Pipeline endoscopic robot

Abstract

The utility model relates to the technical field of pipeline detection, in particular to a pipeline endoscopic robot which comprises a stretching main rod, a driving main body and a camera shooting main body, and a bearing piece is arranged at one end of the stretching main rod; one end, close to the bearing part, of the driving main body is provided with a circumferential rotating part, the circumferential rotating part is connected with the bearing part, one end, away from the bearing part, of the driving main body is provided with a driving motor, and an output shaft of the driving motor is provided with a second rotating part; the camera shooting main body is provided with an arc-shaped rotating piece matched with the second rotating piece, the second rotating piece is connected with the arc-shaped rotating piece, and the arched part of the arc-shaped rotating piece extends from the position close to the bearing piece to the position away from the bearing piece in the axial direction. The utility model mainly aims to provide a pipeline endoscopic robot, and aims to enlarge the detection area of a camera shooting main body.

Description

Technical Field

[0001] This utility model relates to the field of pipeline detection technology, and in particular to a pipeline endoscopy robot. Background Technology

[0002] Underground pipelines and drainage systems are a vital component of urban infrastructure, often referred to as the "lifeline" of a city. They are responsible for transporting water resources, treating sewage and rainwater, and distributing various public utilities, making them crucial for the operation and development of a city. With the increasing complexity and aging of urban underground pipe networks, pipeline inspection technology has developed rapidly. Pipeline inspection is a key link in ensuring the safe operation of underground pipelines, accurately identifying internal defects and external damage, thereby preventing pipeline failures and environmental disasters, and safeguarding public safety and environmental health.

[0003] In pipeline inspection technology, endoscopic robots play a crucial role due to their ability to enter the interior of pipes for direct observation. However, one limitation of existing technology is the range of motion of the camera; many endoscopic robots' cameras can only rotate vertically, not horizontally. This limitation restricts the detection area that the robot can cover at a single inspection point, potentially preventing a comprehensive inspection of the entire cross-section of the pipe, thus affecting the completeness and accuracy of the inspection results. Utility Model Content

[0004] The main objective of this invention is to propose a pipe endoscopy robot designed to expand the inspection area.

[0005] To achieve the above objectives, the pipeline endoscopy robot includes:

[0006] The main rod extends into the main rod, and one end of the main rod is provided with a bearing member;

[0007] A driving body, wherein a circumferential rotating component is provided at one end of the driving body near the support member, the circumferential rotating component is connected to the support member, and a driving motor is provided at the end of the driving body away from the support member, wherein a second rotating component is provided on the output shaft of the driving motor; and

[0008] The camera body is provided with an arc-shaped rotating component adapted to the second rotating component. The second rotating component is connected to the arc-shaped rotating component. The arched portion of the arc-shaped rotating component extends along the axial direction of the output shaft of the drive motor from near the support component to away from the support component.

[0009] The circumferential rotating component is used for the circumferential rotation of the camera body, and the arc-shaped rotating component is used for the vertical rotation of the camera body.

[0010] In one embodiment of this utility model, the second rotating member is a gear, and the side of the arc-shaped rotating member facing the gear is provided with a rack, and the gear meshes with the rack.

[0011] In one embodiment of this utility model, one of the driving body and the arc-shaped rotating component is provided with a connecting arm, and the other of the driving body and the arc-shaped rotating component is provided with a guide groove, and the connecting arm is inserted into the guide groove; the extending direction of the guide groove is parallel to the extending direction of the arc-shaped rotating component.

[0012] In one embodiment of the present invention, the driving body has two opposing connecting arms at the end near the camera body, and each connecting arm has a guide protrusion; the arc-shaped rotating member has a guide groove on both sides facing the connecting arm, and each guide protrusion is inserted into a guide groove.

[0013] In one embodiment of this utility model, the bearing member is provided with a fixed gear, the driving body is provided with a planetary gear that meshes with the fixed gear, the circumferential rotating member is a rotary motor, and the output shaft of the rotary motor meshes with the planetary gear.

[0014] In one embodiment of this utility model, the driving body is provided with a controller, and the controller is electrically connected to the rotary motor and the drive motor;

[0015] The controller is equipped with a wireless module, which is used for communication connection to the control terminal.

[0016] In one embodiment of this utility model, the camera body includes a camera and a lighting lamp, and both the camera and the lighting lamp are electrically connected to the controller.

[0017] In one embodiment of this utility model, multiple lighting lamps are provided and surround the camera.

[0018] In one embodiment of this utility model, the extended main rod includes an inner rod body, an outer rod body, and a transmission assembly. The inner rod body is sleeved on the outer rod body. The transmission assembly is located at the end of the inner rod body within the outer rod body. The transmission assembly is provided with a rotatable adjusting gear. The inner peripheral wall of the outer rod body is provided with an adjusting rack extending along the length direction. The adjusting gear meshes with the adjusting rack. The bearing member is slidably located at the end of the outer rod body away from the inner rod body.

[0019] In one embodiment of this utility model, the transmission assembly includes a rotary motor, two adjusting gears, and a bending and fixing rod. One end of the bending and fixing rod is fixedly connected to the end of the inner rod body, and the other end of the bending and fixing rod is provided with two opposing connecting parts. One connecting part is fixedly provided with a rotary motor, the output shaft of the rotary motor is provided with an adjusting gear, and the other connecting part is provided with another adjusting gear.

[0020] In this technical solution, the pipeline endoscope robot is used for underground pipeline inspection. The main extension rod can be inserted into the pipeline to collect information inside the pipeline. Specifically, after the main extension rod is inserted into the pipeline, the circumferential rotating component can drive the camera body to rotate circumferentially, and the arc-shaped rotating component can drive the camera body to rotate along the circumferential direction, so that the camera body can rotate in both the up and down and left and right directions. In this way, the shooting area of ​​the camera body can be greatly expanded, thereby expanding the detection area that the camera body can cover at a single detection point. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the pipeline endoscope robot proposed in this utility model.

[0023] Explanation of icon numbers:

[0024] 10. Extending into the main rod; 101. Bearing component; 102. Inner rod body; 103. Outer rod body; 20. Drive body; 201. Circumferential rotating component; 202. Drive motor; 30. Camera body; 301. Arc-shaped rotating component; 302. Camera; 303. Lighting lamp.

[0025] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] 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 scope of protection of the present utility model.

[0027] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0028] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0029] Please refer to the pipeline endoscopy robot proposed in this utility model. Figure 1 ,include:

[0030] A bearing member 101 is provided at one end of the main rod 10 that extends into the main rod 10.

[0031] The drive body 20 has a circumferential rotating member 201 at one end near the support member 101, the circumferential rotating member 201 being connected to the support member 101, and a drive motor 202 at the other end away from the support member, the output shaft of the drive motor 202 having a second rotating member; and

[0032] The camera body 30 is provided with an arc-shaped rotating member 301 adapted to the second rotating member. The second rotating member is connected to the arc-shaped rotating member 301. The arched part of the arc-shaped rotating member 301 extends from near the support member 101 to away from the support member 101 along the axial direction of the output shaft of the drive motor 202.

[0033] Among them, the circumferential rotating component 201 is used for the circumferential rotation of the camera body 30, and the arc-shaped rotating component 301 is used for the vertical rotation of the camera body 30.

[0034] In this technical solution, the pipeline endoscope robot is used for underground pipeline inspection. The main extension rod 10 can be inserted into the pipeline to collect information inside the pipeline. Specifically, after the main extension rod 10 is inserted into the pipeline, the circumferential rotating component 201 can drive the camera body 30 to rotate circumferentially. The arc-shaped rotating component 301 can drive the camera body 30 to rotate along the circumferential direction, so that the camera body 30 can rotate in both the up and down and left and right directions. In this way, the shooting area of ​​the camera body 30 can be greatly expanded, thereby expanding the detection area that the camera body 30 can cover at a single detection point.

[0035] When using the pipe endoscope robot, one end of the main rod 10 can be completely fixed to the ground, or it can be movably set to the ground through the connector. There is no limitation here. At the other end of the main rod 10, there is a support member 101. The support member 101 is plate-shaped and its plate can provide an installation base for fixing the drive body 20 and preventing the drive body 20 from loosening.

[0036] The driving body 20 is an integrated structure including a circumferential rotating component 201, a second rotating component, a transmission assembly, an electronic control system, and other structures. It is mainly used to realize the rotation of the camera body 30 in the vertical (axial) and horizontal (circumferential) directions. Specifically, the upper part of the driving body 20 is rotatably connected to the support component 101, thereby enabling the driving body 20 and the camera body 30 to rotate relative to the support component 101 in the horizontal direction. The lower part of the driving body 20 is connected to the arc-shaped rotating component 301 of the camera body 30, thereby enabling the camera body 30 to rotate relative to the driving body 20 in the vertical direction. In one embodiment, the portion of the support component away from the main rod 10 has a connecting rod extending into the interior of the driving body 20. A gear is provided at the end of the connecting rod away from the support component (i.e., the end extending into the interior of the driving body 20). A gear is provided on the part of the driving body 20 facing the support component 101. A circumferential rotating component 201 is fixedly provided on the side. The circumferential rotating component 201 is a rotary motor. Its output shaft extends into the drive body 20 and a gear is fixedly provided at its end. The two gears mesh to realize the left and right rotation of the drive body 20. A drive motor 202 is provided at the end of the drive body 20 away from the support member 101. Its output shaft is fixedly connected to a second rotating component. An arc-shaped rotating component 301 is provided on the side of the camera body 30 facing the drive body 20. The side of the arc-shaped rotating component 301 facing the second rotating component has an arc groove of the second rotating component. Its bottom wall is provided with a rack structure. The rack structure extends along the axial direction from near the support member 101 to away from the support member 101. In this way, when the drive motor 202 is running, the camera body 30 can make pitching motion along the extension direction of the rack structure, thereby moving closer to or away from the support member 101 in the axial direction to realize angle swing.

[0037] The camera body 30 is used to capture images inside the pipeline and transmit the images to the data processor of the control terminal. By analyzing the image information, it can be determined whether the pipeline needs maintenance, thus replacing manual entry into the well and improving work efficiency.

[0038] In one embodiment of this utility model, the second rotating component is a gear, and the side of the arc-shaped rotating component 301 facing the gear is provided with a rack. The gear meshes with the rack, so that the transmission ratio can be adaptively designed, thereby ensuring the accuracy of the movement of the camera body 30 in the axial direction.

[0039] In one embodiment of this utility model, one of the driving body 20 and the arc-shaped rotating member 301 is provided with a connecting arm, and the other of the driving body 20 and the arc-shaped rotating member 301 is provided with a guide groove. The connecting arm is inserted into the guide groove. The extension direction of the guide groove is parallel to the extension direction of the arc-shaped rotating member 301. In this way, the rotation direction of the camera body 30 can be restricted, which plays a directional restriction role.

[0040] Specifically, the drive body 20 has two opposing connecting arms at the end near the camera body 30, and each connecting arm has a guide protrusion; the arc-shaped rotating part 301 has a guide groove on both sides facing the connecting arm, and each guide protrusion is inserted into a guide groove. When the camera body 30 rotates in the axial direction, the groove wall of the guide groove abuts against the outer peripheral wall of the guide protrusion.

[0041] In one embodiment of this utility model, the support member 101 is provided with a fixed gear, the drive body 20 is provided with a planetary gear meshing with the fixed gear, and the circumferential rotating member 201 is a rotary motor. The output shaft of the rotary motor meshes with the planetary gear. Specifically, the part of the support member away from the part extending into the main rod 10 is provided with a connecting rod extending into the interior of the drive body 20. The end of the connecting rod away from the support member (i.e., the end extending into the interior of the drive body 20) is provided with a gear. Planetary gears are provided inside the drive body 20. One end gear of the planetary gear is a double-sided gear, that is, it has external teeth and internal teeth. The double-sided gear is sleeved on the gear of the connecting rod so that the internal teeth mesh with the gear of the connecting rod. Subsequently, the external teeth of the double-sided gear mesh with the gears of other planetary gears. The output shaft of the rotary motor is inserted into one of the gears of the planetary gears. In this way, the output torque of the rotary motor can be increased, which makes it easier for the drive body 20 to drive the camera body 30 to achieve circumferential rotation.

[0042] In one embodiment of this utility model, the drive body 20 is provided with a controller, which is electrically connected to the rotary motor and the drive motor 202;

[0043] The controller is equipped with a wireless module, which is used to communicate with the control terminal. The control terminal can be a controller, a smartphone, or other processing device, thereby enabling remote control of the rotation of the camera body 30.

[0044] In one embodiment of this utility model, the camera body 30 includes a camera 302 and a lighting lamp 303. Both the camera 302 and the lighting lamp 303 are electrically connected to a controller. Thus, the lighting effect of the lighting lamp 303 can improve the brightness inside the pipe, thereby improving the shooting quality of the camera 302.

[0045] Furthermore, multiple lighting lamps 303 are provided and surround the camera 302, so that the lighting lamps 303 provide more uniform illumination, reduce image distortion caused by shadows and uneven lighting, and improve image quality.

[0046] In one embodiment of this utility model, the main rod 10 includes an inner rod body 102, an outer rod body 103, and a transmission assembly. The inner rod body 102 is sleeved on the outer rod body 103. The transmission assembly is located at the end of the inner rod body 102 within the outer rod body 103. The transmission assembly is equipped with a rotatable adjusting gear. The inner peripheral wall of the outer rod body 103 is provided with an adjusting rack extending along the length direction. The adjusting gear meshes with the adjusting rack. The bearing member 101 is slidably disposed at the end of the outer rod body 103 away from the inner rod body 102. Thus, through a two-stage adjustment mechanism, the height position of the camera body 30 in the pipe can be controlled in real time, thereby acquiring image information at different heights and comprehensively improving the integrity and accuracy of the detection results.

[0047] Specifically, the transmission assembly includes a rotary motor, two adjusting gears, and a bending and fixing rod. One end of the bending and fixing rod is fixedly connected to the end of the inner rod 102, and the other end of the bending and fixing rod is provided with two opposing connecting parts. One connecting part is fixedly provided with a rotary motor, and the output shaft of the rotary motor is provided with an adjusting gear. The other connecting part is provided with another adjusting gear. In this way, by rotating a rotary motor, the length of the inner rod 102 in the outer rod 103 can be changed, which facilitates the control of the height position of the camera body 30 in the pipe.

[0048] The above are merely exemplary embodiments of this utility model and do not limit the patent scope of this utility model. Any equivalent structural transformations made based on the technical concept of this utility model and the contents of the specification and drawings of this utility model, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this utility model.

Claims

1. A pipe endoscopy robot, characterized in that, The endoscopic robot includes: The main rod (10) extends into the main rod, and one end of the main rod (10) is provided with a bearing member (101); A driving body (20) is provided with a circumferential rotating member (201) at one end near the support member, the circumferential rotating member (201) being connected to the support member (101), and a driving motor (202) is provided at the other end of the driving body (20) away from the support member, the output shaft of the driving motor (202) being provided with a second rotating member; and The camera body (30) is provided with an arc-shaped rotating member (301) adapted to the second rotating member. The second rotating member is connected to the arc-shaped rotating member (301). The arched portion of the arc-shaped rotating member (301) extends along the axial direction of the output shaft of the drive motor (202) from near the support member (101) to away from the support member (101). The circumferential rotating component (201) is used for the circumferential rotation of the camera body (30), and the arc-shaped rotating component (301) is used for the vertical rotation of the camera body (30).

2. The pipeline endoscopy robot as described in claim 1, characterized in that, The second rotating component is a gear, and the arc-shaped rotating component (301) has a rack on the side facing the gear, and the gear meshes with the rack.

3. The pipeline endoscopy robot as described in claim 2, characterized in that, One of the driving body (20) and the arc-shaped rotating component (301) is provided with a connecting arm, and the other of the driving body (20) and the arc-shaped rotating component (301) is provided with a guide groove. The connecting arm is inserted into the guide groove. The extending direction of the guide groove is parallel to the extending direction of the arc-shaped rotating component (301).

4. The pipeline endoscopy robot as described in claim 3, characterized in that, The drive body (20) has two opposing connecting arms at the end near the camera body (30), and each connecting arm has a guide protrusion; the arc-shaped rotating member (301) has a guide groove on both sides facing the connecting arm, and each guide protrusion is inserted into a guide groove.

5. The endoscopic robot for pipes as described in any one of claims 1-4, characterized in that, The support member (101) is provided with a fixed gear, the drive body (20) is provided with a planetary gear that meshes with the fixed gear, the circumferential rotating member (201) is a rotary motor, and the output shaft of the rotary motor meshes with the planetary gear.

6. The pipeline endoscopy robot as described in claim 5, characterized in that, The drive unit (20) is equipped with a controller, which is electrically connected to the rotary motor and the drive motor (202); The controller is equipped with a wireless module, which is used for communication connection to the control terminal.

7. The pipeline endoscopy robot as described in claim 6, characterized in that, The camera body (30) includes a camera (302) and a lighting lamp (303), both of which are electrically connected to the controller.

8. The endoscopic robot for pipes as described in claim 7, characterized in that, Multiple lighting lamps (303) are provided and surround the camera (302).

9. The pipeline endoscopy robot as described in claim 1, characterized in that, The extended main rod (10) includes an inner rod body (102), an outer rod body (103), and a transmission assembly. The inner rod body (102) is sleeved on the outer rod body (103). The transmission assembly is located at the end of the inner rod body (102) within the outer rod body (103). The transmission assembly is provided with a rotatable adjusting gear. The inner peripheral wall of the outer rod body (103) is provided with an adjusting rack extending along the length direction. The adjusting gear meshes with the adjusting rack. The bearing member (101) is slidably located at the end of the outer rod body (103) away from the inner rod body (102).

10. The pipeline endoscopy robot as described in claim 9, characterized in that, The transmission assembly includes a rotary motor, two adjusting gears, and a bending and fixing rod. One end of the bending and fixing rod is fixedly connected to the end of the inner rod body (102), and the other end of the bending and fixing rod is provided with two opposing connecting parts. One connecting part is fixedly provided with a rotary motor, and the output shaft of the rotary motor is provided with an adjusting gear. The other connecting part is provided with another adjusting gear.

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