Sewage pipe network detection robot with amphibious function

Abstract

The utility model relates to the technical field of detection robots, and discloses a sewage pipe network detection robot with an amphibious function, the inner side of a storage side box is provided with a containing cavity, a buoyancy rubber air bag is embedded in the inner side of the containing cavity, the middle end of the bottom of a robot main body is provided with an air injection pump in an embedded mode, and the bottom of the robot main body is provided with an air outlet in an embedded mode. Air outlet ends on two sides of the air injection pump are connected with the buoyancy rubber air bag through air pipes, the buoyancy rubber air bag can be stored in a storage mode through the storage side box, the storage cavity and the buoyancy rubber air bag, and the air injection pump and the air pipes are combined, so that the buoyancy rubber air bag can be unfolded to form a buoy structure during use; the traveling structure of the robot is changed, the application range of the robot is widened, the buoyancy rubber air bag can be effectively stored in the storage side box when the robot is not used, space occupation is avoided, meanwhile, the buoyancy rubber air bag is light in material, and the traveling burden of the robot cannot be increased.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection robot technical field, concretely is a sewage pipe network detection robot with amphibious function. BACKGROUND

[0002] The operation state of urban sewage pipe network directly influences the scale of urban construction development, and it is particularly important to ensure that the urban has a scientific and unobstructed sewage pipe network system to meet the basic life of urban residents and the drainage system construction of industrial production, the current sewage pipe network system has the problems of sewage pipeline siltation and serious sewage pipeline damage, especially in the rainy season, which easily causes sewage pipeline sewage overflow, and has a significant impact on urban environmental health, and the sewage pipeline damage is not discovered for a long time, therefore, systematic detection of urban drainage pipe network has become an important urban management task, the current detection work is generally realized through detection robots, Chinese patent 202222573881.9 discloses a sewage pipe network detection robot in amphibious state, which realizes different walking modes of the robot through walking wheels and spiral walking mechanisms, and the detection robot detects the sewage pipe network under the full water state with the aid of a sonar, and detects the sewage pipe network under the no water or little water state with a laser scanner;

[0003] However, the current amphibious pipe network detection robot changes its advancing mechanism by unfolding and extending the spiral walking mechanism for use, so that the robot can be converted from land walking to water sliding, but this mode enables the robot to realize amphibious function, the spiral walking mechanism of the robot occupies space when idle, and cannot be effectively stored, so that the overall weight of the robot increases, and the advancing burden of the robot is also increased, thereby being not conducive to the pipe network detection use of the robot. SUMMARY

[0004] (I) Technical problem solved

[0005] In view of the defects of the prior art, the utility model provides a sewage pipe network detection robot with amphibious function, which solves the problem that the current amphibious pipe network detection robot changes its advancing mechanism by unfolding and extending the spiral walking mechanism for use, so that the robot can be converted from land walking to water sliding, but this mode enables the robot to realize amphibious function, the spiral walking mechanism of the robot occupies space when idle, and cannot be effectively stored, so that the overall weight of the robot increases, and the advancing burden of the robot is also increased, thereby being not conducive to the pipe network detection use of the robot.

[0006] (II) Technical scheme

[0007] To achieve the above object, the utility model provides the following technical scheme: a sewage pipe network detection robot with amphibious function, including robot main body, the front end edge portion fixed mounting of robot main body has detection sonar, and the top middle end fixed mounting of robot main body has laser scanner, the top both sides middle portion fixed mounting of robot main body has detection camera, and the bottom both sides of robot main body are connected with mobile wheel through pivot, the inner side of mobile wheel in the direction of advance of robot main body is provided with drive box, and drive box is fixedly installed in the bottom of robot main body,

[0008] The both sides edge end of the bottom of the robot main body are installed with the receiving side box, the inner side of the receiving side box is provided with a receiving chamber, the inner side of the receiving chamber is embedded with a buoyancy rubber air bag, the bottom middle end of the robot main body is installed with an air injection pump in an embedded manner, and the air outlet ends of the air injection pump are connected with the buoyancy rubber air bag through air tubes.

[0009] The side of the edge portion of the robot main body opposite to the advancing end is fixedly installed with a mounting box, a lifting guide rail is installed on the side edge middle end of the mounting box, a lifting column is slidably connected to the inner side of the lifting guide rail in a fitting manner, the lifting column is limitingly connected to the top edge end of the mounting box through a limiting bolt, and a lifting mounting seat is fixedly installed on the bottom end of the lifting column, and a propeller is connected to the inner side of the lifting mounting seat through a micro motor.

[0010] As a preferred technical scheme of the sewage pipe network detection robot with amphibious function, the inner side of the drive box is provided with a bidirectional driving motor, and the mobile wheel is connected to the output shaft ends of the bidirectional driving motor through a driving shaft.

[0011] The inner side of the top of the robot main body is provided with a storage battery, and the detection sonar, the laser scanner and the detection camera are connected to the storage battery through wires.

[0012] As a preferred technical scheme of the sewage pipe network detection robot with amphibious function, the bottom of the receiving side box and the mounting box is provided with a sealing cover.

[0013] After the buoyancy rubber air bag is inflated and expanded, it will extend from the inner side of the receiving chamber, and form a cylindrical buoy structure after air injection is completed.

[0014] As a preferred technical scheme of the sewage pipe network detection robot with amphibious function, the edge portion of the lifting column is uniformly provided with a limiting hole, and the limiting bolt is fixedly installed on the top edge end of the mounting box.

[0015] As an amphibious function sewage pipe network detection robot preferred technical scheme of the utility model, four side angles of the robot main part are all fixedly installed with a box in a central symmetry mode, the inside of the box is slidably connected with a sliding seat, the side end of the sliding seat is fixedly installed with buffer springs in the vertical direction at equal distance, and the edge of the sliding seat is connected with a damping column at the position between the adjacent two groups of buffer springs;

[0016] The other side end of the sliding seat is provided with a rubber block, and the end of the rubber block is provided with an arc-shaped buffer plate.

[0017] As an amphibious function sewage pipe network detection robot preferred technical scheme of the utility model, the inside of the box is provided with a buffer chamber, the sliding seat is slidably connected in the buffer chamber, and the two ends of the buffer spring are arranged on the inner wall of the box and the edge of the sliding seat respectively.

[0018] (Three) beneficial effects

[0019] Compared with the prior art, the utility model provides an amphibious function sewage pipe network detection robot, which has the following beneficial effects:

[0020] 1, through the storage side box, the containing chamber and the buoyancy rubber air bag, the buoyancy rubber air bag can be stored and placed in a storage and placement mode, combined with the air injection pump and the air pipe, so that the buoyancy rubber air bag can be expanded to form a buoy structure when in use, the advancing structure of the robot is changed, the application range of the robot is improved, and the buoyancy rubber air bag can be effectively stored in the storage side box when not in use, so that the space occupation is avoided, and the buoyancy rubber air bag is light in material and will not increase the advancing burden of the robot;

[0021] And the lifting guide rail inside the installation box is combined to facilitate the lifting and guiding sliding of the lifting column, the limiting bolt is convenient for locking and fixing the position of the lifting column, and the lifting and sliding of the lifting column is convenient for driving the lifting mounting seat and the propeller to be lifted synchronously, so that the propeller can be stretched out from the installation box when in use, the efficiency of the robot in water surface advancing is improved through the propeller, the moving ability is further improved, and the propeller can be stored in the installation box when not in use, so as to avoid affecting the normal advancing and detection use of the robot due to the exposure of the propeller.

[0022] 2. By installing sleeves, sliding seats, buffer springs, damping pillars, rubber blocks, and arc-shaped buffer plates at the four corners of the robot body, the rubber blocks and arc-shaped buffer plates can initially absorb and buffer the impact force when a collision occurs during the robot's movement. Simultaneously, after the rubber blocks and arc-shaped buffer plates are subjected to impact pressure, they will cause the buffer springs to contract, further buffering the impact pressure. Combined with the contraction of the damping pillars to absorb energy, the impact force is not directly transmitted to the robot body's interior when it is impacted during movement. This avoids damage to the internal detection electrical components of the robot body, effectively protecting the robot body. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of this utility model.

[0024] Figure 2 This is a structural schematic diagram of the mounting box of this utility model.

[0025] Figure 3 This is a schematic diagram of the air injection pump of this utility model.

[0026] Figure 4 This is a structural schematic diagram of the lifting mounting base of this utility model.

[0027] Figure 5 This is a structural schematic diagram of the box of this utility model.

[0028] In the diagram: 1. Robot body; 2. Detection sonar; 3. Laser scanner; 4. Detection camera; 5. Moving wheels; 6. Drive box; 7. Storage side box; 8. Retaining chamber; 9. Buoyancy rubber airbag; 10. Air pump; 11. Air pipe; 12. Mounting box; 13. Lifting guide rail; 14. Lifting column; 15. Limit bolt; 16. Lifting mounting base; 17. Propulsion propeller; 18. Sleeve box; 19. Sliding seat; 20. Buffer spring; 21. Damping column; 22. Rubber block; 23. Arc-shaped buffer plate. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model. Example

[0030] Please see Figures 1-5The utility model provides following technical scheme: a sewage pipe network detection robot with amphibious function, including robot main body 1, the front end edge portion fixed mounting of robot main body 1 has detection sonar 2, and the top middle end fixed mounting of robot main body 1 has laser scanner 3, the top both sides middle part of robot main body 1 are fixedly installed with detection camera 4, the inside of the top of robot main body 1 is provided with battery, and detection sonar 2, laser scanner 3, detection camera 4 are connected with battery respectively through wire, the work of detection sonar 2, laser scanner 3, detection camera 4 is convenient, and the bottom both sides of robot main body 1 are connected with moving wheel 5 through pivot, the inside of moving wheel 5 located in the advancing direction of robot main body 1 is provided with drive box 6, the inside of drive box 6 is provided with bidirectional drive motor, and moving wheel 5 is connected with the output shaft end of the both sides of bidirectional drive motor through drive shaft, the rotation of moving wheel 5 is driven conveniently through bidirectional drive motor, makes moving wheel 5 drive robot main body 1 and moves, drive box 6 is fixedly installed in the bottom of robot main body 1;

[0031] The edge end of both sides of the bottom of robot main body 1 is installed with receiving side box 7, the inside of receiving side box 7 is provided with containing chamber 8, containing chamber 8 is embedded with buoyancy rubber air bag 9 in the inside, the bottom middle end of robot main body 1 is installed with gas injection pump 10 in the embedded mode, and the both sides gas outlet ends of gas injection pump 10 are connected between gas tube 11 and buoyancy rubber air bag 9, after inflation and expansion, buoyancy rubber air bag 9 will stretch out from the inside of containing chamber 8, and form cylindrical pontoon structure after gas injection in its inside is completed, through the gas injection effect of gas injection pump 10 and gas tube 11, buoyancy rubber air bag 9 can be unfolded to form pontoon structure when being used, change the advancing structure of robot, improve the application range of robot;

[0032] The side opposite to the advancing end of the edge of robot main body 1 is fixedly installed with mounting box 12, the bottom of receiving side box 7 and mounting box 12 is provided with sealing cover, the bottom of receiving side box 7 and mounting box 12 is sealed conveniently, the middle end of the side edge of mounting box 12 is installed with lifting guide rail 13, lifting column 14 is slidably connected in the inside of lifting guide rail 13, and lifting column 14 is limitingly connected at the top edge end of mounting box 12 through limiting bolt 15, the edge of lifting column 14 is evenly provided with limiting hole, limiting bolt 15 is fixedly installed at the top edge end of mounting box 12, limiting bolt 15 and limiting hole are convenient for locking and fixing the position of lifting column 14, lifting mounting base 16 is fixedly installed at the bottom end of lifting column 14, and propelling screw 17 is connected in the inside of lifting mounting base 16 through micro motor.

[0033] The four side corner positions of the robot body 1 are fixedly installed in a central symmetric manner with a box 18, the inner side of the box 18 is slidably connected with a sliding seat 19, the vertical direction of one side end of the sliding seat 19 is fixedly installed with buffer springs 20 at equal distances, and the side of the sliding seat 19 is connected with a damping column 21 at the position between the adjacent two groups of buffer springs 20;

[0034] The other side end of the sliding seat 19 is provided with a rubber block 22, the end of the rubber block 22 is provided with an arc-shaped buffer plate 23, the inner side of the box 18 is provided with a buffer cavity, the sliding seat 19 is slidably connected in the buffer cavity, the buffer springs 20 are arranged at the inner wall of the box 18 and the side of the sliding seat 19 respectively, and after the rubber block 22 and the arc-shaped buffer plate 23 are subjected to impact pressure, the buffer springs 20 are driven to contract through the rubber block 22 and the arc-shaped buffer plate 23, so that the impact pressure is buffered.

[0035] The working principle and use process of the utility model are as follows: when the robot body 1 moves by the moving wheels 5, the bidirectional driving motor arranged in the inner side of the driving box 6 drives the moving wheels 5 to rotate, so that the moving wheels 5 drive the robot body 1 to move, and when it is needed to make the robot body 1 move on the water surface, the buoyancy rubber air bag 9 is placed in the storage side box 7 and the containing cavity 8 in a storage manner, the air injection pump 10 and the air pipe 11 are combined, so that the buoyancy rubber air bag 9 can be expanded to form a buoy structure when used, and the advancing structure of the robot is changed.

[0036] The lifting guide rails 13 in the inner side of the mounting box 12 are used to conveniently guide the lifting and sliding of the lifting column 14, the limiting pins 15 are used to conveniently lock and fix the position of the lifting column 14, the lifting and sliding of the lifting column 14 is used to drive the lifting mounting seat 16 and the propelling propeller 17 to synchronously lift, so that the propelling propeller 17 can be extended out of the mounting box 12 when used, the propelling propeller 17 is used to improve the efficiency of the robot in water surface advancing, and the robot body 1 can move on the water surface.

[0037] When the robot body 1 does not need to move on the water surface, the buoyancy rubber air bag 9 can be effectively stored in the storage side box 7, the space occupation is avoided, the material of the buoyancy rubber air bag 9 is light, the advancing burden of the robot is not increased, the lifting mounting seat 16 and the propelling propeller 17 can be stored in the mounting box 12, and the propelling propeller 17 is not exposed outside to affect the normal advancing and detection use of the robot.

[0038] In the robot body 1 movement detection, through the robot body 1 top setting battery to detect sonar 2, laser scanner 3, detection camera 4 power supply, through the detection sonar 2, laser scanner 3 and detection camera 4 to make the robot body 1 to pipe network detection, specific detection means belong to the existing means, can be specific to refer to the prior art, while the robot body 1 moves, the four side angle position of the robot body 1 is provided with rubber block 22 and arc buffer plate 23, when the robot body 1 moves in the process of collision, through the rubber block 22 and arc buffer plate 23 to the collision force is preliminary absorbed and buffered;

[0039] At the same time, when the collision pressure received by the rubber block 22 and the arc buffer plate 23 is large, the rubber block 22 and the arc buffer plate 23 will drive the buffer spring 20 to contract, further buffer the collision pressure, and the damping column 21 is contracted to realize energy absorption, so that when the robot body 1 is collided in the moving process, the collision force will not be directly transmitted to the inside of the robot body 1, so as to avoid the damage of the collision to the detection electrical elements in the inside of the robot body 1, and the robot body 1 is protected.

[0040] Finally, it should be noted that: the above only for the preferred embodiments of the utility model, and does not limit the utility model, although the utility model is described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features. Any modification, equivalent replacement, improvement etc. within the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A sewer network inspection robot with amphibious functionality comprising a robot body (1), characterized in that: The advancing end edge of the robot body (1) is fixedly installed with a detection sonar (2), and the middle end of the top of the robot body (1) is fixedly installed with a laser scanner (3), both sides of the top of the robot body (1) are fixedly installed with detection cameras (4), and both sides of the bottom of the robot body (1) are connected with moving wheels (5) through rotating shafts, the inner side of the moving wheel (5) in the advancing direction of the robot body (1) is provided with a drive box (6), and the drive box (6) is fixedly installed on the bottom of the robot body (1); Both sides of the bottom of the robot body (1) are installed with storage side boxes (7), the inner side of the storage side box (7) is provided with a containing cavity (8), the inner side of the containing cavity (8) is embedded with a buoyancy rubber air bag (9), the bottom middle end of the robot body (1) is installed with an air injection pump (10) in an embedded manner, and both sides of the air outlet end of the air injection pump (10) are connected with the buoyancy rubber air bag (9) through air pipes (11); The side of the edge of the robot body (1) opposite to the advancing end is fixedly installed with a mounting box (12), one side middle end of the mounting box (12) is installed with a lifting guide rail (13), the inner side of the lifting guide rail (13) is slidably connected with a lifting column (14), and the lifting column (14) is limitingly connected with the top edge of the mounting box (12) through a limiting bolt (15), the bottom end of the lifting column (14) is fixedly installed with a lifting mounting seat (16), and the inner side of the lifting mounting seat (16) is connected with a propelling screw (17) through a micro motor.

2. The sewer network inspection robot with amphibious function according to claim 1, characterized in that: The inner side of the drive box (6) is provided with a bidirectional drive motor, and the moving wheel (5) is connected with the output shaft ends of both sides of the bidirectional drive motor through a drive shaft; The inner side of the top of the robot body (1) is provided with a storage battery, and the detection sonar (2), the laser scanner (3) and the detection camera (4) are respectively connected with the storage battery through wires.

3. The sewer network inspection robot with amphibious function according to claim 1, characterized in that: The bottoms of the storage side box (7) and the mounting box (12) are provided with sealing covers; After inflation and expansion, the buoyancy rubber air bag (9) will extend from the inner side of the containing cavity (8) and form a cylindrical buoy structure after air injection is completed.

4. The sewer network inspection robot with amphibious function according to claim 1, characterized in that: The edges of the lifting column (14) are uniformly provided with limiting holes, and the limiting bolt (15) is fixedly installed on the top edge of the mounting box (12).

5. The sewer network inspection robot with amphibious function according to claim 1, characterized in that: The four side corners of the robot body (1) are fixedly installed with sleeve boxes (18) in a central symmetry manner, the inner side of the sleeve box (18) is slidably connected with a sliding seat (19), the side edge of the sliding seat (19) is fixedly installed with buffer springs (20) along the vertical direction at equal distances, and the edge of the sliding seat (19) is connected with a damping column (21) at a position between adjacent two groups of buffer springs (20); The other side edge of the sliding seat (19) is provided with a rubber block (22), and the end of the rubber block (22) is provided with an arc-shaped buffer plate (23).

6. The sewer network inspection robot with amphibious function according to claim 5, characterized in that: The inner side of the box (18) is provided with a buffer chamber, the sliding seat (19) is connected in the buffer chamber in a sliding fit, and the buffer spring (20) is arranged at the inner wall of the box (18) and the edge of the sliding seat (19) respectively.

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