Pipeline robot suitable for underground pipe network detection

Abstract

The pipeline robot suitable for underground pipe network detection comprises a machine body assembly, a moving assembly, a socket assembly and a turning-over assembly, the lower end of the machine body assembly is fixedly connected with the moving assembly, the rear end of the machine body assembly is fixedly connected with the socket assembly, and the upper end of the machine body assembly is fixedly connected with the turning-over assembly. The machine is characterized by further comprising a machine body assembly; the front end and the rear end of the main body box are rotationally connected with the rollers; the wireless signal transceiver is fixedly connected to the rear end of the main body box; the main controller is fixedly connected to the interior of the main body box; the anti-shake pan-tilt camera is fixedly connected to the front end of the main body box; the illuminating lamp is also fixedly connected to the front end of the main body box; and by arranging the turning-over assembly capable of automatically turning over when the pipeline robot topples over, the device can detect and automatically turn over when the pipeline robot topples over due to impact in the pipeline, so that the device is convenient to recycle.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robots, specifically a pipeline robot suitable for underground pipeline network inspection. Background Technology

[0002] Pipeline robots are mechatronic systems that can automatically walk inside or outside narrow pipes, carrying one or more sensors and operating mechanisms. Under the remote control of workers or automatic computer control, they can perform a series of pipeline operations. In the 1970s, the development of the petroleum, chemical, natural gas and nuclear industries and the need for pipeline maintenance stimulated the research on pipeline robots. It is generally believed that J. V.R.E.TUT of France was the first to carry out research on the theory and prototype of pipeline robots. In 1978, he proposed the wheel-legged pipeline walking mechanism model IPRIVO.

[0003] For example, the pipeline robot described in (authorization announcement number CN215000211U) belongs to the field of pipeline robot technology. It includes a pipeline robot body, a fixed plate on the upper surface of the pipeline robot body, two vertical plates on the upper surface of the fixed plate, a rotating column rotatably installed between the two vertical plates, two connecting plates on the rotating column, an adjustment component on the lower surface of the connecting plate, a placement frame hinged to one end of the connecting plate, and a semi-circular scraper installed inside the placement frame; in this utility model.

[0004] The aforementioned device uses an inclined plate and a cleaning brush to push out dirt from the pipe, and the cleaning brush helps to increase the cleaning effect inside the pipe. However, the device does not have a mechanism to automatically turn over when the pipe robot tipes over, which means that the device cannot detect and automatically turn over when it is impacted and tipped over inside the pipe, making it inconvenient for recycling. Utility Model Content

[0005] Therefore, in order to overcome the above-mentioned shortcomings, this utility model provides a pipeline robot suitable for underground pipeline network inspection.

[0006] This utility model is implemented as follows: a pipeline robot suitable for underground pipeline network inspection is constructed. The device includes a body assembly, a moving assembly, a socket assembly, and a turning assembly. The lower end of the body assembly is fixedly connected to the moving assembly, the rear end of the body assembly is fixedly connected to the socket assembly, and the upper end of the body assembly is fixedly connected to the turning assembly. The device is characterized by further including: the body assembly; a main body housing, the front and rear ends of which are rotatably connected to rollers; a wireless transceiver, fixedly connected to the rear end of the main body housing; a central controller, fixedly connected inside the main body housing; a gimbal camera with image stabilization, fixedly connected to the front end of the main body housing; a lighting lamp, also fixedly connected to the front end of the main body housing; a battery, fixedly connected to the lower end of the main body housing; and a power cable, fixedly connected to the rear end of the battery.

[0007] Preferably, the moving component includes: a moving base, which is fixedly connected to the lower end of the main body box; a motor, which is fixedly connected to the front and rear ends of the moving base; a moving wheel, the middle of which is fixedly connected to the motor drive shaft; a traveling tire, which is fitted onto the outer rim of the moving wheel; a buffer pad, which is fixedly connected to the front and rear ends of the main body box; and a roller, which is fixedly connected to the upper end of the buffer pad.

[0008] Preferably, the socket assembly includes: a socket fixedly connected to the rear end of the main body box; a plug slidably connected to the socket at its front end; a waterproof cover slidably connected to the rear end of the socket and the front end of the plug at its middle part; threaded grooves located at the left and right ends of the waterproof cover; a screw threadedly connected to the two sets of waterproof covers via the threaded grooves; a waterproof rubber ring fixedly connected to the front and rear ends of the waterproof cover; and a waterproof rubber plug slidably connected to the socket at its front end.

[0009] Preferably, the turning assembly includes: a capacitive tilt sensor fixedly connected inside the main body box; an electric push rod fixedly connected to the middle of the main body box; a slider, the lower end of which is rotatably connected to the upper telescopic rod of the first set of electric push rods, and the slider is slidably connected to the rotating plate through a sliding groove; a fixing block fixedly connected to the lower end of the rotating plate, and the lower end of which is rotatably connected to the upper telescopic rod of the second set of electric push rods; a rotating plate, the lower end of which is slidably connected to the main body box; and a sliding groove located at the lower end of the rotating plate.

[0010] Preferably, the lighting lamps are provided in two sets and are placed at the left and right ends of the image stabilization gimbal camera.

[0011] Preferably, the motor, the moving wheels, and the walking tires are all provided in four sets.

[0012] Preferably, the waterproof cover, screws, and waterproof rubber rings are provided in two sets.

[0013] This utility model has the following advantages: This utility model provides a pipeline robot suitable for underground pipeline network inspection through improvements, which has the following improvements compared to similar equipment:

[0014] The present invention describes a pipeline robot suitable for underground pipeline network inspection. By setting up a turning component that can automatically turn over when the pipeline robot tipes over, the device can perform inspection and automatically turn over when it is impacted and tipped over inside the pipeline, making it easy to recover. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the body component structure of this utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the mobile component of this utility model;

[0018] Figure 4 This is a schematic diagram of the socket assembly structure of this utility model;

[0019] Figure 5 This is a schematic diagram of the turning component structure of this utility model.

[0020] The components include: Body assembly-1, Main body box-11, Wireless signal transceiver-12, Central controller-13, Anti-shake gimbal camera-14, Lighting lamp-15, Battery-16, Wire-17, Moving assembly-2, Moving base-21, Motor-22, Moving wheel-23, Walking tire-24, Buffer pad-25, Roller-26, Socket assembly-3, Socket-31, Plug-32, Waterproof cover-33, Threaded groove-34, Screw-35, Waterproof rubber ring-36, Waterproof rubber plug-37, Turning assembly-4, Capacitive tilt sensor-41, Electric push rod-42, Slider-43, Fixing block-44, Rotating plate-45, Slide groove-46. Detailed Implementation

[0021] The following is in conjunction with the appendix Figures 1-5 The principles and features of this utility model are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of this utility model. The utility model is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of this utility model will become clearer from the following description. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this utility model.

[0022] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0024] Example 1:

[0025] Please see Figures 1-5 This utility model discloses a pipeline robot suitable for underground pipeline network inspection, comprising a body assembly 1, a moving assembly 2, a socket assembly 3, and a turning assembly 4. The lower end of the body assembly 1 is fixedly connected to the moving assembly 2, the rear end of the body assembly 1 is fixedly connected to the socket assembly 3, and the upper end of the body assembly 1 is fixedly connected to the turning assembly 4. The robot is characterized by further comprising the body assembly 1, with the front and rear ends of the main body box 11 rotatably connected to rollers 26, a wireless transceiver 12 fixedly connected to the rear end of the main body box 11, a central controller 13 fixedly connected inside the main body box 11, a stabilized gimbal camera 14 fixedly connected to the front end of the main body box 11, and an illumination lamp 15 also fixedly connected to the front end of the main body box 11. When activated, the illumination lamp 15 emits light to illuminate the inside of the pipeline, facilitating monitoring by the stabilized gimbal camera 14. A battery 16 is fixedly connected to the lower end of the main body box 11, and a wire 17 is fixedly connected to the rear end of the battery 16. Two sets of illumination lamps 15 are provided and positioned at the left and right ends of the stabilized gimbal camera 14.

[0026] The movable component 2 has a movable base 21 fixedly connected to the lower end of the main body box 11, and a motor 22 fixedly connected to the front and rear ends of the movable base 21. After the motor 22 is started, it can drive the movable wheel 23 and its upper components to rotate and move the device. The middle part of the movable wheel 23 is fixedly connected to the drive shaft of the motor 22. The walking tire 24 is sleeved on the outer ring of the movable wheel 23. The buffer pad 25 is fixedly connected to the front and rear ends of the main body box 11, and the roller 26 is fixedly connected to the upper end of the buffer pad 25. There are four sets of motor 22, movable wheel 23 and walking tire 24.

[0027] The socket assembly 3 has a socket 31 fixedly connected to the rear end of the main body box 11, a plug 32 slidably connected to the front end of the socket 31, a waterproof cover 33 slidably connected to the rear end of the socket 31 and the front end of the plug 32 in the middle, a threaded groove 34 on the left and right ends of the waterproof cover 33, a screw 35 threadedly connected to the two sets of waterproof covers 33 through the threaded groove 34, a waterproof rubber ring 36 fixedly connected to the front and rear ends of the waterproof cover 33, and the waterproof rubber ring 36 can prevent water from entering the socket 31 and the plug 32. The front end of the waterproof rubber plug 37 is slidably connected to the socket 31. There are two sets of waterproof covers 33, screws 35 and waterproof rubber rings 36.

[0028] This utility model provides an improved pipeline robot suitable for underground pipeline network inspection, and its working principle is as follows;

[0029] First, when using this device, place it in the work area and then connect it to an external power source to provide the necessary electrical energy for its operation.

[0030] Secondly, when this device is needed, it can be determined whether to use a wired signal transmission connection based on actual needs. If a wired connection is required, the plug 32 can be connected to the socket 31 first. Then, the two sets of waterproof covers 33 can be fitted onto the plug 32 and the socket 31, and then fixed by screws 35 threadedly connecting the two sets of waterproof covers 33. The waterproof rubber rings 36 can prevent water from entering the socket 31 and the plug 32. Then, the device can be placed in the pipe and the motor 22 can be started by controlling the external controller. After the motor 22 starts, it can drive the moving wheel 23 and its upper components to rotate, moving the device in the pipe. At the same time, the anti-shake gimbal camera 14 can be started to monitor the inside of the pipe. The gimbal camera 14 can transmit the monitored image data to an external host for processing and display via a data cable. Simultaneously, it controls the lighting 15 to illuminate the pipe, facilitating monitoring by the gimbal camera 14. When wireless use is required, the waterproof plug 37 can be pushed to connect to the socket 31, allowing water to enter the socket 31. Then, the external host transmits a wireless signal to the wireless transceiver 12 for reception, which is then transmitted via a data cable to the central controller 13 for processing and control of other components. After the gimbal camera 14 is activated, it can transmit image data to the central controller 13 for processing, and then transmit it to the external host via the wireless transceiver 12 for further processing and display.

[0031] Example 2:

[0032] Please see Figures 1-5This utility model discloses a pipeline robot suitable for underground pipeline network inspection. Compared with Embodiment 1, this embodiment further includes: a turning component 4, a capacitive tilt sensor 41 fixedly connected inside the main body box 11, an electric push rod 42 fixedly connected to the middle of the main body box 11, and after the electric push rod 42 is started, it can drive the slider 43 or the fixed block 44 to rotate. The lower end of the slider 43 is rotatably connected to the upper telescopic rod of the first set of electric push rods 42. The slider 43 is slidably connected to the rotating plate 45 through the slide groove 46. The fixed block 44 is fixedly connected to the lower end of the rotating plate 45. The lower end of the fixed block 44 is rotatably connected to the upper telescopic rod of the second set of electric push rods 42. The lower end of the rotating plate 45 is slidably connected to the main body box 11. The slide groove 46 is provided at the lower end of the rotating plate 45.

[0033] In this embodiment:

[0034] First, when this device needs to be turned over after tipping, the capacitive tilt sensor 41 can be activated by the main controller 13 when the device is wirelessly used in the pipeline. When the device is tipped over due to external impact, the capacitive tilt sensor 41 tilts, and the liquid changes due to gravity distribution, causing the capacitance value between different plates to change. By measuring the capacitance change, the tilt angle can be calculated, and the tilt signal is sent to the main controller 13 through the data line for processing and control of the two sets of electric push rods 42 to start. After the electric push rods 42 are activated, they can drive the slider 43 and the fixed block 44 to rotate upward and lift the device. Then, by controlling the electric push rod 42 at the lower end of the slider 43 to retract, the slider 43 can rotate and slide, causing the rotating plate 45 and the fixed block 44 to rotate synchronously, so that the rotating plate 45 tilts and the roller 26 at the front end of the main body box 11 contacts the pipeline and rotates, causing the main body box 11 and its upper components to turn over.

[0035] This utility model provides an improved pipeline robot suitable for underground pipeline network inspection. By setting a turning component 4 that can automatically turn over when the pipeline robot tipes over, the device can automatically turn over and be easily recovered when it is impacted and tipped over inside the pipeline.

[0036] The above describes the basic principles, main features, and advantages of this utility model. All standard parts used in this utility model can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods for each part all adopt conventional methods such as bolts, rivets, and welding, which are mature technologies in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art, and the circuit connections adopt conventional connection methods in the prior art, which will not be detailed here.

[0037] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A pipe robot suitable for underground pipe network detection, comprising a body assembly (1), a moving assembly (2), a socket assembly (3), and a body-turning assembly (4), the lower end of the body assembly (1) being fixedly connected with the moving assembly (2), the rear end of the body assembly (1) being fixedly connected with the socket assembly (3), and the upper end of the body assembly (1) being fixedly connected with the body-turning assembly (4), characterized in that: Also include body assembly (1); Main body box (11), the front and rear ends of the main body box (11) are rotatably connected with the rollers (26); Wireless signal transceiver (12), the wireless signal transceiver (12) is fixedly connected to the rear end of the main body box (11); General controller (13), the general controller (13) is fixedly connected in the main body box (11); Anti-shake gimbal camera (14), the anti-shake gimbal camera (14) is fixedly connected to the front end of the main body box (11); Illumination lamp (15), the illumination lamp (15) is also fixedly connected to the front end of the main body box (11); Battery (16), the battery (16) is fixedly connected to the lower end of the main body box (11); Electric wire (17), the electric wire (17) is fixedly connected to the rear end of the battery (16).

2. The pipe robot suitable for detecting underground pipe network according to claim 1, characterized in that: The moving assembly (2) comprises: Moving seat (21), the moving seat (21) is fixedly connected to the lower end of the main body box (11); Motor (22), the motor (22) is fixedly connected to the front and rear ends of the moving seat (21); Moving wheel (23), the moving wheel (23) is fixedly connected with the driving shaft of the motor (22) in the middle; Tread (24), the tread (24) is sleeved on the outer ring of the moving wheel (23); Cushion pad (25), the cushion pad (25) is fixedly connected to the front and rear ends of the main body box (11); Roller (26), the roller (26) is fixedly connected to the upper end of the cushion pad (25).

3. The pipe robot suitable for detecting underground pipe network according to claim 1, characterized in that: The socket assembly (3) comprises: Socket (31), the socket (31) is fixedly connected to the rear end of the main body box (11); Plug (32), the plug (32) is slidably connected with the socket (31) at the front end; Waterproof cover (33), the waterproof cover (33) is slidably connected with the rear end of the socket (31) and the front end of the plug (32) in the middle; Threaded groove (34), the threaded groove (34) is arranged at the left and right ends of the waterproof cover (33); Screw (35), the screw (35) is threadedly connected with the two groups of waterproof covers (33) through the threaded grooves (34); Waterproof rubber ring (36), the waterproof rubber ring (36) is fixedly connected to the front and rear ends of the waterproof cover (33); Waterproof rubber plug (37), the waterproof rubber plug (37) is slidably connected with the socket (31) at the front end.

4. The pipe robot suitable for detecting underground pipe network according to claim 1, characterized in that: The turning-over assembly (4) comprises: Capacitive tilt sensor (41), the capacitive tilt sensor (41) is fixedly connected in the main body box (11); Electric push rod (42), the electric push rod (42) is fixedly connected to the middle of the main body box (11); Slide block (43), the lower end of the slide block (43) is rotatably connected with the upper end of the telescopic rod of the first group of electric push rods (42), and the slide block (43) is slidably connected with the rotating plate (45) through the sliding groove (46); Fixed block (44), the fixed block (44) is fixedly connected to the lower end of the rotating plate (45), and the lower end of the fixed block (44) is rotatably connected with the upper end of the telescopic rod of the second group of electric push rods (42); Rotating plate (45), the lower end of the rotating plate (45) is slidably connected with the main body box (11); Sliding groove (46), the sliding groove (46) is arranged at the lower end of the rotating plate (45).

5. The pipe robot suitable for detecting underground pipe network according to claim 1, characterized in that: The lighting lamps (15) are provided with two groups and are arranged at the left and right ends of the anti-shake holder camera (14).

6. The pipe robot suitable for detecting underground pipe network according to claim 2, characterized in that: The motor (22), the moving wheel (23) and the traveling tire (24) are all provided with four groups.

7. The pipe robot suitable for detecting underground pipe network according to claim 3, characterized in that: The waterproof covers (33), the screws (35) and the waterproof rubber rings (36) are all provided with two groups.

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