Internal inspection robot for water supply pipeline

Abstract

The utility model relates to the technical field of pipeline detection, in particular to an internal inspection robot for a water supply pipeline. Comprising a main body part; the driving assembly comprises a driving device and a plurality of driving wheel sets, the driving device is in transmission connection with the driving wheel sets, and the driving wheel sets are arranged on the main body part at intervals in the first direction. According to the water supply pipeline internal inspection robot provided by the utility model, the driving assembly is arranged on the main body part, so that when the robot enters the water supply pipeline for inspection, the driving device drives the plurality of driving wheel groups which are arranged at intervals along the first direction to rotate and drives the main body part to advance in the water supply pipeline; compared with a traditional internal detection robot adopting a propeller, the internal detection robot can stably advance under the conditions of low flow speed and no flow speed, and the defects that an existing water supply pipeline detection device is low in motion state stability and poor in detection effect are overcome.

Description

Technical Field

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

[0002] In water supply pipelines, pipeline flow rate is one of the important technical parameters of the inspection robot in the water supply pipeline, and it is also one of the important construction conditions. The existing inspection equipment with powered parachutes requires a certain flow rate and pressure condition in the pipeline before construction operations can be carried out. When the water supply pipeline is under no pressure or low pressure, it cannot meet the use requirements.

[0003] Under low flow or no flow conditions in water supply pipelines, some existing water supply pipeline detection equipment generates power to move by adding a tail propeller in a suspended state. However, the above detection equipment has low motion stability when moving, and is prone to shaking and rolling in the pipeline, resulting in poor stability and low accuracy of the collected video or other data.

[0004] Therefore, there is an urgent need for a water supply pipeline internal inspection robot to solve the above problems. Utility Model Content

[0005] The utility model provides a water supply pipeline internal inspection robot, which is used to solve the defects of low motion state stability and poor detection effect of existing water supply pipeline detection equipment.

[0006] The utility model provides a water supply pipeline internal inspection robot, comprising:

[0007] Main body;

[0008] The driving assembly includes a driving device and a plurality of driving wheel groups, the driving device is in transmission connection with the driving wheel groups, and the plurality of driving wheel groups are arranged on the main body at intervals along a first direction.

[0009] According to the water supply pipe internal inspection robot provided by the utility model, the main body includes a plurality of driving segments, adjacent driving segments are hingedly connected, and each driving segment is provided with at least one driving wheel set.

[0010] According to the water supply pipe internal inspection robot provided by the utility model, adjacent driving sections are universally connected.

[0011] According to the water supply pipe internal inspection robot provided by the utility model, the driving wheel group includes two driving wheels, one of which is arranged on the first side of the driving section, and the other driving wheel is arranged on the second side of the driving section;

[0012] Two driving motors are arranged in each driving section, one of which is drivingly connected to the driving wheel located on the first side of the driving section, and the other driving motor is drivingly connected to the driving wheel located on the second side of the driving section.

[0013] According to the water supply pipe internal inspection robot provided by the utility model, it also includes a plurality of driven wheel groups, and the plurality of driven wheel groups are arranged at intervals on the main body along the first direction.

[0014] According to the water supply pipe internal inspection robot provided by the utility model, a propeller is provided at the tail of the main body.

[0015] The water supply pipe internal inspection robot provided by the utility model also includes a camera component and a lighting component;

[0016] The camera assembly is arranged on the main body, and the camera assembly is used to collect internal images of the water supply pipe;

[0017] The lighting assembly is arranged on the main body, and is used for illuminating the interior of the water supply pipe.

[0018] According to the water supply pipe internal inspection robot provided by the utility model, the camera assembly includes a front view camera and a rear view camera, the front view camera is arranged at the front end of the main body, and the rear view camera is arranged at the rear end of the main body;

[0019] The lighting assembly comprises a front view lighting lamp and a rear view lighting lamp. The front view lighting lamp is arranged at the front end of the main body, and the rear view lighting lamp is arranged at the rear end of the main body.

[0020] According to the water supply pipe internal inspection robot provided by the utility model, the outer edge of the driving wheel is provided with anti-slip teeth.

[0021] According to the water supply pipe internal inspection robot provided by the utility model, an installation space is formed in the main body, and the driving device is arranged in the installation space.

[0022] The water supply pipe internal inspection robot provided by the utility model has a driving assembly arranged on the main body. When the robot enters the water supply pipe for inspection, the driving device drives a plurality of driving wheel groups arranged at intervals along a first direction to rotate, and drives the main body to move in the water supply pipe. Compared with traditional internal inspection robots using propellers, the utility model can move stably under low flow rate and no flow rate conditions, thereby solving the defects of low motion state stability and poor detection effect of existing water supply pipe inspection equipment.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is one of the schematic diagrams of the water supply pipe internal inspection robot provided by the embodiment of the utility model;

[0026] Figure 2 This is one of the schematic diagrams of the water supply pipe internal inspection robot provided in the embodiment of the utility model.

[0027] Reference numerals:

[0028] 1. Main body; 101. Driving section; 2. Driving wheel set; 3. Hinge; 4. Driven wheel set; 5. Propeller; 6. Front view camera; 7. Rear view camera; 8. Front view lighting; 9. Rear view lighting. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in 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 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.

[0030] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0031] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0032] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0033] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0034] Combine the following Figure 1 and Figure 2 The utility model describes a water supply pipeline internal inspection robot.

[0035] It should be noted that the “first direction” mentioned below specifically refers to the extending direction of the main body 1 in the initial state.

[0036] See also Figure 1 and Figure 2 As shown, the water supply pipe internal inspection robot provided by the utility model comprises a main body 1 and a driving assembly, wherein the driving assembly comprises a driving device and a plurality of driving wheel groups 2, the driving device is in transmission connection with the driving wheel groups 2, and the plurality of driving wheel groups 2 are arranged at intervals on the main body 1 along a first direction.

[0037] The water supply pipe internal inspection robot provided by the utility model is equipped with a driving assembly on the main body 1. When the robot enters the water supply pipe for inspection, the driving device drives multiple driving wheel groups 2 arranged at intervals along the first direction to rotate, and drives the main body 1 to move in the water supply pipe. Compared with the traditional internal inspection robot using a propeller 5, the water supply pipe internal inspection robot provided by the utility model can move stably under low flow rate and no flow rate conditions, which solves the defects of low motion state stability and poor detection effect of existing water supply pipe inspection equipment.

[0038] Specifically, in this embodiment, the main body 1 is a cylindrical structure, which can be formed by a single driving section 101 or by connecting multiple driving sections 101 in sequence. For example, when the robot is only used for detection work in a straight water supply pipeline, and does not involve climbing or turning requirements, the main body 1 can be formed by a single driving section 101 to simplify the structure of the main body 1; when the robot is used for detection work in a complex water supply pipeline, and there are climbing or turning requirements, the main body 1 can be formed by connecting multiple driving sections 101 in sequence, and a flexible structure is set between adjacent driving sections 101 or a flexible connection is set between adjacent driving sections 101, so that the main body 1 can adapt to complex working conditions.

[0039] Each driving wheel set 2 has two driving wheels, one of which is arranged on the first side of the driving section 101, and the other driving wheel is arranged on the second side of the driving section 101. It should be noted that the number of driving wheel sets 2 can be set according to the length of the main body 1. For example, when the length of the main body 1 is short, only two driving wheel sets 2 can be set to support and drive the main body 1. When the length of the main body 1 is long, three or more driving wheel sets 2 can also be set to support and drive the main body 1.

[0040] The driving device is a driving motor, and the number of driving motors can be single or multiple. For example, when the robot is only used for detection work in a straight water supply pipeline without steering requirements, the driving device can use a single driving motor, which is connected to multiple driving wheel sets 2 through a transmission mechanism to achieve the effect of a single driving motor driving multiple driving wheel sets 2 to rotate at the same time, thereby reducing the number of motors and reducing costs; when the robot is used for detection work in a complex water supply pipeline with steering requirements, the driving device can use multiple driving motors, and the multiple driving motors can respectively control the differential rotation of the two driving wheels in each driving wheel set 2 to achieve left and right steering.

[0041] The main body 1 is provided with at least one detection component depending on the current working conditions, such as a camera component and a lighting component for collecting images inside the pipe, a flaw detection component for flaw detection, a flow rate detection component for detecting the flow rate of water, etc.

[0042] See also Figure 1 and Figure 2 As shown, according to some embodiments of the utility model, the main body 1 includes a plurality of drive segments 101, adjacent drive segments 101 are hingedly connected, and each drive segment 101 is provided with at least one drive wheel set 2. By configuring the main body 1 as a plurality of hingedly connected drive segments 101, the robot can move up and down slopes or along a zigzag path inside the pipeline, and can traverse a complex pipeline layout with higher flexibility. By configuring at least one drive wheel set 2 on each drive segment 101, these drive wheel sets 2 can provide firm support and propulsion force for the pipeline wall, thereby ensuring the stability of the robot when traveling inside the pipeline.

[0043] Specifically, in this embodiment, the main body 1 includes two driving sections 101, which are hingedly connected by a hinge 3. The driving section 101 at the front end is provided with two driving wheel sets 2, and the driving section 101 at the rear end is provided with one driving wheel set 2. It should be noted that each driving section 101 can be provided with a single or multiple driving wheel sets 2 according to actual needs.

[0044] Furthermore, according to some embodiments of the present invention, adjacent driving segments 101 are universally connected. By universally connecting adjacent driving segments 101, each driving segment 101 of the main body 1 can achieve more complex posture changes, further enhancing the adaptability and flexibility of the robot inside the pipeline. For example, when the robot encounters complex situations such as pipeline bends, branches, and intersections, it can adjust its posture more flexibly and adapt to the detection of complex water supply pipelines.

[0045] Specifically, adjacent driving segments 101 may be connected via a universal joint, which may provide greater flexibility and freedom, so that adjacent driving segments 101 may be rotated and adjusted in multiple directions.

[0046] According to some embodiments of the utility model, two drive motors are provided in each drive section 101, wherein one drive motor is transmission-connected to a drive wheel located on a first side of the drive section 101, and the other drive motor is transmission-connected to a drive wheel located on a second side of the drive section 101. Specifically, when the two drive motors run at the same speed, the robot will move in a straight line. When the robot needs to turn, the speed difference between the two drive motors is changed so that the speed of the drive wheel on one side becomes faster or slower, thereby inducing differential rotation. In this way, the robot will tilt to one side and turn, so that the drive wheel generates different thrusts on the pipe wall, thereby changing the direction of the robot. By means of differential rotation, the robot can achieve flexible control of left and right turns, adapt to the curved paths and turning requirements of the pipeline layout, enable the robot to better adapt to the complex environment inside the pipeline, and achieve precise navigation and detection tasks.

[0047] See also Figure 1and Figure 2 As shown, according to some embodiments of the utility model, the water supply pipe internal inspection robot further includes a plurality of driven wheel groups 4, and the plurality of driven wheel groups 4 are arranged at intervals along the first direction on the main body 1. By arranging a plurality of driven wheel groups 4 at intervals along the first direction on the main body 1, the driven wheel groups 4 can further support the main body 1, so as to further improve the stability of the robot when traveling.

[0048] Specifically, see Figure 1 and Figure 2 As shown, in this embodiment, two driven wheel sets 4 are arranged on the main body 1 along the first direction at intervals, the two driven wheel sets 4 are respectively located at the front and rear ends of the main body 1 , and the three driving wheel sets 2 are located between the two driven wheel sets 4 .

[0049] See also Figure 2 As shown, according to some embodiments of the utility model, a propeller 5 is provided at the tail of the main body 1. By providing the propeller 5 at the tail of the main body 1, when the robot encounters an uphill slope, the propeller 5 can be turned on to provide propulsion for the robot to reduce the driving pressure of the driving wheel set 2 or prevent the driving wheel set 2 from being insufficiently powered.

[0050] Specifically, in this embodiment, the propeller 5 includes two propulsion units arranged at the tail of the main body 1, each propulsion unit is provided with an impeller, and the rotation direction of the impeller driven by the motor can apply a forward or backward driving force to the robot.

[0051] See also Figure 1 and Figure 2 As shown, according to some embodiments of the utility model, the water supply pipe internal inspection robot also includes a camera assembly and a lighting assembly; the camera assembly is arranged on the main body 1, and the camera assembly is used to collect internal images of the water supply pipe; the lighting assembly is arranged on the main body 1, and the lighting assembly is used to illuminate the inside of the water supply pipe. By arranging the camera assembly and the lighting assembly on the main body 1, the robot can collect images of the inside of the water supply pipe in real time through the camera assembly, and transmit them to the operator or other systems for analysis and processing, so as to realize real-time monitoring and detection of the internal conditions of the pipe, accurately identify problems inside the water supply pipe, such as pipe damage, blockage, water leakage, etc., and can detect and solve potential water supply problems early, and improve the maintenance and management efficiency of the water supply pipe. The lighting assembly provides lighting support for the inside of the water supply pipe, ensuring that the robot can work normally in a dark environment, and can obtain clear images, thereby improving the work quality and effect of the robot.

[0052] See also Figure 1 and Figure 2As shown, according to some embodiments of the utility model, the camera assembly includes a front view camera 6 and a rear view camera 7, the front view camera 6 is arranged at the front end of the main body 1, and the rear view camera 7 is arranged at the rear end of the main body 1; the lighting assembly includes a front view lighting lamp 8 and a rear view lighting lamp 9, the front view lighting lamp 8 is arranged at the front end of the main body 1, and the rear view lighting lamp 9 is arranged at the rear end of the main body 1. Through the above settings, the robot can realize all-round monitoring of the front and rear of the water supply pipeline, ensuring that the robot has a comprehensive understanding of the situation inside the pipeline, and improving the comprehensiveness and accuracy of the detection. It can also be realized that the corresponding camera and lighting are turned on when moving forward or backward, and the necessary image information can be obtained regardless of whether the robot is moving forward or backward, so that different pipeline layouts and environmental conditions can be coped with. The setting of the front view lighting lamp 8 and the rear view lighting lamp 9 can provide lighting support for the robot in the front and rear, ensuring that the robot can obtain clear images under any lighting conditions.

[0053] Specifically, in this embodiment, a front view camera 6 and a front view lamp 8 are provided at the front end of the main body 1 , and a rear view camera 7 and two rear view lamps 9 are provided at the rear end of the main body 1 .

[0054] See also Figure 1 and Figure 2 As shown, according to some embodiments of the utility model, the outer edge of the driving wheel is provided with anti-skid teeth. By providing anti-skid teeth on the outer edge of the driving wheel, the friction between the driving wheel and the inner wall of the pipeline can be increased, thereby enhancing the traction of the robot inside the pipeline. In this way, it can be ensured that the robot can move stably inside the pipeline, and the movement can be kept stable even if there is a certain inclination or slippery situation inside the pipeline. During the detection process in the pipeline, the anti-skid teeth can effectively prevent the driving wheel from slipping due to the slippery or uneven inner wall of the pipeline. This helps to avoid the situation where the robot's movement is unstable or deviates from the target track due to slipping, and ensures the accuracy and reliability of the detection. In addition, since the internal structure of the water supply pipeline may be complex, and there are some unevenness or other obstacles, the anti-skid teeth on the outer edge of the driving wheel can increase the robot's ability to pass through these obstacles, improve the robot's passability inside the pipeline, and ensure that it can successfully complete the detection task.

[0055] According to some embodiments of the utility model, an installation space is formed in the main body 1, and the driving device is arranged in the installation space. By installing the driving device in the installation space inside the main body 1, it can be effectively protected from the influence of the external environment. During the detection process in the water supply pipeline, water flow, debris or other sundries may be encountered. Installing it inside the main body can reduce the risk of damage to the driving device by these external factors. Due to the size limitation of the water supply pipeline, by installing the driving device in the installation space inside the main body 1, the space occupied by the robot can be reduced, so that it can adapt to the detection work of pipelines with more pipe diameters.

[0056] It can be seen from the description of the above embodiments that the water supply pipe internal inspection robot provided by the utility model has at least the following advantages:

[0057] The water supply pipe internal inspection robot provided by the utility model can move stably under the conditions of low flow rate and no flow rate in the water supply pipe, so as to obtain a better CCTV video detection effect, the collected image is clear and does not shake, and the other collected data are all highly stable and effective. Under better working conditions, only the driving wheel can be used for movement. When encountering problems in crossing bumps and climbing slopes, the propeller 5 can be turned on to generate additional thrust to help the robot smoothly cross bumps and climb large-angle slopes, so that the detection work can be completed smoothly.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various embodiments of the utility model.

Claims

1. A water supply pipeline internal inspection robot, characterized in that: include: Main body; The driving assembly includes a driving device and a plurality of driving wheel groups, the driving device is in transmission connection with the driving wheel groups, and the plurality of driving wheel groups are arranged on the main body at intervals along a first direction.

2. The water supply pipe internal inspection robot according to claim 1, characterized in that: The main body includes a plurality of driving segments, adjacent driving segments are hingedly connected, and each driving segment is provided with at least one driving wheel set.

3. The water supply pipe internal inspection robot according to claim 2, characterized in that: The adjacent driving sections are universally connected.

4. The water supply pipe internal inspection robot according to claim 2, characterized in that: The driving wheel set includes two driving wheels, one of which is arranged on a first side of the driving section, and the other driving wheel is arranged on a second side of the driving section; Two driving motors are arranged in each driving section, one of which is drivingly connected to the driving wheel located on the first side of the driving section, and the other driving motor is drivingly connected to the driving wheel located on the second side of the driving section.

5. The water supply pipe internal inspection robot according to claim 1, characterized in that: It also includes a plurality of driven wheel groups, which are arranged on the main body at intervals along the first direction.

6. The water supply pipe internal inspection robot according to claim 1, characterized in that: A propeller is provided at the tail of the main body.

7. The water supply pipe internal inspection robot according to claim 1, characterized in that: Also includes a camera assembly and a lighting assembly; The camera assembly is arranged on the main body, and the camera assembly is used to collect internal images of the water supply pipe; The lighting assembly is arranged on the main body, and is used for illuminating the interior of the water supply pipe.

8. The water supply pipe internal inspection robot according to claim 7, characterized in that: The camera assembly includes a front-view camera and a rear-view camera, wherein the front-view camera is arranged at the front end of the main body, and the rear-view camera is arranged at the rear end of the main body; The lighting assembly comprises a front view lighting lamp and a rear view lighting lamp. The front view lighting lamp is arranged at the front end of the main body, and the rear view lighting lamp is arranged at the rear end of the main body.

9. The water supply pipe internal inspection robot according to any one of claims 1 to 8, characterized in that: The outer edge of the driving wheel is provided with anti-skid teeth.

10. The water supply pipe internal inspection robot according to any one of claims 1 to 8, characterized in that: An installation space is formed in the main body, and the driving device is arranged in the installation space.

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