Drainage pipeline inspection robot

Abstract

The utility model provides a drainage pipeline inspection robot, and relates to the technical field of robots. Four motors for driving the four-wheel trolley are mounted on the four-wheel trolley; the stand column is arranged on the four-wheel trolley; the baffle plate is arranged on the upright post; brush rollers used for cleaning the surface of the inner wall of the drainage pipeline are installed below the baffles. The video sensor is arranged at the front part of the robot and is used for shooting conditions in the drainage pipeline in real time; the motor and the video sensor are in communication connection with the upper computer. The inspection robot for the drainage pipeline can inspect the drainage pipeline, personnel are prevented from entering the pipeline or operating on site, and the safety of the personnel is protected.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a drainage pipe inspection robot. Background Art

[0002] With the acceleration of urbanization, the health of urban drainage systems is crucial to ensure the normal operation of cities. Drainage pipes are an important part of urban infrastructure, and their status directly affects the city's flood control and drainage capabilities and environmental safety. Therefore, it is very necessary to conduct regular inspections and maintenance of drainage pipes, mainly to detect whether there is damage, collapse, water leakage, etc. inside the drainage pipes, and to determine the damage points and degree of damage inside the drainage pipes.

[0003] Traditional pipeline inspection methods include using closed-circuit television (CCTV) camera systems or sending workers inside the pipeline to inspect. These methods are not only costly and inefficient, but can also pose a threat to the health and safety of workers. Summary of the invention

[0004] In view of this, the present application provides a drainage pipe inspection robot to implement inspections of drainage pipes, prevent personnel from entering the pipes or performing on-site operations, and protect personnel safety.

[0005] To this end, this application provides the following technical solutions:

[0006] The present application discloses a drainage pipeline inspection robot, comprising:

[0007] A four-wheeled trolley; the four-wheeled trolley is equipped with four motors for driving the four-wheeled trolley;

[0008] A column mounted on the four-wheeled vehicle;

[0009] A baffle installed on the column; a brush roller for cleaning the inner wall surface of the drainage pipe is installed under the baffle;

[0010] The video sensor installed on the front of the robot is used to capture the situation inside the drainage pipe in real time;

[0011] The motor and the video sensor are respectively connected to the host computer for communication.

[0012] Furthermore, it also includes:

[0013] Environmental perception sensors are arranged in various directions of the robot, and the environmental perception sensors are communicatively connected with the host computer.

[0014] Furthermore, the environmental perception sensor includes a temperature sensor, a humidity sensor, an ultrasonic sensor and a pressure sensor.

[0015] Furthermore, the four-wheeled vehicle comprises: a plum blossom-shaped clamping coupling and a front wheel axle, a rear wheel axle, a motor frame, a bevel gear shaft and a bottom rod bearing seat respectively connected to the plum blossom-shaped clamping coupling; wherein:

[0016] Two tires are fixedly installed at both ends of the front wheel axle, and two tires are fixedly installed at both ends of the rear wheel axle; four wheel flanges are fixedly installed at both ends of the front wheel axle and the rear wheel axle respectively; the rear cross bar is connected to the lower part of the rear wheel axle through the first bevel gear and the second bevel gear; four vertical seat type cast steel seated external spherical bearings are respectively installed on both sides of the front wheel axle and the rear wheel axle, and another one is installed on the bevel gear shaft;

[0017] The motor frame is used to install the motor;

[0018] The bottom rod bearing seat is used to install the bottom rod; the 90-degree angle bracket is installed on the vehicle chassis to connect and fix each bottom rod and the column.

[0019] Further, the pillars include: upper, middle and lower beams respectively fixedly installed between the two front pillars;

[0020] One end of the inclined beam is fixedly connected to the front column through a 45-degree angle bracket; the other end of the inclined beam is arranged on the bottom bar, and the bottom bar and the inclined beam are fixedly connected through a 135-degree angle bracket;

[0021] The electric push rod seat is fixedly installed on the top beam;

[0022] The front upright is mounted on the front end of the bottom bar.

[0023] Furthermore, the baffle comprises: a baffle rear plate, a baffle side plate, a compact expansion sleeve and a baffle top plate; wherein:

[0024] The baffle rear plate and the baffle side plate are respectively installed on the outer side of the brush roller, and are connected to the upper and lower lifting connecting rods through the first movable hinge and the second movable hinge; the baffle top plate is installed on the baffle side plate and is connected to the baffle rear plate; the compact expansion sleeve connects the brush roller and the baffle side plate;

[0025] The upper lifting link is installed between the rear plate of the baffle and the bottom rod; the lower lifting link is installed between the top plate of the baffle and the cross beam; the first movable hinge and the second movable hinge are installed on both sides of the lower lifting link and the upper lifting link;

[0026] The first electric push rod and the second electric push rod are respectively installed on two electric push rod seats, and the first electric push rod and the second electric push rod are connected to the column and the lower part of the lifting connecting rod.

[0027] Furthermore, a pan / tilt head is installed on the column.

[0028] Furthermore, the four-wheeled vehicle is equipped with a lighting system with adjustable brightness.

[0029] Advantages and positive effects of this application:

[0030] The drainage pipe inspection robot in this application can enter the drainage pipe under manual remote control, and can also collect clear and comprehensive pipe images, and carry temperature, humidity, pressure and other sensors as auxiliary equipment to improve the accuracy of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a schematic diagram of the overall structure of the drainage pipe inspection robot in an embodiment of the present application;

[0033] Figure 2 A partial enlarged view of the video sensor and its installation position in the embodiment of the present application;

[0034] Figure 3 This is a partial enlarged view of the angle bracket connecting the column and the inclined beam in the embodiment of the present application;

[0035] Figure 4 This is a partial enlarged view of the connector connecting the column, the beam and the bottom bar in the embodiment of the present application;

[0036] Figure 5 This is a partial enlarged view of the connection between the electric push rod column and the column in the embodiment of the present application;

[0037] In the figure, 1, cross beam; 2, wheel flange; 3, 90 degree angle code; 4, electric push rod seat; 5, front column; 6, wheel hub; 7, motor; 8, motor frame; 9, bottom rod; 10, first bevel gear; 11, second bevel gear; 12, tire; 13, rear cross bar; 14, rear wheel axle; 15, bevel gear shaft; 16, bottom rod (bearing seat); 17, 135 degree code; 18, vertical seat type cast steel seated spherical bearing; 19, plum blossom type clamping coupling; 20, inclined beam; 21, bottom rod electric machine; 22, front wheel axle; 23, first connector; 24, 45 angle code; 25, second connector; 26, baffle rear plate; 27, baffle side plate; 28, compact expansion sleeve; 29, brush roller; 30, upper lifting link; 31, baffle top plate; 32, lower lifting link; 33, first movable hinge; 34, first electric push rod; 35, second electric push rod; 36, second movable hinge; 37, video sensor connection; 38, video sensor; 39, video sensor lens. DETAILED DESCRIPTION

[0038] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0039] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0040] like Figure 1-5 As shown, a drainage pipe inspection robot in an embodiment of the present application includes: a four-wheeled trolley, a column, a baffle, a brush roller, a video sensor and an environmental perception sensor; wherein:

[0041] The four-wheeled trolley is the running part of the robot. Four motors 7 for driving the four-wheeled trolley are installed on the four-wheeled trolley. Preferably, the motor 7 can adopt a 42BLY24V DC reduction motor; specifically, the structure of the four-wheeled trolley includes: a plum blossom-type clamping coupling 19 (CPPC25-8-12) and a front wheel axle 22, a rear wheel axle 14, a motor frame 8, a bevel gear shaft 15, and a bottom rod bearing seat 16 respectively connected to the plum blossom-type clamping coupling 19. The DC reduction motor 7 is installed on the motor frame 8. Two tires 12 are fixedly installed at both ends of the front wheel axle 22, and two tires 12 are fixedly installed at both ends of the rear wheel axle 14. The rear cross bar 13 is connected to the bottom of the rear wheel axle 14 through the first bevel gear 10 (bevel gear 25 tooth D12) and the second bevel gear 11 (bevel gear 25 tooth D15). The bottom bar 9 (bottom bar SLDPRT) is located on the bottom bar bearing seat 16. As a supporting component of the overall structure, the bottom bar 9 can provide stability and structural strength for the robot; the inclined beam 20 is arranged on the bottom bar 9 and connected to the front column 5; the inclined beam 20 is a supporting structural component. By arranging the cross beam 1 on the bottom bar 9, the load borne can be evenly distributed to the entire structure, thereby preventing local components from being subjected to excessive pressure. Four vertical seat cast steel seated spherical bearings 18 (BUSTS12) are respectively installed on both sides of the front wheel axle 22 and the rear wheel axle 14, and another one is installed on the bevel gear shaft 15, which is used to support a rotating component of the pipeline robot. The wheel flange 2 is fixedly installed at the ends of the front wheel axle 22 and the rear wheel axle 14, connected by bolts or other fixing methods, and the wheel is tightly combined with the vehicle chassis. The main function of the wheel flange 2 is to keep the wheel stably installed on the vehicle chassis or machinery and equipment to prevent the wheel from shaking or falling off during operation. The 90-degree angle code 3 is installed on the vehicle chassis, connecting and fixing each bottom bar and the cross beam 1, including the bottom bar 9 and the bottom bar (motor 21), the bottom bar 9 and the bottom bar (bearing seat 16), and the bottom bar 9 and the rear cross bar 13, for improving the structural stability.

[0042] The column is installed at one end of the four-wheeled cart; the specific structure of the column includes: three cross beams 1 and two front columns 5; wherein the three cross beams 1 are respectively installed at the upper, middle and lower positions between the two front columns 5, which increases the stability and rigidity of the entire structure, reduces the deformation and vibration of the structure, and ensures the safe operation of the equipment or machine. The front column 5 is installed at the front end of the bottom bar 9. The front column 5 is an important load-bearing component of the supporting structure. By transferring the load of the upper structure to the foundation, it plays a role in supporting and stabilizing the entire building structure; the front column 5 bears the weight and load of the upper structure, so that the building structure remains stable and prevents the structure from tilting or collapsing. Figure 3 As shown, the 45° angle bracket 24 connects and fixes the front column 5 and the inclined beam 20, and the 135° angle bracket 17 connects and fixes the bottom bar 9 and the inclined beam 20, thereby increasing the structural stability. Figure 4As shown, the first connector 23 (three-way connector, 335-1100A-01_1.step) is used to connect the bottom bar 9, the cross beam 1 and the column; the second connector 25 (46009_1.step) is used to connect the bottom bar 9 and the column, so that a stable connection is formed between the bottom bar 9, the cross beam 1 and the column.

[0043] A baffle is also installed on the column; a brush roller 29 for cleaning the inner wall surface of the drainage pipe is installed under the baffle. The baffle can effectively protect the brush roller 29 from collision or damage, ensuring the smooth operation of the brush roller 29; at the same time, the baffle can shield other sensitive or important robot parts, prevent external debris or debris from entering, and ensure the normal operation of the robot; as a structural member, the baffle can also provide support and fixation to ensure the stability and safety of various parts of the robot. The specific structure of the baffle includes: a baffle rear plate 26, a baffle side plate 27, a compact expansion sleeve 28 (EDK-12-22), a baffle top plate 31, an upper lifting link 30, a lower lifting link 32, a first movable hinge 33, a first electric push rod 34, a second electric push rod 35 and a second movable hinge 36; wherein, the baffle rear plate 26 and the baffle side plate 27 are respectively installed on the outer side of the brush roller 29, and are connected to the upper lifting link 30 and the lower lifting link 32 through the first movable hinge 33 and the second movable hinge 36; the baffle top plate 31 is installed on the baffle side plate 27 and is connected to the baffle rear plate 26; the compact expansion sleeve 28 connects the brush roller 29 and the baffle side plate 27, which can effectively fix the brush roller 29 and connect it to the side baffle, ensuring that the brush roller 29 is stable and balanced during operation, and is not easy to loosen or fall off. The lifting link 30 is installed between the baffle rear plate 26 and the bottom rod 9, and is used to lift or adjust the height of the brush roller 29. The electric push rod seat 4 is installed on the top beam of the column, which can be used as a support point to support and fix the brush roller 29 and surrounding parts so that it can be stably connected to the electric push rod; in addition, Figure 5 As shown, the electric push rod seat 4 can transmit thrust or pulling force to the front brush roller 29 by connecting to the electric push rod, so as to realize operations such as pushing, pulling or lifting. The lower lifting link 32 is installed between the baffle top plate 31 and the crossbeam 1, and is used to lift or adjust the height of the brush roller 29. The first movable hinge 33 and the second movable hinge 36 are installed on both sides of the lower lifting link 32 and the upper lifting link 30, and are used to connect the vehicle body and the front brush roller 29, so that the lifting link can freely adjust the angle. The first electric push rod 34 and the second electric push rod 35 are connected to the crossbeam 1 and the lower lifting link 32, and can be used to push or pull the lifting link to realize the function of moving or advancing the brush roller 29. The linear motion provided by the electric push rod can realize pushing or pulling the brush roller 29.

[0044] The video sensor 38 is arranged at the front of the robot and is fixed to the baffle through the video sensor connection part 37. The lens 39 at the front end of the video sensor 38 is used to shoot the situation inside the drainage pipe in real time.

[0045] Environmental perception sensors are set in all directions of the robot, including the front, back, left and right, so as to monitor the surrounding environment in all directions and detect the temperature, humidity, gas concentration and other conditions of the surrounding environment to ensure the safety and stability of the operating environment. Environmental perception sensors can include temperature sensors, humidity sensors, ultrasonic sensors and pressure sensors. The robot adopts a wheeled structure, and the four-wheeled vehicle driven by four motors can quickly enter the pipeline under the manual control mode. The four-wheeled vehicle is also equipped with a brightness adjustable lighting system, a pan-tilt adjustable pitch and yaw dual-axis, so that the camera can better capture pipeline images.

[0046] The motor, video sensor, environmental perception sensor, pan-tilt head, and lighting system in the robot are connected to the host computer respectively. The collected data (including video data collected by the camera and environmental data collected by the environmental perception sensor) are transmitted to the host computer through coaxial cable or wireless transmission module for analysis and display. This architecture design enables the robot to have efficient and stable control capabilities. The host computer is equipped with an operation panel, which is simple and intuitive to operate. It can be operated through physical controls such as buttons, knobs, and joysticks to remotely drive the motor to complete the robot's movement, adjust the pan-tilt head and lighting system. At the same time, you can also click the mouse or drag the slider control to trigger the command through the desktop software.

[0047] The manual control mode is specifically the remote control mode. In the remote control mode, the operator remotely controls the movement of the robot through the host computer and adjusts the robot's speed, direction and path. The operator can observe the images captured by the video sensor and make adjustments and controls according to the real-time situation to ensure the accuracy of observation and detection of the internal situation of the pipeline. In the remote control mode, the operator can flexibly control the movement and operation of the robot, adjust the operation process in real time as needed, and improve the flexibility and accuracy of the operation.

[0048] The robot in this application is equipped with temperature, humidity, pressure and other sensors, which can fully collect the physical conditions inside the pipeline, analyze the ultrasonic frequency to detect the integrity of the pipeline, and provide clear and comprehensive pipeline images. Sensor protection devices and silt removal mechanisms are designed in the robot to ensure the integrity of electronic devices in complex environments and improve the stability and reliability of the robot in complex environments.

[0049] The drainage pipe inspection robot is suitable for the inspection and maintenance of various drainage pipes, especially for narrow drainage pipes with complex road conditions. It has broad application prospects in urban drainage systems, industrial drainage pipes and other fields, and can improve the inspection accuracy of drainage pipes, extend the service life of pipes, reduce maintenance costs, and provide strong support for the sustainable development of urban infrastructure.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A drainage pipe inspection robot, characterized in that: include: Four-wheeled cart; The four-wheeled vehicle is provided with four motors (7) for driving the four-wheeled vehicle; A column mounted on the four-wheeled vehicle; A baffle plate is mounted on the column; a brush roller (29) is mounted below the baffle plate for cleaning the inner wall surface of the drainage pipe; A video sensor (38) arranged at the front of the robot is used to take real-time photos of the situation inside the drainage pipe; The motor (7) and the video sensor (38) are respectively connected to the host computer for communication.

2. A drainage pipe inspection robot according to claim 1, characterized in that: Also includes: Environmental perception sensors are arranged in various directions of the robot, and the environmental perception sensors are communicatively connected with the host computer.

3. A drainage pipe inspection robot according to claim 2, characterized in that: The environmental sensing sensors include a temperature sensor, a humidity sensor, an ultrasonic sensor and a pressure sensor.

4. The drainage pipe inspection robot according to claim 1, characterized in that: The four-wheeled vehicle comprises: a plum blossom-shaped clamping coupling (19), and a front wheel shaft (22), a rear wheel shaft (14), a motor frame (8), a bevel gear shaft (15), and a bottom rod bearing seat (16) respectively connected to the plum blossom-shaped clamping coupling (19); wherein: Two tires (12) are fixedly mounted on both ends of the front wheel axle (22), and two tires (12) are fixedly mounted on both ends of the rear wheel axle (14); four wheel flanges (2) are fixedly mounted on both ends of the front wheel axle (22) and the rear wheel axle (14); a rear cross bar (13) is connected to the lower part of the rear wheel axle (14) through a first bevel gear (10) and a second bevel gear (11); four vertical seat-type cast steel seated external spherical bearings (18) are respectively mounted on both sides of the front wheel axle (22) and the rear wheel axle (14), and another one is mounted on the bevel gear shaft (15); The motor frame (8) is used to install the motor (7); The bottom rod bearing seat (16) is used to install the bottom rod (9); the 90-degree angle bracket (3) is installed on the vehicle chassis to connect and fix each bottom rod and the column.

5. A drainage pipe inspection robot according to claim 4, characterized in that: The column comprises: three cross beams (1) of upper, middle and lower parts, which are respectively fixedly installed between two front columns (5); One end of the inclined beam (20) is fixedly connected to the front column (5) via a 45-degree angle code (24); the other end of the inclined beam (20) is arranged on the bottom bar (9), and the bottom bar (9) and the inclined beam (20) are fixedly connected via a 135-degree angle code (17); The electric push rod seat (4) is fixedly mounted on the uppermost crossbeam; The front column (5) is installed at the front end of the bottom rod (9).

6. A drainage pipe inspection robot according to claim 5, characterized in that: The baffle comprises: a baffle rear plate (26), a baffle side plate (27), a compact expansion sleeve (28) and a baffle top plate (31); wherein: The baffle rear plate (26) and the baffle side plate (27) are respectively installed on the outer side of the brush roller (29), and are connected to the upper lifting link (30) and the lower lifting link (32) through a first movable hinge (33) and a second movable hinge (36); the baffle top plate (31) is installed on the baffle side plate (27) and is connected to the baffle rear plate (26); the compact expansion sleeve (28) connects the brush roller (29) and the baffle side plate (27); The upper lifting link (30) is installed between the baffle rear plate (26) and the bottom rod (9); the lower lifting link (32) is installed between the baffle top plate (31) and the crossbeam (1); the first movable hinge (33) and the second movable hinge (36) are installed on both sides of the lower lifting link (32) and the upper lifting link (30); The first electric push rod (34) and the second electric push rod (35) are respectively installed on the two electric push rod seats (4), and the first electric push rod (34) and the second electric push rod (35) are connected to the column and the lower lifting connecting rod (32).

7. The drainage pipe inspection robot according to claim 1, characterized in that: A pan head is installed on the column.

8. The drainage pipe inspection robot according to claim 1, characterized in that: The four-wheeled vehicle is equipped with a lighting system with adjustable brightness.

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