Pipeline interior surveying device for sewer cleaning

Abstract

The utility model relates to the technical field of surveying devices, and discloses a pipeline interior surveying device for sewer cleaning, which comprises a robot main body, a U-shaped seat and an adjusting assembly, the adjusting assembly is arranged at the top of the robot main body, the U-shaped seat is fixedly connected to the bottom of the robot main body, a semicircular block is rotatably connected to the interior of the U-shaped seat, and the semicircular block is fixedly connected to the bottom of the robot main body. The bottom of the semicircular block is fixedly connected with a supporting rod, the bottom of the supporting rod is fixedly connected with a connecting rod connected with the supporting rod, the outer portion of the supporting rod is rotationally connected with two sets of rotating wheels driving the robot body to move, and the two sets of rotating wheels are symmetrically distributed at the bottom of the robot body. The moving mechanism of the robot body is designed to be in a splayed shape, so that the moving mechanism can be supported on the pipe wall and move along the curved surface wall of the inner side of the pipeline, high stability is achieved, the opening angle between the two sets of rotating wheels is adjusted, the robot can be suitable for surveying work of pipelines with different inner diameters and curvatures, and the application range is wider.

Description

Technical Field

[0001] This utility model relates to the field of surveying device technology, and in particular to a pipe internal surveying device for sewer cleaning. Background Technology

[0002] Sewer cleaning is a crucial step in maintaining the normal operation of urban drainage systems. It mainly involves removing blockages, sediments, and harmful substances from pipes to ensure smooth sewage discharge. Cleaning sewers can reduce odors and bacterial growth, improve the living environment, and ensure that sewers can operate normally during the rainy season or other periods of high drainage demand, preventing water accumulation. Before cleaning sewers, it is necessary to survey the inside of the pipes. Pipeline surveying robots are a type of device for surveying the inside of pipes. A pipeline robot is an integrated mechatronics system that can automatically walk along the inside or outside of narrow pipes, carrying one or more sensors and operating machinery. Under the remote control of staff or automatic computer control, it performs a series of pipeline operations and is used to survey the internal conditions of pipes.

[0003] In existing technologies, existing pipeline inspection robots typically use tires for movement when inspecting circular pipes. However, since the tires are flat, the limited contact area between the flat tires and the circular pipe causes the robot to sway or tilt during movement, affecting the accuracy and efficiency of the inspection and resulting in poor stability. Therefore, it is necessary to improve the internal pipeline inspection device for sewer cleaning to solve the above problems. Utility Model Content

[0004] To overcome the problem that the limited contact area between the flat tire and the circular pipe causes the robot to sway or tilt during movement, affecting the accuracy and efficiency of detection and resulting in poor stability.

[0005] The technical solution of this utility model is as follows: a pipe internal surveying device for sewer cleaning, including a robot body, a U-shaped seat and an adjustment component. The adjustment component is provided on the top of the robot body, the U-shaped seat is fixedly connected to the bottom of the robot body, a semi-circular block is rotatably connected inside the U-shaped seat, a support rod is fixedly connected to the bottom of the semi-circular block, a connecting rod is fixedly connected to the bottom of the support rod, and a rotating wheel that drives the robot body to move is rotatably connected to the outside of the support rod.

[0006] Preferably, there are two sets of wheels, which are symmetrically distributed at the bottom of the robot body.

[0007] Preferably, a motor is fixedly connected inside the robot body, and a threaded rod is fixedly connected to the output end of the motor. The threaded rod is rotatably connected inside the robot body. A limit plate is fixedly connected to the bottom of the threaded rod, and a movable frame is threadedly connected to the outside of the threaded rod. A connecting bracket is rotatably connected inside the movable frame, and the end of the connecting bracket away from the movable frame is rotatably connected to the inside of the connecting rod.

[0008] Preferably, two connecting brackets are provided, which are symmetrically distributed between the movable frame and the connecting rod.

[0009] Preferably, the movable frame has matching slots at corresponding positions of the two connecting brackets, and the two connecting brackets are rotatably connected in the slots of the movable frame.

[0010] Preferably, the connecting rod has a matching groove at the corresponding position of the connecting bracket, and the connecting bracket is rotatably connected to the groove of the connecting rod.

[0011] Preferably, the adjustment assembly includes a fixed frame, which is fixedly connected to the top of the robot body. A first movable bracket is rotatably connected to the outer side of the fixed frame. A camera device is disposed on the top left side of the robot body. The end of the first movable bracket away from the fixed frame is rotatably connected to the outer side of the camera device. A second movable bracket is rotatably connected to the outer side of the camera device. The end of the second movable bracket away from the camera device is rotatably connected to the outside of the fixed frame. A first rotating block is rotatably connected to the outer side of the robot body. A second rotating block is rotatably connected to the outer side of the first movable bracket. An electric telescopic rod is fixedly connected between the second rotating block and the first rotating block.

[0012] The beneficial effects of this utility model are as follows: Compared with the limited contact area between the flat tire and the circular pipe, by designing the motion mechanism of the robot body into a figure-eight shape, it can be supported on the pipe wall and move along the curved wall inside the pipe, which has high stability. By adjusting the opening angle between the two sets of rotating wheels, it can be used for pipe surveying work with different inner diameters and curvatures, making its application range wider. It avoids the problem of the robot shaking or tilting during movement, which affects the accuracy and efficiency of the detection and makes its stability poor. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0014] Figure 2 This is a schematic diagram of the threaded rod structure of this utility model;

[0015] Figure 3 This is a schematic diagram of the support rod structure of this utility model;

[0016] Figure 4 This is a schematic diagram of the adjustment component structure of this utility model;

[0017] Figure 5 This is a schematic diagram of the camera device of this utility model.

[0018] Explanation of reference numerals in the attached drawings: 1. Robot body; 21. Motor; 22. Threaded rod; 23. Limiting plate; 24. Moving frame; 25. Connecting bracket; 26. U-shaped seat; 27. Semicircular block; 28. Support rod; 29. ​​Rotary wheel; 210. Connecting rod; 31. Fixed frame; 32. Camera device; 33. First movable bracket; 34. Second movable bracket; 35. First rotating block; 36. Electric telescopic rod; 37. Second rotating block. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Please see Figure 1 - Figure 5This utility model provides an embodiment of a pipe internal surveying device for sewer cleaning, including a robot body 1, a U-shaped seat 26, and an adjustment component. The adjustment component is located on the top of the robot body 1, and the U-shaped seat 26 is fixedly connected to the bottom of the robot body 1. A semi-circular block 27 is rotatably connected inside the U-shaped seat 26, and a support rod 28 is fixedly connected to the bottom of the semi-circular block 27. A connecting rod 210 is fixedly connected to the bottom of the support rod 28, and a rotating wheel 29 that drives the robot body 1 is rotatably connected to the outside of the support rod 28. By designing the motion mechanism of the robot body 1 in a figure-eight shape, it can be supported on the pipe wall and can move along the curved wall inside the pipe, possessing relatively high efficiency. High stability; the opening angle between the two sets of rotating wheels 29 can be adjusted to make it suitable for pipeline surveying work with different inner diameters and curvatures, thus broadening its application range. The adjustment component adjusts the height of the camera device 32, and then the camera device 32 itself controls the up and down angle of the camera, so that surveying can be carried out as needed. Two sets of rotating wheels 29 are provided, and the two sets of rotating wheels 29 are symmetrically distributed at the bottom of the robot body 1. The robot body 1 is designed with a figure-eight shape through the two sets of rotating wheels 29, so that it can be supported on the pipe wall and can move along the curved wall inside the pipe, with high stability. A motor 21 is fixedly connected inside the robot body 1, and a threaded rod 2 is fixedly connected to the output end of the motor 21. 2. The threaded rod 22 is rotatably connected inside the robot body 1. A limit plate 23 is fixedly connected to the bottom of the threaded rod 22. A movable frame 24 is threadedly connected to the outside of the threaded rod 22. A connecting bracket 25 is rotatably connected inside the movable frame 24. The end of the connecting bracket 25 away from the movable frame 24 is rotatably connected to the inside of the connecting rod 210. The motion mechanism of the robot body 1 is designed in a figure-eight shape, which allows it to be supported on the pipe wall and move along the curved wall inside the pipe, thus having high stability. The opening angle between the two sets of rotating wheels 29 can be adjusted to make it suitable for pipe surveying work with different inner diameters and curvatures, thus broadening its application range. There are two connecting brackets 25, which are symmetrical. Distributed between the movable frame 24 and the connecting rod 210, two connecting brackets 25 synchronously control the opening angle of the two sets of rotating wheels 29, thereby improving the adaptability of the device. The movable frame 24 has matching slots at corresponding positions of the two connecting brackets 25. The two connecting brackets 25 are rotatably connected inside the movable frame 24, so that when adjusting the opening angle of the two sets of rotating wheels 29, the connecting brackets 25 are not affected. The connecting rod 210 has matching slots at corresponding positions of the connecting brackets 25. The connecting brackets 25 are rotatably connected inside the connecting rod 210, so that when adjusting the opening angle of the two sets of rotating wheels 29, the connecting brackets 25 are not affected, thereby improving the stability of the device.

[0021] Please see Figure 4 - Figure 5In this embodiment, the adjustment component includes a fixed frame 31, which is fixedly connected to the top of the robot body 1. A first movable bracket 33 is rotatably connected to the outer side of the fixed frame 31. A camera device 32 is provided on the top left side of the robot body 1. The end of the first movable bracket 33 away from the fixed frame 31 is rotatably connected to the outer side of the camera device 32. A second movable bracket 34 is rotatably connected to the outer side of the camera device 32. The end of the second movable bracket 34 away from the camera device 32 is rotatably connected to the outside of the fixed frame 31. A first rotating block 35 is rotatably connected to the outer side of the robot body 1. A second rotating block 37 is rotatably connected to the outer side of the first movable bracket 33. An electric telescopic rod 36 is fixedly connected between the second rotating block 35 and the first rotating block 37. The adjustment component adjusts the height of the camera device 32 and controls the up and down angle of the camera through the camera device 32 itself, so as to perform surveys as needed.

[0022] During operation, the electric telescopic rods 36 on both sides are extended and retracted, driving the first movable support 33 to move. The first movable support 33 and the second movable support 34 work together to adjust the height of the camera device 32. The camera device 32 itself controls the up and down angle of the camera, allowing for surveying as needed. By designing the motion mechanism of the robot body 1 in a figure-eight shape, it can be supported on the pipe wall and move along the curved wall inside the pipe, providing high stability and effectively improving the accuracy of the survey results. At the same time, the starting motor 21 drives the threaded rod 22 to rotate inside the robot body 1. Through the cooperation of the moving frame 24 and the connecting support 25, it drives the connecting rod 210 to rotate inside the U-shaped seat 26, adjusting the opening angle between the two sets of rotating wheels 29. This makes it suitable for surveying pipes with different inner diameters and curvatures, thus broadening its application range.

[0023] Through the above steps, by designing the motion mechanism of the robot body 1 into a figure-eight shape, it can be supported on the pipe wall and move along the curved wall inside the pipe, thus having high stability. By adjusting the opening angle between the two sets of rotating wheels 29, it can be applied to pipe surveying work with different inner diameters and curvatures, making its application range wider. This solves the problem that the robot shakes or tilts during movement, affecting the accuracy and efficiency of the detection and causing poor stability.

Claims

1. Sewer cleaning pipe interior surveying device comprising a robot body (1), characterized in that: The U-shaped seat (26) and the adjusting assembly are further included, the top of the robot body (1) is provided with the adjusting assembly, the bottom of the robot body (1) is fixedly connected with the U-shaped seat (26), the inside of the U-shaped seat (26) is rotatably connected with the semicircular block (27), the bottom of the semicircular block (27) is fixedly connected with the supporting rod (28), the bottom of the supporting rod (28) is fixedly connected with the connecting rod (210) connected with the supporting rod (28), and the outside of the supporting rod (28) is rotatably connected with the rotating wheel (29) for driving the robot body (1) to move.

2. The pipe inspection apparatus for sewer cleaning according to claim 1, characterized by: The rotating wheel (29) is provided with two groups, and the two groups of rotating wheels (29) are symmetrically distributed at the bottom of the robot body (1).

3. The pipe inspection apparatus for sewer cleaning according to claim 1, characterized by: The inside of the robot body (1) is fixedly connected with the motor (21), the output end of the motor (21) is fixedly connected with the threaded rod (22), the threaded rod (22) is rotatably connected in the inside of the robot body (1), the bottom of the threaded rod (22) is fixedly connected with the limiting plate (23), the outside of the threaded rod (22) is threadedly connected with the moving frame (24), the inside of the moving frame (24) is rotatably connected with the connecting support (25), and one end of the connecting support (25) away from the moving frame (24) is rotatably connected in the inside of the connecting rod (210).

4. The pipe inspection apparatus for sewer cleaning according to claim 3, characterized by: The connecting support (25) is provided with two groups, and the two groups of connecting supports (25) are symmetrically distributed between the moving frame (24) and the connecting rod (210).

5. The pipe inspection apparatus for sewer cleaning according to claim 3, characterized by: The moving frame (24) is provided with a groove corresponding to the position of the connecting support (25), and the connecting support (25) is rotatably connected in the groove of the moving frame (24).

6. The pipe inspection apparatus for sewer cleaning according to claim 3, characterized by: The connecting rod (210) is provided with a groove corresponding to the position of the connecting support (25), and the connecting support (25) is rotatably connected in the groove of the connecting rod (210).

7. The pipe inspection apparatus for sewer cleaning according to claim 1, characterized by: The adjusting assembly comprises a fixed frame (31) fixedly connected to the top of the robot body (1), a first movable support (33) rotatably connected to the outside of the fixed frame (31), a camera (32) provided on the left side of the top of the robot body (1), a second movable support (34) rotatably connected to the outside of the camera (32), a first rotating block (35) rotatably connected to the outside of the robot body (1), a second rotating (37) rotatably connected to the outside of the first movable support (33), and a motor telescopic rod (36) fixedly connected between the second rotating (37) and the first rotating block (35).

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