Machine insect for pipeline detection

Abstract

The utility model discloses a machine insect for pipeline detection, which comprises a trunk part, a communication unit and a head detection unit, one end of the trunk part is connected with the head detection unit, the other end of the trunk part is connected with the communication unit, the trunk part comprises three turning driving mechanisms, a pipeline main body is arranged on the outer sides of the three turning driving mechanisms, and the pipeline main body is connected with the communication unit. The three bending driving mechanisms are linearly arranged along the axis of the pipeline body, and a wireless transmission module is fixedly arranged in the communication unit. The bending driving mechanism is composed of two angle bending units, two lateral driving supporting arms and a bottom supporting arm, the two angle bending units are arranged along the axis, and the lateral driving supporting arms are installed on the two sides of one angle bending unit. According to the utility model, the bending driving mechanism can bend and move along the axis of the pipeline, so that the vertical movement of pipelines with different sizes can be met, and the application scene of pipeline detection can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection technical field, concretely is a pipeline detection machine insect. BACKGROUND

[0002] The underground pipeline network is more and more complex, and the underground space is more and more crowded, and the management and maintenance of the underground pipeline network are more and more difficult. The underground pipeline is damaged and broken by external force due to unknown path and burial depth. In city construction and road widening engineering, pipeline detection can help understand the layout and trend of underground pipeline in advance, avoid mis-digging and mis-hurting pipeline, and ensure construction safety. Regular pipeline detection can timely find pipeline leakage, corrosion and other problems, provide technical support for pipeline maintenance and management, and pipeline detection has irreplaceable importance in preventing pipeline failure and prolonging pipeline service life.

[0003] When the existing pipeline inside is detected, the horizontal pipeline is usually detected, and it is not convenient to move along the pipeline when the pipeline is in an inclined or vertical state, and the detection scene is limited. Therefore, the existing requirements are not met, and for this purpose, a pipeline detection machine insect is proposed. UTILITY MODEL

[0004] The utility model aims at providing a pipeline detection machine insect to solve the problem that when the existing pipeline inside is detected, the horizontal pipeline is usually detected, and it is not convenient to move along the pipeline when the pipeline is in an inclined or vertical state, and the detection scene is limited.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a pipeline detection machine insect, comprising a trunk, a communication unit and a head detection unit, one end of the trunk is connected with the head detection unit, the other end of the trunk is connected with a compressed battery pack and the communication unit, the trunk comprises three bending drive mechanisms, one pipeline body is installed on the outer side of the three bending drive mechanisms, the three bending drive mechanisms are linearly arranged along the axis of the pipeline body, and a wireless transmission module is fixedly arranged in the communication unit.

[0006] The bending drive mechanism is composed of two angle bending units, two lateral drive arms and a bottom supporting arm, the two angle bending units are arranged along the axis, lateral drive arms are installed on both sides of one of the angle bending units, the bottom supporting arm is installed on the lower end surface of the angle bending unit, and the two lateral drive arms are symmetrically installed relative to the angle bending unit.

[0007] Preferably, the angle bending unit comprises a bending box, a plurality of second batteries are fixedly installed on the inner side of one end of the bending box, and two electric push rods are rotatably connected to the inner side of the other end of the bending box.

[0008] Preferably, the lateral driving arm comprises a first telescopic arm, one end of the first telescopic arm is fixedly connected with the bending box, a first double-head cylinder is fixedly installed at one end of the first telescopic arm, two second transmission motors are fixedly installed at the output end of the first double-head cylinder, and a first driving wheel is fixedly installed at the output end of the second transmission motor.

[0009] Preferably, the bottom supporting arm comprises a first telescopic arm, the upper end of the first telescopic arm is fixedly connected with the bending box, a second double-head cylinder is installed at the bottom end of the first telescopic arm, two third transmission motors are fixedly installed at the output end of the second double-head cylinder, and a second driving gear is fixedly installed at the output end of the third transmission motor.

[0010] Preferably, the other bending box in the angle bending unit is rotationally connected with the output end of the two adjacent electric push rods in one of the bending boxes through a pin, the two adjacent bending boxes are rotationally connected through a pin, and the two adjacent electric push rods are symmetrically installed relative to the axis of the bending box.

[0011] Preferably, the two third transmission motors are symmetrically installed relative to the second double-head cylinder, the axes of the second double-head cylinder, the third transmission motor and the second driving gear coincide, the two second transmission motors are symmetrically installed relative to the first double-head cylinder, and the axes of the first double-head cylinder, the second transmission motor and the first driving wheel coincide.

[0012] Preferably, the head detection unit comprises a connecting box, a first transmission motor is fixedly installed at the inner side of one end of the connecting box, a detection mounting cover is rotationally connected at one end of the connecting box, an illumination mounting seat is fixedly installed at the inner side of the detection mounting cover, a detection head is installed at one end of the illumination mounting seat, the output end of the first transmission motor penetrates through the connecting box and is fixedly connected with the detection mounting cover, a plurality of light supplementing lamps are arranged at the outer side of the detection head on one side of the illumination mounting seat, and an infrared camera, an ultrasonic detector and a ranging radar are arranged at the inner side of the detection head.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1. The utility model discloses a relative bending of two adjacent bending boxes, and one node between the two adjacent bending boxes, thereby realizing the bending adjustment of multiple nodes of the machine insect one by one, the angle bending unit contacts the pipeline main body through two lateral driving arms and bottom supporting arms, when the bending box bends, the two adjacent lateral driving arms symmetrically installed can keep the machine insect in contact with the inner wall of the pipeline main body, thereby meeting the requirement that the machine insect can move in contact with the inner side of the pipeline main body of different sizes, the second transmission motor drives the machine insect to move along the inner wall through the first driving wheel, thereby realizing the vertical movement of the machine insect when the pipeline main body is in the vertical state, and improving the detection range of the pipeline.

[0015] 2. The utility model discloses the infrared camera, ultrasonic detector and ranging radar in the inside of the detection head of head detection unit are equipped with, make the infrared camera cooperate with the light supplementing lamp to be able to gather the image to the inside of the pipeline, the ultrasonic detector can detect the pipeline, through ranging radar can real -time monitoring the moving direction of machine insect, avoid the collision of machine insect and pipeline main body, the third transmission motor drives the operation through the second drive gear, thereby the second drive gear can support the operation when driving the machine insect, keep the stability of machine insect movement, through the first double -end cylinder and second double -end cylinder can adjust the interval of two adjacent second transmission motor and third transmission motor, thereby can meet the driving operation of first driving wheel and second drive gear along the inner wall of the pipeline main body of different sizes. DRAWINGS

[0016] Figure 1 It is the overall structure schematic view of the utility model;

[0017] Figure 2 It is the installation structure schematic view of the communication unit of the utility model;

[0018] Figure 3 It is the structure schematic view of the bending drive mechanism of the utility model;

[0019] Figure 4 It is the local section structure schematic view of the angle bending unit of the utility model;

[0020] Figure 5 It is the section structure schematic view of the head detection unit of the utility model.

[0021] In the figure: 1, pipeline main body; 2, communication unit; 3, bending drive mechanism; 4, angle bending unit; 5, lateral drive support arm; 6, bottom support arm; 7, detection mounting cover; 8, connection box; 9, detection head; 10, lighting mounting base; 11, first transmission motor; 12, first battery; 13, bending box; 14, electric push rod; 15, second battery; 16, first telescopic arm; 17, first double-head cylinder; 18, second transmission motor; 19, first drive wheel; 20, first telescopic arm; 21, second double-head cylinder; 22, third transmission motor; 23, second drive gear; 24, head detection unit; 25, compression battery pack. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0023] The first transmission motor 11 (model YEJ3-112M-4), the electric push rod 14 (model HTKC-35), the first double-head cylinder 17 (model A60A61), the second transmission motor 18 (model YEJ3-112M-4), the second double-head cylinder 21 (model A60A61) and the third transmission motor 22 (model KOM7080) mentioned in the utility model can be obtained from market purchase or private customization.

[0024] Please refer to Figure 1 and Figure 2 The utility model provides an embodiment: a kind of pipeline detection machine worm, including trunk, communication unit 2 and head detection unit 24, one end of trunk is connected with head detection unit 24, the other end of trunk is connected with compression battery pack 25 and communication unit 2, compression battery pack homogenization makes battery internal gap, obtains homogenization treatment, to improve the performance and energy density of battery, the inside of communication unit 2 is fixed with wireless transmission module, wireless transmission technology replaces traditional communication cable, using remote terminal detection, guaranteeing that detection personnel safety and picture real-time transmission;

[0025] The trunk part includes three bending driving mechanisms 3, one pipeline body 1 is installed on the outer side of the three bending driving mechanisms 3, the three bending driving mechanisms 3 are linearly arranged along the axis of the pipeline body 1, the bending driving mechanism 3 is composed of two angle bending units 4, two lateral driving arms 5 and a bottom supporting arm 6, the two angle bending units 4 are arranged along the axis, the lateral driving arms 5 are installed on both sides of one of the angle bending units 4, the bottom supporting arm 6 is installed on the lower end surface of the angle bending unit 4, the two lateral driving arms 5 are symmetrically installed relative to the angle bending unit 4, and the bending driving mechanism 3 can be kept in stable contact with the pipeline body 1 during bending through the lateral driving arms 5 and the bottom supporting arm 6.

[0026] Please refer to Figure 2 and Figure 5 The head detection unit 24 includes a connecting box 8, a first transmission motor 11 is fixedly installed on the inner side of one end of the connecting box 8, a detection mounting cover 7 is rotatably connected to one end of the connecting box 8, an illumination mounting seat 10 is fixedly installed on the inner side of the detection mounting cover 7, a detection head 9 is installed on one end of the illumination mounting seat 10, the output end of the first transmission motor 11 penetrates through the connecting box 8 and is fixedly connected with the detection mounting cover 7, a plurality of light supplementing lamps are arranged on one side of the illumination mounting seat 10 and located outside the detection head 9, an infrared camera, an ultrasonic detector and a ranging radar are arranged on the inner side of the detection head 9, the infrared camera cooperates with the light supplementing lamps to collect images inside the pipeline, the ultrasonic detector can detect defects of the pipeline, and the ranging radar can monitor the moving direction of the machine worm in real time, so as to avoid collision between the machine worm and the pipeline body 1.

[0027] Please refer to Figure 2 and Figure 3 The angle bending unit 4 includes a bending box 13, a plurality of second batteries 15 are fixedly installed on the inner side of one end of the bending box 13, two electric push rods 14 are rotatably connected to the inner side of the other end of the bending box 13, the other bending box 13 in the angle bending unit 4 is rotatably connected with the output ends of the adjacent two electric push rods 14 in one of the bending boxes 13, the adjacent two bending boxes 13 are rotatably connected through the column pins, and the adjacent two electric push rods 14 are symmetrically installed relative to the axis of the bending box 13, so that the electric push rod 14 pushes the other bending box 13 under the support of one of the bending boxes 13, and then the adjacent two bending boxes 13 can relatively bend, the adjacent two bending boxes 13 are a node, and then the plurality of nodes of the machine worm can be adjusted one by one.

[0028] Please refer to Figure 2 and Figure 3, the lateral driving arm 5 comprises a first telescopic arm 16 fixedly connected with the bending box 13, one end of the first telescopic arm 16 is fixedly installed with a first double-head pneumatic cylinder 17, the output end of the first double-head pneumatic cylinder 17 is fixedly installed with two second transmission motors 18, the output end of the second transmission motor 18 is fixedly installed with a first driving wheel 19, the two second transmission motors 18 are symmetrically installed relative to the first double-head pneumatic cylinder 17, the axes of the first double-head pneumatic cylinder 17, the second transmission motor 18 and the first driving wheel 19 coincide, so that the second transmission motor 18 drives the machine insect to move along the inner wall of the pipeline body 1 through the first driving wheel 19 under the support of the first double-head pneumatic cylinder 17, and then can move vertically when the pipeline body 1 is in a vertical state.

[0029] In addition, a torque sensor can also be arranged at the axle of the first driving wheel 19 to collect information data of the first driving wheel torque.

[0030] Please refer to Figure 2 and Figure 3 , the bottom supporting arm 6 comprises a first telescopic arm 20, the upper end of the first telescopic arm 20 is fixedly connected with the bending box 13, the bottom end of the first telescopic arm 20 is installed with a second double-head pneumatic cylinder 21, the output end of the second double-head pneumatic cylinder 21 is fixedly installed with two third transmission motors 22, the output end of the third transmission motor 22 is fixedly installed with a second driving gear 23, the two third transmission motors 22 are symmetrically installed relative to the second double-head pneumatic cylinder 21, the axes of the second double-head pneumatic cylinder 21, the third transmission motor 22 and the second driving gear 23 coincide, so that the third transmission motor 22 drives the operation through the second driving gear 23 under the support of the second double-head pneumatic cylinder 21, and then the second driving gear 23 can drive and support the machine insect at the same time, keeping the stability of the movement of the machine insect.

[0031] In use, the three bending driving mechanisms 3 are linearly arranged, wherein the adjacent two bending boxes 13 are connected through a pin, the machine insect is placed inside the pipeline body 1, the bending box 13 is bent according to the cross-sectional size of the pipeline body 1, specifically, the power supply is turned on, the electric push rod 14 is started, so that the electric push rod 14 pushes the other bending box 13 under the support of one of the bending boxes 13, and then the adjacent two bending boxes 13 can be bent relative to each other, the adjacent two bending boxes 13 are a node, and then the multiple nodes of the machine insect are bent and adjusted one by one;

[0032] The angle bending unit 4 is in contact with the pipeline body 1 through two lateral driving arms 5 and a bottom supporting arm 6, and when the bending box 13 is bent, the two adjacent lateral driving arms 5 symmetrically installed can keep the robot in contact with the inner wall of the pipeline body 1, so that the robot can move in contact with the inner side of the pipeline body 1 of different sizes, the second driving motor 18 is started, so that the second driving motor 18 drives the robot to move along the inner wall of the pipeline body 1 under the support of the first double-headed cylinder 17 through the first driving wheel 19, thereby enabling vertical movement when the pipeline body 1 is in a vertical state, improving the detection range of the pipeline;

[0033] The inside of the detection head 9 is provided with an infrared camera, an ultrasonic detector and a ranging radar, so that the infrared camera can cooperate with the light supplementing lamp to collect images of the inside of the pipeline, the ultrasonic detector can detect the pipeline, and the ranging radar can monitor the moving direction of the robot in real time, avoiding collision between the robot and the pipeline body 1, the bottom supporting arm 6 is installed at the lower end face of the bending box 13, so that the third driving motor 22 drives the second driving gear 23 under the support of the second double-headed cylinder 21, thereby the second driving gear 23 can drive and support the robot at the same time, keeping the stability of the robot movement, the first double-headed cylinder 17 and the second double-headed cylinder 21 can adjust the distance between the two adjacent second driving motors 18 and the third driving motor 22, thereby enabling the first driving wheel 19 and the second driving gear 23 to drive along the inner wall of the pipeline body 1 of different sizes.

[0034] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and range of equivalents of the elements of the claims are intended to be embraced therein. Any reference signs in the claims should not be considered as limiting the claims involved.

Claims

1. A machine insect for pipeline detection, comprising a trunk, a communication unit (2) and a head detection unit (24), one end of the trunk is connected with the head detection unit (24), the other end of the trunk is connected with a compressed battery pack (25) and the communication unit (2), a wireless transmission module is fixedly arranged in the communication unit (2), the trunk comprises three bending driving mechanisms (3), characterized in that: Three said outside of the turning drive mechanism (3) is installed with a pipeline body (1), three said turning drive mechanism (3) along the axis of the pipeline body (1) linear arrangement; Said turning drive mechanism (3) is composed of two angle turning units (4), two lateral drive arms (5) and bottom support arm (6), two said angle turning units (4) along the axis arrangement, one of said angle turning units (4) both sides are installed with lateral drive arm (5), the lower end surface of the angle turning unit (4) is installed with bottom support arm (6), two said lateral drive arms (5) relative to angle turning unit (4) symmetrically installed.

2. A machine worm for pipeline inspection according to claim 1, characterized in that: Said angle turning unit (4) includes turning box (13), one end of the inner side of the turning box (13) is fixedly installed with a plurality of second battery (15), the other end of the inner side of the turning box (13) is rotatably connected with two electric push rod (14).

3. A machine worm for pipeline inspection according to claim 2, characterized in that: Said lateral drive arm (5) includes first telescopic arm (16), the first telescopic arm (16) is fixedly connected with the turning box (13), one end of the first telescopic arm (16) is fixedly installed with first double head cylinder (17), the output end of the first double head cylinder (17) is fixedly installed with two second transmission motor (18), the output end of the second transmission motor (18) is fixedly installed with first drive wheel (19).

4. A machine worm for pipeline inspection according to claim 3, characterized in that: Said bottom support arm (6) includes first telescopic arm (20), the upper end of the first telescopic arm (20) is fixedly connected with the turning box (13), the bottom end of the first telescopic arm (20) is installed with second double head cylinder (21), the output end of the second double head cylinder (21) is fixedly installed with two third transmission motor (22), the output end of the third transmission motor (22) is fixedly installed with second drive gear (23).

5. A machine worm for pipeline inspection according to claim 4, characterized in that: Another turning box (13) in said angle turning unit (4) is rotatably connected with the output end of two adjacent electric push rod (14) in one of the turning box (13), two adjacent said turning box (13) are rotatably connected by the pin, two adjacent said electric push rod (14) are symmetrically installed relative to the axis of the turning box (13).

6. A machine worm for pipeline inspection according to claim 5, characterized in that: Two said third transmission motor (22) are symmetrically installed relative to the second double head cylinder (21), the axis of the second double head cylinder (21), third transmission motor (22) and second drive gear (23) coincide, two said second transmission motor (18) are symmetrically installed relative to the first double head cylinder (17), the axis of the first double head cylinder (17), second transmission motor (18) and first drive wheel (19) coincide.

7. A machine worm for pipeline inspection according to claim 6, characterized in that: The head detection unit (24) comprises a connecting box (8), the inner side of one end of the connecting box (8) is fixedly provided with a first transmission motor (11), one end of the connecting box (8) is rotatably connected with a detection mounting cover (7), the inner side of the detection mounting cover (7) is fixedly provided with an illumination mounting seat (10), one end of the illumination mounting seat (10) is provided with a detection head (9), the output end of the first transmission motor (11) penetrates through the connecting box (8) and is fixedly connected with the detection mounting cover (7), a plurality of light supplementing lamps are arranged on the side of the illumination mounting seat (10) and located outside the detection head (9), and the inner side of the detection head (9) is provided with an infrared camera, an ultrasonic detector and a ranging radar.

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