the rear-end module, and the other end is a free end. The lead screw mechanism is set inside the telescopic sleeve and is used to drive the telescopic sleeve to extend and retract. The walking wheels are set at the free end of the telescopic sleeve. The free end of the telescopic sleeve is also provided with a walking drive motor for driving the walking wheels to rotate.

2. The variable diameter drainage pipe network inspection robot according to claim 1, characterized in that: The telescopic sleeve includes a fixed sleeve, a primary movable sleeve, a secondary movable sleeve, and a tertiary movable sleeve. One end of the fixed sleeve is connected to the front-end module or the rear-end module. The primary movable sleeve is inserted into the fixed sleeve and slidably engaged. The secondary movable sleeve is inserted into the primary movable sleeve and slidably engaged. The tertiary movable sleeve is inserted into the secondary movable sleeve and slidably engaged. The walking wheel and the walking drive motor are located at the free end of the tertiary movable sleeve. The lead screw mechanism includes a primary lead screw, a secondary lead screw, a tertiary lead screw, a primary nut, a secondary nut, a tertiary nut, and a lead screw drive motor. One end of the primary lead screw is supported within the fixed sleeve by a bearing seat. Both the secondary and tertiary lead screws have installation channels extending through their ends. The primary lead screw is inserted into the installation channel of the secondary lead screw, and the secondary lead screw is inserted into the installation channel of the tertiary lead screw. Guide grooves are provided on the outer walls of both the primary and secondary lead screws. Guide rails are provided within the installation channels of both the secondary and tertiary lead screws. The guide groove of the primary lead screw slides in cooperation with the guide rail in the secondary lead screw, and the guide groove on the secondary lead screw slides in cooperation with the guide rail in the tertiary lead screw. The primary nut is threaded into the primary lead screw and fixedly connected to the primary movable sleeve. The primary nut is rotatably connected to one end of the secondary lead screw. The secondary nut is threaded into the secondary lead screw and fixedly connected to the secondary movable sleeve. The secondary nut is rotatably connected to one end of the tertiary lead screw, and the tertiary nut is threaded into the tertiary lead screw and fixedly connected to the tertiary movable sleeve. The lead screw drive motor is driven by one end of the primary lead screw.

3. The variable diameter drainage pipe network inspection robot according to claim 2, characterized in that: The free end of the telescopic sleeve is provided with a wheel tube, the walking wheels are disposed at both ends of the wheel tube, and the walking drive motor is disposed inside the wheel tube and is connected to the walking wheels for transmission.

4. The variable diameter drainage pipe network inspection robot according to claim 3, characterized in that: The lead screw drive motor is connected to the first-stage lead screw via belt drive, chain drive, or gear drive.

5. The variable diameter drainage pipe network inspection robot according to claim 1, characterized in that: The front-end module includes a front-end housing and an NX development board and a front-end control board disposed within the front-end housing. A gimbal mechanism and a front-end lighting lamp are provided on one outer wall of the front-end housing, and a front-end bushing is provided on the other outer wall. A first drive motor is provided inside the front-end bushing. One end of the intermediate section module is rotatably engaged with the front-end bushing. The output shaft of the first drive motor is connected to the intermediate section module and can rotate synchronously.

6. The variable diameter drainage pipe network inspection robot according to claim 5, characterized in that: The rear-end module includes a rear-end housing and a rear-end control board disposed within the rear-end housing. A rear-end lighting lamp and a rear-end camera are provided on one side of the outer wall of the rear-end housing, and a rear-end bushing is provided on the other side of the outer wall. A second drive motor is disposed within the rear-end bushing. The end of the intermediate section module away from the front-end module is rotatably engaged with the rear-end bushing. The output shaft of the second drive motor is connected to the intermediate section module and can rotate synchronously.

7. The variable-diameter drainage pipe network inspection robot according to claim 6, characterized in that: The intermediate section module includes an intermediate section housing and an intermediate section control board disposed within the intermediate section housing. A lifter is provided at the upper end of the intermediate section housing. An intermediate section camera and an intermediate section lighting lamp are provided at the upper end of the lifter. The detection radar is also disposed at the upper end of the lifter. A bushing hole is provided at each end of the intermediate section housing. The two bushing holes are respectively rotatably engaged with the front bushing and the rear bushing.

8. The variable-diameter drainage pipe network inspection robot according to claim 7, characterized in that: The lift is a scissor lift.

9. The variable-diameter drainage pipe network inspection robot according to claim 7, characterized in that: The detection radar is equipped with a laser rangefinder sensor.

10. The variable-diameter drainage pipe network inspection robot according to claim 5, characterized in that: The gimbal mechanism includes a mounting plate, a U-shaped base, a gimbal camera, a first gimbal drive mechanism, and a second gimbal drive mechanism. The U-shaped base is rotatably supported on one side of the mounting plate, and the gimbal camera is rotatably supported inside the U-shaped base. The first gimbal drive mechanism is located on the side of the mounting plate opposite to the U-shaped base and is used to drive the U-shaped base to rotate. The second gimbal drive mechanism is located inside the U-shaped base and is used to drive the gimbal camera to rotate up and down.

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