Pipeline flaw detection robot capable of automatically avoiding obstacles

Abstract

The utility model discloses a pipeline flaw detection robot capable of automatically avoiding obstacles, which belongs to the technical field of pipeline flaw detection robots and comprises a shell, a camera is fixedly mounted in one end of the shell, mounting plates distributed in a rectangular shape are fixedly mounted at the lower end of the shell, and a square pipe is hinged between the mounting plates. A square rod capable of moving up and down is installed in one end of the square pipe through a driving assembly, a U-shaped plate is fixedly installed at one end of the square rod, a rotating wheel driven by a motor is rotatably installed on the inner side of the U-shaped plate, an air cylinder is fixedly installed at one end of the shell, and a cleaning assembly used for cleaning the mirror face of the camera is installed at the output end of the air cylinder. Impurities such as water mist attached to the surface of a camera lens are cleaned by moving wiping cloth up and down, meanwhile, the lens is dried by an air heater, so that the definition of image acquisition and the accuracy of detection are improved, a square rod can be moved up and down, the height of the camera can be adjusted, drainage pipelines with different diameters can be detected conveniently, and the detection efficiency is improved. And the image acquisition effect is improved.

Description

Technical Field

[0001] The utility model specifically relates to an autonomous obstacle-avoiding pipeline flaw detection robot, belonging to the technical field of pipeline flaw detection robots. Background Art

[0002] The pipeline flaw detection robot is a pipeline robot that can be used for video detection and measurement inside drainage pipes. It has relatively strong power performance, driving performance and obstacle avoidance ability, ensuring that it can work normally under harsh pipeline conditions, thereby realizing the detection work inside the drainage pipe. It is generally used to detect the rupture, corrosion and weld quality of the drainage pipe. Through image processing technology, the images collected by the camera are processed to identify the damage of the pipe, assist manual judgment of the pipe damage, and thus improve the detection efficiency.

[0003] As shown in the announcement number: CN218052634U, an autonomous obstacle-avoiding sewage pipe flaw detection robot comprises a shell and a pipe body, the inner side of the shell is rotatably connected to a rotating wheel via a rotating shaft, the rotating wheel comprises an inner wheel and an outer wheel, the front end face of the shell is fixedly connected to a controller, the upper end face of the shell is fixedly connected to a camera, the outer side of the shell is fixedly connected to a first electric telescopic rod, the outer side of the first electric telescopic rod is fixedly connected to a limiting block, the inner side of the limiting block is rotatably connected to an obstacle-avoiding wheel via a rotating shaft, so that the obstacle-avoiding wheel can be used to change the driving angle of the overall device in contact with the inner wall of the pipe body, so as to solve the problem that various sundries are often present in the sewage pipe, which brings many inconveniences to the robot's walking, and the obstacle passing ability of the rotating wheel is improved by arranging the inner wheel, outer wheel, second electric telescopic rod and elastic telescopic belt, so as to solve the problem that obstacles cannot be passed after changing the angle.

[0004] When a common autonomous obstacle-avoiding pipeline flaw detection robot is in use, although it can change the driving angle of the entire device through the contact between the obstacle-avoiding wheels and the inner wall of the pipe body to complete obstacle avoidance, the installation height of the camera is certain, and the image acquisition effect is poor when inspecting drainage pipes of different diameters. In addition, the inside of the drainage pipe is humid, and impurities such as water mist are easily attached to the camera lens during the inspection process, thereby reducing the clarity of image acquisition and detection efficiency. Utility Model Content

[0005] The utility model aims to address the deficiencies of the prior art and to provide an autonomous obstacle-avoiding pipeline flaw detection robot, so as to adjust the installation height of the camera and clean impurities such as water mist attached to the camera lens.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions: an autonomous obstacle-avoiding pipeline flaw detection robot, comprising a shell, a camera is fixedly installed inside one end of the shell, electric telescopic rods are fixedly installed on both sides of the shell, obstacle-avoiding wheels are arranged at the output ends of the electric telescopic rods, mounting plates with rectangular distribution are fixedly installed at the lower end of the shell, square tubes are hinged between the mounting plates, a square rod that can move up and down is installed inside one end of the square tube through a driving assembly, a U-shaped plate is fixedly installed at one end of the square rod, a rotating wheel driven by a motor is rotatably installed on the inner side of the U-shaped plate, and an air Cylinder, a cleaning component for cleaning the camera mirror is installed at the output end of the cylinder. When in use, the cleaning component is used to clean impurities attached to the camera mirror. The cylinder is used to move the cleaning component. The motor is fixedly installed on one side of the U-shaped plate. The driving component is used to move the square rod. The electric telescopic rod is used to move the obstacle avoidance wheel. The camera is an existing mature structure for image acquisition. A controller is arranged inside the shell. The motor and the control end of the electric telescopic rod are electrically connected to the controller. A mobile power supply is arranged inside the shell for power supply.

[0007] Furthermore, in order to adjust the angle of the square tube, one end of the mounting plate is provided with positioning screw holes in a circular array, a positioning screw is installed in the positioning screw hole, and one end of the positioning screw extends into the interior of the square tube, and the positioning screw is used to fix the square tube.

[0008] Furthermore, in order to enable the square rod to move, the driving assembly includes a lead screw, which is rotatably installed in the square tube and is threadedly connected to the square rod, and is used to change the position of the square rod.

[0009] Furthermore, in order to enable the screw to rotate, a worm wheel is fixedly installed at one end of the screw, and a worm is rotatably installed at one end of the square tube, and the worm is meshed with the worm wheel. The worm and the worm wheel have a self-locking function, which can have a certain fixing effect on the screw when the worm is not rotating.

[0010] Furthermore, in order to facilitate the rotation of the worm, a hand wheel is fixedly mounted on one end of the worm.

[0011] Furthermore, in order to dry the surface of the camera, the cleaning component includes a cleaning plate with a square cavity inside, one end of the cleaning plate is fixedly connected to the output end of the cylinder, and an air outlet pipe is installed in a linear array at the lower end of the cleaning plate, one end of the air outlet pipe is connected to the square cavity, the square cavity is used to store hot air, and the air outlet pipe is used to discharge hot air, and the cylinder control end is electrically connected to the controller.

[0012] Furthermore, in order to clean impurities on the surface of the camera, a wiping cloth is installed at one end of the cleaning plate, and a square groove with a magnet internally clamped is opened on the outer wall of the cleaning plate. The magnet is adsorbed on the cleaning plate, and both ends of the wiping cloth extend between the magnet and the cleaning plate. The wiping cloth is a dust-free wiping cloth specially used for wiping lenses, and the magnet is used to fix the wiping cloth.

[0013] Furthermore, in order to provide hot air into the square cavity, a hot air blower is fixedly installed at one end of the shell, and a telescopic air supply pipe is fixedly installed at the output end of the hot air blower, one end of the telescopic air supply pipe is connected to the square cavity, the hot air blower is an existing structure, and is used to generate hot air, and the hot air blower control end is electrically connected to the controller.

[0014] The technical effects and advantages of the utility model are as follows: when the utility model is in use, the worm gear is rotated to drive the square rod to move up and down, so as to adjust the height of the camera, thereby facilitating the detection of drainage pipes with different diameters and improving the image acquisition effect; the cleaning plate can also be moved up and down, and impurities such as water mist attached to the surface of the camera lens can be cleaned with a wiping cloth; at the same time, a hot air blower can be used to dry the lens, thereby improving the clarity of image acquisition and the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the connection structure between the mounting plate and the square tube of the utility model;

[0017] Figure 3 This is a schematic diagram of the connection structure of a square tube and a square rod of the utility model;

[0018] Figure 4 This is a schematic diagram of the connection structure of the drive assembly of the utility model;

[0019] Figure 5 This is a schematic diagram of the connection structure between the cylinder and the cleaning component of the utility model;

[0020] Figure 6 This is a schematic cross-sectional structural diagram of the cleaning plate of the utility model.

[0021] In the figure: 1. shell; 2. camera; 3. electric telescopic rod; 4. obstacle avoidance wheel; 5. mounting plate; 6. square tube; 7. driving assembly; 701. lead screw; 702. worm gear; 703. worm; 704. hand wheel; 8. square rod; 9. U-shaped plate; 10. rotating wheel; 11. cylinder; 12. cleaning assembly; 1201. cleaning plate; 1202. square cavity; 1203. air outlet pipe; 1204. wiping cloth; 1205. magnet; 1206. hot air blower; 1207. telescopic air duct; 13. positioning screw hole; 14. positioning screw. DETAILED DESCRIPTION

[0022] 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.

[0023] See also Figure 1-Figure 6 As shown, an autonomous obstacle-avoiding pipeline flaw detection robot comprises a shell 1, a camera 2 is fixedly installed inside one end of the shell 1, electric telescopic rods 3 are fixedly installed on both sides of the shell 1, and obstacle-avoiding wheels 4 are arranged at the output ends of the electric telescopic rods 3, a mounting plate 5 with rectangular distribution is fixedly installed at the lower end of the shell 1, square tubes 6 are hinged between the mounting plates 5, a square rod 8 that can move up and down is installed inside one end of the square tube 6 through a driving component 7, a U-shaped plate 9 is fixedly installed at one end of the square rod 8, and a rotating wheel 10 driven by a motor is rotatably installed inside the U-shaped plate 9, a cylinder 11 is fixedly installed at one end of the shell 1, and a cleaning component 12 for cleaning the mirror surface of the camera 2 is installed at the output end of the cylinder 11, and positioning screw holes 13 are arranged in a circular array at one end of the mounting plate 5, and the ... A positioning screw 14 is installed in the hole 13, and one end of the positioning screw 14 extends to the inside of the square tube 6. When in use, first adjust the position of the square rod 8 through the driving component 7 to make the camera 2 in the middle position of the pipeline, then rotate the square tube 6 between the mounting plates 5 to make the rotating wheel 10 contact with the inner wall of the pipeline, and then fix the square tube 6 through the positioning screw 14, and then control the motor to start through the controller to drive the rotating wheel 10 to detect the pipeline. When encountering an obstacle, the controller controls the electric telescopic rod 3 to start, so that the obstacle avoidance wheel 4 contacts with the pipe wall, thereby changing the movement direction of the shell 1 to avoid the obstacle. When there are impurities on the lens surface of the camera 2, the cylinder 11 is started by the controller to drive the cleaning component 12 to move for cleaning.

[0024] The driving assembly 7 includes a screw 701, which is rotatably installed in the square tube 6. The screw 701 is threadedly connected to the square rod 8. A worm wheel 702 is fixedly installed at one end of the screw 701. A worm 703 is rotatably installed at one end of the square tube 6, and the worm 703 is meshed with the worm wheel 702. A handwheel 704 is fixedly installed at one end of the worm 703. When in use, the handwheel 704 is manually rotated first to drive the worm 703 to rotate, and the worm wheel 702 rotates accordingly, causing the screw 701 to rotate in a circle, thereby moving the square rod 8 in the square tube 6.

[0025] The cleaning assembly 12 includes a cleaning plate 1201 with a square cavity 1202 formed inside, one end of the cleaning plate 1201 is fixedly connected to the output end of the cylinder 11, an air outlet pipe 1203 is installed at the lower end of the cleaning plate 1201 in a linear array, one end of the air outlet pipe 1203 is connected to the square cavity 1202, a wiping cloth 1204 is installed at one end of the cleaning plate 1201, a square groove with a magnet 1205 clamped inside is formed on the outer wall of the cleaning plate 1201, the magnet 1205 is attracted to the cleaning plate 1201, both ends of the wiping cloth 1204 extend between the magnet 1205 and the cleaning plate 1201, a hot air blower 1206 is fixedly installed at one end of the shell 1, and the output end of the hot air blower 1206 A telescopic air duct 1207 is fixedly installed, and one end of the telescopic air duct 1207 is connected to the square cavity 1202. During use, when impurities on the surface of the lens of the camera 2 need to be cleaned, the cylinder 11 is first started through the controller to drive the cleaning plate 1201 to move downward, and the lens of the camera 2 is cleaned with the wiping cloth 1204. At the same time, the hot air blower 1206 is started through the controller, and the generated hot air is transported to the square cavity 1202 through the telescopic air duct 1207, and then evenly sprayed onto the lens of the camera 2 through the air outlet pipe 1203 to dry it. When the wiping cloth 1204 needs to be replaced, the magnet 1205 can be removed for replacement, which is convenient and quick.

[0026] When the utility model is in use, first manually rotate the hand wheel 704 to drive the screw 701 to rotate in a circle, and the square rod 8 moves downward accordingly, so that the camera 2 is in the middle position of the pipe, so as to facilitate the detection of drainage pipes of different diameters and improve the image acquisition effect. Then rotate the square tube 6 to adjust the angle of the rotating wheel 10, and then start the motor to drive the rotating wheel 10 to detect the pipe. When impurities such as water mist are attached to the surface of the camera 2 lens, the controller starts the cylinder 11 to drive the wiping cloth 1204 to clean the camera 2 lens. At the same time, the hot air blower 1206 is automatically started, and the generated hot air is evenly sprayed onto the camera 2 lens through the air outlet pipe 1203 to dry it, thereby improving the clarity of image acquisition and the accuracy of detection.

[0027] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0028] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A pipeline flaw detection robot capable of autonomous obstacle avoidance, comprising a housing (1), a camera (2) being fixedly mounted inside one end of the housing (1), electric telescopic rods (3) being fixedly mounted on both sides of the housing (1), and obstacle avoidance wheels (4) being arranged at the output ends of the electric telescopic rods (3), characterized in that: A mounting plate (5) in a rectangular shape is fixedly mounted on the lower end of the housing (1); a square tube (6) is hinged between the mounting plates (5); a square rod (8) movable up and down is mounted inside one end of the square tube (6) via a driving assembly (7); a U-shaped plate (9) is fixedly mounted on one end of the square rod (8); a rotating wheel (10) driven by a motor is rotatably mounted inside the U-shaped plate (9); a cylinder (11) is fixedly mounted on one end of the housing (1); a cleaning assembly (12) for cleaning the mirror surface of the camera (2) is mounted on the output end of the cylinder (11).

2. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 1, characterized in that: One end of the mounting plate (5) is provided with positioning screw holes (13) in a circumferential array, a positioning screw rod (14) is installed in the positioning screw hole (13), and one end of the positioning screw rod (14) extends into the interior of the square tube (6).

3. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 1, characterized in that: The driving assembly (7) comprises a lead screw (701), the lead screw (701) is rotatably mounted in the square tube (6), and the lead screw (701) is threadedly connected to the square rod (8).

4. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 3, characterized in that: A worm wheel (702) is fixedly mounted on one end of the lead screw (701), a worm (703) is rotatably mounted on one end of the square tube (6), and the worm (703) is meshed with the worm wheel (702).

5. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 4, characterized in that: A hand wheel (704) is fixedly mounted on one end of the worm (703).

6. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 1, characterized in that: The cleaning component (12) comprises a cleaning plate (1201) with a square cavity (1202) formed therein, one end of the cleaning plate (1201) being fixedly connected to the output end of the cylinder (11), an air outlet pipe (1203) being installed in a linear array at the lower end of the cleaning plate (1201), one end of the air outlet pipe (1203) being in communication with the square cavity (1202).

7. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 6, characterized in that: A wiping cloth (1204) is installed at one end of the cleaning plate (1201); a square groove with a magnet (1205) clamped inside is opened on the outer wall of the cleaning plate (1201); the magnet (1205) and the cleaning plate (1201) are adsorbed to each other; and both ends of the wiping cloth (1204) extend between the magnet (1205) and the cleaning plate (1201).

8. The autonomous obstacle-avoiding pipeline flaw detection robot according to claim 7, characterized in that: A hot air blower (1206) is fixedly mounted on one end of the shell (1), a telescopic air supply pipe (1207) is fixedly mounted on the output end of the hot air blower (1206), and one end of the telescopic air supply pipe (1207) is connected to the square cavity (1202).

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