Robot for detecting blockage condition of drainage pipeline

Abstract

The utility model provides a robot for detecting the blockage condition of a drainage pipeline, which solves the problems of poor pipeline adaptability and the like, and comprises a driving base, an information acquisition component mounted at the upper end of the driving base, and a built-in main control unit equipped with a wired communication module and a wireless communication module, the main control unit is connected with a battery module and a driving module, and combined type advancing assemblies connected with the driving module are arranged on the two sides of the driving base. The device has the advantages of good pipeline adaptability, stable structure and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline detection, and in particular relates to a robot used for detecting the blockage condition of a drainage pipeline. Background Art

[0002] A pipeline robot is an integrated mechanical, electrical, and instrumentation system that can autonomously navigate the interior or exterior of small pipelines, carrying one or more sensors and operating mechanisms. It can perform a series of pipeline operations under remote control by a human operator or automated computer control. Existing pipeline inspection robots are mostly wheeled or tracked, primarily suitable for conventional water pipelines. They use cameras or radar to collect internal pipeline information, and are remotely controlled and transmit data via wired or wireless methods. However, in actual use, existing pipeline robots have poor adaptability to complex pipeline conditions and present a risk of becoming stuck during operation.

[0003] To address the shortcomings of existing technologies, researchers have conducted extensive research and proposed various solutions. For example, Chinese patent document 202210223923.8 discloses a robot and method for detecting blockages in drainage pipes. The robot comprises a vehicle body and a traveling mechanism. The vehicle body is equipped with a camera assembly, which includes a camera and a first lifting mechanism. The first lifting mechanism is mounted on the vehicle body, and the camera is connected to the first lifting mechanism. The vehicle body is also equipped with a sonar and a ground-penetrating radar, which is located below the vehicle body.

[0004] The above solution solves the problem of cleaning inside the pipeline to a certain extent, but the solution still has many shortcomings, such as poor adaptability to complex pipelines. Summary of the Invention

[0005] The purpose of the utility model is to solve the above problems and provide a robot with reasonable design and good pipeline adaptability for detecting blockage conditions of drainage pipes.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions: a robot for detecting the blockage condition of a drainage pipe, comprising a driving base, an information collection component installed on the upper end of the driving base, a main control unit built into the driving base, the main control unit being equipped with a wired communication module and a wireless communication module, the main control unit being connected to a battery module and a driving module, and composite traveling components connected to the driving module being provided on both sides of the driving base.

[0007] In the above-mentioned robot for detecting blockage conditions in drainage pipes, the information collection component includes a camera movably mounted on the upper end of a driving base, the camera is equipped with a lighting lamp, and a laser radar is mounted on the upper end of the driving base.

[0008] In the above-mentioned robot for detecting blockage of drainage pipes, assembly grooves are respectively provided on both sides of the driving base, assembly bars are slidably installed in the assembly grooves, and a locking assembly is provided between the assembly bar and the driving base.

[0009] In the above-mentioned robot for detecting blockage conditions in drainage pipes, the locking assembly includes a locking button movably mounted on a driving base, the locking button is connected to an elastic strip, the elastic strip has a locking buckle extending into an assembly groove, the assembly strip is provided with a locking groove for inserting the locking buckle, and an elastic reset member is arranged between the locking button and the driving base.

[0010] In the above-mentioned robot for detecting blockage of drainage pipes, the composite traveling assembly includes a crawler-type traveling assembly installed on the assembly bar; or a wheel-foot-type traveling assembly is installed on the assembly bar.

[0011] In the above-mentioned robot for detecting the blockage condition of the drainage pipe, the crawler travel component includes a crawler motor installed inside the assembly strip, the output end of the crawler motor is connected to a driving wheel rotatably installed on the outside of the assembly strip, the driving wheel is connected to a plurality of driven wheels arranged axially along the assembly strip through a linkage gear set, and a travel track is fixed between the driving wheel and the driven wheels.

[0012] In the above-mentioned robot for detecting the blockage condition of the drainage pipe, the wheel-foot type moving component includes a wheel-foot motor installed in the assembly bar and driven independently, and the output end of the wheel-foot motor is respectively connected to a driving wheel or an auxiliary wheel rotatably installed on the outside of the assembly bar, and the driving wheel and the auxiliary wheel are arranged at intervals.

[0013] In the above-mentioned robot for detecting blockage of drainage pipes, the driving wheel has driving blades distributed along the circumference, the auxiliary wheel has driving feet extending outward and arranged obliquely relative to its central axis, and the width of the auxiliary wheel is smaller than the width of the driving wheel.

[0014] In the above-mentioned robot for detecting blockage of a drainage pipe, a liquid level sensor is provided at the bottom of the driving base.

[0015] In the above-mentioned robot for detecting blockage of drainage pipes, the outer corners of the driving base are covered with protective covers made of flexible material.

[0016] Compared with the existing technology, the advantages of the present invention are: the composite traveling component can be selected according to actual needs and assembled on both sides of the driving base, thereby improving the adaptability of the robot to passing through complex pipelines; the driving base and the composite traveling component are assembled by sliding plug-in, which reduces the difficulty of wheel foot replacement and maintenance and improves the modularization level; the wheel foot traveling component can realize the overall lifting of the robot, and its driving foot drives the robot to step, which can meet the travel requirements inside most pipelines. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural diagram of the utility model;

[0018] Figure 2 This is a control principle diagram of the utility model;

[0019] Figure 3 It is a partial cross-sectional view of the utility model;

[0020] Figure 4 It is another structural schematic diagram of the utility model;

[0021] In the figure, there are driving base 1, assembly groove 11, assembly strip 12, locking button 13, elastic strip 14, locking buckle 15, locking groove 16, elastic reset part 17, information acquisition component 2, camera 21, lighting lamp 22, laser radar 23, main control unit 3, wired communication module 31, wireless communication module 32, battery module 33, driving module 34, liquid level sensor 35, composite traveling component 4, track motor 41, driving wheel 42, linkage gear set 43, driven wheel 44, traveling track 45, wheel foot motor 46, driving wheel 47, driving blade 471, auxiliary wheel 48, and driving foot 481. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0023] like Figure 1-4 As shown, a robot for detecting drainage pipe blockages includes a driving base 1 made of insulating and waterproof material. An information acquisition component 2 is mounted on the top of the driving base 1 to monitor the internal status of the pipe in real time. The driving base 1 houses a main control unit 3, which is equipped with a wired communication module 31 and a wireless communication module 32 for external communication. The main control unit 3 is connected to a battery module 33 and a driving module 34. The independent battery module 33 maintains the operating time of the driving module 34. A composite travel component 4, connected to the driving module 34, is mounted on both sides of the driving base 1. The composite travel component 4 adopts a modular assembly structure and adjusts its travel mode according to the pipe status.

[0024] Specifically, to capture images of the interior of the pipeline, the information acquisition assembly 2 includes a camera 21 movably mounted on the top of the driving base 1. This camera 21 is equipped with a light 22 to enhance the internal field of view. A laser radar 23 is also mounted on the top of the driving base 1. As the robot moves, the laser radar 23 monitors the relative distance between the driving base 1 and the inner wall of the pipeline in real time to prevent collisions.

[0025] In detail, similar to a conventional sliding assembly structure, in this embodiment, the driving base 1 is provided with assembly grooves 11 on both sides, and an assembly bar 12 is slidably installed in the assembly groove 11, and a locking assembly is provided between the assembly bar 12 and the driving base 1. The cross-section of the assembly groove 11 is generally T-shaped or dovetail-shaped.

[0026] Furthermore, the locking assembly includes a locking button 13 movably mounted on the drive base 1. The locking button 13 is connected to an elastic strip 14 having a locking buckle 15 extending into the assembly slot 11. The assembly strip 12 is provided with a locking slot 16 for inserting the locking buckle 15. An elastic reset member 17 is provided between the locking button 13 and the drive base 1. When the assembly strip 12 is inserted, the locking button 13 resets, causing the locking slot 16 to engage and secure the locking buckle 15. The assembly strip 12 is now in contact with the drive module 34 for power supply and drive control.

[0027] Furthermore, the composite travel assembly 4 has two configurations: a crawler-type travel assembly mounted on the mounting bar 12; or a wheel-footed travel assembly mounted on the mounting bar 12. The crawler-type travel assembly is mainly suitable for drainage pipes with internal silt accumulation, while the wheel-footed travel assembly can swing to adjust its orientation when encountering obstacles, providing high mobility.

[0028] In addition, the crawler-type travel assembly includes a crawler motor 41 mounted inside the assembly bar 12. The output end of the crawler motor 41 is connected to a driving wheel 42 rotatably mounted on the outside of the assembly bar 12. The driving wheel 42 is connected to a plurality of driven wheels 44 arranged axially along the assembly bar 12 via a linkage gear set 43. A travel track 45 is fixed between the driving wheel 42 and the driven wheels 44. The driving wheel 42 actively rotates and drives the linkage gear set 43 and the driven wheels 44 to engage in transmission. The robot's steering is achieved by adjusting the speed difference between the driving wheels 42 on both sides.

[0029] The wheeled travel assembly includes an independently driven wheel motor 46 mounted within the assembly bar 12. The output end of the wheel motor 46 is connected to a drive wheel 47 or auxiliary wheel 48, which are rotatably mounted on the outside of the assembly bar 12. The drive wheel 47 and auxiliary wheel 48 are spaced apart. The drive wheel 47 and auxiliary wheel 48 are independently driven, with a large gap between them.

[0030] As can be seen, to improve wading capability, the drive wheel 47 has drive blades 471 distributed along its circumference. The auxiliary wheel 48 has drive feet 481 extending outward and arranged obliquely relative to its central axis. The width of the auxiliary wheel 48 is smaller than that of the drive wheel 47. When an obstacle appears inside the pipe, the auxiliary wheel 48 activates and drives the drive feet 481 to rotate.

[0031] Obviously, a liquid level sensor 35 is provided at the bottom of the driving base 1 to judge the amount of water inside the pipe, and then indirectly judge the blockage status inside the drainage pipe.

[0032] Preferably, the outer corners of the driving base 1 are covered with protective covers made of flexible material, which provide a certain degree of protection for the robot. At the same time, the corner interfaces are sealed to ensure its waterproof performance.

[0033] To sum up, the principle of this embodiment is that an information acquisition component 2 is installed on the driving base 1 to collect information inside the pipeline, and the main control unit 3 inside it is connected to the composite traveling component 4 through the driving module 34. The appropriate traveling component is selected according to the pipeline status, and is assembled and fixed by the locking component.

[0034] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Persons skilled in the art may make various modifications, additions, or substitutions to the described specific embodiments without departing from the spirit of the present invention or exceeding the scope defined by the appended claims.

[0035] Although this document frequently uses terms such as driving base 1, assembly slot 11, assembly strip 12, locking button 13, elastic strip 14, locking buckle 15, locking slot 16, elastic return member 17, information acquisition component 2, camera 21, lighting lamp 22, laser radar 23, main control unit 3, wired communication module 31, wireless communication module 32, battery module 33, driving module 34, liquid level sensor 35, composite traveling component 4, track motor 41, driving wheel 42, linkage gear set 43, driven wheel 44, traveling track 45, wheel foot motor 46, driving wheel 47, driving blade 471, auxiliary wheel 48, driving foot 481, etc., the possibility of using other terms is not excluded. The use of these terms is only for the purpose of more conveniently describing and explaining the essence of the present invention; interpreting them as any additional restrictions is contrary to the spirit of the present invention.

Claims

1. A robot for detecting blockage in a drainage pipe, comprising a driving base (1), an information collection component (2) being mounted on the upper end of the driving base (1), characterized in that: The driving base (1) has a built-in main control unit (3), the main control unit (3) is equipped with a wired communication module (31) and a wireless communication module (32), the main control unit (3) is connected to a battery module (33) and a driving module (34), and composite travel components (4) connected to the driving module (34) are provided on both sides of the driving base (1); the driving base (1) has assembly grooves (11) on both sides, an assembly bar (12) is slidably installed in the assembly groove (11), and a locking component is provided between the assembly bar (12) and the driving base (1).

2. A robot for detecting blockage of drainage pipes according to claim 1, characterized in that: The information collection component (2) includes a camera (21) movably mounted on the upper end of the driving base (1), the camera (21) is equipped with a lighting lamp (22), and the upper end of the driving base (1) is equipped with a laser radar (23).

3. A robot for detecting blockage of drainage pipes according to claim 1, characterized in that: The locking assembly includes a locking button (13) movably mounted on the driving base (1), the locking button (13) is connected to an elastic strip (14), the elastic strip (14) has a locking buckle (15) extending into the assembly groove (11), the assembly strip (12) is provided with a locking groove (16) for the locking buckle (15) to be inserted, and an elastic reset member (17) is provided between the locking button (13) and the driving base (1).

4. A robot for detecting blockage of drainage pipes according to claim 1, characterized in that: The composite traveling assembly (4) includes a crawler-type traveling assembly installed on the assembly bar (12); or a wheel-foot-type traveling assembly is installed on the assembly bar (12).

5. A robot for detecting blockage of drainage pipes according to claim 4, characterized in that: The crawler-type traveling assembly includes a crawler motor (41) installed inside the assembly bar (12), the output end of the crawler motor (41) is connected to a driving wheel (42) rotatably installed on the outside of the assembly bar (12), the driving wheel (42) is connected to a plurality of driven wheels (44) arranged axially along the assembly bar (12) through a linkage gear set (43), and a traveling crawler (45) is fixed between the driving wheel (42) and the driven wheel (44).

6. A robot for detecting blockage of drainage pipes according to claim 4, characterized in that: The wheel-foot type traveling assembly includes a wheel-foot motor (46) installed in the assembly bar (12) and driven independently, and the output end of the wheel-foot motor (46) is respectively connected to a driving wheel (47) or an auxiliary wheel (48) rotatably installed on the outside of the assembly bar (12), and the driving wheel (47) and the auxiliary wheel (48) are arranged at intervals.

7. A robot for detecting blockage of a drainage pipe according to claim 6, characterized in that: The driving wheel (47) has driving blades (471) distributed along the circumference, and the auxiliary wheel (48) has a driving foot (481) extending outward and arranged obliquely relative to its central axis. The width of the auxiliary wheel (48) is smaller than the width of the driving wheel (47).

8. The robot for detecting blockage of a drainage pipe according to claim 1, characterized in that: A liquid level sensor (35) is provided at the bottom of the driving base (1).

9. The robot for detecting blockage of a drainage pipe according to claim 1, characterized in that: The outer corners of the driving base (1) are covered with protective sleeves made of flexible material.

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