Pipeline detection robot structure

Abstract

The utility model provides a pipeline detection robot structure, and relates to the technical field of pipeline detection robots. According to the pipeline detection robot, when the pipeline detection robot works, the transmission motor is started, the worm at the output end of the transmission motor rotates along with the transmission motor, and due to the fact that the worm is meshed with the worm wheel, the detection assembly is arranged on the shell and comprises a detector installed on one side of the shell, and a lighting lamp is fixed to the side, close to the detector, of the shell. The worm rotates to drive the worm wheel to rotate, the worm wheel rotates to drive the first rotating rod fixed to the worm wheel to rotate, meanwhile, the second rotating rod is rotationally connected with the shell and the crawler chassis and cooperates with the first rotating rod to achieve angle adjustment of the crawler chassis relative to the shell so as to adapt to the diameters of different pipelines, and in the detection process, an illuminating lamp is turned on to illuminate the interiors of the pipelines; the detector is used for detecting the inner wall of the pipeline and transmitting and processing the collected data, so that the detection task of the pipeline is completed.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection robot technical field especially relates to a pipeline detection robot structure. BACKGROUND

[0002] Pipeline detection robot is a kind of automation equipment for checking and repairing pipeline inner wall, with the continuous development of city infrastructure construction, the quantity and complexity of pipeline increase, traditional manual detection method is inefficient, and risky, the introduction of robot technology can carry out accurate detection in narrow and complex pipeline, real-time transmission data, improve detection efficiency and accuracy.

[0003] However, in actual use, there are still the following deficiencies, for example: the existing pipeline detection robot structure cannot adapt to the diameter of different pipelines, and the pipeline diameter is quite different in different application scenarios, such as urban drainage pipeline, industrial conveying pipeline, etc., if the robot structure cannot adapt to multiple pipe diameters, its application range will be limited to the pipeline of specific diameter, and it cannot meet diversified detection requirements, when the gap between the robot and the inner wall of the pipeline is too large, the distance between the sensor and the pipe wall increases, which can cause the detection signal to weaken or be inaccurate.

[0004] Therefore, the utility model provides a pipeline detection robot structure to solve the above problems. UTILITY MODEL CONTENT

[0005] The utility model aims at solving the shortcomings in the prior art, and provides a pipeline detection robot structure.

[0006] In order to achieve the above object, the utility model adopts the following technical scheme: a pipeline detection robot structure, comprising:

[0007] The shell is provided with a detection assembly, an angle adjusting assembly and a driving assembly.

[0008] The detection assembly is arranged on the shell, and the detection assembly comprises a detector mounted on one side of the shell, and a lighting lamp is fixed on one side of the shell close to the detector.

[0009] The angle adjusting assembly is arranged on the shell, and the angle adjusting assembly comprises a worm gear arranged on the shell, a rotating block arranged on one side of the shell close to the worm gear, a transmission motor mounted on one side of the rotating block, a worm shaft fixed to the output end of the transmission motor, the worm gear and the worm shaft are engaged, a first rotating rod is fixed on the worm gear, a second rotating rod is rotatably connected to one side of the shell close to the first rotating rod, a caterpillar chassis is rotatably connected to the end of the first rotating rod away from the shell, and the end of the second rotating rod away from the shell is rotatably connected to the caterpillar chassis.

[0010] Further, the shell is fixed with a support plate, and the support plate is fixed with a support block.

[0011] The beneficial effect of the further scheme is that the support plate on the shell plays a basic bearing role and is stably fixed on the shell, and the support block further relies on the support plate to provide a support point for the worm wheel and the rotating block, which enables the worm wheel to stably rotate thereon and ensures accurate meshing with the worm, and also enables the rotating block to flexibly rotate, thereby providing a stable structure for the operation of the transmission motor and related transmission components.

[0012] Further, the worm wheel is rotationally connected to the support block, and the rotating block is rotationally connected to the support block.

[0013] The beneficial effect of the further scheme is that the worm wheel is rotationally connected to the support block, and under the driving of the worm, it performs circular motion around the connecting point of the support block, thereby driving the first rotating rod connected thereto to move, and the rotating block is also rotationally connected to the support block and can flexibly change direction, and the transmission motor carried thereby can adjust the angle of the worm relative to the worm wheel when working, thereby ensuring the stability and accuracy of transmission.

[0014] Further, the shell is provided with a support assembly, and the support assembly includes a support rod slidingly connected in the shell.

[0015] The beneficial effect of the further scheme is that the support rod is in a sliding connection state in the shell, and when the robot is running in the pipeline, if the inner wall of the pipeline is uneven or the posture needs to be adjusted, the support rod can slide in the shell according to the actual situation, and its sliding is affected by the environmental force in the pipeline, so as to change the extension length of the support rod in the shell, thereby cooperating with the overall movement and detection work of the robot.

[0016] Further, the support rod is fixed with a fixed plate.

[0017] The beneficial effect of the further scheme is that the fixed plate is fixed on the support rod and mainly plays a connecting and auxiliary force receiving role, on the one hand, it stably connects the support rod and the extension spring, so that the extension force of the spring can be effectively transmitted to the support rod, and on the other hand, when the robot shakes or is subjected to force due to the pipeline condition, the fixed plate can uniformly disperse the force, thereby ensuring the stability of the support rod and avoiding damage due to uneven local force.

[0018] Further, the support rod is provided with an extension spring, one end of the extension spring is fixed on the shell, and the other end of the extension spring is fixed on the fixed plate.

[0019] The beneficial effect of the further scheme is that one end of the telescopic spring is fixed on the shell, and the other end is connected with the fixed plate, when the inner wall of the pipeline generates pressure on the universal wheel during the operation of the robot, the pressure is transmitted to the fixed plate through the supporting rod, so that the telescopic spring is compressed, and vice versa, when the pressure decreases, the spring is stretched, and the elasticity of the spring helps the robot to adapt to the ups and downs in the pipeline and maintain a stable supporting state.

[0020] Further, the bottom of the supporting rod is fixed with the universal wheel.

[0021] The beneficial effect of the further scheme is that the universal wheel is fixed at the bottom of the supporting rod, which provides flexibility for the movement of the robot in the pipeline, and the universal wheel can freely rotate, no matter which direction the robot moves, or when the robot needs to turn or adjust the direction in the pipeline, the universal wheel can easily cope with it, reduces the friction when the robot moves, and ensures that the robot moves smoothly in the pipeline, and helps the efficient development of the detection work.

[0022] Compared with the prior art, the advantages and positive effects of the utility model lie in:

[0023] In the utility model, when the pipeline detection robot works, the transmission motor is started, the worm on the output end rotates, the rotation of the worm drives the rotation of the worm wheel, the rotation of the worm wheel drives the rotation of the first rotating rod fixed therewith, at the same time, the second rotating rod is rotationally connected with the shell and the crawler chassis, and the angle adjustment of the crawler chassis relative to the shell is realized by cooperating with the first rotating rod, so that the diameters of different pipelines are adapted, in the detection process, the illumination lamp is turned on to illuminate the inside of the pipeline, the detector detects the inner wall of the pipeline, and the collected data is transmitted and processed, so that the detection task of the pipeline is completed. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic view of the pipeline detection robot structure of the utility model;

[0025] Figure 2 It is a detection assembly structural schematic view of the pipeline detection robot structure of the utility model;

[0026] Figure 3 It is an angle adjustment assembly structural schematic view of the pipeline detection robot structure of the utility model;

[0027] Figure 4 It is an angle adjustment assembly structural split schematic view of the pipeline detection robot structure of the utility model;

[0028] Figure 5 It is a supporting assembly structural schematic view of the pipeline detection robot structure of the utility model.

[0029] REFERENCE NUMERALS:

[0030] 1. Shell;

[0031] 2. Detection components; 21. Detector; 22. Illumination lamp;

[0032] 3. Angle adjustment assembly; 31. Support plate; 32. Support block; 33. Worm gear; 34. Rotating block; 35. Drive motor; 36. Worm; 37. First rotating rod; 38. Second rotating rod; 39. Tracked chassis;

[0033] 4. Support components; 41. Support rod; 42. Fixing plate; 43. Telescopic spring; 44. Casters. Detailed Implementation

[0034] 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.

[0035] like Figures 1-4 As shown, this embodiment provides a technical solution: a pipeline inspection robot structure, comprising:

[0036] Casing 1;

[0037] Detection component 2 is placed on housing 1. Detection component 2 includes detector 21 installed on one side of housing 1. Illumination lamp 22 is fixed on the side of housing 1 near detector 21.

[0038] The angle adjusting assembly 3 is arranged on the shell 1, the angle adjusting assembly 3 comprises a worm wheel 33 arranged on the shell 1, a rotating block 34 is arranged on one side of the shell 1 close to the worm wheel 33, a transmission motor 35 is installed on one side of the rotating block 34, a worm 36 is fixed on the output end of the transmission motor 35, the worm wheel 33 is meshed with the worm 36, a first rotating rod 37 is fixed on the worm wheel 33, a second rotating rod 38 is rotatably connected to one side of the shell 1 close to the first rotating rod 37, a tracked chassis 39 is rotatably connected to one end of the first rotating rod 37 away from the shell 1, and the second rotating rod 38 is rotatably connected to one end of the second rotating rod 38 away from the shell 1 on the tracked chassis 39. When the pipeline detection robot starts to work, first start the transmission motor 35, the motor runs, the output end of the motor rotates at high speed, the worm 36 is tightly meshed with the worm wheel 33, the unique spiral structure of the worm 36 accurately transmits the rotary motion of the worm 36 to the worm wheel 33, drives the worm wheel 33 to rotate in a circle, and the first rotating rod 37 fixed on the worm wheel 33 rotates around the rotation center of the worm wheel 33 under the driving of the worm wheel 33. At the same time, the second rotating rod 38 is rotatably connected to one end of the shell 1 and rotatably connected to the other end of the tracked chassis 39. The rotation of the first rotating rod 37 causes the second rotating rod 38 to swing correspondingly, and the two are matched with each other to realize the angle adjustment of the tracked chassis 39 relative to the shell 1. This adjustment mechanism is very important, which can make the robot adjust its posture flexibly according to the change of the pipeline diameter, ensure that the tracked chassis is in good contact with the inner wall of the pipeline at all times, and maintain a stable running state. During the stable running of the robot, the detection work is carried out simultaneously, the illuminating lamp 22 is turned on, the strong light instantaneously illuminates the inside of the pipeline, provides a clear visual environment for detection, and the detector 21 starts to work immediately and scans and detects the inner wall of the pipeline in all directions.

[0039] In the above scheme, when the robot runs in the pipeline, it cannot meet the smooth movement of the robot in the pipeline when encountering uneven inner wall of the pipeline or needing to adjust the posture, for example, Figure 4As shown: the shell 1 is fixed with support plate 31, support plate 31 is fixed with support block 32, support plate 31 firmly attached to the shell 1, as the foundation bearing structure, for subsequent components provide installation plane, support block 32 is based on support plate 31 and set, its key role is to provide stable support point for worm gear 33 and rotating block 34, which makes the worm gear 33 can keep stable when rotating, ensure the precise meshing with the worm 36, realize efficient transmission; at the same time, rotating block 34 can also rotate on the support block 32, for transmission motor 35 and related transmission components build up stable operation of the framework, worm gear 33 is rotatably connected to the support block 32, rotating block 34 is rotatably connected to the support block 32, worm gear 33 is rotatably connected to the support block 32, when the worm 36 rotates, by virtue of the meshing relationship between the two, drive worm gear 33 around the connecting point of the support block 32 do circular motion, and in turn drive the first rotating rod 37 connected with it action, rotating block 34 is also rotatably connected with the support block 32, when the transmission motor 35 working on it, can change its direction, thereby adjusting the angle of the worm 36 relative to the worm gear 33, ensure that the transmission process is stable and accurate, help robot posture flexible adjustment;

[0040] As Figure 1 and Figure 5As shown, the shell 1 is provided with a support assembly 4, which includes a support rod 41 slidingly connected in the shell 1. When the robot runs in the pipeline, encounters uneven inner wall of the pipeline or needs to adjust the posture, the force of the environment in the pipeline will cause the support rod 41 to slide in the shell 1, and by changing the extension length in the shell 1, the support rod 41 can cooperate with the overall movement of the robot to ensure that the robot can still stably carry out the detection work in the complex pipeline environment and maintain the continuity of the detection process. The support rod 41 is fixed with a fixed plate 42, which is fixed to the support rod 41 and bears the dual responsibilities of connection and auxiliary stress. On the one hand, it closely connects the support rod 41 and the extension spring 43, so that the extension force of the extension spring 43 can be smoothly transmitted to the support rod 41 to provide buffer assistance for it. On the other hand, when the robot shakes due to external force caused by the pipeline condition, the fixed plate 42 can evenly disperse the stress to avoid damage to the support rod 41 due to uneven local stress and ensure its stable function. The support rod 41 is provided with an extension spring 43, one end of which is fixed on the shell 1, and the other end of which is fixed on the fixed plate 42. One end of the extension spring 43 is stably fixed on the shell 1, and the other end is connected with the fixed plate 42. During the operation of the robot, when the inner wall of the pipeline exerts pressure on the universal wheel 44, the pressure is conducted to the fixed plate 42 through the support rod 41, causing the extension spring 43 to compress. When the pressure decreases, the spring stretches and uses its elasticity to help the robot adapt to the ups and downs in the pipeline, always maintaining a stable support state to ensure the smooth movement of the robot in the pipeline. The bottom of the support rod 41 is fixed with a universal wheel 44, which is installed at the bottom of the support rod 41 to give great flexibility to the movement of the robot in the pipeline. It can rotate freely, whether the robot moves straight or turns in the pipeline, the universal wheel 44 can easily cope with it. By reducing the friction when the robot moves, it ensures the smooth movement of the robot in the pipeline and effectively promotes the efficient development of the detection work.

[0041] As Figures 1-5As shown, when the pipeline detection robot starts, the transmission motor 35 is turned on, driving the worm 36 to rotate at high speed, the worm 36 is in close engagement with the worm gear 33, driving the worm gear 33 to rotate in a circle, the worm gear 33 drives the first rotating rod 37 to rotate, at the same time, the second rotating rod 38 cooperates with the first rotating rod 37, realizing the angle adjustment of the crawler chassis 39 relative to the shell 1, so that the robot can flexibly adjust the posture according to the change of the pipeline diameter, ensuring that the crawler is attached to the inner wall of the pipeline and maintaining stable progress, in the progress, the detection assembly 2 starts to work, the illuminating lamp 22 is turned on, illuminating the inside of the pipeline to provide a clear field of view for the detector 21, the detector 21 then scans and detects the inner wall of the pipeline in all directions, the support plate 31 is fixed on the shell 1, bearing the support block 32, providing stable support for the worm gear 33 and the rotating block 34, ensuring the precise engagement of the worm gear 33 and the worm 36, when the transmission motor 35 works, the rotating block 34 can adjust the angle of the worm 36 relative to the worm gear 33, ensuring stable and accurate transmission, the support assembly 4 plays an important role in the operation of the robot, when the inner wall of the pipeline is uneven or the posture needs to be adjusted, the support rod 41 slides in the shell 1, changing the extension length, the fixed plate 42 connects the support rod 41 and the extension spring 43, uniformly dispersing the stress, preventing the support rod 41 from being damaged, the extension spring 43 extends and retracts according to the pressure change of the universal wheel 44 on the inner wall of the pipeline, helping the robot to adapt to the ups and downs of the pipeline, the universal wheel 44 is installed at the bottom of the support rod 41 and can rotate freely, reducing the moving friction force, helping the robot to move flexibly and smoothly in the pipeline, and promoting the efficient development of detection work.

[0042] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technology content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification of the above embodiments made according to the technical essence of the present application still belongs to the protection scope of the present application.

Claims

1. A pipeline inspection robot structure, characterized in that, include: Shell (1); The detection component (2) is placed on the housing (1). The detection component (2) includes a detector (21) installed on one side of the housing (1). A lighting lamp (22) is fixed on the side of the housing (1) near the detector (21). An angle adjustment component (3) is placed on a housing (1). The angle adjustment component (3) includes a worm gear (33) disposed on the housing (1). A rotating block (34) is disposed on the side of the housing (1) near the worm gear (33). A transmission motor (35) is installed on one side of the rotating block (34). A worm (36) is fixed at the output end of the transmission motor (35). The worm gear (33) meshes with the worm (36). A first rotating rod (37) is fixed on the worm gear (33). A second rotating rod (38) is rotatably connected on the side of the housing (1) near the first rotating rod (37). A tracked chassis (39) is rotatably connected to the end of the first rotating rod (37) away from the housing (1). A tracked chassis (39) is rotatably connected to the end of the second rotating rod (38) away from the housing (1).

2. The pipeline inspection robot structure according to claim 1, characterized in that: A support plate (31) is fixed on the housing (1), and a support block (32) is fixed on the support plate (31).

3. The pipeline inspection robot structure according to claim 2, characterized in that: The worm gear (33) is rotatably connected to the support block (32), and the rotating block (34) is rotatably connected to the support block (32).

4. The structure of a pipeline inspection robot according to claim 1, characterized in that: The housing (1) is provided with a support assembly (4), which includes a support rod (41) slidably connected inside the housing (1).

5. The pipeline inspection robot structure according to claim 4, characterized in that: A fixing plate (42) is fixed on the support rod (41).

6. The pipeline inspection robot structure according to claim 5, characterized in that: A telescopic spring (43) is provided on the support rod (41). One end of the telescopic spring (43) is fixed to the housing (1), and the other end of the telescopic spring (43) is fixed to the fixing plate (42).

7. The structure of a pipeline inspection robot according to claim 4, characterized in that: The bottom of the support rod (41) is fixed with a caster wheel (44).

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