Remote control pipeline detection robot

Abstract

The utility model relates to the field of remote pipeline detection equipment, in particular to a remote control pipeline detection robot which comprises a front machine body, one side of the front machine body is fixedly connected with a steering assembly, one end of the steering assembly is fixedly connected with a first lead screw fixing plate, and the first lead screw fixing plate is fixedly connected with a rear machine body fixing rod. An identification assembly is fixedly arranged on the rear machine body fixing rod, a supporting rod motor connecting body is fixedly arranged on the rear machine body fixing rod, a lead screw motor assembly is fixedly arranged on one side of the supporting rod motor connecting body, a lead screw is fixedly connected to the output end of the lead screw motor assembly, and a nut connecting plate is slidably connected to the lead screw; the device can be suitable for pipelines with different pipe diameters during use, can be well attached to the pipe wall and is not prone to toppling over, the steering design enables the pipeline to smoothly pass through at the turning position, detected information is wirelessly transmitted through the device under the condition of a long distance, and the detection efficiency is improved. And subsequent processing work of detection data of subsequent workers is facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to remote pipeline detection equipment field especially, relate to a remote control pipeline detection robot. BACKGROUND

[0002] Pipeline detection robot is a kind of can walk along the remote control inside pipeline, carry one or more sensors and operating machinery, under the remote control operation of staff or computer automatic control, carry out a series of pipeline operation, the existing pipeline detection robot adopts four-wheel landing structure to explore pipeline, however, four-wheel robot has some defects, such as for some small pipeline detection robot cannot enter pipeline and work, cannot be applicable to the pipeline of different pipe diameters, the driving wheel of four-wheel robot is difficult to better stick to the pipe wall, when walking in circular pipeline, it is easy to tip over and cause detection operation failure, when encountering pipeline bend, pipeline detection robot cannot turn due to the size problem of machine body, therefore, a remote control pipeline detection robot is required to solve the problems that existing device cannot be applicable to the pipeline of different pipe diameters when working, the driving wheel of pipeline detection robot is difficult to better stick to the pipe wall when driving and the size problem of machine body cannot turn.

[0003] The Chinese patent with publication number CN211574522U discloses a remote control pipeline detection robot, which comprises a robot body, a front mounting plate, a rear mounting plate, a front cylinder, a rear cylinder, the front cylinder and the rear cylinder are arranged between the front mounting plate and the rear mounting plate, the cylinder body of the front cylinder is connected to the front mounting plate, and the piston rod thereof passes through the front mounting plate, the cylinder body of the rear cylinder is connected to the rear mounting plate, and the piston rod thereof passes through the rear mounting plate; two pairs of walking mechanisms are respectively connected to the piston rods of the front cylinder and the rear cylinder, for realizing the forward movement or backward movement of the robot body; a pair of detection mechanisms are respectively connected to the piston rods of the front cylinder and the rear cylinder; the walking mechanisms and the detection mechanisms can be retracted and expanded by the extension and retraction of the piston rods, and the forward movement or backward movement of the robot body can be realized by the two pairs of walking mechanisms, the front and rear detection mechanisms can not only detect the wall surface of the sewage pipeline, but also detect the state of the front and rear of the pipeline.

[0004] In the above-mentioned patent, there is no device for buffering and damping when working in the pipeline, which can easily cause the wheels to be damaged for a long time, and the remote control function of the device is limited to a long distance, which requires a lot of network cables and cannot pass through some bends. UTILITY MODEL CONTENTS

[0005] The utility model discloses a purpose provides a kind of remote control pipeline detection robot, the device can be suitable for the pipeline of different pipe diameter when using, can be well attached to pipe wall not easy to dump flip, the design of steering can be smoothly passed at the bend, through the device under the condition of far distance, the information detected by wireless transmission, facilitate subsequent staff to carry out next detection data processing work.

[0006] The utility model discloses a purpose provides a kind of remote control pipeline detection robot, including the steering assembly of front body one side fixed connection, steering assembly one end fixed connection has screw rod fixed plate one, a plurality of rear body fixed link are fixedly connected on screw rod fixed plate one, a plurality of rear body fixed link are fixedly set with identification module, a plurality of rear body fixed link are fixedly set with support rod motor connecting body, a plurality of rear body fixed link another end fixedly set with screw rod fixed plate two, a plurality of rear body fixed link upper slide setting has nut connecting plate, nut connecting plate one side embeds with screw nut, support rod motor connecting body one side fixedly set with screw motor assembly, screw motor assembly output is fixedly connected with screw rod, and screw rod one end rotationally arranged in screw motor assembly output, and screw rod another end rotationally arranged in screw rod fixed plate two, and screw nut rotationally arranged on screw rod, support rod motor connecting body side articulates with a plurality of drive assemblies, a plurality of drive assemblies one side articulates with a plurality of connecting rods, and a plurality of connecting rods another end articulates on nut connecting plate, and the front body front fixedly set with remote control module.

[0007] Further, the front body includes an intermediate connecting body fixedly disposed on one side of the steering assembly, three body spring members, three body support members, and a body wheel, the intermediate connecting body has the three body spring members fixedly disposed on one side thereof, the three body spring members have the three body support members slidably sleeved therein, and the three body support members each have the body wheel mounted thereon.

[0008] Further, the identification module includes a module fixed plate and an identification module, the module fixed plate is fixedly disposed on the rear body fixed link, and the module fixed plate has the identification module fixedly disposed thereon.

[0009] Further, the screw motor assembly includes a screw motor and a motor brake, the screw motor is fixedly disposed on one side of the support rod motor connecting body, and the screw motor has the motor brake fixedly disposed on the other side thereof.

[0010] Further, the driving assembly comprises a support rod, a wheel support, a motor fixing frame, a driving motor, a motor bevel gear, a wheel bevel gear, a wheel shaft and a wheel, one end of the support rod is fixedly arranged at one side of the support rod motor connecting body, a motor fixing frame is fixedly connected to the middle of the other end of the support rod, the driving motor is fixedly arranged on the motor fixing frame, the motor bevel gear is rotatably connected to the output end of the driving motor, the wheel supports are fixedly arranged on both sides of the other end of the support rod, a through hole is formed at one end of each of the two wheel supports, the wheel shaft is rotatably arranged in the through hole, the wheel is rotatably arranged on the wheel shaft, the wheel bevel gear is fixedly connected to one end of the wheel shaft, and the wheel bevel gear is rotatably engaged with the motor bevel gear.

[0011] Further, the remote control module comprises a camera, an infrared sensor, a wireless transmission chip and a PCB board fixed on one side of the middle connecting body, the camera and the infrared sensor are fixedly arranged on the PCB board, a USB socket is arranged on one side of the PCB board, the wireless transmission chip is arranged in the USB socket, and the camera, the infrared sensor, the wireless transmission chip and the PCB board are electrically connected.

[0012] Further, the steering assembly comprises a universal joint fork one, a connecting block, a connecting shaft and a universal joint fork two, the universal joint fork one is fixedly arranged on one side of the front body, the universal joint fork two is fixedly arranged on one side of the screw rod fixing plate, two through holes are formed in the universal joint fork one and the universal joint fork two and are symmetrically arranged, the connecting block is fixedly installed with four symmetrically arranged connecting shafts, and the connecting shafts are rotatably arranged in the through holes of the universal joint fork one and the universal joint fork two.

[0013] Further, the recognition module, the screw rod motor, the driving motor, the camera, the infrared sensor and the wireless transmission chip are electrically connected through wires.

[0014] The working principle and use principle of the utility model are as follows: when the detection robot is used, first, the front body is manually pushed into the pipeline, under the action of the body spring, the body support is extruded outward, so that the body support is attached to the pipe wall, then the remote computer transmits instructions to the recognition module, the recognition module transmits instructions to the screw rod motor assembly, the screw rod motor assembly drives the driving assembly to adjust the distance between the wheel and the inner diameter of the pipeline to attach to the pipeline, then the driving assembly is remotely controlled, the wheel is driven to rotate by the driving assembly, the rolling wheel drives the whole detection robot to move in the pipeline, when moving forward, the image data of the camera on the front surface of the front body and the infrared sensor data are transmitted to the wireless transmission chip, the data is processed by the wireless transmission chip and transmitted to the remote computer in a wireless transmission mode, so that the staff can perform subsequent work.

[0015] Compared with the prior art, the device adjusts multiple driving assemblies through the lead screw motor assembly, the wheels on the driving assemblies are better attached to the inner wall of the pipeline, and the driving assemblies can be adjusted according to the pipe diameter of the pipeline at any time to be applicable to the pipelines with different pipe diameters, the application range of the detection robot is improved, the design of the steering can smoothly pass through the turning position, and when the detection robot works at a long distance from the action personnel in the pipeline, the information detected can be wirelessly transmitted, and the subsequent workers are facilitated to perform the processing work of the next detection data. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is an overall structural schematic view of the embodiment of the utility model;

[0017] Figure 2 It is a local schematic view of the embodiment of the utility model;

[0018] Figure 3 It is a walking schematic view in the pipeline of the embodiment of the utility model;

[0019] Figure 4 It is an enlarged schematic view of A of the embodiment of the utility model;

[0020] Figure 5 It is a driving assembly structural schematic view of the embodiment of the utility model;

[0021] Figure 6 It is a front body structural schematic view of the embodiment of the utility model;

[0022] Figure 7 It is an enlarged schematic view of B of the embodiment of the utility model;

[0023] Figure 8 It is a flow schematic view of the embodiment of the utility model.

[0024] Explanation of reference signs: 1, front body; 101, middle connecting body; 102, body spring piece; 103, body support piece; 104, body wheel; 2, steering assembly; 201, universal joint fork one; 202, connecting block; 203, connecting shaft; 204, universal joint fork two; 3, lead screw fixing plate one; 4, rear body fixing rod; 5, identification assembly; 501, module fixing plate; 502, identification module; 6, support rod motor connecting body; 7, lead screw motor assembly; 701, lead screw motor; 702, motor brake; 8, lead screw; 9, driving assembly; 901, support rod; 902, wheel support; 903, motor fixing frame; 904, driving motor; 905, motor bevel gear; 906, wheel bevel gear; 907, wheel shaft; 908, wheel; 10, connecting rod; 11, lead screw nut; 12, nut connecting plate; 13, lead screw fixing plate two; 14, remote control module; 1401, camera; 1402, infrared sensor; 1403, wireless transmission chip; 1404, PCB board. DETAILED DESCRIPTION

[0025] According to Figures 1-3 As shown in the figure: a remote control pipeline detection robot, one side of the front body 1 is fixedly connected with the steering assembly 2, one end of the steering assembly 2 is fixedly connected with the lead screw fixing plate one 3, a plurality of rear body fixing rods 4 are fixedly connected on the lead screw fixing plate one 3, the identification assembly 5 is fixedly arranged on the plurality of rear body fixing rods 4, the support rod motor connecting body 6 is fixedly arranged on the plurality of rear body fixing rods 4, the lead screw fixing plate two 13 is fixedly arranged on the other end of the plurality of rear body fixing rods 4, the nut connecting plate 12 is slidingly arranged on the upper surface of the plurality of rear body fixing rods 4, the lead screw nut 11 is embedded on one side of the nut connecting plate 12, the support rod motor connecting body 6 is fixedly arranged on one side of the lead screw motor assembly 7, the lead screw 8 is fixedly connected at the output end of the lead screw motor assembly 7, one end of the lead screw 8 is rotatably arranged at the output end of the lead screw motor assembly 7, the other end of the lead screw 8 is rotatably arranged on the lead screw fixing plate two 13, the lead screw nut 11 is rotatably arranged on the lead screw 8, a plurality of driving assemblies 9 are hingedly connected on the side of the support rod motor connecting body 6, a plurality of connecting rods 10 are hingedly connected on one side of the plurality of driving assemblies 9, the other ends of the plurality of connecting rods 10 are hingedly connected on the nut connecting plate 12, and the remote control module 14 is fixedly arranged on the front surface of the front body 1.

[0026] In the specific implementation, the front body 1 is manually pushed into the pipeline, the body support 103 is extruded outward under the action of the body spring 102, so that the body support 103 is attached to the pipe wall, one side of the front body 1 is fixedly connected with the steering assembly 2, the other end of the steering assembly 2 is fixedly connected with the screw fixed plate one 3, three rear body fixed rods 4 are fixedly arranged on one side of the screw fixed plate one 3, the support rod motor connecting body 6 and the nut connecting plate 12 are slidably arranged on the rear body fixed rods 4, the other end of the rear body fixed rods 4 is fixedly provided with the screw fixed plate two 13, when the detection robot walks, the instruction is wirelessly transmitted to the identification module 502 fixed on the module fixed plate 501 in the identification assembly 5, the identification module 502 controls the screw motor 701 in the screw motor assembly 7 to rotate, the screw motor 701 is fixedly connected with the motor brake 702, the motor brake 702 can adopt a YEJ series, the screw motor 701 is electrically connected with the identification module 502, the identification module 502 can adopt an RFID-RC522 module, the output end of the screw motor 701 drives the connecting rod 10, the screw 8, the screw nut 11 and the nut connecting plate 12 to drive the driving assembly 9 to adjust the distance between the wheel 908 and the inner diameter of the pipeline to attach to the inner diameter of the pipeline, then the driving motor 904 in the driving assembly 9 is controlled by the identification module 502, the wheel 908 is driven to rotate by the driving motor 904, the driving motor 904 is electrically connected with the identification module 502, the rolling wheel 908 drives the whole detection robot to move in the pipeline, when moving forward, the image data of the front camera 1401 and the infrared sensor 1402 data of the front body 1 are transmitted to the wireless transmission chip 1403, the data is processed by the wireless transmission chip 1403 and transmitted to the remote computer in a wireless transmission mode, so that the staff can work later.

[0027] According to Figure 4 As shown: the steering assembly 2 includes the universal joint fork one 201, the connecting block 202, the connecting shaft 203 and the universal joint fork two 204, one side of the front body 1 is fixedly provided with the universal joint fork one 201, one side of the screw fixed plate one 3 is fixedly provided with the universal joint fork two 204, two through holes are formed in the universal joint fork one 201 and the universal joint fork two 204, and the two through holes are symmetrical with each other, four symmetrical connecting shafts 203 are fixedly installed on the surface of the connecting block 202, and the connecting shafts 203 are rotatably arranged in the through holes of the universal joint fork one 201 and the universal joint fork two 204.

[0028] In the specific implementation, the extending end of the universal joint fork one 201 is connected with the symmetrical connecting shaft 203 on the connecting block 202, and the extending end of the universal joint fork two 204 is connected with the other group of symmetrical connecting shafts 203 on the connecting block 202.

[0029] According to Figure 5As shown: the driving assembly 9 includes a support rod 901, a wheel support 902, a motor fixing frame 903, a driving motor 904, a motor bevel gear 905, a wheel bevel gear 906, a wheel shaft 907 and a wheel 908, one end of the support rod 901 is fixedly provided on one side of the support rod motor connecting body 6, the other end of the support rod 901 is fixedly connected with the motor fixing frame 903 in the middle, the motor fixing frame 903 is fixedly provided with the driving motor 904, the output end of the driving motor 904 is rotatably connected with the motor bevel gear 905, both sides of the other end of the support rod 901 are fixedly provided with the wheel support 902, the wheel support 902 is provided with a through hole at one end, the wheel shaft 907 is rotatably arranged in the through hole, the wheel 908 is rotatably arranged on the wheel shaft 907, the wheel shaft 907 is fixedly connected with the wheel bevel gear 906 at one end, and the wheel bevel gear 906 is rotatably engaged with the motor bevel gear 905.

[0030] In specific implementation, two through holes are formed in the middle of the other end of the support rod 901, and the motor fixing frame 903 is fixedly connected by bolts, the driving motor 904 is fixedly arranged on the motor fixing frame 903, the output end of the driving motor 904 is rotatably connected with the motor bevel gear 905, two through holes for fixing the wheel support 902 are formed at the top end of the support rod 901, the through holes for fixing the wheel support 902 are symmetrical with the through holes for fixing the motor fixing frame 903, two wheel supports 902 are fixedly arranged on both sides of the top end of the support rod 901 by bolts, the wheel support 902 is provided with a through hole, the wheel shaft 907 is rotatably connected in the through hole, the wheel shaft 907 is fixedly connected with the wheel bevel gear 906 at one end, and the wheel bevel gear 906 is rotatably engaged with the motor bevel gear 905.

[0031] According to Figures 6-7 As shown: the front body 1 includes an intermediate connecting body 101 fixedly arranged on one side of the steering assembly 2, three body spring members 102, three body support members 103 and a body wheel 104, the intermediate connecting body 101 is fixedly provided with the three body spring members 102 on one side, the three body spring members 102 are slidably sleeved with the three body support members 103, and the three body support members 103 are respectively installed with the body wheel 104; the remote control module 14 includes a camera 1401, an infrared sensor 1402, a wireless transmission chip 1403 and a PCB board 1404 fixed on one side of the intermediate connecting body 101, the camera 1401 and the infrared sensor 1402 are fixedly arranged on the PCB board 1404, the USB jack is provided on one side of the PCB board 1404, the wireless transmission chip 1403 is arranged in the USB jack, and the camera 1401, the infrared sensor 1402, the wireless transmission chip 1403 and the PCB board 1404 are electrically connected.

[0032] In specific implementation, the intermediate connector 101 is fixedly connected with three body spring members 102 respectively, the body spring member 102 is provided with a sliding groove, the sliding groove is provided with an internal spring, one end of the internal spring is fixedly arranged at the bottom of the sliding groove, the other end of the internal spring is fixedly connected with the body support member 103, one end of the body support member 103 is rotatably connected with the body wheel 104, the internal spring extrudes the body support member 103 outward under the action of force, so that the body wheel 104 is attached to the pipe wall, one side of the intermediate connector 101 is fixedly provided with a PCB board 1404, the PCB board 1404 is fixedly provided with a camera 1401 and an infrared sensor 1402 respectively, the camera 1401 can adopt an OV7670 series camera module, records and transmits the picture detected when the robot is running to the wireless transmission chip 1403 arranged on one side of the PCB board 1404, the wireless transmission chip 1403 can adopt an ESP-12F series, the infrared sensor 1402 detects the distance from the object when the detection robot meets the object, and transmits the data to the wireless transmission chip 1403, and transmits the data to the remote computer through wireless transmission.

[0033] According to Figure 8 As shown in the figure: the recognition module 502, the lead screw motor 701, the drive motor 904, the camera 1401, the infrared sensor 1402 and the wireless transmission chip 1403 are electrically connected through wires.

[0034] In specific implementation, the module fixing plate 501 is fixedly provided with a recognition module 502, the recognition module 502 is electrically connected with the lead screw motor 701, the drive motor 904, the recognition module 502, the camera 1401, the infrared sensor 1402 and the wireless transmission chip 1403 through wires, the recognition module 502 is used for establishing communication, the camera 1401 is used for shooting dynamic and static images inside the pipeline, the infrared sensor 1402 is used for detecting the condition inside the pipeline, and the wireless transmission chip 1403 is used for transmitting image data or working condition data and receiving the instructions sent by the recognition module 502.

Claims

1. A remotely controlled pipe inspection robot comprising a front body (1), characterized in that: The front body (1) is fixedly connected with a steering assembly (2) on one side, the steering assembly (2) is fixedly connected with a screw rod fixing plate I (3) on one end, a plurality of rear body fixing rods (4) are fixedly connected on the screw rod fixing plate I (3), an identification assembly (5) is fixedly arranged on the plurality of rear body fixing rods (4), a support rod motor connecting body (6) is fixedly arranged on the plurality of rear body fixing rods (4), a screw rod fixing plate II (13) is fixedly arranged on the other end of the plurality of rear body fixing rods (4), a nut connecting plate (12) is slidably arranged on the upper surface of the plurality of rear body fixing rods (4), a screw rod nut (11) is embedded on one side of the nut connecting plate (12), a screw rod motor assembly (7) is fixedly arranged on one side of the support rod motor connecting body (6), the screw rod motor assembly (7) is fixedly connected with a screw rod (8) on the output end, the screw rod (8) is rotatably arranged on the output end of the screw rod motor assembly (7) on one end, the screw rod (8) is rotatably arranged on the screw rod fixing plate II (13) on the other end, the screw rod nut (11) is rotatably arranged on the screw rod (8), a plurality of drive assemblies (9) are hingedly arranged on the side of the support rod motor connecting body (6), a plurality of connecting rods (10) are hingedly arranged on one side of the plurality of drive assemblies (9), the other ends of the plurality of connecting rods (10) are hingedly arranged on the nut connecting plate (12), and a remote control module (14) is fixedly arranged on the front body (1).

2. The remotely controlled pipe inspection robot according to claim 1, characterized in that: The front body (1) comprises an intermediate connecting body (101) fixedly arranged on one side of the steering assembly (2), three body spring members (102), three body support members (103) and body wheels (104), the intermediate connecting body (101) is fixedly provided with the three body spring members (102) on one side, the three body spring members (102) are slidably sleeved with the three body support members (103), and the three body support members (103) are all provided with the body wheels (104).

3. The remotely controlled pipe inspection robot according to claim 1 or 2, characterized in that: The identification assembly (5) comprises a module fixing plate (501) and an identification module (502), the module fixing plate (501) is fixedly arranged on the rear body fixing rod (4), and the identification module (502) is fixedly arranged on the module fixing plate (501).

4. The remotely controlled pipe inspection robot according to claim 1 or 2, characterized in that: The screw rod motor assembly (7) comprises a screw rod motor (701) and a motor brake (702), the screw rod motor (701) is fixedly arranged on one side of the support rod motor connecting body (6), and the motor brake (702) is fixedly arranged on the other side of the screw rod motor (701).

5. The remotely controlled pipe inspection robot of claim 3, wherein: The screw rod motor assembly (7) comprises a screw rod motor (701) and a motor brake (702), the screw rod motor (701) is fixedly arranged on one side of the support rod motor connecting body (6), and the motor brake (702) is fixedly arranged on the other side of the screw rod motor (701).

6. The remotely controlled pipe inspection robot of claim 5, wherein: The driving assembly (9) comprises a support rod (901), a wheel support (902), a motor fixing frame (903), a driving motor (904), a motor bevel gear (905), a wheel bevel gear (906), a wheel shaft (907) and a wheel (908), one end of the support rod (901) is fixedly arranged on one side of the support rod motor connecting body (6), the other end of the support rod (901) is fixedly connected with the motor fixing frame (903) in the middle, the motor fixing frame (903) is fixedly provided with the driving motor (904), the output end of the driving motor (904) is rotatably connected with the motor bevel gear (905), both sides of the other end of the support rod (901) are fixedly provided with the wheel supports (902), the two wheel supports (902) are both provided with a through hole at one end, the wheel shaft (907) is rotatably arranged in the through hole, the wheel (908) is rotatably arranged on the wheel shaft (907), the wheel shaft (907) is fixedly connected with the wheel bevel gear (906) at one end, and the wheel bevel gear (906) is rotatably connected with the motor bevel gear (905).

7. The remotely controlled pipe inspection robot of claim 6, wherein: The remote control module (14) comprises a camera (1401), an infrared sensor (1402), a wireless transmission chip (1403) and a PCB (1404) fixed on one side of the middle connecting body (101), the camera (1401) and the infrared sensor (1402) are fixedly arranged on the PCB (1404), the USB jack is arranged on one side of the PCB (1404), the wireless transmission chip (1403) is arranged in the USB jack, and the camera (1401), the infrared sensor (1402), the wireless transmission chip (1403) and the PCB (1404) are electrically connected.

8. The remotely controlled pipe inspection robot of claim 1, 2, 5, 6 or 7, wherein: The steering assembly (2) comprises a universal joint fork one (201), a connecting block (202), a connecting shaft (203) and a universal joint fork two (204), the universal joint fork one (201) is fixedly arranged on one side of the front body (1), the universal joint fork two (204) is fixedly arranged on one side of the screw fixing plate one (3), two through holes are formed in the universal joint fork one (201) and the universal joint fork two (204) and are symmetrically arranged, the connecting block (202) is fixedly installed with four symmetrically arranged connecting shafts (203), and the connecting shafts (203) are rotatably arranged in the through holes of the universal joint fork one (201) and the universal joint fork two (204).

9. The remotely controlled pipe inspection robot of claim 7, wherein: The identification module (502), the screw motor (701), the driving motor (904), the camera (1401), the infrared sensor (1402) and the wireless transmission chip (1403) are electrically connected through wires.

Images