Pipe gallery inspection robot

Abstract

The utility model relates to the technical field of inspection robots, in particular to a pipe gallery inspection robot. Comprising a transmission belt, a mounting shell, a camera, a controller, two groups of traction mechanisms and a plurality of groups of bearing structures, the traction mechanism comprises a mounting frame a, a winding disc a and a servo motor a; the two ends of the transmission belt are fixedly wound around the winding discs a on the two sides correspondingly. The bearing structure comprises a mounting frame b, a transmission roller and two limiting rollers; the mounting shell is mounted on the transmission belt, and the camera is mounted on the mounting shell; and the controller is mounted on the mounting frame a. The device is low in manufacturing cost and simple in structure, cannot be influenced by sundries in a pipeline, and can ensure normal driving work of the camera.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a pipeline corridor inspection robot. Background Art

[0002] There is a track-type pipeline corridor inspection robot in the prior art. In order to avoid slipping or sliding when climbing or descending a slope, a gear is arranged on one side close to the track and a rack meshing with the gear is arranged on the track, thereby utilizing gear transmission to enhance the stability and reliability of the robot when climbing or descending a slope.

[0003] A Chinese patent with authorization announcement number CN218268392U discloses an underground pipe gallery visual inspection robot, including a robot body, a first drive motor and a second drive motor. Two symmetrically arranged rubber tracks are installed on the upper part of the robot body, and the track is located between the two rubber tracks. The two rubber tracks are respectively pressed on opposite sides of the track; a screw rod is connected to the first drive motor, and the screw rod is meshed and connected with the two rubber tracks; the first drive motor is used to drive the screw rod to rotate so that the two rubber tracks are close to or away from each other along the length direction of the screw rod; the second drive motor is used to drive the rubber track to move.

[0004] The above-mentioned disclosed patent still has the following technical defects: 1. The manufacturing cost is relatively high because a track is set up for the robot to move; 2. The robot moves on the track in a self-driving manner. When the robot is low on power, the robot will stay on the track, requiring the operator to go deep into the tunnel to take out the robot. Utility Model Content

[0005] The utility model aims to propose a pipeline corridor inspection robot in view of the problems existing in the background technology.

[0006] The technical solution of the utility model is a pipe gallery inspection robot, comprising:

[0007] Two sets of traction mechanisms, the traction mechanism includes a mounting frame a, a winding disk a and a servo motor a, the winding disk a is rotatably mounted on the mounting frame a, the servo motor a is mounted on the mounting frame a and its output shaft is connected to the rotating shaft of the winding disk a;

[0008] The transmission belt has two ends fixedly wound on the winding reels a on both sides;

[0009] Multiple groups of supporting structures, the supporting structures include a mounting frame b, a transmission roller and two limit rollers, the transmission roller is rotatably mounted on the mounting frame b, an annular groove is opened on the transmission roller along its circumference, the transmission belt passes through the bottom ends of the multiple annular grooves, the two limit rollers are rotatably mounted on the mounting frame b, and the two limit rollers are located on both sides below the transmission roller, and the limit rollers are in contact with the surface of the transmission belt;

[0010] Install the housing and the camera, the housing is installed on the transmission belt, and the camera is installed on the housing;

[0011] Controller, the controller is installed on the mounting frame a.

[0012] Preferably, the installation shell includes an upper shell and a rotating shell, the upper shell is installed on the transmission belt, the rotating shell is rotatably installed at the bottom end of the upper shell, a servo motor c for driving the rotating shell to rotate horizontally is installed on the inner side of the upper shell, a rotating head is connected to the camera, the rotating head is rotatably installed at the end of the rotating shell, and a servo motor b for driving the rotating head to flip up and down is installed on the rotating shell.

[0013] Preferably, a piston cylinder is installed on the inner side of the rotating shell, a piston is arranged on the inner side of the piston cylinder, an electric telescopic rod for driving the piston to move is installed on the rotating shell, and the end of the piston cylinder is connected to a needle penetrating the side wall of the rotating shell.

[0014] Preferably, the width of the rotating shell is smaller than the distance between the two limiting rollers.

[0015] Preferably, a counter is also included, and the counter is installed on the rotating shaft of any transmission roller.

[0016] Preferably, the controller includes a wireless signal transceiver module.

[0017] Compared with the prior art, the utility model has the following beneficial technical effects:

[0018] 1. In this technical solution, the transmission belt is set to replace the traditional track, which reduces its manufacturing cost;

[0019] 2. During the inspection process, the camera can be driven to move in the pipe gallery through two sets of traction mechanisms. By installing the mounting bracket a and the mounting bracket b on the inner wall of the pipe gallery, the camera is suspended in the air. Compared with the inspection method of directly placing the robot at the bottom of the pipe, it will not be affected by the debris in the pipe, and the smooth movement of the camera can be ensured. And the two-end drive method is adopted, compared with the traditional robot self-drive, the robot will not be unable to move due to insufficient power. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the utility model.

[0021] Figure 2 It is a cross-sectional structural diagram of the installation shell in the utility model.

[0022] Figure 3 for Figure 1 Schematic diagram of the local enlarged structure at A.

[0023] Figure numerals: 1. mounting frame a; 2. winding reel a; 3. servo motor a; 4. mounting frame b; 5. transmission roller; 501. annular groove; 61. upper shell; 62. rotating shell; 7. controller; 8. camera; 9. servo motor b; 10. piston cylinder; 11. electric telescopic rod; 12. servo motor c; 13. needle; 14. rotating head; 15. counter; 16. limit roller; 17. transmission belt. DETAILED DESCRIPTION

[0024] Embodiment 1

[0025] like Figure 1-Figure 3 As shown, the pipe corridor inspection robot proposed in this embodiment includes a transmission belt 17, a mounting shell, a camera 8, a controller 7, two groups of traction mechanisms and multiple groups of supporting structures.

[0026] The traction mechanism includes a mounting frame a1, a winding reel a2 and a servo motor a3. The winding reel a2 is rotatably mounted on the mounting frame a1. The servo motor a3 is mounted on the mounting frame a1 and its output shaft is connected to the rotating shaft of the winding reel a2. The controller 7 is mounted on the mounting frame a1. The two ends of the transmission belt 17 are respectively fixed and wound around the winding reel a2 on both sides.

[0027] The supporting structure includes a mounting frame b4, a transmission roller 5 and two limiting rollers 16. The transmission roller 5 is rotatably mounted on the mounting frame b4. An annular groove 501 is opened on the transmission roller 5 along its circumference. The annular groove 501 is used to limit the transmission belt 17. The transmission belt 17 passes through the bottom ends of multiple annular grooves 501. The two limiting rollers 16 are both rotatably mounted on the mounting frame b4, and the two limiting rollers 16 are both located on both sides below the transmission roller 5. The limiting rollers 16 are in contact with the surface of the transmission belt 17. When the device is installed on the top of the inner wall of the pipe gallery, the limiting rollers 16 can lift the bottom end of the transmission belt 17.

[0028] The mounting shell is mounted on the transmission belt 17, and the camera 8 is mounted on the mounting shell. The mounting shell includes an upper shell 61 and a rotating shell 62. The upper shell 61 is mounted on the transmission belt 17, and the rotating shell 62 is rotatably mounted on the bottom end of the upper shell 61. A servo motor c12 for driving the rotating shell 62 to rotate horizontally is mounted on the inner side of the upper shell 61. A rotating head 14 is connected to the camera 8, and the rotating head 14 is rotatably mounted on the end of the rotating shell 62. A servo motor b9 for driving the rotating head 14 to flip up and down is mounted on the rotating shell 62. The servo motor c12 can drive the rotating shell 62 and the camera 8 to rotate horizontally, and the servo motor b9 can drive the camera 8 to flip up and down, so that the camera 8 can be adjusted at multiple angles. The width of the rotating shell 62 is less than the spacing between the two limiting rollers 16, and the width direction of the rotating shell 62 is perpendicular to the length direction of the transmission belt 17. This arrangement can ensure that the rotating shell 62 passes smoothly between the two limiting rollers 16.

[0029] The pipeline corridor inspection robot also includes a counter 15, which is installed on the rotating shaft of any transmission roller 5. The counter 15 is set to detect the number of rotations of the transmission roller 5. The counter 15 feeds data back to the controller 7, and then the moving length of the transmission belt 17 can be measured, so as to facilitate the determination of the position of the camera 8; the controller 7 includes a wireless signal transceiver module, which controls the controller 7 with wireless signals through external terminal equipment, and the controller 7 controls multiple devices.

[0030] In this embodiment, the transmission belt 17 is provided to replace the traditional track, thereby reducing its manufacturing cost. During the inspection process, the two sets of traction mechanisms can drive the camera 8 to move in the corridor. By installing the mounting frame a1 and the mounting frame b4 on the inner wall of the corridor, the camera 8 is suspended. Compared with the inspection method of directly placing the robot at the bottom of the pipeline, it will not be affected by debris in the pipeline, and can ensure the smooth movement of the camera 8.

[0031] Embodiment 2

[0032] like Figure 2 As shown, the corridor inspection robot proposed in this embodiment is compared with the first embodiment. In this embodiment, a piston cylinder 10 is installed on the inner side of the rotating shell 62, and a piston (not shown) is arranged on the inner side of the piston cylinder 10. An electric telescopic rod 11 for driving the piston to move is installed on the rotating shell 62, and the end of the piston cylinder 10 is connected to a needle 13 that penetrates the side wall of the rotating shell 62. When a problem is found during the inspection process, the electric telescopic rod 11 is controlled by the controller 7 to drive the piston to move, and then the ink inside the piston cylinder 10 is pushed outward through the needle 13, and the ink is ejected onto the inner wall of the corridor to make a mark, so that subsequent operators can quickly find the position to be inspected.

[0033] The implementation modes of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. Pipeline corridor inspection robot, characterized in that: include: Two sets of traction mechanisms, the traction mechanisms include a mounting frame a (1), a winding disk a (2) and a servo motor a (3), the winding disk a (2) is rotatably mounted on the mounting frame a (1), the servo motor a (3) is mounted on the mounting frame a (1) and its output shaft is connected to the rotating shaft of the winding disk a (2); A transmission belt (17), the two ends of which are respectively fixedly wound on the winding reels a (2) on both sides; A plurality of supporting structures, the supporting structures comprising a mounting frame b (4), a transmission roller (5) and two limiting rollers (16), the transmission roller (5) being rotatably mounted on the mounting frame b (4), an annular groove (501) being provided on the transmission roller (5) along its circumference, a transmission belt (17) passing through the bottom ends of the plurality of annular grooves (501), the two limiting rollers (16) being rotatably mounted on the mounting frame b (4), and the two limiting rollers (16) being located on both sides below the transmission roller (5), and the limiting rollers (16) being in contact with the surface of the transmission belt (17); The mounting housing and the camera (8) are mounted on the transmission belt (17), and the camera (8) is mounted on the mounting housing; Controller (7), controller (7) is installed on mounting frame a (1).

2. The pipeline corridor inspection robot according to claim 1, characterized in that: The mounting shell comprises an upper shell (61) and a rotating shell (62), wherein the upper shell (61) is mounted on a transmission belt (17), the rotating shell (62) is rotatably mounted on the bottom end of the upper shell (61), a servo motor c (12) for driving the rotating shell (62) to rotate horizontally is mounted on the inner side of the upper shell (61), a rotating head (14) is connected to the camera (8), the rotating head (14) is rotatably mounted on the end of the rotating shell (62), and a servo motor b (9) for driving the rotating head (14) to flip up and down is mounted on the rotating shell (62).

3. The pipeline corridor inspection robot according to claim 2, characterized in that: A piston cylinder (10) is installed on the inner side of the rotating shell (62), a piston is arranged on the inner side of the piston cylinder (10), an electric telescopic rod (11) for driving the piston to move is installed on the rotating shell (62), and a needle (13) penetrating the side wall of the rotating shell (62) is arranged at the end of the piston cylinder (10).

4. The pipeline corridor inspection robot according to claim 2, characterized in that: The width of the rotating shell (62) is smaller than the distance between the two limiting rollers (16).

5. The pipeline corridor inspection robot according to claim 1, characterized in that: The invention also comprises a counter (15), which is mounted on the rotating shaft of any driving roller (5).

6. The pipeline corridor inspection robot according to claim 1, characterized in that: The controller (7) includes a wireless signal transceiver module.

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