Pipeline endoscopic guiding robot

Abstract

The utility model belongs to the technical field of pipeline detection, and particularly relates to a pipeline endoscopic guiding robot which comprises a vehicle body, a machine body, a probe, a driving mechanism and an adjusting mechanism, the machine body is arranged at the top of the vehicle body, the probe is movably installed on the machine body, and the driving mechanism is arranged in the vehicle body and used for driving the robot to move. The driving mechanism comprises a mounting frame, axles and wheels, a plurality of movable grooves are formed in the outer side wall of the vehicle body, the ends of the mounting frame are arranged in the movable grooves, and the axles penetrate through the mounting frame and are connected with the wheels; an adjusting mechanism is arranged on the driving mechanism and adjusts the position of the mounting frame in the movable groove, so that the height of the robot chassis is changed. According to the robot, the driving mechanism is arranged so that the device can drive the endoscope to move in the pipeline, the adjusting mechanism is arranged so that the height of the vehicle body can be adjusted, and the situation that a robot chassis is blocked, and consequently the device cannot move in the pipeline is avoided.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline inspection technology, specifically relating to a pipeline endoscope guide robot. Background Technology

[0002] Pipeline endoscopic robots, also known as pipeline inspection robots or pipeline crawling robots, are high-tech devices used for inspecting and maintaining pipeline systems. In existing technologies, pipeline endoscopic robots generally consist of a robot body, a support frame, and a camera assembly. The robot body is typically a small vehicle, and the camera assembly is connected to the robot body via the support frame. This camera assembly can rotate and flip.

[0003] In existing technologies, the chassis height of most pipeline endoscopy robots is fixed. This means that if an object inside the pipeline jams the robot's chassis, the robot cannot move further inside, affecting its usability. Furthermore, the robot may tip over upon entering the pipeline due to its curvature, making it inconvenient to use. Utility Model Content

[0004] This invention proposes a pipe endoscopy guide robot to solve problems in the prior art such as objects inside the pipe jamming the robot chassis and preventing it from moving, and the robot tipping over when placed inside the pipe.

[0005] The technical solution of this utility model:

[0006] This utility model proposes a pipe endoscopy guidance robot. The robot includes a body, a frame, a probe, a drive mechanism, and an adjustment mechanism. The frame is located on the top of the body, and the probe is movably mounted on the frame. The drive mechanism is located inside the body and is used to drive the robot to move. The drive mechanism includes a mounting frame, an axle, and wheels. Multiple movable slots are formed on the outer side wall of the body. The end of the mounting frame is located inside the movable slot. The axle passes through the mounting frame and is connected to the wheels. The drive mechanism is equipped with an adjustment mechanism, which adjusts the position of the mounting frame in the movable slot, thereby changing the height of the robot chassis.

[0007] In some embodiments, the drive mechanism includes three mounting brackets, two axles and four wheels. The mounting brackets include a first mounting bracket and two second mounting brackets. The first mounting bracket is a long strip with a rectangular structure. The first mounting bracket is disposed at the front end of the vehicle body. The axle is movably mounted in the first mounting bracket and passes through it. The two ends of the axle are connected to two wheels.

[0008] In some embodiments, two second mounting brackets are respectively disposed on both sides of the interior rear end of the vehicle body, the axle is movably mounted and passes through the two second mounting brackets, and two wheels are connected to both ends of the axle.

[0009] In some embodiments, the drive mechanism further includes a drive motor, a drive gear, and a transmission gear. The drive motor is disposed inside the vehicle body, the drive gear is fixedly mounted on the output end of the drive motor, and the transmission gear is fixedly sleeved on the axle inside the second mounting frame. The drive gear and the transmission gear mesh with each other, and the drive motor drives the axle inside the second mounting frame through the drive gear and the transmission gear to realize the movement of the robot.

[0010] In some embodiments, the drive mechanism further includes a frame disposed inside the vehicle body, with a first mounting bracket and two second mounting brackets fixedly connected to both ends of the frame, and a drive motor fixedly mounted on the frame.

[0011] In some embodiments, the adjustment mechanism includes an adjustment motor and a drive shaft. The adjustment motor is embedded in the top wall of the vehicle body. The drive shaft is a threaded cylindrical structure and is fixedly installed on the output end of the adjustment motor. The drive shaft passes through the vehicle frame and is threadedly connected to the vehicle frame.

[0012] In some embodiments, guide wheels are movably mounted on the bottom of the robot body, and the guide wheels are used to change the robot's forward direction.

[0013] In some embodiments, the probe is provided with a slot, and the front end of the probe is provided with an illumination lamp. The slot is internally connected to a retaining block, which is a triangular block. The slot is used to install the endoscope, and the retaining block limits the endoscope to prevent it from falling out of the slot.

[0014] In some embodiments, a folding slot is provided on the top of the vehicle body, a folding frame is installed inside the folding slot, the top of the folding frame is movably connected to the bottom of the body, and a telescopic rod is fixedly installed inside the vehicle body at the position corresponding to the folding frame. The telescopic rod is used for extending and retracting the folding frame.

[0015] In some embodiments, a pull ring is fixedly installed on the top of the body. The pull ring has a semi-circular structure and is used to connect ropes.

[0016] The beneficial effects of this utility model are:

[0017] This invention proposes a pipe endoscopy-guided robot. The robot's drive mechanism allows for free movement inside the pipe, while an adjustment mechanism allows for height adjustment, preventing the robot's chassis from obstructing movement. A pull ring is located on the top of the robot's body; a rope can be threaded through the ring when placing the robot inside the pipe. Inserting the rope into the pull ring ensures a smooth placement of the ring, preventing the robot from tipping over upon entry and making it more convenient to use. Attached Figure Description

[0018] Figure 1A schematic diagram of the structure of a pipeline endoscopy guide robot designed for this utility model;

[0019] Figure 2 A schematic diagram of the internal structure of a pipeline endoscopy guide robot designed for this utility model;

[0020] Figure 3 A schematic diagram of the drive mechanism and adjustment structure of a pipeline endoscope-guided robot designed for this utility model;

[0021] Figure 4 This is an enlarged view of section A of this utility model.

[0022] Explanation of reference numerals in the attached drawings: 1. Vehicle body; 2. Body; 3. Probe; 4. Slot; 5. Lighting lamp; 6. First mounting bracket; 7. Second mounting bracket; 8. Movable slot; 9. Axle; 10. Wheel; 11. Drive motor; 12. Drive gear; 13. Transmission gear; 14. Adjustment motor; 15. Frame; 16. Drive shaft; 17. Guide wheel; 18. Folding slot; 19. Folding frame; 20. Telescopic rod; 21. Locking block; 22. Pull ring. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] like Figures 1 to 4 As shown, this utility model proposes a pipeline endoscopy guidance robot, characterized in that the robot includes a body 1, a body 2, a probe 3, a drive mechanism and an adjustment mechanism. The body 2 is located on the top of the body 1, and the probe 3 is movably installed on the body 2. The drive mechanism is located inside the body 1 and is used to drive the robot to move. The adjustment mechanism is located on the drive mechanism.

[0025] The drive mechanism includes a first mounting bracket 6, two second mounting brackets 7, two axles 9, four wheels 10, a drive motor 11, a drive gear 12, a frame 15, and a transmission gear 13. The first mounting bracket 6 is a rectangular strip located at the front end of the interior of the vehicle body 1. There are two second mounting brackets 7, located on opposite sides of the rear end of the interior of the vehicle body 1. There are two axles 9: one is movably mounted and passes through the interior of the first mounting bracket 6, and the other is movably mounted and passes through the interiors of the two second mounting brackets 7. The wheels 10 are fixedly mounted on the axles 9. The drive motor 11 is located inside the vehicle body 1. The drive gear 12 is fixedly mounted on the output end of the drive motor 11. The transmission gear 13 is fixedly sleeved on the axles 9 inside the second mounting brackets 7, and the drive gear 12 and transmission gear 13 mesh with each other. The frame 15 is located inside the vehicle body 1, with the first mounting bracket 6 and the two second mounting brackets 7 fixedly connected at both ends. The drive motor 11 is fixedly mounted on the frame 15. Multiple movable slots 8 are provided on the outer side wall of the vehicle body 1. The two ends of the first mounting bracket 6 and one end of each of the two second mounting brackets 7 are located inside the movable slots 8. Through the configuration of the drive mechanism, the drive motor 11 is started, which drives the drive gear 12 to rotate. The drive gear 12 meshes with the transmission gear 13, which in turn drives the axle 9 to rotate. The axle 9 then drives the wheel 10 to rotate, thereby enabling the robot to move inside the pipe.

[0026] The adjustment mechanism includes an adjustment motor 14 and a drive shaft 16. The adjustment motor 14 is embedded in the top wall of the vehicle body 1. The drive shaft 16 is a threaded cylindrical structure and is fixedly installed on the output end of the adjustment motor 14. The drive shaft 16 passes through the upper and lower walls of the frame 15 and is threadedly connected to the frame 15. The drive mechanism allows the robot to move the endoscope inside the pipe. When an object inside the pipe blocks the bottom of the vehicle body 1, preventing the robot from moving, the adjustment motor 14 is activated. The adjustment motor 14 drives the drive shaft 16 to rotate. Since the drive shaft 16 is threadedly connected to the frame 15, the frame 15 moves inside the vehicle body 1, thereby moving the first mounting bracket 6 and the second mounting bracket 7 inside the movable slot 8. At this time, the wheels 10 move downward relative to the vehicle body 1, thereby increasing the height of the vehicle body 1 and separating the vehicle body 1 from the object. The robot can then move again, thus avoiding the situation where the robot chassis is blocked, preventing the robot from moving inside the pipe.

[0027] like Figure 1As shown, in some embodiments, a guide wheel 17 is movably mounted on the bottom of the vehicle body 1 via a motor. When the guide wheel 17 is parallel to the wheel 10, the robot can move normally. When the robot moves to a corner inside the pipe, the guide wheel 17 can be rotated by the motor, thereby changing the direction of the robot's movement.

[0028] like Figure 1 As shown, in some embodiments, the probe 3 is provided with a slot 4, and the front end of the probe 3 is provided with an illumination lamp 5. A locking block 21 is movably installed inside the slot 4 by a spring. The locking block 21 is a triangular block. When the endoscope is installed inside the slot 4, the locking block 21 is first squeezed, so that the endoscope can be installed inside the slot 4. Then the locking block 21 can limit the endoscope, thereby preventing the endoscope from falling out of the slot 4.

[0029] like Figure 2 As shown, in some embodiments, two folding slots 18 are provided on the top of the vehicle body 1. A folding frame 19 is installed inside the folding slots 18. The folding frame 19 is a foldable structure. The top of the folding frame 19 is movably connected to the bottom of the body 2. Two telescopic rods 20 are fixedly installed inside the vehicle body 1 at the positions corresponding to the folding frame 19. When the telescopic rods 20 are activated, they will move upward, thereby squeezing the folding frame 19. At this time, the folding frame 19 will unfold, thereby driving the body 2 to move upward, thereby increasing the imaging range of the endoscope.

[0030] like Figure 1 and Figure 2 As shown, in some embodiments, two pull rings 22 are fixedly installed on the top of the body 2. The pull rings 22 are semi-circular structures. The pull rings 22 can pass through ropes when the robot is placed inside the pipe. By threading the ropes through the two pull rings 22, the robot can be placed inside the pipe smoothly, and the robot will not tip over when it is placed inside the pipe.

[0031] This utility model proposes a pipe endoscopy guidance robot, the specific working method of which is as follows:

[0032] The robot's drive mechanism allows it to move the endoscope inside the pipe. The adjustment mechanism allows it to move when an object obstructs the bottom of the robot's chassis 1. In this case, the adjustment motor 14 is activated, driving the drive shaft 16 to rotate. The drive shaft 16 is threaded to the frame 15, causing the frame 15 to move inside the chassis 1. This, in turn, moves the first mounting bracket 6 and the second mounting bracket 7 within the movable groove 8. The wheels 10 then move downwards relative to the chassis 1, increasing its height and separating it from the object. This allows the robot to move again, preventing the chassis from being blocked and preventing movement inside the pipe. The pull rings 22 can also be used to thread a rope through the robot when it is placed inside the pipe. Threading the rope through the two pull rings 22 ensures a smooth placement of the robot, preventing it from tipping over and making it more convenient to use.

[0033] The embodiments of this utility model have been described in detail above. This utility model is not limited to the above examples. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this utility model.

Claims

1. A pipe endoscope-guided robot, characterized in that, The robot includes a body (1), a fuselage (2), a probe (3), a drive mechanism, and an adjustment mechanism. The fuselage (2) is located on the top of the body (1), and the probe (3) is movably mounted on the fuselage (2). The drive mechanism is located inside the body (1) and is used to drive the robot to move. The drive mechanism includes a mounting frame, an axle (9), and wheels (10). Multiple movable slots (8) are opened on the outer side wall of the body (1). The end of the mounting frame is located inside the movable slot (8). The axle (9) passes through the mounting frame and is connected to the wheels (10). The adjustment mechanism is located on the drive mechanism and adjusts the position of the mounting frame in the movable slot (8) to change the height of the robot chassis.

2. The pipe endoscope guidance robot according to claim 1, characterized in that, The drive mechanism includes three mounting brackets, two axles (9) and four wheels (10). The mounting brackets include a first mounting bracket (6) and two second mounting brackets (7). The first mounting bracket (6) is a long strip with a rectangular structure. The first mounting bracket (6) is located at the front end of the interior of the vehicle body (1). The axle (9) is movably installed in the first mounting bracket (6) and passes through it. The two ends of the axle (9) are connected to two wheels (10).

3. The pipe endoscope guidance robot according to claim 2, characterized in that, The two second mounting brackets (7) are respectively disposed on both sides of the interior rear end of the vehicle body (1), and the axle (9) is movably mounted and passes through the two second mounting brackets (7).

4. The pipe endoscope guidance robot according to claim 3, characterized in that, The drive mechanism also includes a drive motor (11), a drive gear (12), and a transmission gear (13). The drive motor (11) is located inside the vehicle body (1). The drive gear (12) is fixedly mounted on the output end of the drive motor (11). The transmission gear (13) is fixedly sleeved on the axle (9) inside the second mounting frame (7). The drive gear (12) and the transmission gear (13) mesh with each other. The drive motor (11) drives the axle (9) inside the second mounting frame (7) through the drive gear (12) and the drive gear (13) to realize the movement of the robot.

5. A pipe endoscopy guidance robot according to claim 4, characterized in that, The drive mechanism also includes a frame (15), which is disposed inside the vehicle body (1). The first mounting bracket (6) and two second mounting brackets (7) are fixedly connected to both ends of the frame (15), and the drive motor (11) is fixedly mounted on the frame (15).

6. The pipe endoscope guidance robot according to claim 5, characterized in that, The adjustment mechanism includes an adjustment motor (14) and a drive shaft (16). The adjustment motor (14) is embedded in the top wall of the vehicle body (1). The drive shaft (16) is a cylindrical structure with threads. The drive shaft (16) is fixedly installed on the output end of the adjustment motor (14). The drive shaft (16) passes through the frame (15) and is threadedly connected to the frame (15).

7. A pipe endoscopy guidance robot according to claim 6, characterized in that, Guide wheels (17) are movably mounted on the bottom of the vehicle body (1), and the guide wheels (17) are used to change the forward direction of the robot.

8. The pipe endoscope guidance robot according to claim 1, characterized in that, The probe (3) is provided with a slot (4), and the front end of the probe (3) is provided with an illumination lamp (5). The slot (4) has an elastic connecting block (21) inside. The block (21) is a triangular block. The slot (4) is used to install the endoscope. The block (21) limits the endoscope and prevents the endoscope from falling out of the slot (4).

9. A pipe endoscope guidance robot according to claim 1, characterized in that, The top of the vehicle body (1) is provided with a folding groove (18), and a folding frame (19) is installed inside the folding groove (18). The top of the folding frame (19) is movably connected to the bottom of the fuselage (2). A telescopic rod (20) is fixedly installed inside the vehicle body (1) at the position corresponding to the folding frame (19). The telescopic rod (20) is used for the extension and retraction of the folding frame (19).

10. A pipe endoscopy guidance robot according to claim 1, characterized in that, A pull ring (22) is fixedly installed on the top of the fuselage (2). The pull ring (22) has a semi-circular structure and is used to connect ropes.

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