Detection robot for urban underground pipeline

Abstract

The utility model relates to the technical field of pipeline robots, and particularly discloses an urban underground pipeline detection robot which comprises a chassis, a mechanical arm, a monitoring structure and a high-pressure water gun, driving wheels are installed on the chassis, the chassis is of a hollow aluminum alloy structure, the mechanical arm is fixed above the front end of the chassis, and a monitoring platform is arranged at the front end of the chassis. The monitoring structure is mounted on the monitoring platform, the water gun placing table is arranged above the tail of the chassis, the water gun holder is arranged on the water gun placing table, and the high-pressure water gun is mounted on the water gun holder, so that sundries in a pipeline can be cleaned by using the mechanical arm, the mechanical arm is arranged on the holder, and the direction of the mechanical arm can be controlled through the holder; the movement range of the mechanical arm is further widened, the obstacle removing capacity is improved, a monitoring platform is installed at the front end of the chassis, and a monitoring holder and a monitoring probe are installed on the monitoring platform.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline robots, in particular to a pipeline inspection robot for urban underground pipelines. Background Technique

[0002] In recent decades, China's urbanization process has been rapid and urban buildings are dense. Whether the urban drainage system is unobstructed not only affects urban drainage but also impacts the lives of the general public. At the same time, the number of extreme weather events globally has increased, and extreme rainstorms occur frequently in China. Urban waterlogging caused by extreme rainstorms has a wide impact area and a long disaster chain, and it is extremely easy to cause the paralysis of infrastructure such as electricity, communication, and transportation, large-area water accumulation in the urban area, affecting the safe operation of the city, and even threatening the safety of people's lives and property.

[0003] Currently, the main treatment method for dredging urban drainage pipelines is to use a closed-circuit television (CCTV) pipeline inspection system. For pipeline inspection, a robot with a high-definition camera is placed into the inspection well, and the computer operation console is used to command the robot to move forward in the pipeline. The internal video image of the pipeline is transmitted back to the console computer in real time through a cable. Through the display screen, the staff can clearly see problems such as accumulated mud, aging corrosion, rupture, and collapse inside the pipeline, mark the problem points, and then use a sewage suction truck to clean the marked points of the sewer and the sediment in the pipeline, dredging dead-end mud ditches.

[0004] However, the existing maintenance methods for urban underground pipelines have the following problems:

[0005] 1. The main task of CCTV pipeline inspection is "patrol inspection", and the working goal is to find blockage points and leakage points to serve as a "guide" for workers' repairs. However, it does not have the ability to clean, dredge, and handle simple sewer problems, often complicating, manualizing, and delaying simple problems.

[0006] 2. The two parts of urban drainage pipeline inspection and dredging mainly rely on manual labor, and problems such as slack work and perfunctory completion are inevitable.

[0007] 3. In the south, there are many fallen leaves and rainfall, and single water gun dredging cannot meet the treatment of small obstacles in reality. Content of the Utility Model

[0008] The utility model is to solve the technical problems mentioned in the above background technique and proposes the following technical solutions:

[0009] An inspection robot for urban underground pipelines, comprising a chassis, a robotic arm, a monitoring structure and a high-pressure water gun. Driving wheels are installed on the chassis, and the chassis is a hollow aluminum alloy structure. The robotic arm is fixed above the front end of the chassis. The robotic arm includes a robotic arm pan-tilt, a robotic arm base, a first swing arm, a second swing arm, a gripper pan-tilt and a robotic arm gripper. The robotic arm pan-tilt is installed on the chassis, and the robotic arm base is fixed on the robotic arm pan-tilt. One end of the first swing arm is fixedly connected to the robotic arm base in a rotational manner, and one end of the second swing arm is rotationally connected to the other end of the first swing arm. The gripper pan-tilt is fixed to the other end of the second swing arm, and the robotic arm gripper is fixed on the gripper pan-tilt. The first swing arm and the robotic arm base, and the second swing arm and the first swing arm are all rotated by servos.

[0010] A monitoring platform is provided at the front end of the chassis, and the monitoring structure is installed on the monitoring platform. The monitoring structure includes a monitoring probe, a monitoring probe base and a monitoring pan-tilt. The monitoring pan-tilt is fixed on the monitoring platform, the monitoring probe base is fixed on the monitoring pan-tilt, and the monitoring probe is rotationally connected to the monitoring probe base.

[0011] A water gun placement table is provided above the tail of the chassis, a water gun pan-tilt is provided on the water gun placement table, and the high-pressure water gun is installed on the water gun pan-tilt.

[0012] Preferably, the upper end of the monitoring platform is a bevel structure.

[0013] Preferably, the robotic arm gripper includes two gripper arms, two first connecting rods, two second connecting rods, two gears and a gripper arm base. The end of the gripper arm base is fixed on the gripper pan-tilt. The two gears are symmetrically arranged on the gripper arm base and can freely rotate on the gripper arm base. The two gears mesh with each other. One end of the two second connecting rods is connected to the gear and synchronously driven with the gear. The other end of the second connecting rod is connected to the end of the gripper arm. One end of the two first connecting rods is fixed on the gripper arm base, and the other end of the two first connecting rods is connected to the middle of the gripper arm and can freely rotate on the gripper arm.

[0014] Preferably, a water absorption expansion pad is also provided at the gap on the chassis.

[0015] Preferably, a debris box is provided on the chassis.

[0016] The beneficial effects of the present utility model are:

[0017] 1. The utility model is provided with a robotic arm structure on the chassis equipped with driving wheels, which can clean the sundries in the pipeline by using the robotic arm. Moreover, by arranging the robotic arm on the cloud platform, the direction of the robotic arm can be controlled by the cloud platform, further increasing the movement range of the robotic arm and improving the obstacle clearing ability. By installing a monitoring platform at the front end of the chassis and installing a monitoring cloud platform and a monitoring probe on the monitoring platform, the situation inside the pipeline can be explored in real time through the monitoring probe, eliminating the need for manual exploration and improving safety. By installing a high-pressure water gun on the chassis, the staff can connect the water pipe to the high-pressure water gun on the road surface, and the pipeline can be flushed and dredged through the high-pressure water gun.

[0018] 2. By arranging water-absorbing expansion pads at the gaps of the chassis, when the chassis is immersed in water, the water will not penetrate into the interior of the chassis, preventing the driving device and circuits inside the chassis from being short-circuited.

[0019] 3. By arranging a debris box above the chassis, the blockages clamped by the robotic arm can be stored in the debris box, reducing the problem of excessive blockages in the passage. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the utility model;

[0021] Figure 2 is Figure 1 the enlarged view of the circle in

[0022] Figure 3 is a schematic structural diagram of the robotic arm of the utility model;

[0023] Figure 4 is a schematic structural diagram of the robotic arm in Embodiment 2;

[0024] Figure 5 is a sectional view of the structure of the chassis and the driving wheels in Embodiment 3;

[0025] Figure 6 is a schematic structural diagram of Embodiment 4.

[0026] In the figure: 1. Chassis; 1-1. Driving wheel; 1-2. Monitoring platform; 1-3. Water gun placement platform; 2. Robotic arm; 2-1. Robotic arm cloud platform; 2-2. Robotic arm base; 2-3. First swing arm; 2-4. Second swing arm; 2-5. Chuck cloud platform; 2-6. Robotic arm chuck; 3. Monitoring structure; 3-1. Monitoring probe; 3-2. Monitoring probe base; 3-3. Monitoring cloud platform; 4. High-pressure water gun; 5. Water gun cloud platform; 6. Clamping arm; 7. First connecting rod; 8. Second connecting rod; 9. Gear; 10. Clamping arm base; 11. Water-absorbing expansion pad; 12. Debris box; 13. Rotating shaft; 14. Shaft hole. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0028] In the description of the present utility model, it should be understood 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 such actual relationship or order between these entities or operations. The connection methods described by the terms "fixed connection" and "fixed setting" include but are not limited to "welding", "riveting", "adhesion", and "threaded connection". The terms "comprising", "including" or any other variant thereof are 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.

[0029] The orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0030] Embodiment 1

[0031] Referring to Figure 1-3 , a robot for detecting urban underground pipelines includes a chassis 1, a robotic arm 2, a monitoring structure 3, and a high-pressure water gun 4. Driving wheels 1-1 are installed on the chassis 1. The chassis 1 is a hollow aluminum alloy structure. A driving structure and a signal transceiver device are installed inside the chassis. The signal transceiver device can remotely control the chassis 1, the robotic arm 2, and transmit the images of the monitoring structure 3. The robotic arm 2 is fixed above the front end of the chassis 1. The robotic arm 2 includes a robotic arm pan-tilt 2-1, a robotic arm base 2-2, a first-level swing arm 2-3, a second-level swing arm 2-4, a chuck pan-tilt 2-5, and a robotic arm chuck 2-6. The robotic arm pan-tilt 2-1 is installed on the chassis 1. The robotic arm base 2-2 is fixed on the robotic arm pan-tilt 2-1. One end of the first-level swing arm 2-3 is fixedly connected to the robotic arm base 2-2 and is rotatably connected. One end of the second-level swing arm 2-4 is rotatably connected to the other end of the first-level swing arm 2-3. Both the first-level swing arm 2-3 and the second-level swing arm 2-4 are powered by LDX-218 high-precision servo motors to achieve rotation. The chuck pan-tilt 2-5 is fixed to the other end of the second-level swing arm 2-4. The robotic arm chuck 2-6 is fixed to the chuck pan-tilt 2-5.

[0032] At the front end of the chassis 1, a monitoring platform 1-2 is provided. The monitoring structure 3 is installed on the monitoring platform 1-2. The monitoring structure 3 includes a monitoring probe 3-1, a monitoring probe base 3-2, and a monitoring cloud platform 3-3. The monitoring cloud platform 3-3 is fixed on the monitoring platform 1-2. The monitoring probe base 3-2 is fixed on the monitoring cloud platform 3-3. The monitoring probe 3-1 is rotatably connected to the monitoring probe base 3-2.

[0033] Above the tail of the chassis 1, a water gun placement platform 1-3 is provided. A water gun cloud platform 5 is provided on the water gun placement platform 1-3. The high-pressure water gun 4 is installed on the water gun cloud platform 5.

[0034] Preferably, the upper end of the monitoring platform 1-2 is a bevel structure.

[0035] During actual operation, the inspection robot is placed into the pipeline that needs to be cleared for inspection. One end of the water pipe connected to the high-pressure water pump is connected to the high-pressure water gun 4. Then, the inspection robot is controlled to move forward. During this period, the situation inside the pipeline can be monitored in real time through the monitoring probe 3-1. When encountering a blocked or silted section, the manipulator 2 can be controlled to clean it. After the cleaning is completed, it can also be washed with the high-pressure water gun.

[0036] Embodiment 2

[0037] Refer to Figure 4 , the manipulator chuck 2-6 includes two clamping arms 6, two first connecting rods 7, two second connecting rods 8, two gears 9, and a clamping arm base 10. The end of the clamping arm base 10 is fixed on the chuck cloud platform 2-5. The two gears 9 are symmetrically arranged on the clamping arm base 10, and the gears 9 can rotate freely on the clamping arm base 10. The two gears 9 mesh with each other. One end of the two second connecting rods 8 is connected to the gear 9 and is synchronously driven with the gear 9. The other end of the second connecting rod 8 is connected to the end of the clamping arm 6. One end of the two first connecting rods 7 is fixed on the clamping arm base 10. The other end of the two first connecting rods 7 is connected to the middle of the clamping arm 6 and can rotate freely on the clamping arm 6. The gear 9 is controlled by an LDX-335MG burn-resistant and stall-resistant steering gear.

[0038] Embodiment 3

[0039] Refer to Figure 5 , a water-absorbing expansion pad 11 is also provided at the gap on the chassis 1. The water-absorbing expansion pad 11 can expand when the chassis 1 is immersed in water, blocking the gap between the inside and outside of the chassis 1. For example Figure 3 there is a gap between the rotating shaft 13 of the driving wheel and the rotating shaft hole 14 of the chassis 1 in

[0040] Embodiment 4

[0041] Refer to Figure 6, a storage box 12 is provided on the chassis 1. During the obstacle removal process, smaller obstacles can be picked up and placed in the storage box, which can reduce the number of obstacles in the pipeline. After cleaning, it can prevent blockage caused by excessive obstacles.

Claims

1. A robot for detecting urban underground pipelines, comprising a chassis (1), a robotic arm (2), a monitoring structure (3) and a high-pressure water gun (4). A driving wheel (1-1) is installed on the chassis (1), and the chassis (1) is a hollow aluminum alloy structure. It is characterized in that, The robotic arm (2) is fixed above the front end of the chassis (1). The robotic arm (2) includes a robotic arm pan-tilt (2-1), a robotic arm base (2-2), a first swing arm (2-3), a second swing arm (2-4), a chuck pan-tilt (2-5), and a robotic arm chuck (2-6). The robotic arm pan-tilt (2-1) is installed on the chassis (1), the robotic arm base (2-2) is fixed on the robotic arm pan-tilt (2-1), one end of the first swing arm (2-3) is fixedly connected to the robotic arm base (2-2) in a rotatable manner, one end of the second swing arm (2-4) is rotatably connected to the other end of the first swing arm (2-3), the chuck pan-tilt (2-5) is fixed to the other end of the second swing arm (2-4), and the robotic arm chuck (2-6) is fixed on the chuck pan-tilt (2-5). The first swing arm (2-3) and the robotic arm base (2-2), and the second swing arm (2-4) and the first swing arm (2-3) are all rotated by servos; A monitoring platform (1-2) is provided at the front end of the chassis (1). The monitoring structure (3) is installed on the monitoring platform (1-2). The monitoring structure (3) includes a monitoring probe (3-1), a monitoring probe base (3-2), and a monitoring pan-tilt (3-3). The monitoring pan-tilt (3-3) is fixed on the monitoring platform (1-2), the monitoring probe base (3-2) is fixed on the monitoring pan-tilt (3-3), and the monitoring probe (3-1) is rotatably connected to the monitoring probe base (3-2); A water gun placement platform (1-3) is provided above the tail of the chassis (1). A water gun pan-tilt (5) is provided on the water gun placement platform (1-3), and the high-pressure water gun (4) is installed on the water gun pan-tilt (5).

2. The inspection robot for urban underground pipelines according to claim 1, wherein The upper end of the monitoring platform (1-2) is of a bevel structure.

3. The inspection robot for urban underground pipelines according to claim 2, wherein The robotic arm chuck (2-6) includes two clamping arms (6), two first connecting rods (7), two second connecting rods (8), two gears (9), and a clamping arm base (10). The end of the clamping arm base (10) is fixed on the chuck pan-tilt (2-5). The two gears (9) are symmetrically arranged on the clamping arm base (10) and can rotate freely on the clamping arm base (10). The two gears (9) mesh with each other. One end of the two second connecting rods (8) is connected to the gear (9) and is synchronously driven with the gear (9). The other end of the second connecting rod (8) is connected to the end of the clamping arm (6). One end of the two first connecting rods (7) is fixed on the clamping arm base (10), and the other end of the two first connecting rods (7) is connected to the middle of the clamping arm (6) and can rotate freely on the clamping arm (6).

4. The inspection robot for urban underground pipelines according to claim 2, wherein A water absorption expansion pad (11) is also provided at the gap on the chassis (1).

5. The inspection robot for urban underground pipelines according to claim 2, characterized in that, A sundry box (12) is provided on the chassis (1).

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