Underground pipeline maintenance robot
By adjusting the driving wheel position and an underground pipeline maintenance robot equipped with flushing nozzles and cameras, the problems of different pipe diameters and dirt cleaning are solved, and efficient pipeline maintenance is achieved.
Patent Information
- Application Number
- CN202422368537.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2025-08-19
- Estimated Expiration
- 2034-09-27
AI Technical Summary
Existing pipeline maintenance robots cannot be used for pipes of different pipe diameters, cannot effectively clean dirt from damaged pipes, and cannot accurately inspect the damaged parts, which affects maintenance efficiency.
An underground pipeline maintenance robot is designed, using an electric push rod and a hinged frame structure to adjust the distance of the drive wheel, equipped with a flushing nozzle and a camera, and the connecting plate and swing rod are driven through the electric push rod, adjusting the position of the drive wheel, combining the telescopic inner rod and spring structure to stabilize movement, and equipped with lighting lamps and protective cover plates to protect the camera, realizing the adaptation and cleaning of different pipe diameters.
It realizes the applicability of pipes of different pipe diameters, can clean dirt and accurately inspect damage, improving maintenance efficiency and stability.
Smart Images
Figure CN223234638U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of maintenance robots, and specifically to an underground pipeline maintenance robot. Background Art
[0002] With the acceleration of urbanization and the increase in the service life of pipelines, problems such as pipeline aging, corrosion, blockage and leakage require the use of pipeline maintenance robots to inspect and repair pipelines.
[0003] The current pipeline inspection robots cannot be used for pipelines of different diameters, are inconvenient to clean dirt at damaged pipes, and cannot accurately inspect the condition of damaged pipes, which affects the efficiency of pipeline inspection. Utility Model Content
[0004] In response to the shortcomings of the existing technology, the present application provides an underground pipeline inspection robot that can be applied to pipelines of different diameters, is convenient for cleaning dirt at damaged pipes, can accurately inspect the condition of damaged pipes, and improves the efficiency of pipeline inspection. It solves the problem that current pipeline inspection robots cannot be applied to pipes of different diameters when in use, are inconvenient for cleaning dirt at damaged pipes, and cannot accurately inspect the condition of damaged pipes, which affects the effect of pipeline inspection.
[0005] In order to achieve the above-mentioned purpose of being applicable to pipelines of different diameters, conveniently cleaning dirt at damaged parts of pipelines, accurately inspecting the conditions of damaged parts of pipelines, and improving the efficiency of pipeline maintenance, the present application provides the following technical solutions: an underground pipeline maintenance robot, comprising a chassis, a first electric push rod being provided on one side of the chassis, a connecting plate being provided on the other end of the first electric push rod, a swing arm being hingedly connected to one side of one end of the push rod through a hinge frame, a telescopic outer tube being provided on the other end of the push rod, a telescopic inner rod being inserted into the inner wall of one end of the telescopic outer tube, a push plate being provided on one end of the telescopic inner rod, and a driving wheel being provided on one side of the push plate which is rotated by a rotating frame;
[0006] A motor is provided on the side of the chassis away from the first electric push rod, a second electric push rod is provided at one end of the motor through a connecting block, a protective box is provided at one end of the second electric push rod, a camera is provided inside the protective box, and a flushing nozzle is provided on one side of the protective box through a fixing plate.
[0007] Through the above scheme, the first electric push rod drives the connecting plate to move, so that the connecting plate drives the swing arm to swing, so that the swing arm drives the push rod to move, and the distance between the drive wheel and the chassis is adjusted. The dirt on the pipe can be cleaned by the flushing nozzle, which makes it suitable for pipes of different diameters, facilitates the cleaning of dirt at damaged parts of the pipe, can accurately inspect the condition of the damaged part of the pipe, and improves the efficiency of pipeline maintenance.
[0008] Furthermore, the driving wheels are arranged in three groups, each group has two driving wheels, and the two driving wheels in each group are respectively rotatably arranged at two ends of one side of the push plate through a rotating frame.
[0009] Through the above solution, the three sets of driving wheels can support each other so that the chassis can be located at the center of the circle inside the pipe. The two driving wheels in each set can fix the angle of the robot inside the pipe, preventing the robot from tipping over inside the pipe and improving the stability of the robot when the driving wheels drive it to move.
[0010] Furthermore, there are three swing rods, one end of each of the three swing rods is hinged to one side of one end of each of the three push rods through three hinge frames, and the other ends of each of the three swing rods are hinged to three sides of the connecting plate through three hinge frames.
[0011] Through the above solution, the movement of the connecting plate can simultaneously drive the three swing arms to swing, thereby simultaneously adjusting the positions of the three push rods, thereby simultaneously adjusting the distances between the three sets of driving wheels and the chassis.
[0012] Furthermore, the outer surface of the middle portion of the push rod is slidably arranged in the inner wall of the middle portion of the limit frame, one end of the limit frame is arranged on one side of the support plate, and one end of the support plate is arranged on one side of the chassis.
[0013] According to the above solution, the trajectory of the push rod during movement can be fixed by setting the limit frame, thereby improving the stability of the push rod during movement.
[0014] Furthermore, a spring is provided at one end of the inner wall of the telescopic outer tube, and one end of the spring is provided at one end of the telescopic inner rod.
[0015] Through the above scheme, a thrust can be applied to the telescopic inner rod through the setting of the spring, pushing the driving wheel to stably contact the inner wall of the pipe. When the driving wheel moves in the pipe and passes through obstacles such as dirt, the telescopic inner rod will be inserted into the telescopic outer tube to compress the spring, so that the driving wheel can smoothly cross the obstacle. After crossing, the spring will release the thrust so that the telescopic inner rod pushes the driving wheel to reset through the push plate, so that the driving wheel is close to the inner wall of the pipe again.
[0016] Furthermore, a lighting lamp is provided inside the protective box.
[0017] Through the above solution, the camera shooting position can be illuminated by setting the lighting lamp, improving the camera shooting conditions, so that the camera can shoot and inspect the inner wall of the pipeline more clearly.
[0018] Furthermore, a protective cover is slidably provided on one side of the protective box via an electric slide rail, and the protective cover is transparent.
[0019] Through the above solution, the camera and the lighting can be protected by setting the protective cover to prevent dirt from splashing onto the camera and the lighting when flushing the inner wall of the pipe, affecting the shooting and lighting. The transparent setting of the protective cover can protect the camera while the camera can roughly capture the flushing situation of the flushing nozzle on the pipe through the protective cover. After the protection is completed, the protective cover can be moved away from the side of the camera by the electric slide rail to prevent it from affecting the camera's shooting.
[0020] Furthermore, edge banding strips are provided at both ends of one side of the protective cover plate.
[0021] Through the above solution, the setting of the edge banding can fill the gap between the two ends of one side of the protective cover and the two ends of one side of the protective box, preventing sewage from splashing into the inside of the protective box and contaminating the camera and lighting.
[0022] Compared with the existing technology, the technical solution of this application has the following beneficial effects:
[0023] This underground pipeline inspection robot drives the connecting plate to move by a first electric push rod, which drives the swing rod to swing, and drives the push rod to move, adjusts the distance between the driving wheel and the chassis, and cleans the dirt on the pipeline through the flushing nozzle. It is suitable for pipelines with different diameters, facilitates the cleaning of dirt at damaged parts of the pipeline, can accurately inspect the condition of the damaged part of the pipeline, and improves the efficiency of pipeline inspection. BRIEF DESCRIPTION OF THE DRAWINGS
[0024] Figure 1 This is a schematic diagram of the three-dimensional structure of this application;
[0025] Figure 2 This is a schematic diagram of the front structure of this application;
[0026] Figure 3 This is a schematic diagram of the structure on the left side of this application;
[0027] Figure 4 This is a schematic diagram of the structure of this application from a top view;
[0028] Figure 5 This is a side cross-sectional diagram of the telescopic outer tube and the limiting frame of the present application;
[0029] Figure 6This is a schematic diagram of the front cross-sectional structure of the protective box of this application.
[0030] In the picture:
[0031] 1. Chassis; 2. First electric push rod; 3. Connecting plate; 4. Swing rod; 5. Push rod; 6. Telescopic outer tube; 7. Telescopic inner rod; 8. Push plate; 9. Driving wheel; 10. Support plate; 11. Limit frame; 12. Motor; 13. Second electric push rod; 14. Protective box; 15. Flushing nozzle; 16. Camera; 17. Light; 18. Protective cover; 19. Edge strip; 20. Spring. DETAILED DESCRIPTION
[0032] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0033] See also Figure 1 、 Figure 2 and Figure 4 In this embodiment, an underground pipeline inspection robot includes a chassis 1, a first electric push rod 2 is provided on one side of the chassis 1, a connecting plate 3 is provided on the other end of the first electric push rod 2, a swing rod 4 is hinged on one side of the connecting plate 3 through a hinge frame, one end of the swing rod 4 is hinged to one side of one end of a push rod 5 through a hinge frame, a telescopic outer tube 6 is provided on the other end of the push rod 5, a telescopic inner rod 7 is inserted into the inner wall of one end of the telescopic outer tube 6, a push plate 8 is provided on one end of the telescopic inner rod 7, and a driving wheel 9 is provided on one side of the push plate 8 for rotation through a rotating frame;
[0034] See also Figure 1 、 Figure 2 and Figure 4 A motor 12 is provided on the side of the chassis 1 away from the first electric push rod 2, a second electric push rod 13 is provided at one end of the motor 12 through a connecting block, a protective box 14 is provided at one end of the second electric push rod 13, a camera 16 is provided inside the protective box 14, and a flushing nozzle 15 is provided on one side of the protective box 14 through a fixed plate.
[0035] See also Figure 1 、 Figure 2 and Figure 3The driving wheels 9 are arranged in three groups, each group of driving wheels 9 consists of two. The two driving wheels 9 in each group are respectively rotated at the two ends of one side of the push plate 8 through the rotating frame. The arrangement of the three groups of driving wheels 9 can support each other so that the chassis 1 can be located at the center position of the circle inside the pipeline. The arrangement of the two driving wheels 9 in each group can fix the angle of the robot inside the pipeline, prevent the robot from tipping over inside the pipeline, and improve the stability of the robot when it is driven by the driving wheels 9 to move.
[0036] See also Figure 1 、 Figure 2 and Figure 4 There are three swing rods 4, one end of the three swing rods 4 is hinged to one side of one end of the three push rods 5 through three hinge frames, and the other ends of the three swing rods 4 are hinged to three sides of the connecting plate 3 through three hinge frames. The movement of the connecting plate 3 can simultaneously drive the three swing rods 4 to swing, and then the positions of the three push rods 5 can be adjusted at the same time, and then the distance between the three sets of driving wheels 9 and the chassis 1 can be adjusted at the same time.
[0037] See also Figure 1 、 Figure 2 and Figure 5 The outer surface of the middle part of the push rod 5 is slidably set in the inner wall of the middle part of the limit frame 11, one end of the limit frame 11 is set on one side of the support plate 10, and one end of the support plate 10 is set on one side of the chassis 1. The setting of the limit frame 11 can fix the trajectory of the push rod 5 when it moves, thereby improving the stability of the push rod 5 when it moves.
[0038] See also Figure 5 A spring 20 is provided at one end of the inner wall of the telescopic outer tube 6, and one end of the spring 20 is provided at one end of the telescopic inner rod 7. Through the setting of the spring 20, a thrust can be applied to the telescopic inner rod 7, pushing the driving wheel 9 to stably contact the inner wall of the pipe. When the driving wheel 9 moves in the pipe and passes through obstacles such as dirt, the telescopic inner rod 7 will be inserted into the telescopic outer tube 6 to compress the spring 20, so that the driving wheel 9 can smoothly cross the obstacle. After crossing, the spring 20 will release the thrust so that the telescopic inner rod 7 pushes the driving wheel 9 to reset through the push plate 8, so that the driving wheel 9 is close to the inner wall of the pipe again.
[0039] See also Figure 4 and Figure 6 A lighting lamp 17 is provided inside the protective box 14. The lighting lamp 17 can illuminate the shooting position of the camera 16, improve the shooting conditions of the camera 16, and enable the camera 16 to shoot and inspect the inner wall of the pipeline more clearly.
[0040] See also Figure 1 、 Figure 2 and Figure 3A protective cover 18 is provided on one side of the protective box 14 through an electric slide rail. The protective cover 18 is transparent. The protective cover 18 can protect the camera 16 and the lighting lamp 17 to prevent dirt from splashing on the camera 16 and the lighting lamp 17 when flushing the inner wall of the pipeline, affecting the shooting and lighting. The transparent setting of the protective cover 18 can protect the camera 16 while the camera 16 can roughly shoot the flushing situation of the flushing nozzle 15 on the pipeline through the protective cover 18. After the protection is completed, the protective cover 18 can be moved away from the side of the camera 16 by the electric slide rail to prevent it from affecting the shooting of the camera 16.
[0041] See also Figure 1 、 Figure 3 and Figure 6 , edge strips 19 are provided at both ends of one side of the protective cover 18. The setting of the edge strips 19 can fill the gap between the two ends of one side of the protective cover 18 and the two ends of one side of the protective box 14 to prevent sewage from splashing into the inside of the protective box 14 and contaminating the camera 16 and the lighting lamp 17.
[0042] An underground pipeline inspection robot in this embodiment drives the connecting plate 3 to move through the first electric push rod 2, so that the connecting plate 3 drives the swing rod 4 to swing, and the swing rod 4 drives the push rod 5 to move, and adjusts the distance between the driving wheel 9 and the chassis 1. The dirt on the pipeline can be cleaned through the flushing nozzle 15, so that it can be applied to pipelines of different diameters, and it is convenient to clean the dirt at the damaged part of the pipeline. It can accurately check the condition of the damaged part of the pipeline, and improve the efficiency of pipeline inspection.
[0043] The working principle of the above embodiment is as follows: the robot is placed inside the pipe, the first electric push rod 2 works, driving the connecting plate 3 to move toward the chassis 1, so that the connecting plate 3 drives the three swinging rods 4 to swing at the same time, and the three swinging rods 4 drive the three push rods 5 to slide in the three limit frames 11 when swinging, so that the three push plates 8 drive the three sets of driving wheels 9 to move, and the distance between the three sets of driving wheels 9 is adjusted so that the three sets of driving wheels 9 are in contact with the inner wall of the pipe, so that the chassis 1 is fixed to the center of the pipe, and the second electric push rod 13 works, driving the protective box 14 to move, so that the camera 16 moves toward the inner wall of the pipe, reducing the distance between the camera 16 and the inner wall of the pipe. The driving wheel 9 works to push the robot to move in the pipeline, and the motor 12 works to make the second electric push rod 13 drive the protective box 14 to rotate in the pipeline, so that the camera 16 can completely shoot and inspect the inner wall of the pipeline, and the lighting lamp 17 works to illuminate the shooting position of the camera 16. When the inner wall of the pipeline cannot be clearly photographed due to dirt, the protective cover 18 slides to one side of the camera 16 through the electric slide rail to protect the camera 16. The flushing nozzle 15 starts to work to flush the dirt on the inner wall of the pipeline. After flushing, the protective cover 18 is reopened and the camera 16 takes pictures of the inner wall of the pipeline again.
[0044] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.
[0045] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.
Claims
1. An underground pipeline maintenance robot, comprising a chassis (1), characterized in that: A first electric push rod (2) is provided on one side of the chassis (1), a connecting plate (3) is provided on the other end of the first electric push rod (2), a swing rod (4) is hinged to one side of the connecting plate (3) via a hinge frame, one end of the swing rod (4) is hinged to one side of one end of the push rod (5) via a hinge frame, a telescopic outer tube (6) is provided on the other end of the push rod (5), a telescopic inner rod (7) is inserted into the inner wall of one end of the telescopic outer tube (6), a push plate (8) is provided on one end of the telescopic inner rod (7), and a driving wheel (9) is provided on one side of the push plate (8) for rotation via a rotating frame; A motor (12) is provided on a side of the chassis (1) away from the first electric push rod (2); a second electric push rod (13) is provided at one end of the motor (12) via a connecting block; a protective box (14) is provided at one end of the second electric push rod (13); a camera (16) is provided inside the protective box (14); and a flushing nozzle (15) is provided at one side of the protective box (14) via a fixing plate.
2. The underground pipeline maintenance robot according to claim 1, characterized in that: The driving wheels (9) are arranged in three groups, each group of the driving wheels (9) comprises two driving wheels, and the two driving wheels (9) in each group are respectively rotatably arranged at two ends of one side of the push plate (8) through a rotating frame.
3. The underground pipeline maintenance robot according to claim 1, characterized in that: The number of the swinging rods (4) is three, one end of each of the three swinging rods (4) is hinged to one side of one end of each of the three push rods (5) through three hinged frames, and the other ends of each of the three swinging rods (4) are hinged to three sides of the connecting plate (3) through three hinged frames.
4. The underground pipeline maintenance robot according to claim 1, characterized in that: The outer surface of the middle portion of the push rod (5) is slidably arranged in the inner wall of the middle portion of the limit frame (11), one end of the limit frame (11) is arranged on one side of the support plate (10), and one end of the support plate (10) is arranged on one side of the chassis (1).
5. The underground pipeline maintenance robot according to claim 1, characterized in that: A spring (20) is provided at one end of the inner wall of the telescopic outer tube (6), and one end of the spring (20) is provided at one end of the telescopic inner rod (7).
6. The underground pipeline maintenance robot according to claim 1, characterized in that: A lighting lamp (17) is provided inside the protection box (14).
7. The underground pipeline maintenance robot according to claim 1, characterized in that: A protective cover plate (18) is slidably provided on one side of the protective box (14) via an electric slide rail, and the protective cover plate (18) is transparent.
8. The underground pipeline maintenance robot according to claim 7, characterized in that: Edge sealing strips (19) are provided at both ends of one side of the protective cover plate (18).