Self-adaptive pipe network robot for pipeline detection

Abstract

The utility model is applicable to the technical field of pipe network robots, and discloses a self-adaptive pipe network robot for pipeline detection, which aims to solve the technical problem that the pipe network robot in the prior art is low in environmental adaptability, and comprises a machine main body, two groups of wheel assemblies are mounted on the machine main body and are divided into a front assembly and a rear assembly, the rear assembly comprises two symmetrical rear tires, and the rear assembly is further provided with a switching assembly; the switching assembly comprises an impeller plate located in the rear tire and a floating block located in the machine body, an impeller sliding block is further arranged in the rear tire in a sliding mode, and the impeller sliding block and the impeller plate are connected together. And the robot is in a normal tire mode in a water-free environment, and is automatically switched to an impeller mode in a water existence condition, so that the robot can effectively and automatically adapt to different environments.

Description

Technical Field

[0001] This utility model relates to the technical field of pipeline robots, and in particular to an adaptive pipeline robot for pipeline inspection. Background Technology

[0002] The full name of the pipeline inspection robot is all-terrain pipeline inspection robot. It is mainly divided into four application directions: inspection of the operation and maintenance of existing drainage pipes, inspection of the structural safety of newly built pipelines, inspection of the safety of ground collapse structures, and pipeline detection and route inspection. The pipeline robot consists of four parts: tires, lens, cable tray and control system.

[0003] Nowadays, pipeline robots typically use tires to control their movement when walking inside pipelines. While tires are convenient in dry environments, they become difficult in water. In such cases, the robot needs to be removed and replaced with water-resistant tires before it can continue operating, thus limiting its adaptability. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive pipeline inspection robot, which aims to solve the technical problem of low environmental adaptability of pipeline robots in the prior art.

[0005] To achieve the above objectives, this utility model proposes an adaptive pipeline inspection robot, including a main body with two sets of wheel assemblies mounted on it, divided into a front assembly and a rear assembly. The rear assembly includes two symmetrical rear tires and a switching component.

[0006] The switching assembly includes an impeller plate located inside the rear tire and a float located inside the machine body. An impeller slider is also slidably disposed inside the rear tire and connected to the impeller plate. An active slider is rotatably connected to the other side of the impeller slider. A guide pin is fixed to the outer periphery of the active slider. A conversion shaft is also rotatably disposed inside the machine body. The float is connected to the conversion shaft via a connecting rod. Two symmetrical guide grooves are provided on both sides of the conversion shaft, and the guide pin cooperates with the guide grooves.

[0007] Preferably, the rear assembly further includes a tire drive shaft that rotates within the machine body, with the rear tire mounted on both sides of the tire drive shaft, and the active slider and the impeller slider both located on the outer periphery of the tire drive shaft.

[0008] Preferably, a transmission assembly is fixed at the middle of the tire drive shaft, and the transmission assembly is connected to the drive motor inside the machine body.

[0009] Preferably, the conversion shaft is located between the two wheel assemblies and on one side close to the rear assembly. The guide grooves on both sides of the conversion shaft are spirally arranged and have smooth surfaces. The guide pin is located inside the guide groove and its diameter is smaller than the inner diameter of the guide groove.

[0010] Preferably, a float cavity is provided in the middle of the machine body, the float is located in the float cavity, the float cavity penetrates the machine body, and a groove is also provided on the machine body, the connecting rod is located in the groove, and the groove opens upward.

[0011] Preferably, the float is hollow inside, and the bottom of the float is lower than the bottom of the machine body.

[0012] Preferably, a monitoring group is also provided on the main body of the machine, and the front assembly includes a front tire, which is connected to the main body of the machine via a steering module.

[0013] Compared with existing technologies, the beneficial effects of the adaptive pipeline inspection robot provided by this utility model are as follows:

[0014] 1. Due to the floating block, the robot can be in normal tire mode in a waterless environment and automatically switch to impeller mode when there is water by opening and retracting the impeller plate, effectively enabling it to automatically adapt to different environments.

[0015] 2. By setting the floats lower, the overall center of gravity of the machine body can be lowered, making it more stable during movement and preventing it from easily tipping over. The hollow design of the floats also allows them to generate buoyancy in the presence of water, thereby reducing the overall weight of the machine body and making it easier for the machine body to move in water.

[0016] The features and advantages of this utility model will be described in detail through embodiments and accompanying drawings. Attached Figure Description

[0017] Figure 1 This is a perspective view of an embodiment of the present utility model.

[0018] Figure 2 This is an internal view of the rear assembly according to an embodiment of the present utility model.

[0019] Figure 3 This is an internal view of the switching component according to an embodiment of the present invention.

[0020] Figure 4 This is an embodiment of the present utility model. Figure 3 A magnified view of point A in the middle.

[0021] in:

[0022] 10-Machine body; 11-Monitoring group; 12-Float chamber; 20-Front tire; 21-Steering module; 30-Rear tire; 31-Impeller plate; 32-Impeller slider; 33-Active slider; 34-Tire drive shaft; 35-Transmission group; 36-Guide pin; 40-Float; 41-Connecting rod; 42-Conversion shaft; 43-Guide groove Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit its scope. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0024] In the description of this utility model, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0025] In the description of this utility model, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] See Figure 1-4 This utility model provides an adaptive pipeline inspection robot, including a main body 10 and a monitoring group 11. The monitoring group 11 can monitor the internal condition of the pipeline and synchronize the internal condition of the pipeline to the outside world through a wireless device. The main body 10 is equipped with two sets of wheel assemblies, which are divided into a front assembly and a rear assembly. The front assembly controls the main body 10 to perform steering and other operations, and the rear assembly controls the main body 10 to walk. The front assembly includes a front tire 20, which is connected to the main body 10 through a steering module 21. The steering module 21 controls the front tire 20 to deflect. The rear assembly includes two symmetrical rear tires 30 and a switching component.

[0028] The switching assembly includes an impeller plate 31 located inside the rear tire 30 and a float 40 located inside the machine body 10. An impeller slider 32 is also slidably disposed inside the rear tire 30. The impeller slider 32 is connected to the impeller plate 31. An active slider 33 is rotatably connected to the other side of the impeller slider 32. A guide pin 36 is fixed to the outer periphery of the active slider 33. A conversion shaft 42 is also rotatably disposed inside the machine body 10. The float 40 is connected to the conversion shaft 42 through a connecting rod 41. Two symmetrical guide grooves 43 are provided on both sides of the conversion shaft 42. The guide pin 36 cooperates with the guide grooves 43.

[0029] The rear assembly also includes a tire drive shaft 34, which rotates within the machine body 10. The rear tires 30 are mounted on both sides of the tire drive shaft 34. The active slider 33 and the impeller slider 32 are both located on the outer periphery of the tire drive shaft 34. A transmission assembly 35 is also fixed in the middle of the tire drive shaft 34. The transmission assembly 35 is connected to the drive motor inside the machine body 10. The active slider 33 is slidably connected to the machine body 10 and not connected to the tire drive shaft 34. The active slider 33 and the impeller slider 32 can rotate relative to each other.

[0030] The conversion shaft 42 is located between the two wheel assemblies and is close to the rear assembly. The guide grooves 43 on both sides of the conversion shaft 42 are spirally arranged and have smooth surfaces. The guide pin 36 is located inside the guide groove 43 and its diameter is smaller than the inner diameter of the guide groove 43. When the conversion shaft 42 drives the guide groove 43 to rotate, it can restrict the guide pin 36 to drive the active slider 33 to slide.

[0031] A float cavity 12 is provided in the middle of the machine body 10, and a float 40 is located in the float cavity 12. The float cavity 12 passes through the machine body 10. A groove is also provided on the machine body 10, and a connecting rod 41 is located in the groove. The groove opens upward. The float 40 is hollow inside, and the bottom of the float 40 is lower than the bottom of the machine body 10. The float 40 has its own weight. By setting the float 40 lower, the center of gravity of the machine body 10 can be lowered, making it more stable during movement and preventing it from easily tipping over. The hollow design of the float 40 also allows it to generate buoyancy when there is water, thereby reducing the overall weight of the machine body 10 and making it easier for the machine body 10 to move in water.

[0032] Working principle: When the pipeline robot is required to perform operations, it can be placed directly into the pipeline. When there is no water in the pipeline, the float 40 is located in the float cavity 12 and is used for counterweight of the main body 10. This can lower the overall center of gravity of the main body 10, making it more stable during movement and preventing it from easily tipping over. The robot checks the condition inside the pipeline through the monitoring group 11. If a sludge removal device is installed on the main body 10, it can also directly remove sludge from the pipeline. When turning is required, the front tires 20 can be deflected by controlling the steering module 21.

[0033] When the robot walks into a pipe filled with water, the water gradually submerges the main body 10. Because the float 40 is hollow, it generates buoyancy and moves upwards. This buoyancy counteracts the weight of the float 40 itself, effectively reducing the overall weight of the main body 10 and making it easier for the robot to walk in water. As the float 40 moves, it drives the conversion shaft 42 to rotate via the connecting rod 41. Therefore, the guide pin 36 is pushed away from the main body 10 by the guide groove 43, which in turn pushes the active slider 33 to slide to both sides. The sliding of the active slider 33 drives the impeller plate 31 to move away from the rear tire 30 via the impeller slider 32, thus placing the impeller plate 31 on the outside of the water. When moving in water, the impeller plate 31 pushes the water flow, generating a certain amount of assistance, allowing the robot to move quickly in the water. Moreover, when the water flow completely submerges the main body 10 of the robot, the floating block 40 rises at an angle greater than 60°. At this time, the floating block 40 generates a large buoyancy to balance the weight of the main body 10, making the main body 10 float and making it easier to move. In a waterless environment, the impeller plate 31 is in a retracted state to avoid the impeller plate 31 coming into contact with the air and generating additional resistance. Therefore, due to the setting of the floating block 40, the robot can be in normal tire mode in a waterless environment and automatically switch to impeller mode in a watery environment by opening and retracting the impeller plate 31, effectively enabling it to automatically adapt to different environments.

[0034] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An adaptive pipeline inspection robot, comprising a main body (10), wherein two sets of wheel assemblies are mounted on the main body (10), divided into a front assembly and a rear assembly, characterized in that: The rear assembly includes two symmetrical rear tires (30), and the rear assembly is also provided with a switching component; The switching assembly includes an impeller plate (31) located in the rear tire (30) and a float (40) located in the machine body (10). An impeller slider (32) is also slidably arranged in the rear tire (30). The impeller slider (32) is connected to the impeller plate (31). An active slider (33) is rotatably connected to the other side of the impeller slider (32). A guide pin (36) is fixed on the outer periphery of the active slider (33). A conversion shaft (42) is also rotatably arranged in the machine body (10). The float (40) is connected to the conversion shaft (42) through a connecting rod (41). Two symmetrical guide grooves (43) are provided on both sides of the conversion shaft (42). The guide pin (36) cooperates with the guide grooves (43).

2. The adaptive pipeline inspection robot as described in claim 1, characterized in that: The rear assembly also includes a tire drive shaft (34) that rotates within the machine body (10), with the rear tire (30) mounted on both sides of the tire drive shaft (34), and the active slider (33) and the impeller slider (32) located on the outer periphery of the tire drive shaft (34).

3. The adaptive pipeline inspection robot as described in claim 2, characterized in that: A transmission assembly (35) is also fixed in the middle of the tire drive shaft (34), and the drive motor inside the machine body (10) is connected through the transmission assembly (35).

4. The adaptive pipeline inspection robot as described in claim 1, characterized in that: The conversion shaft (42) is located between the two wheel assemblies and on one side close to the rear assembly. The guide grooves (43) on both sides of the conversion shaft (42) are spirally arranged and have smooth surfaces. The guide pin (36) is located inside the guide groove (43) and its diameter is smaller than the inner diameter of the guide groove (43).

5. The adaptive pipeline inspection robot as described in claim 1, characterized in that: A float cavity (12) is provided in the middle of the machine body (10), the float (40) is located in the float cavity (12), the float cavity (12) penetrates the machine body (10), a groove is also provided on the machine body (10), the connecting rod (41) is located in the groove, and the groove opens upward.

6. The adaptive pipeline inspection robot as described in claim 5, characterized in that: The interior of the float (40) is hollow, and the bottom of the float (40) is lower than the bottom of the machine body (10).

7. The adaptive pipeline inspection robot as described in claim 1, characterized in that: The machine body (10) is also provided with a monitoring group (11), and the front assembly includes a front tire (20), which is connected to the machine body (10) through a steering module (21).

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