Inspection robot suitable for narrow space

Abstract

The inspection robot suitable for the narrow space comprises a main rod, an adjusting spring and a sliding sleeve, three sets of first butt joint bases are arranged on the outer side of the left side of the main rod at equal intervals, and three sets of second butt joint bases are arranged on the right sides of the three sets of first butt joint bases. Compared with the prior art, the inspection robot has the advantages that by arranging the main rod, the first adjusting rod, the second adjusting rod, the third adjusting rod, the fourth adjusting rods, the sliding sleeve and the adjusting spring, the three sets of fourth adjusting rods can be shrunk when the hole diameter of a pipeline is narrowed, so that the size of the inspection robot is reduced, the inspection robot can adapt to the narrowed hole diameter of the pipeline, and when the hole diameter of the pipeline is widened, the inspection robot is convenient to use. The three groups of adjusting rods are stretched, so that the volume of the inspection robot is increased, the inspection robot can adapt to the change of the pore diameter of a pipeline, the flexibility is improved, the sliding sleeve can slide more smoothly and effortlessly by arranging universal balls and rolling grooves, and the volume change of the inspection robot is more flexible.

Description

Technical Field

[0001] The utility model belongs to the technical field of inspection robots, and particularly relates to an inspection robot suitable for narrow spaces. Background Art

[0002] An inspection robot suitable for narrow spaces is an automated device designed to perform monitoring and maintenance tasks in limited and complex environments. These robots are usually small in size and highly flexible, capable of passing through narrow channels, pipes, etc., and performing data collection and fault detection. They are equipped with high-resolution cameras, temperature and humidity sensors, ultrasonic sensors, etc., and can conduct comprehensive monitoring in narrow spaces, and are widely used in scenarios such as building inspection, facility maintenance, pipeline inspection, etc. Although the existing inspection robots suitable for narrow spaces have significant advantages, there are also problems. For example, when inspecting pipelines, due to the fixed structure of the existing inspection robots suitable for narrow spaces, they cannot flexibly adapt to the width of the pipelines. The conventional solution is to replace the inspection robots of different sizes when inspecting pipelines of different aperture lengths, which leads to a decrease in the flexibility of using the inspection robots and an increase in the inspection cost. Therefore, it is desired to propose a new structure to solve the above problems. Content of the Utility Model

[0003] Aiming at the deficiencies of the existing technology, the purpose of the utility model is to provide an inspection robot suitable for narrow spaces.

[0004] The utility model is realized through the following technical solutions: an inspection robot suitable for narrow spaces, comprising: a main rod, an adjusting spring, and a sliding sleeve. Three groups of docking bases one are equidistantly arranged on the outer side of the left side of the main rod, and three groups of docking bases two are arranged on the right side of the three groups of docking bases one;

[0005] One side of the docking base one away from the main rod is provided with an adjusting rod one, the right side of the adjusting rod one is provided with an adjusting rod two, the top of the adjusting rod one and the adjusting rod two is provided with an adjusting rod four, two groups of rollers are arranged on the left and right sides of the adjusting rod four, and the right side of the main rod is sleeved with an adjusting spring;

[0006] The left side of the adjusting spring is movably sleeved with a sliding sleeve. Three groups of docking bases three are equidistantly arranged on the outer side of the sliding sleeve. An adjusting rod three is arranged between the docking base three and the adjusting rod two. Three groups of rolling groups are equidistantly arranged inside the sliding sleeve with the center of the circle as the base point. The rolling group is composed of a rolling groove and a universal ball.

[0007] As a preferred embodiment, the side of the adjusting rod one close to the main rod is movably hinged to the docking base one, the top of the adjusting rod one is movably hinged to the left side of the adjusting rod four, and the two groups of rollers are respectively movably hinged to the left and right sides of the adjusting rod four.

[0008] As a preferred embodiment, the right side of the fourth adjusting rod is movably hinged to the side of the second adjusting rod away from the main rod, and the side of the second adjusting rod close to the main rod is movably hinged to the second docking base.

[0009] As a preferred embodiment, the center of the second adjusting rod is movably hinged to the side of the third adjusting rod away from the adjusting spring, and the side of the third adjusting rod close to the sliding sleeve is movably hinged to the third docking base.

[0010] As a preferred embodiment, a towing rope is provided on the right side of the adjusting spring. The towing rope is made of nylon. The right side of the adjusting spring is fixedly welded to the main rod, and the left side of the adjusting spring is fixedly welded to the right side of the sliding sleeve.

[0011] As a preferred embodiment, each rolling group is composed of a number of horizontally opened rolling grooves and a number of universal ball bearings. The universal ball bearings are movably embedded inside the rolling grooves. During actual use, the adjusting spring rebounds and pushes the sliding sleeve to the left, causing the sliding sleeve to drive the third adjusting rod to extend. Thus, the third adjusting rod drives the fourth adjusting rod to extend away from the main rod, and the first adjusting rod extends following the extension of the fourth adjusting rod. The three fourth adjusting rods extend, causing the six rollers to contact the inner wall of the pipeline, enabling it to adapt to pipelines with a wider aperture, increasing the environmental adaptability of the inspection robot, and improving the flexibility of use of the inspection robot. When the sliding sleeve moves left and right, the outer side of the main rod rubs against a number of universal ball bearings, causing the number of universal ball bearings to roll inside the rolling grooves, thereby reducing the friction between the inner side of the sliding sleeve and the outer side of the main rod, making the sliding of the sliding sleeve smoother and more labor-saving, improving the sensitivity of the adjustment of the adjusting spring, and thus improving the flexibility of the inspection robot.

[0012] As a preferred embodiment, the side of the universal ball bearing close to the main rod contacts the outer side of the main rod. A weight-increasing plate is fixedly sleeved on the outer part of the left side of the main rod, and a pinhole camera is provided on the left side of the weight-increasing plate. During actual use, the inspection robot slides down the pipeline, and the pinhole camera at the bottom of the main rod takes pictures of the inner wall of the pipeline, so as to check the condition of the inner wall of the pipeline (the pinhole camera is a prior art, and its model can be selected according to needs and will not be elaborated). During the process of the inspection robot sliding down, when the aperture of the pipeline is narrow, the aperture of the pipeline squeezes the rollers, forcing the rollers to drive the fourth adjusting rod to contract towards the main rod, thereby driving the first adjusting rod and the second adjusting rod to contract towards the main rod. The second adjusting rod squeezes the sliding sleeve to the right through the third adjusting rod, thereby causing the sliding sleeve to squeeze the adjusting spring to the right, causing the adjusting spring to contract and store energy. The three fourth adjusting rods contract towards the main rod, thereby reducing the volume of the inspection robot, enabling it to quickly adapt to narrow pipelines, and improving the flexibility of the inspection robot.

[0013] After adopting the above technical solution, the beneficial effects of the present utility model are as follows: By setting the main rod, the first adjusting rod, the second adjusting rod, the third adjusting rod, the fourth adjusting rod, the sliding sleeve and the adjusting spring, when the pipeline aperture becomes narrower, the pipeline aperture squeezes the six groups of rollers, causing the rollers to drive the fourth adjusting rod to squeeze the first adjusting rod and the second adjusting rod respectively. The second adjusting rod squeezes the sliding sleeve to the right through the third adjusting rod, thereby squeezing the adjusting spring through the sliding sleeve to make the adjusting spring contract and store energy. Then, the three fourth adjusting rods contract towards the direction close to the main rod, reducing the volume of the inspection robot to make it adapt to the narrower pipeline. When the pipeline aperture becomes wider, the adjusting spring rebounds and pushes the second adjusting rod to extend through the third adjusting rod. The second adjusting rod drives the fourth adjusting rod to extend, and the first adjusting rod follows the extension of the fourth adjusting rod to extend. Thus, the three fourth adjusting rods extend along the direction away from the main rod, and then increase the volume of the inspection robot to make it able to adapt to the wider pipeline. By setting the universal balls and the rolling grooves, the sliding of the sliding sleeve can be made more smooth and labor-saving, so that the volume change of the inspection robot is more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0015] Figure 1 It is a schematic diagram of an inspection robot suitable for narrow spaces of the present utility model.

[0016] Figure 2 It is a front view of an inspection robot suitable for narrow spaces of the present utility model.

[0017] Figure 3 It is a schematic structural diagram of the sliding sleeve in an inspection robot suitable for narrow spaces of the present utility model.

[0018] Figure 4 It is a schematic diagram of the universal balls and the rolling grooves in an inspection robot suitable for narrow spaces of the present utility model.

[0019] In the figure, 100 - main rod, 110 - first adjusting rod, 120 - second adjusting rod, 130 - third adjusting rod, 140 - fourth adjusting rod, 150 - sliding sleeve;

[0020] 160 - adjusting spring, 170 - roller, 180 - weight plate, 190 - pinhole camera, 200 - towing rope;

[0021] 210 - Docking base one, 220 - Docking base two, 230 - Docking base three, 240 - Rolling groove, 250 - Universal ball. Detailed implementation

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figures 1 to 4 : An inspection robot applicable to narrow spaces, including: a main rod 100, an adjusting spring 160, and a sliding sleeve 150. Three groups of docking bases one 210 are equidistantly arranged on the outer side of the left side of the main rod 100, and three groups of docking bases two 220 are arranged on the right side of the three groups of docking bases one 210;

[0024] On the side of the docking base one 210 away from the main rod 100, there is an adjusting rod one 110. On the right side of the adjusting rod one 110, there is an adjusting rod two 120. On the top of the adjusting rod one 110 and the adjusting rod two 120, there is an adjusting rod four 140. On the left and right sides of the adjusting rod four 140, there are two groups of rollers 170. The right side of the main rod 100 is sleeved with an adjusting spring 160;

[0025] The left side of the adjusting spring 160 is movably sleeved with a sliding sleeve 150. Three groups of docking bases three 230 are equidistantly arranged on the outer side of the sliding sleeve 150. Between the docking base three 230 and the adjusting rod two 120, there is an adjusting rod three 130. Inside the sliding sleeve 150, three groups of rolling groups are equidistantly arranged with the center of the circle as the base point. The rolling group is composed of a rolling groove 240 and a universal ball 250.

[0026] The side of the adjusting rod one 110 close to the main rod 100 is movably hinged to the docking base one 210. The top of the adjusting rod one 110 is movably hinged to the left side of the adjusting rod four 140. The two groups of rollers 170 are respectively movably hinged to the left and right sides of the adjusting rod four 140.

[0027] The right side of the adjusting rod four 140 is movably hinged to the side of the adjusting rod two 120 away from the main rod 100. The side of the adjusting rod two 120 close to the main rod 100 is movably hinged to the docking base two 220.

[0028] The center of the adjusting rod two 120 is movably hinged to the side of the adjusting rod three 130 away from the adjusting spring 160. The side of the adjusting rod three 130 close to the sliding sleeve 150 is movably hinged to the docking base three 230.

[0029] On the right side of the adjusting spring 160, there is a towing rope 200. The towing rope 200 is made of nylon. The right side of the adjusting spring 160 is welded and fixed to the main rod 100, and the left side of the adjusting spring 160 is welded and fixed to the right side of the sliding sleeve 150.

[0030] Each rolling group is composed of several horizontally opened rolling grooves 240 and several universal ball bearings 250. The universal ball bearings 250 are movably and internally embedded in the rolling grooves 240. During actual use, the adjusting spring 160 rebounds and pushes the sliding sleeve 150 to the left, causing the sliding sleeve 150 to drive the third adjusting rod 130 to extend. Thus, the fourth adjusting rod 140 is driven by the third adjusting rod 130 to extend away from the main rod 100. The first adjusting rod 110 extends following the extension of the fourth adjusting rod 140. The six rollers 170 come into contact with the inner wall of the pipeline due to the extension of the three fourth adjusting rods 140, enabling it to adapt to pipelines with a wider aperture, increasing the environmental adaptability of the inspection robot, and improving the flexibility of the inspection robot. When the sliding sleeve 150 moves left and right, the outer side of the main rod 100 rubs against several universal ball bearings 250, causing several universal ball bearings 250 to roll inside the rolling grooves 240. Thereby, the friction between the inner side of the sliding sleeve 150 and the outer side of the main rod 100 is reduced, making the sliding of the sliding sleeve 150 smoother and more labor-saving, improving the sensitivity of the adjustment of the adjusting spring 160, and thus enhancing the flexibility of the inspection robot.

[0031] One side of the universal ball bearing 250 close to the main rod 100 is in contact with the outer side of the main rod 100. A weight-increasing plate 180 is fixedly sleeved on the outer part of the left side of the main rod 100. A pinhole camera 190 is provided on the left side of the weight-increasing plate 180. During actual use, the inspection robot slides downward along the pipeline, and the pinhole camera 190 at the bottom of the main rod 100 takes pictures of the inner wall of the pipeline, thereby enabling the inspection of the inner wall of the pipeline (the pinhole camera 190 is a prior art, and its model can be selected according to needs and will not be elaborated here). During the downward sliding process of the inspection robot, when the aperture of the pipeline is narrow, the aperture of the pipeline squeezes the rollers 170, forcing the rollers 170 to drive the fourth adjusting rod 140 to contract towards the main rod 100. Thus, the first adjusting rod 110 and the second adjusting rod 120 are driven to contract towards the main rod 100. The second adjusting rod 120 squeezes the sliding sleeve 150 to the right through the third adjusting rod 130. Thereby, the sliding sleeve 150 squeezes the adjusting spring 160 to the right, causing the adjusting spring 160 to contract and store energy. The three fourth adjusting rods 140 contract towards the main rod 100, thereby reducing the volume of the inspection robot, enabling it to quickly adapt to narrow pipelines, and improving the flexibility of the inspection robot.

[0032] Example 1: Please refer to Figure 1 and Figure 2, during actual use, first place the inspection robot at the hole at the top of the pipeline to be inspected, so that the outer sides of the six groups of rollers 170 are respectively in contact with the inner wall of the pipeline (the maximum frictional force between the six groups of rollers 170 and the inner wall of the pipeline is less than the total gravity of the inspection robot and the weight-increasing plate 180). The top of the towing rope 200 is towed by an external wire-winding mechanism. Under the rotation of the external towing mechanism, the length of the towing rope 200 increases, and the inspection robot slides down along the pipeline. The pinhole camera 190 at the bottom of the main rod 100 takes pictures of the inner wall of the pipeline, so as to check the condition of the inner wall of the pipeline (the pinhole camera 190 is a prior art, and its model can be selected according to needs and will not be elaborated). During the downward sliding of the inspection robot, when the pipeline aperture is narrow, the pipeline aperture squeezes the rollers 170, pressing the rollers 170 to drive the adjusting rod four 140 to contract towards the main rod 100, thereby driving the adjusting rod one 110 and the adjusting rod two 120 to contract towards the main rod 100. The adjusting rod two 120 squeezes the sliding sleeve 150 to the right through the adjusting rod three 130, so that the sliding sleeve 150 squeezes the adjusting spring 160 to the right, causing the adjusting spring 160 to contract and store energy. The three groups of adjusting rods four 140 contract towards the main rod 100, thereby reducing the volume of the inspection robot, enabling it to quickly adapt to narrow pipelines and improving the flexibility of the inspection robot.

[0033] Embodiment 2: Please refer to Figures 1 to 4 , during the downward sliding of the inspection robot, if the pipeline aperture becomes wider, at this time, the adjusting spring 160 rebounds and pushes the sliding sleeve 150 to the left, so that the sliding sleeve 150 drives the adjusting rod three 130 to extend, thereby driving the adjusting rod four 140 to extend away from the main rod 100 through the adjusting rod three 130. The adjusting rod one 110 extends following the extension of the adjusting rod four 140. The three groups of adjusting rods four 140 extend, making the six groups of rollers 170 in contact with the inner wall of the pipeline, enabling it to adapt to pipelines with wider apertures, increasing the environmental adaptability of the inspection robot, and improving the flexibility of the inspection robot. When the sliding sleeve 150 moves left and right, the outer side of the main rod 100 rubs against several groups of universal ball bearings 250, causing several groups of universal ball bearings 250 to roll inside the rolling groove 240, thereby reducing the frictional force between the inner side of the sliding sleeve 150 and the outer side of the main rod 100, making the sliding of the sliding sleeve 150 smoother and more labor-saving, improving the sensitivity of the adjustment of the adjusting spring 160, and thus improving the flexibility of the inspection robot.

[0034] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A patrol robot suitable for use in a narrow space, comprising: A main rod (100), an adjustment spring (160) and a sliding sleeve (150), characterized in that: three groups of docking bases (210) are equidistantly arranged on the left side of the main rod (100), and three groups of docking bases (220) are arranged on the right side of the three groups of docking bases (210); An adjusting rod 1 (110) is provided on the side of the docking base 1 (210) away from the main rod (100), an adjusting rod 2 (120) is provided on the right side of the adjusting rod 1 (110), an adjusting rod 4 (140) is provided on the top of the adjusting rod 1 (110) and the adjusting rod 2 (120), two groups of rollers (170) are provided on the left and right sides of the adjusting rod 4 (140), and an adjusting spring (160) is sleeved on the right side of the main rod (100); The left side of the adjusting spring (160) is movably sleeved with a sliding sleeve (150); three groups of docking bases (230) are equidistantly arranged outside the sliding sleeve (150); an adjusting rod (130) is arranged between the docking base (230) and the adjusting rod (120); and three groups of rolling groups are equidistantly arranged inside the sliding sleeve (150) with the center of the circle as a base point; the rolling groups are composed of rolling grooves (240) and universal balls (250).

2. The inspection robot suitable for use in a narrow space as claimed in claim 1, characterized in that: The side of the adjustment rod one (110) close to the main rod (100) is movably hinged to the docking base one (210), the top of the adjustment rod one (110) is movably hinged to the left side of the adjustment rod four (140), and the two groups of rollers (170) are movably hinged to the left and right sides of the adjustment rod four (140) respectively.

3. The inspection robot suitable for use in a narrow space as claimed in claim 2, characterized in that: The right side of the adjusting rod 4 (140) is movably hinged to the side of the adjusting rod 2 (120) away from the main rod (100), and the side of the adjusting rod 2 (120) close to the main rod (100) is movably hinged to the docking base 2 (220).

4. The inspection robot suitable for use in a narrow space as claimed in claim 3, characterized in that: The center of the second adjustment rod (120) is movably hinged to the side of the third adjustment rod (130) away from the adjustment spring (160), and the side of the third adjustment rod (130) close to the sliding sleeve (150) is movably hinged to the docking base three (230).

5. The inspection robot suitable for use in a narrow space as claimed in claim 1, characterized in that: A traction rope (200) is provided on the right side of the adjustment spring (160), and the traction rope (200) is made of nylon. The right side of the adjustment spring (160) is welded and fixed to the main rod (100), and the left side of the adjustment spring (160) is welded and fixed to the right side of the sliding sleeve (150).

6. The inspection robot suitable for use in a narrow space as claimed in claim 1, characterized in that: Each of the rolling groups is composed of a plurality of groups of horizontally opened rolling grooves (240) and a plurality of groups of universal balls (250), and the universal balls (250) are movably embedded in the rolling grooves (240).

7. The inspection robot suitable for use in a narrow space as claimed in claim 1, characterized in that: The side of the universal ball (250) close to the main rod (100) contacts the outside of the main rod (100), a weight-increasing plate (180) is fixedly sleeved on the left side of the main rod (100), and a pinhole camera (190) is provided on the left side of the weight-increasing plate (180).

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