Inspection robot for dredging interior of pipeline

Abstract

The utility model belongs to the technical field of inspection robots, and discloses an inspection robot for dredging the interior of a pipeline, which comprises a robot main body, an adjusting assembly is mounted on the robot main body, and the adjusting assembly is connected with crawler walking mechanisms uniformly distributed on the outer side of the robot main body. A flushing assembly is installed at the position, corresponding to the crawler walking mechanism, of the robot body, a dredging assembly is installed at the front end of the robot body, the adjusting assembly comprises a first motor installed in the robot body, the first motor is connected with a driving gear through a motor shaft, and the driving gear is connected with a gear ring in an engaged mode; sufficient force is provided through the motor and other structures, so that the crawler belt of the crawler belt walking mechanism can apply large force to the inner wall of the pipeline, enough friction force exists between the crawler belt of the crawler belt walking mechanism and the inner wall of the pipeline, and the inspection robot can walk in the pipeline conveniently.

Description

Technical Field

[0001] This utility model belongs to the field of inspection robot technology, specifically an inspection robot used for unblocking the inside of pipelines. Background Technology

[0002] Pipeline internal cleaning and inspection robots are automated devices used to inspect and clean the inside of pipelines. They can use high-definition cameras to check the structural integrity of the pipeline interior. For example, in urban sewage pipes, they can check for cracks, corrosion, deformation, etc. in the pipe walls. These cameras usually have wide-angle and zoom functions, allowing for comprehensive and close-up observation of the details inside the pipeline. They can detect the presence of foreign objects, such as stones, tree roots, garbage, and other blockages. In oil pipelines, they can promptly detect the accumulation of substances that may affect the smooth flow of the pipeline, such as wax and rust. Through sensors (such as optical sensors and ultrasonic sensors), they determine the location and size of foreign objects, providing accurate information for subsequent cleaning work.

[0003] Chinese Patent Application No. 202322457380.9 discloses a municipal pipeline dredging robot, including a walking device, a mechanical gripper, and a universal joint. The walking device is connected to the mechanical gripper via the universal joint. The walking device includes a base and walking tracks. At least three walking tracks are evenly distributed around the circumference of the base, and each walking track is connected to the base via a linkage. A guide rod is provided on the side of the base away from the universal joint. One end of the guide rod is fixed to the base, and the other end of the guide rod is provided with a fixing plate. A positioning platform is slidably mounted on the guide rod, and a compression spring is sleeved on the guide rod between the positioning platform and the fixing plate. The robot is driven by three walking tracks, which can automatically adapt to the pipe diameter. Under the action of the compression spring and the linkage mechanism, the walking tracks always keep in contact with the inner wall of the pipe, which can effectively provide support, anti-slip function, and power.

[0004] However, the above-mentioned municipal pipeline dredging robot has the following problems in actual use: the contact between the three tracks and the inner wall of the pipeline mainly relies on the pressure given by the compression spring. However, after long-term use, the spring will become fatigued, which will reduce the pressure between the tracks and the inner wall of the pipeline, and thus reduce the friction between the tracks and the inner wall of the pipeline. Moreover, most pipeline inner walls are slippery, which can easily affect the robot's movement on the inner wall of the pipeline.

[0005] Therefore, an inspection robot for unblocking internal pipes is proposed to address the above problems. Utility Model Content

[0006] To address the problems mentioned in the background art, this utility model provides an inspection robot for unblocking pipes, which provides sufficient pressure from the tracked walking mechanism to the inner wall of the pipe to ensure friction between the tracked walking mechanism and the inner wall of the pipe, thus facilitating the robot's movement inside the pipe.

[0007] To achieve the above objectives, this utility model provides the following technical solution: an inspection robot for unblocking pipes, comprising a robot body, an adjustment component installed on the robot body, a track walking mechanism evenly distributed on the outside of the robot body connected to the adjustment component, a flushing component installed on the robot body at a position corresponding to the track walking mechanism, and an unblocking component installed at the front end of the robot body.

[0008] The adjustment assembly includes a first motor installed inside the robot body. The first motor is connected to a drive gear via a motor shaft. The drive gear meshes with a gear ring. The outer side of the gear ring is rotatably connected to the robot body via a slide rail. The gear ring meshes with multiple evenly distributed driven gears. The driven gears are fixedly connected to a rotating rod. A positioning rod is provided on one side of the rotating rod. Two symmetrically arranged moving blocks are connected between the positioning rod and the rotating rod. The moving blocks are threaded to the rotating rod and slidably connected to the positioning rod. The moving blocks are connected to a connecting rod via a rotating shaft. The connecting rod is connected to a tracked walking mechanism via the rotating shaft. Guide rods are fixedly connected to both sides of the tracked walking mechanism and extend through into the robot body.

[0009] Preferably, the rinsing assembly includes a water tank, which is connected to a water pump via a pipe. The outlet of the water pump is connected to a water guide pipe via a pipe, and the end of the water guide pipe is connected to a nozzle. The nozzle is installed on the outside of the robot body, and the position of the nozzle corresponds to the track walking mechanism.

[0010] Preferably, the unblocking component includes a second motor installed inside the robot body, the output end of the second motor is connected to a transmission rod, and the transmission rod is connected to a slitting blade through a connecting component.

[0011] Preferably, the connecting assembly includes a positioning groove, a positioning block is provided in the positioning groove, the positioning block is fixedly connected to the transmission rod, and a fixing bolt is installed on the side of the slitting blade away from the positioning groove, the fixing bolt passing through the slitting blade and threadedly connected to the positioning block.

[0012] Preferably, the slitting blade consists of a connecting section, an adapter section, a first blade, and a second blade. The two ends of the connecting section are connected to the first blade through the adapter section, and the front side of the connecting section is fixedly connected to the second blade.

[0013] Preferably, a strip-shaped through groove is provided on the robot body at a position corresponding to the linkage, and the linkage passes through the strip-shaped through groove.

[0014] Preferably, a guide groove is provided on the robot body at a position corresponding to the guide rod, and the end of the guide rod extends into the guide groove.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] 1. This utility model provides sufficient force through the setting of adjustment components, motor and other structures, so that the track of the tracked walking mechanism can apply a large force to the inner wall of the pipe, thereby providing sufficient friction between the track of the tracked walking mechanism and the inner wall of the pipe, so that the inspection robot can walk in the pipe.

[0017] 2. By setting up a flushing component, this utility model can use high-pressure water to flush the outside of the track of the track walking mechanism when a large amount of deposits adhere to the track, so as to avoid the large amount of deposits interfering with the track walking mechanism. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the adjustment component of this utility model;

[0020] Figure 3 This is a structural diagram showing the position of the gear ring of this utility model;

[0021] Figure 4 This is a schematic diagram of the rinsing assembly of this utility model;

[0022] Figure 5 This is a schematic diagram of the unblocking component of this utility model;

[0023] Figure 6 This is a schematic diagram of the slitting blade and connecting assembly of this utility model.

[0024] In the image: 1. The main body of the robot;

[0025] 2. Adjustment components; 201. First motor; 202. Drive gear; 203. Gear ring; 204. Driven gear; 205. Rotating rod; 206. Positioning rod; 207. Moving block; 208. Connecting rod; 209. Guide rod;

[0026] 3. Tracked walking mechanism;

[0027] 4. Flushing assembly; 401. Water tank; 402. Water pump; 403. Water pipe; 404. Sprayer head;

[0028] 5. Unblocking component; 501. Second motor; 502. Transmission rod; 503. Connecting component; 5031. Positioning slot; 5032. Positioning block; 5033. Fixing bolt; 504. Slitting blade; 5041. Connecting section; 5042. Adapter section; 5043. First blade; 5044. Second blade;

[0029] 6. Strip groove; 7. Guide groove. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] like Figures 1 to 6 As shown, this utility model provides an inspection robot for unblocking the inside of a pipe, including a robot body 1, an adjustment component 2 installed on the robot body 1, a track walking mechanism 3 evenly distributed on the outside of the robot body 1 connected to the adjustment component 2, a flushing component 4 installed on the robot body 1 at a position corresponding to the track walking mechanism 3, and an unblocking component 5 installed at the front end of the robot body 1.

[0032] Adjustment component 2 includes a first motor 201 installed inside the robot body 1. The first motor 201 is connected to a drive gear 202 via a motor shaft. The drive gear 202 meshes with a gear ring 203. The outer side of the gear ring 203 is rotatably connected to the robot body 1 via a slide rail. The gear ring 203 meshes with multiple evenly distributed driven gears 204. The driven gears 204 are fixedly connected to a rotating rod 205. A positioning rod 206 is provided on one side of the rotating rod 205. Two symmetrically arranged moving blocks 207 are connected between the positioning rod 206 and the rotating rod 205. The moving blocks 207 are threaded together. Rotating rod 205 and moving block 207 are slidably connected to positioning rod 206. Moving block 207 is connected to connecting rod 208 through rotating shaft. Connecting rod 208 is connected to track walking mechanism 3 through rotating shaft. Guide rods 209 are fixedly connected to both sides of track walking mechanism 3. Guide rods 209 penetrate into robot body 1 and provide sufficient force through motor and other structures so that the track of track walking mechanism 3 can apply a large force to the inner wall of pipe, thereby providing sufficient friction between track of track walking mechanism 3 and inner wall of pipe, so that inspection robot can walk in pipe.

[0033] Specifically, the rinsing assembly 4 includes a water tank 401, which is connected to a water pump 402 via a pipe. The outlet of the water pump 402 is connected to a water guide pipe 403 via a pipe. The end of the water guide pipe 403 is connected to a nozzle 404. The nozzle 404 is installed on the outside of the robot body 1, and the position of the nozzle 404 corresponds to the track walking mechanism 3. When a large amount of adhering material is attached to the track of the track walking mechanism 3, high-pressure water can be used to rinse the outside of the track of the track walking mechanism 3 to avoid a large amount of adhering material interfering with the track walking mechanism 3.

[0034] Furthermore, the unblocking component 5 includes a second motor 501 installed inside the robot body 1. The output end of the second motor 501 is connected to a transmission rod 502. The transmission rod 502 is connected to a cutting blade 504 through a connecting component 503. The cutting blade 504 cuts up the blockage in the pipe to facilitate unblocking the pipe.

[0035] Furthermore, the connecting component 503 includes a positioning groove 5031, a positioning block 5032 is provided in the positioning groove 5031, the positioning block 5032 is fixedly connected to the transmission rod 502, and a fixing bolt 5033 is installed on the side of the slitting blade 504 away from the positioning groove 5031. The fixing bolt 5033 passes through the slitting blade 504 and is threaded to the positioning block 5032. The connecting component 503 facilitates the replacement of different slitting blades 504.

[0036] It is worth noting that the slitting blade 504 is composed of a connecting section 5041, a transition section 5042, a first blade 5043, and a second blade 5044. The two ends of the connecting section 5041 are connected to the first blade 5043 through the transition section 5042, and the front side of the connecting section 5041 is fixedly connected to the second blade 5044.

[0037] It is worth noting that a strip-shaped through groove 6 is provided on the robot body 1 at the position corresponding to the linkage 208, and the linkage 208 passes through the strip-shaped through groove 6.

[0038] It is worth mentioning that a guide groove 7 is provided on the robot body 1 at the position corresponding to the guide rod 209, and the end of the guide rod 209 extends into the guide groove 7.

[0039] The first motor 201, the track walking mechanism 3, the water pump 402, and the second motor 501 are existing technologies and will not be described in detail. In addition, this utility model also includes a power supply, a controller, and a switch, which are not the main technical points of this patent and will not be described in detail.

[0040] Working principle and process: The inspection robot is placed inside the pipe. The first motor 201 of the adjustment component 2 is started, which in turn drives the gear ring 203 to rotate. The driven gear 204 then drives the rotating rod 205 to rotate. Under the action of the thread and the positioning rod 206, the moving blocks 207 move closer or further apart, causing the connecting rod 208 to tilt. The distance between the tracked walking mechanism 3 and the robot body 1 is changed according to the degree of tilt of the connecting rod 208, allowing the inspection robot to adapt to pipes of different diameters. The tracked walking mechanism 3 is then started, and the inspection robot... It can move inside the pipe. When a large amount of deposits adhere to the track of the track walking mechanism 3, the water pump 402 of the flushing component 4 is started. The water in the water tank 401 is sprayed out by the nozzle 404 after passing through the water pump 402 and the water guide pipe 403. High pressure water can be used to flush the outside of the track of the track walking mechanism 3 to avoid a large amount of deposits interfering with the track walking mechanism 3. When encountering blockages in the pipe, the second motor 501 of the unblocking component 5 is started. Then the transmission rod 502 drives the cutting blade 504 to rotate, which can cut up the blockage to facilitate unblocking the pipe.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0042] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An inspection robot for unblocking internal pipes, comprising a robot body (1), characterized in that: An adjustment component (2) is installed on the robot body (1). The adjustment component (2) is connected to a track walking mechanism (3) that is evenly distributed on the outside of the robot body (1). A flushing component (4) is installed on the robot body (1) at a position corresponding to the track walking mechanism (3). A dredging component (5) is installed at the front end of the robot body (1). The adjustment assembly (2) includes a first motor (201) installed inside the robot body (1). The first motor (201) is connected to a drive gear (202) via a motor shaft. The drive gear (202) meshes with a gear ring (203). The outer side of the gear ring (203) is rotatably connected to the robot body (1) via a slide rail. The gear ring (203) meshes with multiple evenly distributed driven gears (204). The driven gears (204) are fixedly connected to a rotating rod (205). A positioning rod (206) is provided on one side of the rotating rod (205). The positioning rod (206) and the rotating rod (205) are connected by two symmetrically arranged moving blocks (207). The moving blocks (207) are threadedly connected to the rotating rod (205) and slidably connected to the positioning rod (206). The moving blocks (207) are connected to a connecting rod (208) through a rotating shaft. The connecting rod (208) is connected to the track walking mechanism (3) through a rotating shaft. Guide rods (209) are fixedly connected to both sides of the track walking mechanism (3). The guide rods (209) extend through into the robot body (1).

2. The inspection robot for unblocking internal pipes according to claim 1, characterized in that: The rinsing assembly (4) includes a water tank (401), which is connected to a water pump (402) via a pipe. The outlet of the water pump (402) is connected to a water guide pipe (403) via a pipe. The end of the water guide pipe (403) is connected to a nozzle (404). The nozzle (404) is installed on the outside of the robot body (1), and the position of the nozzle (404) corresponds to the track walking mechanism (3).

3. The inspection robot for unblocking internal pipes according to claim 1, characterized in that: The unblocking component (5) includes a second motor (501) installed inside the robot body (1), and the output end of the second motor (501) is connected to a transmission rod (502). The transmission rod (502) is connected to a slitting blade (504) through a connecting component (503).

4. The inspection robot for unblocking internal pipes according to claim 3, characterized in that: The connecting assembly (503) includes a positioning groove (5031), a positioning block (5032) is provided in the positioning groove (5031), the positioning block (5032) is fixedly connected to the transmission rod (502), and a fixing bolt (5033) is installed on the side of the slitting blade (504) away from the positioning groove (5031), the fixing bolt (5033) passes through the slitting blade (504) and is threaded to the positioning block (5032).

5. The inspection robot for unblocking internal pipes according to claim 3, characterized in that: The slitting blade (504) is composed of a connecting section (5041), a transition section (5042), a first blade (5043), and a second blade (5044). The two ends of the connecting section (5041) are connected to the first blade (5043) through the transition section (5042), and the front side of the connecting section (5041) is fixedly connected to the second blade (5044).

6. The inspection robot for unblocking internal pipes according to claim 1, characterized in that: A strip-shaped through groove (6) is provided on the robot body (1) at the position corresponding to the connecting rod (208), and the connecting rod (208) passes through the strip-shaped through groove (6).

7. The inspection robot for unblocking internal pipes according to claim 1, characterized in that: A guide groove (7) is provided on the robot body (1) at the position corresponding to the guide rod (209), and the end of the guide rod (209) extends into the guide groove (7).

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