Long-distance water supply pipeline detection robot

Abstract

The utility model relates to a long-distance water supply pipeline detection robot which comprises a machine body arranged in a pipeline, a protective cover is arranged on the front face of the machine body, a camera is fixedly installed on the front face of the machine body and located in the protective cover, and lighting lamps are fixedly installed on the front face of the machine body and located on the two sides of the camera. A walking assembly is arranged on the side wall of the machine body. According to the long-distance water supply pipeline detection robot, the four inclined side walls of the robot body are each provided with the two walking assemblies, the walking wheels are attached to the inner wall of the pipeline through extension of the electric push rods, and therefore the stability of the robot body in the walking process is effectively improved, the walking wheels are driven by the driving motors to rotate, and compared with peristaltic components, the structure is simpler; and the main power box and the standby power box are arranged on the machine body, so that the cruising ability is effectively improved, and the sight environment of camera shooting is effectively improved by installing the illuminating lamp, so that the detection precision is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection equipment, in particular to a long-distance water supply pipeline detection robot. Background Art

[0002] In order to meet the growing demand for urban water supply, my country has built a large number of long-distance water supply pipeline projects. These projects have played an important role in ensuring the safety of urban water supply, industrial development and social stability. With the increase in operation time, these pipeline projects have also experienced local deformation, rupture, collapse, erosion, dissolution, water and mud inrush and other dangerous conditions. In order to ensure the safety of the project, it is necessary to quantitatively, timely and comprehensively cover the structural safety evaluation of the pipeline project. The traditional technical method is mainly to manually check the structural safety hazards one by one through visual inspection, tape measure, compass and other tools. There are disadvantages such as inefficiency, laboriousness, time-consuming and narrow coverage. At the same time, the traditional method is subject to the limitations of subjective abilities such as knowledge and experience judgment of on-site inspectors, and is unable to perform quantitative, timely and comprehensive structural safety evaluation tasks. Therefore, it is necessary to develop a pipeline inspection robot that can carry multiple sensors and maintain its own posture in structure, complete the accurate positioning of the robot inside the pipeline, and accurately associate the pipeline inspection information with the pipeline position, so as to provide strong guarantee for the safe operation of long-distance water supply pipelines.

[0003] At present, the main method of structural safety inspection robots for pipelines is creeping movement. This scheme is mainly composed of creeping elements. The overall structure is square, small in size and light in weight. The movement of the pipeline robot is controlled by creeping elements to realize the movement of the pipeline robot in the pipeline. However, the creeping elements are not only complex in structure, but also bumpy when walking, which also limits the movement speed of the pipeline robot. Utility Model Content

[0004] In view of the deficiencies in the prior art, the utility model provides a long-distance water supply pipeline detection robot, which has the advantages of simple structure, fast moving speed, stable body, etc.

[0005] In order to achieve the above-mentioned purpose of simple structure, fast moving speed and stable body, the utility model provides the following technical solutions: a long-distance water supply pipeline inspection robot, comprising a body arranged inside the pipeline, a protective cover is arranged on the front of the body, a camera is fixedly installed on the front of the body and inside the protective cover, lighting lamps are fixedly installed on the front of the body and on both sides of the camera, and a walking assembly is provided on the side wall of the body, the walking assembly comprises an electric push rod fixedly installed on the side wall of the body, a mounting seat is fixedly installed on the output end of the electric push rod, a movable seat is rotatably installed on the surface of the mounting seat, a driving motor is fixedly installed on the other end of the movable seat, and a walking wheel is fixedly installed on the output end of the driving motor, and limit blocks are fixedly installed on the surface of the mounting seat and on both sides of the movable seat.

[0006] Furthermore, the machine body is in the shape of a regular octagonal prism, the protective cover is a tempered glass cover, the protective cover is threadedly mounted on the front of the machine body, the protective cover is an arc-shaped cover, and the lighting lamp is located inside the protective cover.

[0007] Furthermore, a lifting ring is fixedly installed at the center of the back side of the machine body, and a cable is movably installed on the surface of the lifting ring. The cable is a nylon rope, and the length of the cable is greater than the length of the pipeline.

[0008] Furthermore, a main power box is fixedly installed on the bottom wall of the body, and a backup power box is fixedly installed on the top of the body. The main power box and the backup power box have the same structure. A card cover is snapped on the front of the main power box, and lithium batteries are slidably installed in the main power box and the backup power box.

[0009] Furthermore, there are 8 walking components, and the 8 walking components are grouped in pairs, and 4 groups of walking components are distributed on the four side inclined walls of the machine body.

[0010] Furthermore, the movable seat is in a "concave" shape, and a shaft rod penetrating the mounting seat is rotatably mounted on the surface of the movable seat. A protective shell is fixedly mounted on the surface of the driving motor. The driving motor is a dual-axis motor, and walking wheels are fixedly mounted on both output ends of the driving motor.

[0011] Compared with the prior art, the utility model provides a long-distance water supply pipeline detection robot, which has the following beneficial effects:

[0012] The long-distance water supply pipeline inspection robot has two walking components installed on the four inclined side walls of the body, and the electric push rod is extended to allow the walking wheels to stick to the inner wall of the pipe, thereby effectively improving the stability of the body during walking. The driving motor is used to drive the walking wheels to rotate. Compared with the peristaltic parts, it not only has a simpler structure but also moves faster. By equipping the body with a main power box and a backup power box, the endurance is effectively improved. By installing a lighting lamp, the visual environment of the camera shooting is effectively improved, thereby improving the detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a front view of the utility model;

[0014] Figure 2 This is a rear view of the utility model;

[0015] Figure 3 This is an enlarged view of the walking component of the utility model.

[0016] In the figure: 1 body, 2 protective cover, 3 camera, 4 lighting, 5 lifting ring, 6 cable, 7 main power box, 71 card cover, 8 backup power box, 9 walking assembly, 10 electric push rod, 11 mounting seat, 12 shaft rod, 13 movable seat, 14 driving motor, 15 walking wheel, 16 limit block. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0018] See also Figure 1 A long-distance water supply pipeline inspection robot includes a body 1 arranged inside the pipeline, a protective cover 2 made of tempered glass is threadedly installed on the front of the body 1, a camera 3 is fixedly installed on the front of the body 1 and inside the protective cover 2, and lighting lamps 4 are fixedly installed on the front of the body 1 and on both sides of the camera 3.

[0019] The body 1 is in the shape of a regular octagonal prism, the protective cover 2 is an arc-shaped cover, and the lighting lamp 4 is located inside the protective cover 2. The lighting lamp 4 provides additional light source to the camera 3, allowing the camera 3 to take clearer photos.

[0020] Secondly, a main power box 7 and a backup power box 8 with the same structure are fixedly installed on the bottom wall and the top wall of the body 1 respectively. A card cover 71 is snapped onto the front of the main power box 7. Lithium batteries are slidably installed in the main power box 7 and the backup power box 8. Two power boxes are equipped to improve the battery life of the entire device.

[0021] See also Figure 2 A lifting ring 5 is fixedly installed at the center of the back of the body 1, and a cable 6 is movably installed on the surface of the lifting ring 5. The cable 6 is a nylon rope, and the length of the cable 6 is greater than the length of the pipeline, which is convenient for recovering the body 1.

[0022] A walking assembly 9 is arranged on the side wall of the machine body 1 to drive the machine body 1 to move in the pipeline.

[0023] See also Figure 3 The walking assembly 9 includes an electric push rod 10 fixedly mounted on the side wall of the body 1, a mounting seat 11 is fixedly mounted on the output end of the electric push rod 10, a "concave"-shaped movable seat 13 is rotatably mounted on the surface of the mounting seat 11 through an axle rod 12, a driving motor 14 is fixedly mounted on the other end of the movable seat 13, and a walking wheel 15 is fixedly mounted on the output end of the driving motor 14, and limit blocks 16 are fixedly mounted on the surface of the mounting seat 11 and on both sides of the movable seat 13.

[0024] Among them, there are 8 walking components 9, and the 8 walking components 9 are grouped in pairs. The spacing between the walking components 9 in each group is two-thirds of the length of the body 1, and the 4 groups of walking components 9 are distributed on the four side inclined walls of the body 1.

[0025] When the electric push rod 10 is extended until the travel wheel 15 contacts the inner wall of the pipe, the body 1 can be located at the center of the pipe, so that the camera 3 can take a more comprehensive picture of the inner wall of the pipe, thereby improving the detection accuracy.

[0026] Secondly, a protective shell is fixedly installed on the surface of the driving motor 14 for the Outback driving motor 14. The driving motor 14 is a dual-axis motor. Both output ends of the driving motor 14 are fixedly installed with walking wheels 15. The surface of the walking wheels 15 is fixedly installed with rubber leather covers to reduce vibration during movement.

[0027] When this embodiment is in use, the body 1 is placed inside the pipe, and then all the electric push rods 10 are started at the same time. The electric push rods 10 are extended to allow the travel wheels 15 to stick to the inner wall of the pipe, so that the body 1 is located in the center of the pipe, so that the camera 3 can take a more comprehensive picture of the inner wall of the pipe, and the drive motor 15 is started to drive the travel wheels 15 to rotate, thereby allowing the body 1 to move. By equipping the body 1 with a main power box 7 and a backup power box 8 to improve the battery life, and by installing a lighting lamp 4 to improve the visual environment of the camera 3, the detection accuracy is improved.

[0028] The electrical components appearing in the article are all electrically connected to the main controller and the power supply. The main controller can be a conventional known device for control such as a computer, and the existing public power connection technology is not described in detail in the article.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0030] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A long-distance water supply pipeline inspection robot, comprising a body (1) arranged inside the pipeline, characterized in that: A protective cover (2) is arranged on the front of the machine body (1); a camera (3) is fixedly installed on the front of the machine body (1) and inside the protective cover (2); lighting lamps (4) are fixedly installed on the front of the machine body (1) and on both sides of the camera (3); and a walking assembly (9) is arranged on the side wall of the machine body (1); The walking assembly (9) comprises an electric push rod (10) fixedly mounted on the side wall of the machine body (1); a mounting seat (11) is fixedly mounted on the output end of the electric push rod (10); a movable seat (13) is rotatably mounted on the surface of the mounting seat (11); a driving motor (14) is fixedly mounted on the other end of the movable seat (13); a walking wheel (15) is fixedly mounted on the output end of the driving motor (14); and limit blocks (16) are fixedly mounted on the surface of the mounting seat (11) and on both sides of the movable seat (13).

2. A long distance water supply pipeline inspection robot according to claim 1, characterized in that: The machine body (1) is in the shape of a regular octagonal prism, the protective cover (2) is a tempered glass cover, the protective cover (2) is threadedly mounted on the front of the machine body (1), the protective cover (2) is an arc-shaped cover, and the lighting lamp (4) is located inside the protective cover (2).

3. The long-distance water supply pipeline inspection robot according to claim 1, characterized in that: A lifting ring (5) is fixedly installed at the center of the back of the machine body (1), and a cable (6) is movably installed on the surface of the lifting ring (5). The cable (6) is a nylon rope, and the length of the cable (6) is greater than the length of the pipeline.

4. The long-distance water supply pipeline inspection robot according to claim 1, characterized in that: A main power supply box (7) is fixedly mounted on the bottom wall of the machine body (1), and a backup power supply box (8) is fixedly mounted on the top of the machine body (1); the main power supply box (7) and the backup power supply box (8) have the same structure, a card cover (71) is snap-connected to the front of the main power supply box (7), and lithium batteries are slidably mounted in both the main power supply box (7) and the backup power supply box (8).

5. The long-distance water supply pipeline inspection robot according to claim 1, characterized in that: There are eight walking assemblies (9), and the eight walking assemblies (9) are grouped in pairs. Four groups of walking assemblies (9) are distributed on the four side inclined walls of the machine body (1).

6. The long-distance water supply pipeline inspection robot according to claim 1, characterized in that: The movable seat (13) is in a concave shape, and a shaft (12) penetrating the mounting seat (11) is rotatably mounted on the surface of the movable seat (13). A protective shell is fixedly mounted on the surface of the driving motor (14). The driving motor (14) is a double-shaft motor, and both output ends of the driving motor (14) are fixedly mounted with walking wheels (15).

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