Detection robot for municipal underground pipeline repair construction

Abstract

The utility model relates to a detection robot for municipal underground pipeline repair construction, which belongs to the technical field of detection robots and comprises a supporting column, and a supporting piece is arranged in the supporting column. The supporting piece comprises a servo motor, a mounting cavity is formed in the supporting column, the servo motor is fixedly connected to the inner wall of the mounting cavity, an output shaft of the servo motor is fixedly connected with a screw rod, the outer side of the screw rod is in threaded connection with a driving block, and the outer side of the driving block is fixedly connected with a connecting rod with one end penetrating through the supporting column. According to the detection robot for municipal underground pipeline repair construction, a rotating rod can be jacked up or pulled by a transversely-moving driving block through a connecting rod and a hinge block to rotate in a penetrating hole, adjustment can be conducted according to the inner diameter of a municipal pipeline, and a supporting column is stably supported on the inner wall of the municipal pipeline through nine annularly-distributed supporting wheels; and transmission picture detection is performed through the camera at the end part of the supporting column, so that the stability and adaptability of the whole detection robot are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline detection, in particular to a detection robot for municipal underground pipeline repair construction. Background Technique

[0002] Municipal pipelines need to be regularly inspected and damaged parts repaired. Before repair, it is necessary to detect the damaged conditions inside the pipelines.

[0003] Currently, the detection methods commonly used in the process of municipal pipeline repair mainly rely on manual detection. For large-sized pipelines, manual detection can conveniently penetrate into the pipeline interior. However, for pipelines with smaller specifications, it is impossible for workers to enter the pipeline for detection. Therefore, special detection robots are needed to automatically detect the interior. For example, an intelligent detection device for pipeline detection disclosed in the patent with publication number CN206504116U includes: a housing, a sphere is provided at the top of the housing, a detection control device is provided inside, pulleys are provided at the lower part, windows are provided around the sphere, and a set of camera mechanisms, alarm mechanisms, image comparison mechanisms, marking mechanisms, drive control mechanisms and control mechanisms are provided in the detection control device. The camera mechanism, alarm mechanism, image comparison mechanism, marking mechanism and drive control mechanism are all connected to the control mechanism; a drive device and a speed adjustment device for the drive device are provided in the drive control mechanism.

[0004] However, when the entire detection device in the above application moves in a circular pipeline, due to the lack of support measures, the stability of the entire detection device is poor. Moreover, since the specifications of the entire device are not convenient to be adjusted according to the pipeline specifications, the pipeline specifications that can be detected are limited, resulting in certain limitations in the use of the entire device. Therefore, a detection robot for municipal underground pipeline repair construction is proposed to solve the above problems. Content of the Utility Model

[0005] Aiming at the deficiencies of the prior art, the utility model provides a detection robot for municipal underground pipeline repair construction, which has the advantages of improving detection stability and adaptability, and solves the problems of poor detection stability and adaptability.

[0006] To achieve the above object, the utility model provides the following technical solution: a detection robot for municipal underground pipeline repair construction, including a support column, and a support member is provided inside the support column;

[0007] The support member includes a servo motor. An installation cavity is formed inside the support column. The servo motor is fixedly connected to the inner wall of the installation cavity. A screw rod is fixedly connected to the output shaft of the servo motor. A driving block is threadedly connected to the outer side of the screw rod. One end of a connecting rod fixedly connected to the outer side of the driving block penetrates through the support column. An end of the connecting rod is hinged with a hinge block. A through hole communicating with the installation cavity at one end is formed on the outer side of the support column. A rotating rod is rotatably connected to the inner side of the through hole. A support wheel is rotatably connected to the end of the rotating rod. The hinge block is slidably connected to the rotating rod;

[0008] One end of the support column is provided with a detection member for pipeline detection;

[0009] The other end of the support column is provided with a driving member for driving the support column.

[0010] Furthermore, the number of the driving blocks is three. The three driving blocks are equidistantly distributed on the outer side of the screw rod. A threaded hole located on the outer side of the screw rod is formed inside the driving block. The threaded hole matches the thread on the outer side of the screw rod. The driving block is circular.

[0011] Furthermore, the number of the connecting rods is nine. The nine connecting rods are evenly distributed in a ring in groups of three on the outer side of the driving block.

[0012] Furthermore, one end of the hinge block close to the rotating rod is fixedly connected with a slider extending into the rotating rod. A sliding groove located on the outer side of the slider is formed on the outer side of the rotating rod. The sliding groove is slidably connected with the slider. The slider is T-shaped.

[0013] Furthermore, the detection member includes a glass cover fixedly connected to one end of the support column. An installation block located inside the glass cover is fixedly connected to one end of the support column. A camera is fixedly installed on the outer side of the installation block. A lighting lamp is fixedly installed on the outer side of the installation block.

[0014] Furthermore, the driving member includes a driving motor. An installation groove is formed at the other end of the support column. The driving motor is fixedly connected to the inner side of the installation groove. A support plate slidably connected to the outer side of the support column penetrates through and extends to the inner side of the installation groove at one end. A rotating shaft is rotatably connected to the inner side of the support plate. A support block is fixedly connected to the inner side of the installation groove. One end of a telescopic rod penetrating through the support block is rotatably connected to the support block. A first bevel gear meshing with each other is fixedly connected to one end of the telescopic rod and the outer side of the rotating shaft respectively. A second bevel gear meshing with each other is fixedly connected to the other end of the telescopic rod and the output shaft of the driving motor respectively. A stop block is fixedly connected to the outer side of the support plate. A support spring is fixedly connected between the stop block and the support column.

[0015] Further, the number of the support plates is four, and the four support plates are symmetrically distributed in pairs, up and down, on the support columns. Support holes are formed on the outer side of the support columns, with one end communicating with the installation groove and located outside the support plates.

[0016] Further, the telescopic rod is composed of a sleeve rod, a connecting spring, and a sliding rod. The sleeve rod is rotatably connected to the support block through a bearing. The sliding rod is slidably connected to the inside of the sleeve rod. The connecting spring is fixedly connected between the inside of the sleeve rod and the end of the sliding rod. The sliding rod is cross-shaped, and the telescopic rod is located between each group of support plates.

[0017] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0018] 1. For the inspection robot for repairing municipal underground pipelines, since the rotating rod can be jacked up or pulled by the laterally moving driving block through the connecting rod and the hinge block to rotate in the perforation, it can be adjusted according to the inner diameter of the municipal pipeline. Moreover, the support columns are stably supported on the inner wall of the municipal pipeline by nine annularly distributed support wheels, and the camera at the end of the support column is used to transmit pictures for inspection, improving the stability and adaptability of the entire inspection robot.

[0019] 2. For the inspection robot for repairing municipal underground pipelines, since the support plate can slide at the other end of the support column, when it fits with the inner wall of the pipeline, the compressed support spring can jack up the driving wheel to closely fit with the inner wall of the pipeline, and the driving motor is started to drive the driving wheel to drive the support column to move. Moreover, since the telescopic rod of the support plate can contract when being squeezed, it can adapt to pipelines of different specifications, further improving the adaptability of the entire inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0021] Figure 2 is a schematic diagram of the driving member structure of the present utility model;

[0022] Figure 3 is a three-dimensional sectional view of the telescopic rod structure of the present utility model.

[0023] In the figure: 1 support column, 2 support member, 21 installation cavity, 22 servo motor, 23 hinge block, 24 support wheel, 25 rotating rod, 26 driving block, 27 screw rod, 28 perforation, 29 connecting rod, 210 glass cover, 211 installation block, 212 lighting lamp, 213 camera, 3 driving member, 31 installation groove, 32 driving motor, 33 telescopic rod, 34 first bevel gear, 24 rotating shaft, 36 driving wheel, 37 support plate, 38 stop block, 39 support block, 310 second bevel gear, 311 support spring. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] Next, in combination with the drawings in the embodiments of the present utility model, the technical solutions in the embodiments of the present utility model will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] Please refer to Figure 1 , a detection robot for the repair construction of municipal underground pipelines in this embodiment includes a support column 1, and a support member 2 is provided inside the support column 1;

[0026] The support member 2 includes a servo motor 22. An installation cavity 21 is formed inside the support column 1. The servo motor 22 is fixedly connected to the inner wall of the installation cavity 21. The output shaft of the servo motor 22 is fixedly connected with a screw rod 27. A driving block 26 is threadedly connected to the outside of the screw rod 27. One end of the driving block 26 is fixedly connected with a connecting rod 29 that penetrates through the support column 1. The end of the connecting rod 29 is hinged with a hinge block 23. A perforation 28 that is communicated with the installation cavity 21 at one end is formed on the outside of the support column 1. A rotating rod 25 is rotatably connected to the inner side of the perforation 28. A support wheel 24 is rotatably connected to the end of the rotating rod 25. The hinge block 23 is slidably connected to the rotating rod 25;

[0027] One end of the support column 1 is provided with a detection member for pipeline detection; the detection member includes a glass cover 210 fixedly connected to one end of the support column 1. An installation block 211 is fixedly connected to one end of the support column 1 and is located inside the glass cover 210. A camera 213 is fixedly installed on the outside of the installation block 211. A lighting lamp 212 is fixedly installed on the outside of the installation block 211. The camera 213 on the installation block 211 is used to capture the picture of the inner wall of the municipal pipeline, and the lighting lamp 212 is used to illuminate the inner wall of the pipeline, so as to formulate a pipeline repair method according to the presented picture.

[0028] In this embodiment, the moving driving block 26 is pushed up or pulled through the connecting rod 29 and the hinge block 23 to rotate in the perforation 28, so that it can be adjusted according to the inner diameter of the municipal pipeline. Moreover, the support column 1 is stably supported on the inner wall of the municipal pipeline by nine annularly distributed support wheels 24, and the picture is transmitted and detected by the camera 213 at the end of the support column 1, improving the stability and adaptability of the entire detection robot.

[0029] Among them, the number of driving blocks 26 is three, and the three driving blocks 26 are equidistantly distributed on the outer side of the screw rod 27. A threaded hole located on the outer side of the screw rod 27 is formed inside the driving block 26, and the threaded hole cooperates with the thread on the outer side of the screw rod 27. The driving block 26 is circular, enabling the rotating screw rod 27 to drive the driving block 26 to move horizontally and adjust on the screw rod 27.

[0030] In addition, the number of connecting rods 29 is nine, and the nine connecting rods 29 are grouped in threes and are equidistantly distributed in a ring on the outer side of the driving block 26, that is, three connecting rods 29 that are equidistantly distributed in a ring are fixed on each driving block 26.

[0031] Secondly, one end of the hinge block 23 close to the rotating rod 25 is fixedly connected with a slider that extends to the inside of the rotating rod 25. A sliding groove located on the outer side of the slider is formed on the outer side of the rotating rod 25, and the sliding groove is slidably connected with the slider. The slider is T-shaped, enabling the hinge block 23 to slide on the rotating rod 25 through the T-shaped slider without separating from the rotating rod 25.

[0032] Please refer to Figures 2-3 , at the other end of the support column 1 in this embodiment, a driving member 3 for driving the support column 1 is provided. The driving member 3 includes a driving motor 32. An installation groove 31 is formed at the other end of the support column 1, and the driving motor 32 is fixedly connected to the inner side of the installation groove 31. A support plate 37 that penetrates and extends to the inner side of the installation groove 31 is slidably connected to the outer side of the support column 1. A rotating shaft 35 is rotatably connected to the inner side of the support plate 37. A support block 39 is fixedly connected to the inner side of the installation groove 31. A telescopic rod 33 that penetrates the support block 39 is rotatably connected to the support block 39. A first bevel gear 34 that meshes with each other is fixedly connected to one end of the telescopic rod 33 and the outer side of the rotating shaft 35 respectively. A second bevel gear 310 that meshes with each other is fixedly connected to the other end of the telescopic rod 33 and the output shaft of the driving motor 32 respectively. A stopper 38 is fixedly connected to the outer side of the support plate 37, and a support spring 311 is fixedly connected between the stopper 38 and the support column 1.

[0033] In this embodiment, after starting the driving motor 32 to drive the second bevel gear 310 on its output shaft to rotate, while driving the telescopic rod 33 to rotate, the rotating shaft 35 is driven to rotate through the first bevel gear 34 at the end of the telescopic rod 33, thereby driving the driving wheel 36 to rotate to drive the support column 1.

[0034] Among them, the number of support plates 37 is four, and the four support plates 37 are symmetrically distributed in pairs, up and down, on the support column 1. A support hole that communicates with the installation groove 31 at one end and is located on the outer side of the support plate 37 is formed on the outer side of the support column 1, enabling the support plate 37 passing through the support column 1 to slide in the support hole.

[0035] In addition, the telescopic rod 33 is composed of a sleeve rod, a connecting spring and a sliding rod. The sleeve rod is rotatably connected to the support block 39 through a bearing. The sliding rod is slidably connected to the inside of the sleeve rod. The connecting spring is fixedly connected between the inside of the sleeve rod and the end of the sliding rod. The sliding rod is cross-shaped. The telescopic rod 33 is located between each group of support plates 37. The rotating shaft 35 is also rotatably connected between each group of support plates 37. And at least two driving wheels 36 are fixed on each rotating shaft 35 to laterally drive the entire support column 1.

[0036] The working principle of the above embodiment is as follows:

[0037] Since the rotating rod 25 can be lifted or pulled by the laterally moving driving block 26 through the connecting rod 29 and the hinge block 23 to rotate in the through hole 28, it can be adjusted according to the inner diameter of the municipal pipeline. And the support column 1 is stably supported on the inner wall of the municipal pipeline by nine annularly distributed support wheels 24. The picture is detected through the camera 213 at the end of the support column 1, which improves the stability and adaptability of the entire detection robot. And since the support plate 37 can slide at the other end of the support column 1, when it fits with the inner wall of the pipeline, the compressed support spring 311 can lift the driving wheel 36 to closely fit with the inner wall of the pipeline. After the close fit, by starting the driving motor 32 to drive the second bevel gear 310 on its output shaft to rotate, while driving the telescopic rod 33 to rotate, the first bevel gear 34 at the end of the telescopic rod 33 drives the rotating shaft 35 to rotate, thereby driving the driving wheel 36 to rotate to drive the support column 1.

[0038] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0039] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A detection robot for municipal underground pipeline repair construction, comprising a support column (1), characterized in that: A support member (2) is provided inside the support column (1); The support member (2) comprises a servo motor (22), a mounting cavity (21) is provided inside the support column (1), the servo motor (22) is fixedly connected to the inner wall of the mounting cavity (21), the output shaft of the servo motor (22) is fixedly connected to a screw rod (27), the outer side of the screw rod (27) is threadedly connected to a driving block (26), the outer side of the driving block (26) is fixedly connected to a connecting rod (29) having one end passing through the support column (1), the end of the connecting rod (29) is hingedly connected to a hinge block (23), the outer side of the support column (1) is provided with a through hole (28) having one end connected to the mounting cavity (21), the inner side of the through hole (28) is rotatably connected to a rotating rod (25), the end of the rotating rod (25) is rotatably connected to a support wheel (24), and the hinge block (23) is slidably connected to the rotating rod (25); One end of the support column (1) is provided with a detection member for pipeline detection; The other end of the support column (1) is provided with a driving member (3) for driving the support column (1).

2. The detection robot for municipal underground pipeline repair construction according to claim 1 is characterized by: The number of the driving blocks (26) is three, and the three driving blocks (26) are equidistantly distributed on the outside of the screw rod (27). A threaded hole located on the outside of the screw rod (27) is provided inside the driving block (26), and the threaded hole cooperates with the thread on the outside of the screw rod (27). The driving block (26) is circular.

3. The detection robot for municipal underground pipeline repair construction according to claim 1 is characterized by: The number of the connecting rods (29) is nine, and the nine connecting rods (29) are arranged in groups of three and three and are equidistantly distributed in a ring shape on the outside of the driving block (26).

4. The detection robot for municipal underground pipeline repair construction according to claim 1 is characterized by: One end of the hinge block (23) close to the rotating rod (25) is fixedly connected to a slider whose one end extends into the interior of the rotating rod (25); a sliding groove located outside the slider is provided on the outer side of the rotating rod (25); the sliding groove is slidably connected to the slider; and the slider is T-shaped.

5. The detection robot for municipal underground pipeline repair construction according to claim 1 is characterized by: The detection component comprises a glass cover (210) having one end fixedly connected to one end of a support column (1); one end of the support column (1) is fixedly connected to a mounting block (211) located inside the glass cover (210); a camera (213) is fixedly mounted on the outside of the mounting block (211); and a lighting lamp (212) is fixedly mounted on the outside of the mounting block (211).

6. The detection robot for municipal underground pipeline repair construction according to claim 1 is characterized by: The driving member (3) comprises a driving motor (32), a mounting groove (31) is formed at the other end of the supporting column (1), the driving motor (32) is fixedly connected to the inner side of the mounting groove (31), the outer side of the supporting column (1) is slidably connected to a supporting plate (37) having one end penetrating through and extending to the inner side of the mounting groove (31), the inner side of the supporting plate (37) is rotatably connected to a rotating shaft (35), the inner side of the mounting groove (31) is fixedly connected to a supporting block (39), and the supporting block (39) is rotatably connected to the inner side of the supporting plate (37). A telescopic rod (33) is dynamically connected with one end passing through the support block (39); one end of the telescopic rod (33) and the outer side of the rotating shaft (35) are fixedly connected with a first bevel gear (34) meshing with each other; the other end of the telescopic rod (33) and the output shaft of the driving motor (32) are fixedly connected with a second bevel gear (310) meshing with each other; a stopper (38) is fixedly connected to the outer side of the support plate (37); and a support spring (311) is fixedly connected between the stopper (38) and the support column (1).

7. The detection robot for municipal underground pipeline repair construction according to claim 6 is characterized by: The number of the support plates (37) is four, and the four support plates (37) are arranged in groups of two and are symmetrically distributed on the support column (1) in the upper and lower directions. The outer side of the support column (1) is provided with a support hole, one end of which is connected to the mounting groove (31) and is located on the outer side of the support plate (37).

8. The detection robot for municipal underground pipeline repair construction according to claim 6 is characterized by: The telescopic rod (33) is composed of a sleeve rod, a connecting spring and a sliding rod. The sleeve rod is rotatably connected to a support block (39) via a bearing. The sliding rod is slidably connected to the inner side of the sleeve rod. The connecting spring is fixedly connected between the inner side of the sleeve rod and the end of the sliding rod. The sliding rod is cross-shaped. The telescopic rod (33) is located between each group of support plates (37).

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