Pipeline detection robot

Abstract

The utility model discloses a pipeline detection robot, which comprises a main body and a plurality of groups of support assemblies which are arranged on the periphery of the main body in an annular array and are used for realizing the residence of the main body in a pipeline, the supporting assembly comprises a supporting plate hinged to the main body, a supporting rod hinged to the inner side of the supporting plate, a rail groove formed in the main body, and a lead screw located in the rail groove and rotationally connected with the main body. The supporting block is hinged to the other end of the supporting rod and is in threaded connection with the periphery of the lead screw; the first motor is mounted on the main body; and an output shaft of the first motor is fixedly connected with the lead screw. The pipeline detection robot can reside in a pipeline for detection and can also move in the pipeline for detection, the two detection modes are matched for use, actual use requirements can be met, the robot can be suitable for different pipelines due to the arrangement of the supporting assembly, and adaptability is high.

Description

Technical Field

[0001] The utility model relates to a detection robot, in particular to a pipeline detection robot. Background Art

[0002] As urban water supply and drainage pipelines are basic guarantee facilities in cities, they are buried underground for a long time. Over time, problems such as pipeline corrosion, blockage, and leakage inevitably occur. In order to extend the service life of water pipelines and prevent accidents such as leakage, it is necessary to repair and maintain the pipelines. Most existing pipeline detection methods are mainly divided into two types. One is manual detection, which has many drawbacks. The other is a more common method of using a pipeline robot for detection. The pipeline robot is equipped with sensors and visualization devices, which can realize the visualization of the internal state of the water pipeline and the positioning of leakage points.

[0003] Most existing pipeline robots have a fixed external structure, so there are certain requirements for the diameter of the pipeline, and the applicability is poor. Moreover, most existing pipeline robots walk inside the pipeline and do not have the ability to stay and observe. A single detection mode is difficult to meet the actual detection needs. Summary of the Utility Model

[0004] Purpose of the Utility Model: The purpose of the utility model is to provide a pipeline detection robot that can be applicable to pipelines with different diameters and can realize two detection modes of walking and staying and observing.

[0005] Technical Solution: A pipeline detection robot disclosed by the utility model includes a main body, and further includes a support component that is installed on the outer periphery of the main body in a multi-group annular array and is used to realize the residence of the main body in the pipeline. The support component includes a support plate hinged to the main body, a support rod hinged to the inner side of the support plate, a track groove opened on the main body, a lead screw located in the track groove and rotatably connected to the main body, a support block hinged to the other end of the support rod and threadedly connected to the outer periphery of the lead screw, and a first motor installed on the main body and whose output shaft is fixedly connected to the lead screw.

[0006] Further, the support plate is set to be an arc-shaped plate structure that can completely fit on the main body, and the outer peripheral contour projection of the support plate is in a gourd shape.

[0007] Further, it further includes a hydrophone installed inside the main body.

[0008] Further, a through groove is opened on the support plate, which allows water to flow through when it is opened and is used to store the support rod when it is closed.

[0009] Further, the gourd shape of the projection of the support plate is composed of two circles at both ends and a connecting part formed by an arc connecting the two circles. The diameters of the two circles are R1 and R2 respectively, R1 > R2, and one end of the circle with a diameter of R1 is hinged to the main body.

[0010] Furthermore, it further includes a driving assembly installed at the tail of the main body for providing power. The driving assembly includes three second motors installed in the inner part of the tail end of the main body in an annular array, a connecting rod fixedly connected to the output shaft of the second motor and extending to the outside of the main body, and a rotating blade fixedly connected to the other end of the connecting rod.

[0011] Furthermore, the driving assembly further includes a protective shell installed at the tail of the main body and arranged on the outer periphery of the rotating blade, and both ends of the protective shell are provided with a mesh structure for water to flow through.

[0012] Furthermore, it further includes a camera. A base is installed at the front end of the main body, and a third motor for adjusting the angle of the camera is installed on the base. The camera is connected to the movable part of the third motor.

[0013] Furthermore, a plurality of LED lights are installed on the base and distributed in an annular array with the camera as the center.

[0014] Furthermore, a transparent protective cover is installed at the front end of the main body and arranged on the outer periphery of the base and the camera.

[0015] Beneficial effects: Compared with the prior art, the present utility model has the following advantages: When the support plate of the support assembly is expanded, the main body can stay in the pipeline for detection. When the support plate is closed, the robot can move in the pipeline for detection. The combined use of the two detection modes is beneficial to meeting the actual use requirements; The opening angle of the support plate of the support assembly can be adjusted, so that the robot can be applicable to different pipelines and has strong adaptability; The support plate is arranged in a circular arc structure. On the one hand, it can improve the stability of the robot when staying in the pipeline. On the other hand, it can completely fit on the outer periphery of the main body when the support plate is closed. The through groove opened on the support plate can allow water to flow through when the support plate is unfolded and can be used to store the support rod when the support plate is closed; The hydrophone detects the water wave frequency, and the camera takes pictures and transmits the internal image data of the pipeline. The combined use of the two is beneficial to improving the detection efficiency and the accuracy of the staff to judge the pipeline leakage point. Description of the Drawings

[0016] Figure 1 It is a structural schematic diagram of the present utility model;

[0017] Figure 2 It is a partial structural schematic diagram of the support assembly of the present utility model;

[0018] Figure 3 It is a partial structural schematic diagram of the driving assembly of the present utility model;

[0019] Figure 4 It is a structural schematic diagram of the camera and the base of the present utility model;

[0020] Figure 5 It is the projection view of the outer peripheral contour of the support plate of the present utility model;

[0021] Figure 6 It is the force analysis of the support plate when the present utility model stays in the pipeline. Specific embodiments

[0022] The technical solution of the present utility model will be further described below with reference to the accompanying drawings.

[0023] A pipeline inspection robot described in the present utility model, as Figure 1 and Figure 4 shown, includes a main body 1, a support assembly 2, a drive assembly 3, a camera 4, and a hydrophone installed inside the main body 1. A hydrophone, also known as an underwater microphone (hydrophone), is a transducer that converts underwater acoustic signals into electrical signals; a base 5 is installed at the front end of the main body 1, a third motor 6 is installed on the base 5, the camera 4 is connected to the movable part of the third motor 6, the third motor 6 is a miniature multi-degree-of-freedom rotating motor, and the third motor 6 can be used to adjust the shooting angle of the camera 4. A plurality of LED lights 7 are installed on the base 5 and are distributed in a circular array with the camera 4 as the center. The setting of the LED lights 7 can assist the camera 4 in shooting; preferably, a protective cover 8 is installed at the front end of the main body 1, and the camera 4, the base 5, and the LED lights 7 are located inside the protective cover 8, that is, the protective cover 8 is beneficial to protecting the camera 4, the base 5, and the LED lights 7. The protective cover 8 is set to be transparent and does not affect the normal use of the camera 4 and the LED lights 7. The LED lights 7 and the camera 4 can help transmit the image inside the pipeline for visual observation. When it is impossible to judge, the hydrophone is used to detect the water wave frequency to roughly judge the leakage position, and the detection mode is continuously switched through the support assembly 2, so that the robot stays for detection or moves for detection, and the hydrophone is used to release sound waves and receive the sound waves rebounded by the water pipeline wall for detection in real time. When the pipeline is damaged, the water wave frequency will generate a very obvious abnormal frequency. Therefore, the actual leakage position is determined by observing the peak value of the water wave frequency before and after the robot moves. A controller electrically connected to the hydrophone, the camera 4, the third motor 6, the LED lights 7, the support assembly 2, and the drive assembly 3 is installed inside the main body 1, and a control electric box for providing power is installed inside the main body 1.

[0024] As Figure 1 and Figure 2As shown in the figure, multiple sets of support components 2 are provided, and the multiple sets of support components 2 are installed in an annular array on the outer periphery of the main body 1. The support component 2 includes a support plate 21, a support rod 22, a support block 23, a lead screw 24, a track groove 25, and a first motor 26. One end of the support plate 21 is hinged to the main body 1, one end of the support rod 22 is hinged to the inner side of the support plate 21, and the other end is hinged to the support block 23. The track groove 25 is provided on the main body 1, the lead screw 24 is rotatably installed in the track groove 25, the output shaft of the first motor 26 is fixedly connected to the lead screw 24, the first motor 26 is fixedly connected to the main body 1, and the first motor 26 is set as a micro drive motor. The support block 23 is provided with a threaded through hole matching the lead screw 24, and the support block 23 is rotatably installed on the outer periphery of the lead screw 24. The support block 23 moves back and forth along the lead screw 24 in the track groove 25. The first motor 26 drives the lead screw 24 to rotate. When the lead screw 24 rotates, the support block 23 moves back and forth along the lead screw 24 in the track groove 25. When the support block 23 moves towards the tail of the main body 1, the support rod 22 rotates to open the support plate 21. When the support plate 21 is opened, the other end of the support plate 21 abuts and is fixed against the inner wall of the pipeline, so that the robot stays at the current position for detection. Moreover, the opening angle of the support plate 21 can be adjusted according to the inner wall of the pipeline. When the support block 23 moves to the extreme position of the track groove 25 close to the front end of the main body 1, the support plate 21 can be completely closed, which is convenient for the robot to move and detect in the pipeline. A through groove 27 is provided on the support plate 21. When the support plate 21 is opened, water flow can pass through the through groove 27, and the support plate 21 is set as an arc-shaped plate structure that can completely fit on the main body 1; As Figure 5 shown, the outer peripheral contour projection of the support plate 21 is in a gourd shape. The gourd shape of the projection of the support plate 21 is composed of two circles at both ends and a connecting part connecting the two circles with an arc. The diameters of the two circles are R1 and R2 respectively, and R1 > R2. One end of the circle with a diameter of R1 is hinged to the main body 1. That is, as the support plate 21 unfolds, along the gourd-shaped back plate, the stress area of the support plate 21 continuously increases, which is beneficial to reducing the average load magnitude received by the robot in the pipeline. After the first motor 26 is locked, the support plate 21 is fixed at the current position, so that the support plate 21 is opened and abuts against the inner wall of the pipeline. The water flow flows from the front end of the main body 1 towards the tail end. The arc-shaped structure of the support plate 21 can increase the water flow contact surface. The water flow flows through the surface of the support plate 21 and generates resistance. One end of the support plate 21 abuts against the inner wall of the pipeline and generates friction, as Figure 6 shown, Figure 6In this, FD represents the flow resistance, F represents the straight rod support force, FN represents the wall support force, Ff represents the wall friction force, and V represents the direction of the water flow. The settings of the resistance and friction force enable the robot to stay in the current position without lateral movement or rotation, which is beneficial to improving the stability of the main body 1 during residence. When the support plate 21 is closed, the support rod 22 can be received in the through groove 27, and the arc-shaped structure of the support plate 21 enables it to fit completely on the outer periphery of the main body 1, which is beneficial to reducing the resistance when the robot moves inside the pipeline.

Claims

1. A pipeline inspection robot, comprising a main body (1), characterized in that: It further includes a plurality of groups of annular arrays of support components (2) installed on the outer periphery of the main body (1) and used to realize the residence of the main body (1) in the pipeline. The support component (2) includes a support plate (21) hinged to the main body (1), a support rod (22) hinged to the inner side of the support plate (21), a track groove (25) opened on the main body (1), a lead screw rotatably connected to the main body (1) and located in the track groove (25), a support block (23) hinged to the other end of the support rod (22) and threadedly connected to the outer periphery of the lead screw, and a first motor (26) installed on the main body (1) and with an output shaft fixedly connected to the lead screw (24).

2. The pipeline inspection robot according to claim 1, wherein: The support plate (21) is set to be an arc-shaped plate structure that can completely fit on the main body (1), and the outer peripheral contour projection of the support plate (21) is gourd-shaped.

3. The pipeline inspection robot according to claim 1, characterized in that: It further includes a hydrophone installed inside the main body (1).

4. The pipeline inspection robot according to claim 2, wherein: A through groove (27) for water flow to pass through when it is opened and for storing the support rod (22) when it is closed is opened on the support plate (21).

5. The pipeline inspection robot according to claim 2, characterized in that: The gourd-shaped projection of the support plate (21) is composed of circles at both ends and a connecting part with an arc connecting the two circles. The diameters of the two circles are R1 and R2 respectively, R1 > R2, and one end of the circle with a diameter of R1 is hinged to the main body (1).

6. The pipeline inspection robot according to claim 1, wherein: It further includes a driving component (3) installed at the tail of the main body (1) for providing power. The driving component (3) includes three second motors (31) installed in the annular array at the inner end of the tail of the main body (1), a connecting rod (32) fixedly connected to the output shaft of the second motor (31) and extending to the outside of the main body (1), and a rotating blade (33) fixedly connected to the other end of the connecting rod (32).

7. The pipeline inspection robot according to claim 6, characterized in that: The driving component (3) further includes a protective shell (34) installed at the tail of the main body (1) and arranged on the outer periphery of the rotating blade (33), and both ends of the protective shell (34) are set to be a mesh structure for water flow to pass through.

8. The pipeline inspection robot according to claim 1, wherein: It further includes a camera (4). A base (5) is installed at the front end of the main body (1). A third motor (6) for adjusting the angle of the camera (4) is installed on the base (5), and the camera (4) is connected to the movable part of the third motor (6).

9. The pipeline inspection robot according to claim 8, wherein: A plurality of LED lights (7) distributed in an annular array with the camera (4) as the center are installed on the base (5).

10. The pipeline inspection robot according to claim 8, wherein: A transparent protective cover (8) is installed at the front end of the main body (1) and arranged on the outer periphery of the base (5) and the camera (4).

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