Pipeline inspection robot

Abstract

The utility model discloses a pipeline inspection robot, which belongs to the technical field of pipeline inspection and comprises an installation platform, ultrasonic detectors are symmetrically and fixedly installed on two sides above the installation platform, round holes are symmetrically formed in two sides of the installation platform, rubber ferrules are fixedly installed in the round holes, and sleeves are sleeved in the rubber ferrules. A threaded hole is formed in the sleeve in an up-down penetrating mode, an adjusting rod is in threaded connection with the interior of the threaded hole, an ultrasonic probe is fixedly connected to the lower end of the adjusting rod, an adjusting gear is fixedly installed at the upper end of the adjusting rod, an adjustable platform is hinged to the upper portion of the installation platform, and an inspection camera is fixedly installed above the adjustable platform; the height-adjustable advancing assembly is fixedly mounted above the mounting platform, during use, the detection height and the detection angle of the inspection camera can be conveniently adjusted through the adjustable platform, so that comprehensive detection is realized, and the mounting platform can be lifted through the advancing assembly when water is accumulated in a pipeline, so that the pipeline can be conveniently detected. Therefore, important instruments are prevented from being damaged after being immersed in water.

Description

Technical Field

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

[0002] The importance of underground pipelines is like the blood vessels of a city. Their quality directly affects the lives of residents. Damage in one part of the pipeline will affect the normal water use and sewage discharge of residents in an area. Therefore, it is extremely important to detect deformation, corrosion and other damages of the pipelines in a timely manner. In order to avoid wasting too much manpower, pipeline inspection robots have emerged. Compared with manual inspections, robots have the advantages of small size, no fatigue, and accurate positioning.

[0003] As shown in the announcement number: CN211951885U, a pipeline inspection robot, the utility model discloses a pipeline inspection robot, including a pipeline walking component and an inspection component, the pipeline walking component includes a mounting seat, the upper side surface and the front and rear side surfaces of the mounting seat are connected to a plurality of circumferentially distributed support rollers through support springs, and a protective telescopic tube is arranged between the support roller and the mounting seat, a transmission telescopic tube is movably installed on the bottom surface of the mounting seat, the top end of the transmission telescopic tube passes through the mounting seat and is connected to a driving motor through a first bevel gear set, the bottom end of the transmission telescopic tube is connected to a driving roller through a second bevel gear set, the driving roller is movably installed on the bottom surface of the mounting seat, and a telescopic spring is connected between the driving roller and the bottom surface of the mounting seat. The utility model has a reasonable structural design and can inspect pipelines of different shapes. At the same time, the fixed height of the spherical camera is adjustable, and the cleaning image of the inner wall of the pipeline can be collected, which is convenient for accurate inspection of the pipeline.

[0004] However, when in use, the height of the camera cannot be adjusted, which is not conducive to more flexible detection. At the same time, if the water in the pipe is deep, the device cannot adjust the height of the mounting base, which can easily cause the remaining components to be submerged in water, damaging the equipment and making it inconvenient to use. Utility Model Content

[0005] The purpose of the utility model is to provide a pipeline inspection robot in order to solve the above-mentioned problem. The robot can adjust the collection height and collection angle of the camera to achieve more flexible pipeline inspection. When water accumulates in the pipeline, the chassis of the device can be raised to prevent important components of the device from being submerged in water and damaged.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions: a pipeline inspection robot comprises a mounting platform, ultrasonic detectors are symmetrically fixedly installed on both sides above the mounting platform, circular holes are symmetrically opened on both sides of the mounting platform, rubber rings are fixedly installed in the circular holes, sleeves are sleeved in the rubber rings, threaded holes are opened up and down through the sleeves, an adjusting rod is threadedly connected in the threaded holes, an ultrasonic probe is fixedly connected to the lower end of the adjusting rod, an adjusting gear is fixedly installed on the upper end of the adjusting rod, an adjustable platform is hinged above the mounting platform, an inspection camera is fixedly installed above the adjustable platform, and the mounting A travel component with adjustable height is fixedly installed above the platform. When in use, the ultrasonic detector and the ultrasonic probe are used to detect abnormalities in the sensing pipeline through ultrasound, the adjusting rod and the adjusting gear are used to adjust the up and down positions of the ultrasonic probe, the inspection camera is used to more accurately locate the abnormality and specific position of the pipeline, the adjustable platform is used to adjust the detection height and detection angle of the inspection camera, and the travel component is used to raise the installation platform when the device encounters water accumulation in the pipeline to prevent important components from being submerged in water and damaged.

[0007] Preferably, in order to facilitate the movement of the transmission frame by adjusting the transmission block, the adjustable platform includes a support frame, the support frame is symmetrically hinged above the mounting platform, the other end of the support frame is symmetrically hinged with transmission frames on both sides, a transmission block is hinged at the lower end between the transmission frames, connecting plates are symmetrically fixedly installed at the lower ends of the transmission blocks, limiting rods are fixedly installed between the connecting plates, a threaded hole is penetrated at the center of the upper end of the transmission block, and a limiting clamping groove is penetrated at the center of the lower end of the transmission block.

[0008] Preferably, in order to facilitate limiting the movement of the transmission block, an adjustment frame is symmetrically fixedly installed above the mounting platform, and limiting grooves are provided on both sides of the adjustment frame. The limiting rod is slidably engaged in the limiting groove, and a limiting clamping strip is fixedly installed above the adjustment frame, and the limiting clamping strip is slidably engaged with the limiting clamping groove.

[0009] Preferably, in order to facilitate providing driving force for the movement of the transmission block, a motor compartment is fixedly installed on one side of the adjustment frame, a driving motor is fixedly installed in the motor compartment, the output end of the driving motor passes through the adjustment frame and extends to the outside, a transmission screw is fixedly installed at the output end of the driving motor, and the transmission screw is threadedly connected to the transmission block.

[0010] Preferably, in order to facilitate more accurate observation of the internal conditions of the pipeline, a placement platform is hinged above the transmission frame, and an inspection camera is fixedly installed above the placement platform.

[0011] Preferably, in order to facilitate the operation of the double-acting cylinder to drive the driven gear, the traveling assembly includes a double-acting cylinder, the double-acting cylinder is fixedly installed at the center above the mounting platform, horizontal toothed transmission bars are fixedly installed on both sides of the output end of the double-acting cylinder, a transmission gear is meshed above the horizontal toothed transmission bar, transmission rods are symmetrically fixedly installed on both sides of the transmission gear, and a driven gear is fixedly installed on one side of the transmission rod.

[0012] Preferably, in order to facilitate the vertical movement of the self-propelled wheel by the double-acting cylinder, a vertical toothed transmission bar is meshed on one side of the driven gear, a transmission column is fixedly connected below the vertical toothed transmission bar, and self-propelled wheels are symmetrically rotatably installed on both sides of the transmission column, and a gear housing is fixedly installed in a linear array above the mounting platform, and the gear housing is provided with a transmission bar notch, which coincides with the horizontal toothed transmission bar and the vertical toothed transmission bar, and the transmission gear and the driven gear are both rotatably connected to the gear housing.

[0013] Preferably, in order to facilitate the adjustment of the ultrasonic probe together with the vertical position of the self-propelled wheel, a connecting column is fixedly installed on the upper end of the vertical toothed transmission bar, and the other end of the connecting column is connected to the upper end of the sleeve.

[0014] The beneficial effects of the utility model are as follows: when in use, the detection height and detection angle of the inspection camera can be adjusted through the adjustable platform, so as to achieve more flexible detection, and then through the traveling component, when encountering water accumulation in the pipeline, the installation platform can be raised to avoid important components being submerged in water and damaged. The utility model has strong applicability and is easy to use. 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 adjustable platform structure of the utility model.

[0017] Figure 3 It is a schematic diagram of the cross-sectional structure of the adjustable component of the utility model.

[0018] Figure 4 This is a schematic diagram of the transmission block structure of the utility model.

[0019] Figure 5 It is a schematic diagram of the structure of the traveling component of the utility model.

[0020] Figure 6 This is a schematic diagram of the structure of the traveling component and the ultrasonic probe of the utility model.

[0021] Figure 7 It is a schematic cross-sectional structural diagram of the traveling component of the present utility model.

[0022] In the figure: 1. Installation platform; 2. Ultrasonic detector; 3. Rubber ring; 4. Sleeve; 5. Adjustment rod; 6. Ultrasonic probe; 7. Adjustment gear; 8. Adjustable platform; 801. Support frame; 802. Transmission frame; 803. Transmission block; 804. Limit rod; 805. Limit clamping groove; 806. Adjustment frame; 807. Limit groove; 808. Limit clamping strip; 809. Motor compartment; 810. Drive motor; 811. Transmission screw; 812. Placement platform; 9. Inspection camera; 10. Travel assembly; 101. Double-acting cylinder; 102. Horizontal toothed transmission strip; 103. Transmission gear; 104. Transmission rod; 105. Driven gear; 106. Vertical toothed transmission strip; 107. Self-propelled wheel; 11. Connecting column. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-Figure 7 As shown, the pipeline inspection robot includes an installation platform 1, and ultrasonic detectors 2 are symmetrically fixedly installed on both sides above the installation platform 1. Circular holes are symmetrically opened on both sides of the installation platform 1, and rubber rings 3 are fixedly installed in the circular holes. Sleeves 4 are sleeved in the rubber rings 3. Sleeve 4 is penetrated by threaded holes from top to bottom, and an adjusting rod 5 is threadedly connected in the threaded holes. An ultrasonic probe 6 is fixedly connected to the lower end of the adjusting rod 5 to facilitate ultrasonic detection of abnormalities in the pipeline. An adjusting gear 7 is fixedly installed on the upper end of the adjusting rod 5 to facilitate independent adjustment of the vertical position of the ultrasonic probe 6. An adjustable platform 8 is hinged above the installation platform 1, and an inspection camera 9 is fixedly installed above the adjustable platform 8 to facilitate adjustment of the inspection height and inspection angle of the inspection camera 9, thereby realizing all-round detection. A traveling component 10 with an adjustable height is fixedly installed above the installation platform 1, so that when water accumulates in the pipeline, the height of the installation platform 1 can be raised to avoid damage to important components by being submerged in water.

[0025] As a technical optimization solution of the utility model, Figure 2-4As shown, the adjustable platform 8 includes a support frame 801, which is symmetrically hinged on the top of the installation platform 1. Transmission frames 802 are symmetrically hinged on both sides of the other end of the support frame 801. A transmission block 803 is hinged at the lower end between the transmission frames 802, so that the movement of the transmission block 803 can drive the transmission frame 802 to move. A connecting plate is symmetrically fixedly installed on the lower end of the transmission block 803, and a limiting rod 804 is fixedly installed between the connecting plates. A threaded hole is penetrated at the center of the upper end of the transmission block 803, and a limiting clamping groove 805 is penetrated at the center of the lower end of the transmission block 803. An adjustment frame 806 is symmetrically fixedly installed above the installation platform 1, and limiting grooves 807 are penetrated on both sides of the adjustment frame 806. The limiting rod 804 is slidably clamped in the limiting groove 807, so as to limit the movement of the transmission block 803. A limit card strip 808 is fixedly installed above the adjustment frame 806, and the limit card strip 808 is slidably engaged with the limit card slot 805 to prevent the transmission block 803 from angular deflection. A motor compartment 809 is fixedly installed on one side of the adjustment frame 806, and a drive motor 810 is fixedly installed in the motor compartment 809. The output end of the drive motor 810 extends through the adjustment frame 806 to the outside, and a transmission screw 811 is fixedly installed at the output end of the drive motor 810 to provide driving force for adjusting the height and angle of the adjustable platform 8. The transmission screw 811 is threadedly connected to the transmission block 803. A placement platform 812 is hinged above the transmission frame 802, and an inspection camera 9 is fixedly installed above the placement platform 812 to facilitate the adjustment of the height and angle of the placement platform 812 through the movement of the transmission block 803.

[0026] As a technical optimization solution of the utility model, Figure 5-7 As shown, the traveling assembly 10 includes a double-acting cylinder 101, which is fixedly installed at the center above the installation platform 1. Horizontal toothed transmission bars 102 are fixedly installed on both sides of the output end of the double-acting cylinder 101. A transmission gear 103 is meshed above the horizontal toothed transmission bar 102. Transmission rods 104 are symmetrically fixedly installed on both sides of the transmission gear 103. A driven gear 105 is fixedly installed on one side of the transmission rod 104. A vertical toothed transmission bar 106 is meshed on one side of the driven gear 105. A transmission column is fixedly connected below the vertical toothed transmission bar 106. Self-propelled gears are symmetrically rotated and installed on both sides of the transmission column. Wheel 107, so that the movement of the double-acting cylinder 101 can drive the self-propelled wheel 107 to move vertically, a gear housing is fixedly installed in a linear array above the mounting platform 1, and the gear housing is provided with a transmission bar gap, which coincides with the horizontal toothed transmission bar 102 and the vertical toothed transmission bar 106. The transmission gear 103 and the driven gear 105 are both rotatably connected to the gear housing, and a connecting column 11 is fixedly installed on the upper end of the vertical toothed transmission bar 106, and the other end of the connecting column 11 is connected to the upper end of the sleeve 4, so that when the self-propelled wheel 107 moves vertically, it moves vertically together with the ultrasonic probe 6.

[0027] When in use, turn the adjusting gear 7 to make the ultrasonic probe 6 close to the ground. The ultrasonic probe 6 on one end does not need to be used, and the ultrasonic probe on that side can be adjusted to be away from the ground by turning the adjusting gear 7. After the adjustment, put the device into the pipeline and move the device through the self-propelled wheel 107. When performing detection, the driving motor 810 can be used to drive the transmission screw 811 to rotate, so that the transmission block 803 can move. If the two transmission blocks 803 move towards each other, the height of the placement platform 812 will be raised. If the two transmission blocks 803 move away from each other, the height of the placement platform 812 will drop. If the transmission block 803 on one side moves and the other block is stationary, the angle of the placement platform 812 will be increased. Deflection occurs, and the detection angle and height of the inspection camera 9 can be adjusted by adjusting the placement platform 812. If the device encounters water accumulation in the pipe during its movement, the horizontal movement of the output end of the double-acting cylinder 101 can be transmitted to the vertical toothed transmission bar 106, so that the self-propelled wheel 107 falls vertically. When the self-propelled wheel 107 falls, the sleeve 4 is caused to fall together through the connecting column 11. The vertical fall of the sleeve 4 drives the adjustment rod 5 to fall. The adjustment rod 5 is fixedly connected to the ultrasonic probe 6, and finally the self-propelled wheel 107 falls and moves, driving the ultrasonic probe 6 to move together. After the self-propelled wheel 107 falls, the installation platform 1 is lifted, thereby preventing important components on the installation platform 1 from being submerged in water and damaged.

[0028] 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.

[0029] 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. Pipeline inspection robot, characterized by: The invention comprises a mounting platform (1), wherein ultrasonic detectors (2) are symmetrically fixedly mounted on both sides of the mounting platform (1), wherein circular holes are symmetrically opened on both sides of the mounting platform (1), wherein rubber rings (3) are fixedly mounted in the circular holes, wherein a sleeve (4) is sleeved in the rubber ring (3), wherein threaded holes are opened through the sleeve (4) from top to bottom, wherein an adjusting rod (5) is threadedly connected in the threaded hole, wherein an ultrasonic probe (6) is fixedly connected to the lower end of the adjusting rod (5), wherein an adjusting gear (7) is fixedly mounted on the upper end of the adjusting rod (5), wherein an adjustable platform (8) is hingedly connected above the mounting platform (1), wherein a patrol camera (9) is fixedly mounted above the adjustable platform (8), and wherein a travel component (10) with an adjustable height is fixedly mounted above the mounting platform (1).

2. The pipeline inspection robot according to claim 1, characterized in that: The adjustable platform (8) comprises a support frame (801), wherein the support frame (801) is symmetrically hinged above the mounting platform (1), and transmission frames (802) are symmetrically hinged on both sides of the other end of the support frame (801), and a transmission block (803) is hinged at the lower end between the transmission frames (802), and connecting plates are symmetrically fixedly installed at the lower ends of the transmission blocks (803), and limiting rods (804) are fixedly installed between the connecting plates, and a threaded hole is penetrated at the center of the upper end of the transmission block (803), and a limiting clamping groove (805) is penetrated at the center of the lower end of the transmission block (803).

3. The pipeline inspection robot according to claim 2, characterized in that: An adjustment frame (806) is symmetrically fixedly installed above the installation platform (1), and limiting grooves (807) are provided on both sides of the adjustment frame (806). The limiting rod (804) is slidably engaged in the limiting groove (807), and a limiting clamping strip (808) is fixedly installed above the adjustment frame (806), and the limiting clamping strip (808) is slidably engaged with the limiting clamping groove (805).

4. The pipeline inspection robot according to claim 3, characterized in that: A motor compartment (809) is fixedly mounted on one side of the adjustment frame (806), a driving motor (810) is fixedly mounted inside the motor compartment (809), an output end of the driving motor (810) passes through the adjustment frame (806) and extends to the outside, a transmission screw (811) is fixedly mounted on the output end of the driving motor (810), and the transmission screw (811) is threadedly connected to the transmission block (803).

5. The pipeline inspection robot according to claim 4, characterized in that: A placement platform (812) is hingedly connected above the transmission frame (802), and an inspection camera (9) is fixedly installed above the placement platform (812).

6. The pipeline inspection robot according to claim 1, characterized in that: The travel assembly (10) comprises a double-acting cylinder (101), the double-acting cylinder (101) is fixedly mounted at the center above the mounting platform (1), horizontal toothed transmission bars (102) are fixedly mounted on both sides of the output end of the double-acting cylinder (101), a transmission gear (103) is meshed above the horizontal toothed transmission bar (102), transmission rods (104) are symmetrically fixedly mounted on both sides of the transmission gear (103), and a driven gear (105) is fixedly mounted on one side of the transmission rod (104).

7. The pipeline inspection robot according to claim 6, characterized in that: A vertical toothed transmission bar (106) is meshed on one side of the driven gear (105), a transmission column is fixedly connected below the vertical toothed transmission bar (106), self-propelled wheels (107) are symmetrically rotatably mounted on both sides of the transmission column, a gear housing is fixedly mounted in a linear array above the mounting platform (1), the gear housings are all provided with transmission bar notches, the transmission bar notches are matched with the horizontal toothed transmission bar (102) and the vertical toothed transmission bar (106), and the transmission gear (103) and the driven gear (105) are both rotatably connected to the gear housing.

8. The pipeline inspection robot according to claim 7, characterized in that: A connecting column (11) is fixedly mounted on the upper end of the vertical toothed transmission bar (106), and the other end of the connecting column (11) is connected to the upper end of the sleeve (4).

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