Underground pipe gallery inspection disposal robot

Abstract

The utility model discloses an underground pipe gallery inspection disposal robot which comprises a first robot and a second robot, the tail end of the first robot is movably connected with the head end of the second robot, and the top of the first robot is connected with a rail through a driving wheel set. The driving wheel set is connected with the first robot and the second robot through slewing bearings, the bottom of the first robot is connected with a five-axis mechanical arm, the end of the five-axis mechanical arm comprises a camera shooting assembly and a fire extinguishing spray head, the second robot comprises a fire extinguisher, and the fire extinguisher is connected with the fire extinguishing spray head. The beneficial effects of the utility model are that the robot can adapt to detection and walking at small space, corners and the like, is stronger in adaptability, is expanded in inspection engineering, and makes up the blind area and dead point of machine monitoring.

Description

Technical Field

[0001] The utility model relates to a pipeline robot, in particular to an underground pipeline gallery inspection and disposal robot. Background Art

[0002] The underground city integrated pipe gallery is the "underground city pipeline integrated corridor", also known as the "common trench", which is to build a tunnel space underground in the city, integrating various pipelines such as municipal, electricity, communications, gas, water supply and drainage, and equipped with inspection ports, lifting ports and monitoring systems, and implement unified planning, design, construction and management. The underground city integrated pipe gallery can effectively avoid the emergence of zipper roads. After completion, only the wiring needs to be done internally, and there is no need to repeatedly dig the road. The construction of the underground integrated pipe gallery beautifies the city, moves the cables underground, eliminates the spider webs in the air, and makes the city construction neat and orderly.

[0003] At present, the comprehensive inspection method of the pipeline corridor relies on environmental monitoring equipment to travel on the track in the pipeline corridor to realize the inspection of the pipeline corridor. However, the environment in the pipeline corridor is complex. During the driving process of the robot, especially in narrow spaces and corners, there are problems such as interference with pipe walls and other equipment and limited vision. This leads to problems such as damage to the robot's detection equipment and detection blind spots. At the same time, due to limited space and unsmooth walking, there are problems such as derailment during turns and slipping during uphill, resulting in low walking reliability of the robot.

[0004] The information disclosed in this background technology section is only intended to increase the understanding of the overall background of the utility model, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art known to ordinary technicians in this field. Utility Model Content

[0005] The technical problem to be solved by the utility model is: how to solve the problem that the corridor robot has limited vision due to limited space and turns, interference with the robot, etc., resulting in detection blind spots and damage to equipment.

[0006] The utility model solves the above technical problems through the following technical means:

[0007] An underground pipe gallery inspection and disposal robot comprises a first robot and a second robot, wherein the tail end of the first robot is movably connected to the head end of the second robot, the top of the first robot is connected to a track via a driving wheel set, the driving wheel set is connected to the first robot and the second robot via a slewing bearing, the bottom of the first robot is connected to a five-axis robotic arm, the end of the five-axis robotic arm comprises a camera assembly and a fire extinguishing nozzle, the second robot comprises a fire extinguisher, and the fire extinguisher is connected to the fire extinguishing nozzle.

[0008] This embodiment uses two robots. The first robot is equipped with a five-axis mechanical arm, a fire-extinguishing nozzle, and a camera assembly. The five-axis mechanical arm can be extended to expand the detection and fire-extinguishing range. When encountering a narrow pipe gallery, it can be retracted to avoid damaging the five-axis mechanical arm, the fire-extinguishing nozzle, and the camera assembly. The second robot is equipped with a fire extinguisher to increase the capacity of the entire robot to carry the fire extinguishing agent. At the same time, due to the movable connection between the first robot and the second robot, it is easy to pass through the corner. Otherwise, the overly long robot is easy to get stuck at the corner. The utility model can adapt to the detection and walking in small spaces, corners, etc., has stronger adaptability, and can be carried out in inspection projects to make up for the blind spots and dead spots of machine monitoring.

[0009] Preferably, the front end of the first robot and the rear end of the second robot both include a pan-tilt camera and a lighting assembly.

[0010] The front end of the first robot and the rear end of the second robot are both equipped with pan-tilt cameras, which can perform circular and forward and backward reciprocating detection, greatly improving work efficiency and applicable scenarios.

[0011] Preferably, the top of the first robot is also connected to the track via a follower wheel set, and the follower wheel set is connected to the first robot via a slewing bearing.

[0012] The follower wheel set can improve the connection reliability between the entire robot and the track.

[0013] Preferably, the driving wheel group includes a driving wheel frame, a driving member, a differential assembly, a transmission chain assembly, and a track wheel. The bottom of the driving wheel frame is connected to the first robot and the second robot through a slewing bearing. The driving member is connected to the driving wheel frame. The driving member is driven to connect the differential assembly. Both ends of the differential assembly are connected to one end of the transmission chain assembly, and the other end of the transmission chain assembly is connected to the track wheel.

[0014] The driving wheel set of the utility model is connected to the first robot and the second robot through a slewing bearing, so that small radius interference-free turning can be achieved; through the differential assembly, sliding friction caused by different trajectories and different linear speeds of the inner and outer track wheels can be avoided when turning.

[0015] Preferably, the driving wheel group also includes a clamping wheel, which is located below the track. Both ends of the clamping wheel are shaft structures. The driving wheel frame has two waist-shaped holes. The shafts at both ends of the clamping wheel extend out of the waist-shaped holes and are connected to one end of a tensioning spring. The other end of the tensioning spring is connected to the wheel axle of the track wheel.

[0016] Through the design of tension springs, waist-shaped holes, clamping wheels and other structures, the friction between the track wheel and the track is increased to prevent the ramp from slipping.

[0017] Preferably, two differential bearing seats extend from the interior of the driving wheel frame in the height direction, the two differential bearing seats are symmetrically arranged along the vertical plane of the track, and the two ends of the differential assembly are connected to the differential bearing seats via bearings.

[0018] Preferably, the driving component includes a motor, a driving gear, and a differential outer gear. The motor is connected to the differential bearing seat, the driving gear is connected to the driving end of the motor, the differential assembly is fixedly connected to the differential outer gear, and the driving gear is meshed with the differential outer gear.

[0019] Preferably, the transmission chain assembly includes a first sprocket, a second sprocket, and a chain, the first sprocket is connected to both ends of the differential assembly, the second sprocket is connected to the axle of the track wheel, and the chain is connected to the first sprocket and the second sprocket.

[0020] Preferably, the track wheel is a convex wheel, and the corner of the convex wheel is stuck on the edge of the track.

[0021] The convex wheel structure of the track wheel can maintain the limit between the track wheel and the track, and improve its contact reliability on the track.

[0022] Preferably, the first robot and the second robot are connected via a universal joint.

[0023] The advantages of the utility model are:

[0024] (1) This embodiment uses two robots. The first robot is equipped with a five-axis robotic arm, a fire-extinguishing nozzle, and a camera assembly. The five-axis robotic arm can be extended to expand the detection and fire-extinguishing range. When encountering a narrow pipe corridor, it can be retracted to avoid damaging the five-axis robotic arm, the fire-extinguishing nozzle, and the camera assembly. The second robot is equipped with a fire extinguisher to increase the capacity of the entire robot to carry the fire-extinguishing agent. At the same time, due to the movable connection between the first robot and the second robot, it is easy to pass through the corners. Otherwise, a robot that is too long is easy to get stuck at the corners. The utility model can adapt to detection and walking in small spaces, corners, etc., has stronger adaptability, and can be carried out in inspection projects to make up for the blind spots and dead spots of machine monitoring;

[0025] (2) Both the front end of the first robot and the rear end of the second robot are equipped with a pan-tilt camera, which can perform circular and forward and backward reciprocating detection, greatly improving the operation efficiency and applicable scenarios;

[0026] (3) The follower wheel group can improve the reliability of the connection between the entire robot and the track;

[0027] (4) The driving wheel assembly of the utility model is connected to the first robot and the second robot through a slewing bearing, so that small radius interference-free turning can be achieved; through the differential assembly, sliding friction caused by different trajectories and different linear speeds of the inner and outer track wheels can be avoided when turning;

[0028] (5) Through the design of tension spring, waist-shaped hole, tension wheel and other structures, the friction between the track wheel and the track is increased to prevent the ramp from slipping;

[0029] (6) The convex wheel structure of the track wheel can maintain the limit between the track wheel and the track, thereby improving its contact reliability on the track. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the underground pipe gallery inspection and disposal robot according to an embodiment of the utility model;

[0031] Figure 2 is a cross-sectional view of a driving wheel assembly according to an embodiment of the utility model;

[0032] Figure 3 is a cross-sectional view of a follower wheel assembly according to an embodiment of the utility model;

[0033] Figure 4 This is a schematic diagram of the underground pipe gallery inspection and disposal robot turning a corner according to an embodiment of the utility model;

[0034] Figure 5 This is a schematic diagram of the underground pipe gallery inspection and disposal robot of the utility model when going uphill;

[0035] Numbers in the figure:

[0036] 1. First robot; 2. Second robot; 3. Track; 4. Universal joint;

[0037] 5. Driving wheel assembly; 51. Driving wheel frame; 52. Driving member; 521. Motor; 522. Driving gear; 523. Differential outer gear; 53. Differential assembly; 54. Transmission chain assembly; 541. First sprocket; 542. Second sprocket; 543. Chain; 55. Track wheel; 56. Differential bearing seat; 57. Clamping wheel; 58. Tension spring;

[0038] 6. Slewing bearing; 7. Five-axis robotic arm; 71. Camera assembly; 72. Fire sprinkler; 8. Fire extinguisher; 9. Follower wheel assembly; 91. Follower wheel frame; 92. Follower wheel. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0040] Embodiment 1:

[0041] like Figure 1 As shown, the underground pipe corridor inspection and disposal robot is hung upside down on the track 3 of the pipe corridor, including a first robot 1 and a second robot 2. The tail end of the first robot 1 and the head end of the second robot 2 are movably connected through a universal joint 4. The top of the first robot 1 is connected to the track 3 through a driving wheel group 5. The driving wheel group 5 is connected to the first robot 1 and the second robot 2 through a slewing bearing 6. The bottom of the first robot 1 is connected to a five-axis robotic arm 7. The end of the five-axis robotic arm 7 includes a camera assembly 71 and a fire extinguishing nozzle 72. The camera assembly 71 includes a camera and a lighting lamp. The second robot 2 includes a fire extinguisher 8. The fire extinguisher 8 is connected to the fire extinguishing nozzle 71 through a hose 81.

[0042] The front end of the first robot 1 and the rear end of the second robot 2 both include a pan-tilt camera and a lighting assembly. The front end of the first robot 1 and the rear end of the second robot 2 both have a pan-tilt camera, which can perform circular and forward and backward reciprocating cycle detection, greatly improving the operating efficiency and applicable scenarios.

[0043] Specifically, the first robot 1 and the second robot 2 serve as the carriers of various devices, and can also be equipped with communication equipment to store or transmit the images taken by the camera assembly, the pan / tilt camera and the lighting assembly; as well as energy storage devices such as batteries. The second robot 2 is only provided with one driving wheel set 5, which is universally articulated with the first robot 1 to avoid interference with the robot's turning and climbing, resulting in inability to walk or derailment. The second robot 2 is equipped with a fire extinguisher 8 and is connected to the end fire extinguishing nozzle 72 of the five-axis robotic arm 7 of the first robot 1 through a hose. When a fire or fire hazard is found, it can spray and extinguish the fire autonomously and accurately.

[0044] The bottom of the entire driving wheel set 5 is rotatably connected to the outer shell of the first robot 1 or the second robot 2 through a slewing bearing 6 to adapt to its walking when turning.

[0045] The top of the first robot 1 is also connected to the track 3 via a follower wheel set 9, and the follower wheel set 9 is connected to the first robot 1 via a slewing bearing 6. The follower wheel set 9 can improve the connection reliability between the entire robot and the track 3.

[0046] The driving wheel set 5 includes a driving wheel frame 51, a driving member 52, a differential assembly 53, a transmission chain assembly 54, and a track wheel 55. Two differential bearing seats 56 extend from the interior of the driving wheel frame 51 in the height direction. The two differential bearing seats 56 are symmetrically arranged along the vertical plane of the track 3. The driving wheel frame 51 and the differential bearing seats 56 are an integrated structure. The two ends of the differential assembly 53 are connected to the differential bearing seats 56 through bearings. The bottoms of the two driving wheel frames 51 are connected to the first robot 1 and the second robot 2 through a slewing bearing 6. The driving member 52 is connected to the differential bearing seat 56. The driving member 52 drives and connects the differential assembly 53. The two ends of the differential assembly 53 are connected to one end of the transmission chain assembly 54, and the other end of the transmission chain assembly 54 is connected to the track wheel 55. Among them, the driving wheel frame 51, the differential assembly 53, the transmission chain assembly 54, the track wheel 55, and the differential bearing seat 56 are all symmetrically arranged.

[0047] In this embodiment, the driving wheel set 5 of the first robot 1 and the driving wheel set 5 of the second robot 2 have the same structure. In this embodiment, the driving wheel set 5 and the first robot 1 and the second robot 2 are connected through a slewing bearing 6, which can achieve small radius interference-free turning; through the differential assembly 53, when turning, the sliding friction caused by the different trajectories and linear speeds of the inner and outer track wheels 55 can be avoided.

[0048] Specifically, the driving member 52 includes a motor 521, a driving gear 522, and a differential outer gear 523. The housing of the motor 521 can be connected to the differential bearing seat 56 by bolts or the like. The driving gear 522 is connected to the driving end of the motor 521. The differential assembly 53 is fixedly connected to the differential outer gear 523, and the driving gear 522 is meshed with the differential outer gear 523.

[0049] The left differential housing and the right differential housing are fastened together with the differential outer gear 523 by bolts. The left differential housing and the right differential housing are internally installed with half shafts, half shaft gears and several planetary gears arranged circumferentially on both sides, forming a differential assembly 53. The differential assembly 53 can be made of the prior art. The left differential housing and the right differential housing are respectively connected to the differential bearing seats 56 on both sides, and the left differential housing and the right differential housing are connected with half shafts, and the half shafts on both sides are connected to the transmission chain assembly 54 after extending out of the differential bearing seats 56.

[0050] The transmission chain assembly 54 includes a first sprocket 541, a second sprocket 542, and a chain 543. The first sprocket 541 is fixedly connected to the half-axles at both ends of the differential assembly 53, the second sprocket 542 is connected to the axles of the track wheels 55 on both sides, and the chain 543 is connected to the first sprocket 541 and the second sprocket 542.

[0051] The track wheel 55 is a convex wheel, and the corner of the convex wheel is stuck on the edge of the track 3, which can maintain the limit between the track wheel 55 and the track 3 and improve its contact reliability on the track 3.

[0052] The five-axis robot arm 7 is a robot arm capable of rotating and extending. When the robot arm is retracted, it is 1250mmx400mmx700mm, and when the robot arm is extended, it is 1250mmx400mmx1900mm.

[0053] In this embodiment, two robots are used. The first robot 1 is equipped with a five-axis robot arm 7, a fire extinguishing nozzle 72, and a camera assembly 71. The five-axis robot arm 7 can be extended to expand the detection and fire extinguishing range. When encountering a narrow pipe gallery, it can be retracted to avoid damaging the five-axis robot arm 7, the fire extinguishing nozzle 72, and the camera assembly 71; the second robot 2 is equipped with a fire extinguisher 8 to increase the capacity of the entire robot to carry the fire extinguishing agent. At the same time, Figure 4 As shown, due to the movable connection between the first robot 1 and the second robot 2, it is convenient to pass through the turning, otherwise a robot that is too long may get stuck at the turning.

[0054] This embodiment can adapt to detection and walking in small spaces and corners, has stronger adaptability, and can be carried out in inspection projects to make up for blind spots and dead spots in machine monitoring.

[0055] Embodiment 2:

[0056] Based on the above embodiment 1, in this embodiment, Figure 2 As shown, the driving wheel set 5 also includes a tension wheel 57, which is located below the track 3. The two ends of the tension wheel 57 are shaft structures. The driving wheel frame 51 has two waist-shaped holes. The shafts at both ends of the tension wheel 57 extend out of the waist-shaped holes and are connected to one end of the tension spring 58. The other end of the tension spring 58 is connected to the wheel axle of the track wheel 55. Figure 5 As shown, by means of the tension spring 58, waist-shaped hole, and the tension wheel 57 and other structural designs, the friction between the track wheel 55 and the track 3 is increased to prevent the ramp from slipping.

[0057] It can also achieve precise positioning.

[0058] Embodiment three:

[0059] Based on the above embodiments 1 and 2, in this embodiment, Figure 1, Figure 3 As shown, the top of the first robot 1 is also connected to the track 3 via a follower wheel set 9 , and the follower wheel set 9 is connected to the first robot 1 via a slewing bearing 6 .

[0060] Specifically, the follower wheel group 9 includes a follower wheel frame 91 and a follower wheel 92. The bottom of the follower wheel frame 91 is connected to the first robot 1 through a slewing bearing 6. The top two sides of the follower wheel frame 91 are rotatably connected to the follower wheels 92, which are also convex wheels. The follower wheel group 9 can improve the connection reliability between the entire robot and the track 3.

[0061] In the above embodiment, the detected image can be transmitted to the ground monitoring platform by wireless communication or the like, and the busbar is used for power supply and wireless communication, and has the characteristics of unlimited battery life and simple structure. The battery life can be achieved by using a battery. The track 3 and the busbar are fixed to the top of the tunnel for the robot to walk and provide power. The camera equipment carried by the first robot 1 and the second robot 2 can be a visible light + thermal imaging (infrared) pan-tilt monitoring camera. In addition, it can also be equipped with gyroscopes, temperature and humidity sensors, gas detectors, lighting lamps and other instruments, and power supply, drive, communication, control and other modules, which can realize panoramic video monitoring, high temperature point and life body detection warning, robot posture position detection, environmental monitoring (gas, temperature, humidity, smoke), robot motion control and other functions.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. Underground pipe gallery inspection and disposal robot, characterized in that: The invention comprises a first robot and a second robot, wherein the tail end of the first robot is movably connected to the head end of the second robot, the top of the first robot is connected to a track via a driving wheel set, the driving wheel set is connected to the first robot and the second robot via a slewing bearing, the bottom of the first robot is connected to a five-axis robotic arm, the end of the five-axis robotic arm comprises a camera assembly and a fire extinguishing nozzle, the second robot comprises a fire extinguisher, and the fire extinguisher is connected to the fire extinguishing nozzle.

2. The underground pipe gallery inspection and disposal robot according to claim 1, characterized in that: The front end of the first robot and the rear end of the second robot both include a pan / tilt camera and a lighting assembly.

3. The underground pipe gallery inspection and disposal robot according to claim 1, characterized in that: The top of the first robot is also connected to the track via a follower wheel set, and the follower wheel set is connected to the first robot via a slewing bearing.

4. The underground pipe gallery inspection and disposal robot according to claim 1, characterized in that: The driving wheel group includes a driving wheel frame, a driving member, a differential assembly, a transmission chain assembly, and a track wheel. The bottom of the driving wheel frame is connected to the first robot and the second robot through a slewing bearing. The driving member is connected to the driving wheel frame. The driving member is driven to connect the differential assembly. Both ends of the differential assembly are connected to one end of the transmission chain assembly, and the other end of the transmission chain assembly is connected to the track wheel.

5. The underground pipe gallery inspection and disposal robot according to claim 4, characterized in that: The driving wheel group also includes a clamping wheel, which is located below the track. Both ends of the clamping wheel are shaft structures. The driving wheel frame has two waist-shaped holes. The shafts at both ends of the clamping wheel extend out of the waist-shaped holes and are connected to one end of a tensioning spring. The other end of the tensioning spring is connected to the wheel axle of the track wheel.

6. The underground pipe gallery inspection and disposal robot according to claim 4, characterized in that: Two differential bearing seats extend from the interior of the driving wheel frame in the height direction. The two differential bearing seats are symmetrically arranged along the vertical plane of the track. Both ends of the differential assembly are connected to the differential bearing seats via bearings.

7. The underground pipe gallery inspection and disposal robot according to claim 6, characterized in that: The driving member includes a motor, a driving gear, and a differential outer gear. The motor is connected to the differential bearing seat, the driving gear is connected to the driving end of the motor, the differential assembly is fixedly connected to the differential outer gear, and the driving gear is meshed with the differential outer gear.

8. The underground pipe gallery inspection and disposal robot according to claim 4, characterized in that: The transmission chain assembly includes a first sprocket, a second sprocket, and a chain. The first sprocket is connected to both ends of the differential assembly, the second sprocket is connected to the wheel axle of the track wheel, and the chain is connected to the first sprocket and the second sprocket.

9. The underground pipe gallery inspection and disposal robot according to claim 4, characterized in that: The track wheel is a convex wheel, and the corner of the convex wheel is stuck on the edge of the track.

10. The underground pipe gallery inspection and disposal robot according to claim 1, characterized in that: The first robot and the second robot are connected via a universal joint.

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