Underground rainwater pipeline detection robot

Abstract

The utility model relates to the technical field of pipeline detection, in particular to an underground rainwater pipeline detection robot, which is characterized in that connecting rods are distributed and fixed on the front side wall of a machine shell at equal round corners, a connecting shell is fixedly arranged at the front ends of the plurality of connecting rods, a cleaning mechanism is arranged on the connecting shell, and a first camera in electric control connection with a radio controller is fixedly arranged at the upper part of the connecting shell; a first overturning frame is hinged to the outer ring wall of the machine shell in an equal-fillet mode, a driving vehicle assembly is hinged to the first overturning frame and connected with the radio controller in an electric control mode, a second camera connected with the radio controller in an electric control mode is fixedly arranged on the rear side wall of the driving vehicle assembly, and a second overturning frame is hinged to the outer ring wall of the connecting shell. And an adaptive adjusting mechanism connected with the second overturning frame is arranged on the machine shell, so that not only can pipelines with different specifications and inner diameters be adapted to, the robot is prevented from toppling over in the pipelines, but also the camera can shoot the specific condition of the pipe wall more clearly, and the detection effect is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline detection technical field, concretely relates to an underground rainwater pipeline detection robot. BACKGROUND

[0002] At present, the detection and maintenance of underground rainwater pipeline mainly rely on artificial inspection or special detection equipment such as detection robot, and the detection robot on the market is all for shooting in the middle height inside the pipeline by using the installed camera, the camera cannot be close to the inner wall of the pipeline well, so that the shooting picture of the pipe wall is relatively fuzzy, it is difficult to clearly capture the details such as pipe wall crack and leakage point, and there is also the accumulation of silt and other blockages in the pipeline, which not only easily leads to the obstruction of equipment movement, but also easily leads to the phenomenon of toppling, therefore, an underground rainwater pipeline detection robot is urgently needed. UTILITY MODEL CONTENT

[0003] The utility model discloses a kind of underground rainwater pipeline detection robots of reasonable design, to solve the above problems.

[0004] To achieve the above object, the utility model adopts the following technical scheme: it includes casing, radio controller and power supply, radio controller is fixedly arranged on the casing, power supply is fixedly arranged in the casing and is electrically connected with radio controller;

[0005] It further includes:

[0006] Connecting rod, the connecting rod is several, and is fixedly arranged on the front side wall of the casing with equal fillet, the front end of the several connecting rods is fixedly arranged with connecting shell, cleaning mechanism is arranged on the connecting shell, a first camera is fixedly arranged on the upper portion of the connecting shell and is electrically connected with radio controller, lens cleaning mechanism connected with cleaning mechanism is arranged on the connecting shell;

[0007] A first turnover frame, the first turnover frame is several, and is hingedly connected to the outer ring wall of the casing with equal fillet, a driving car assembly is hingedly connected to the first turnover frame, the driving car assembly is electrically connected with radio controller, and a second camera is fixedly arranged on the rear side wall of the driving car assembly and is electrically connected with radio controller;

[0008] Second turnover frame, the second turnover frame is several, and is hingedly connected to the several driving car assemblies respectively, and the second turnover frame is hingedly connected with the outer ring wall of the connecting shell, and the casing is provided with adaptive adjustment mechanism connected with the second turnover frame.

[0009] Further, the cleaning mechanism includes:

[0010] The motor is fixedly installed inside the connecting housing. The motor is electrically connected to the radio controller. The output shaft of the motor passes through the sealed bearing on the front side wall of the connecting housing and is fixedly installed on a rotating disk. Several No. 1 cleaning rods are distributed on the rotating disk with equal rounded corners.

[0011] The second cleaning rod consists of several movably inserted into several first cleaning rods. One end of the second cleaning rod is fixedly provided with a limit block, and a spring is movably sleeved on the second cleaning rod. The two ends of the spring are fixedly connected to the inner wall of the first cleaning rod and the limit block, respectively.

[0012] The abutment blocks consist of several blocks, each fixedly installed at the other end of several second-stage cleaning rods, with an abutment ball movably disposed within each block.

[0013] Furthermore, a sealing sleeve is movably fitted onto the second cleaning rod, and the sealing sleeve is fixedly installed inside the first cleaning rod.

[0014] Furthermore, the lens cleaning mechanism includes:

[0015] Gear No. 1 is fixedly sleeved on the output shaft of the motor. Gear No. 2 is rotatably mounted on the inner wall of the front side of the connecting housing via a rotating shaft, and Gear No. 1 and Gear No. 2 are meshed together.

[0016] The first connecting rod is rotatably mounted on the rear side wall of the second gear via a rotating shaft. One end of the first connecting rod is rotatably mounted with a lifting rod via the rotating shaft, and the lifting rod is movably mounted on the top wall of the connecting shell.

[0017] The wiping plate is fixedly installed on the side wall of the lifting rod above the connecting shell, and the wiping plate is movable and in contact with the first camera.

[0018] Furthermore, guide bars are fixedly installed on both the left and right side walls of the lifting rod, and the guide bars are movably inserted through the top wall of the connecting shell.

[0019] Furthermore, the adaptation adjustment mechanism includes:

[0020] An electric push rod is fixedly installed inside the housing. The electric push rod is electrically connected to a radio controller. The front end of the electric push rod passes through the front side wall of the housing and is fixedly installed with a movable frame. Several linkage frames are distributed on the movable frame with equal rounded corners. The linkage frames are movably sleeved on the connecting rod.

[0021] There are several second connecting rods, each hinged to several linkage frames, and one end of the second connecting rod is hinged to the second flipping frame.

[0022] Compared with the prior art, the beneficial effects of this utility model are: the underground rainwater pipeline detection robot described in this utility model can not only adapt to pipelines of different inner diameters and avoid the robot tipping over inside the pipeline, but also enable the camera to capture the specific condition of the pipe wall more clearly, thereby improving the detection effect. Attached Figure Description

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

[0024] Figure 2 This is a cross-sectional view of the No. 1 cleaning rod in this utility model.

[0025] Figure 3 This is an exploded view of the connecting shell, camera number one, motor, lens cleaning mechanism and guide strip in this utility model.

[0026] Figure 4 This is an exploded view of the components of the housing, radio controller, power supply, connecting rod, electric push rod, moving frame, and linkage frame in this utility model.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Housing; 2. Radio controller; 3. Power supply; 4. Connecting rod; 5. Connecting shell; 6. Camera No. 1; 7. Cleaning mechanism; 7. Motor; 7-1. Rotating disk; 7-2. Cleaning rod No. 1; 7-3. Cleaning rod No. 2; 7-4. Limit block; 7-5. Spring; 7-6. Contact block; 7-7. Contact ball; 7-8. Lens cleaning mechanism; 8. Gear No. 1; 8-1. Gear No. 2; 8-2. Connecting rod No. 1; 8-3. Lifting rod; 8-4. Wiping plate; 8-5. Tilting frame No. 1; 9. Drive vehicle assembly; 10. Camera No. 2; 11. Tilting frame No. 2; 12. Adaptor adjustment mechanism; 13. Electric push rod; 13-1. Moving frame; 13-2. Linkage frame; 13-3. Connecting rod No. 2; 13-4. Sealing sleeve; 14. Guide bar; 15. Detailed Implementation

[0029] The technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. The preferred embodiments described are only examples. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0030] like Figures 1-4 As shown, the specific embodiment adopts the following technical solution: it includes a housing 1, a radio controller 2 and a power supply 3. The radio controller 2 is fixedly installed on the housing 1, and the power supply 3, which is electrically connected to the radio controller 2, is fixedly installed inside the housing 1.

[0031] It also includes:

[0032] Connecting rod 4, there are several connecting rods 4, which are evenly distributed and fixed on the front side wall of the housing 1. Connecting shell 5 is fixedly provided at the front end of several connecting rods 4. A cleaning mechanism 7 is provided on the connecting shell 5. A No. 1 camera 6, which is electrically connected to the radio controller 2, is fixedly provided on the upper part of the connecting shell 5. A lens cleaning mechanism 8, which is connected to the cleaning mechanism 7, is provided on the connecting shell 5.

[0033] A first flip frame 9, of which there are several, is hinged to the outer ring wall of the housing 1 with equal rounded corners. A drive vehicle assembly 10 is hinged to the first flip frame 9. The drive vehicle assembly 10 is electrically connected to the radio controller 2. A second camera 11, which is electrically connected to the radio controller 2, is fixedly installed on the rear side wall of the drive vehicle assembly 10.

[0034] The second tilting frame 12, there are several second tilting frames 12, which are respectively hinged to several drive vehicle assemblies 10, and the second tilting frame 12 is hinged to the outer ring wall of the connecting shell 5. The housing 1 is provided with an adaptation adjustment mechanism 13 connected to the second tilting frame 12.

[0035] The cleaning mechanism 7 includes:

[0036] Motor 7-1 is fixedly installed inside the connecting shell 5. Motor 7-1 is electrically connected to radio controller 2. The output shaft of motor 7-1 passes through the sealed bearing on the front side wall of the connecting shell 5 and is fixedly installed with a rotating disk 7-2. Several No. 1 cleaning rods 7-3 are distributed on the rotating disk 7-2 with equal rounded corners.

[0037] The second cleaning rod 7-4 consists of several movably inserted into several first cleaning rods 7-3. One end of the second cleaning rod 7-4 is fixedly provided with a limit block 7-5. A spring 7-6 is movably sleeved on the second cleaning rod 7-4. The two ends of the spring 7-6 are fixedly connected to the inner wall of the first cleaning rod 7-3 and the limit block 7-5, respectively. A sealing sleeve 14 is movably sleeved on the second cleaning rod 7-4 and is fixedly provided inside the first cleaning rod 7-3. The sealing sleeve 14 can improve the sealing between the first cleaning rod 7-3 and the second cleaning rod 7-4, and prevent mud and water from seeping into the first cleaning rod 7-3 and causing the second cleaning rod 7-4 to jam.

[0038] The contact block 7-7 consists of several blocks, each fixedly installed at the other end of several second cleaning rods 7-4. A contact ball 7-8 is movably installed inside each contact block 7-7. When the motor 7-1 drives the rotating disk 7-2 to rotate, the first cleaning rod 7-3 rotates inside the pipe to clear the blockage. Furthermore, the second cleaning rod 7-4, under the influence of centrifugal force, also moves from inside the first cleaning rod 7-3 outwards, allowing the contact ball 7-8 to contact the inner wall of the pipe, thus facilitating the cleaning of pipes with different inner diameters.

[0039] The lens cleaning mechanism 8 includes:

[0040] Gear 8-1 is fixedly mounted on the output shaft of motor 7-1. Gear 8-2 is rotatably mounted on the inner front wall of connecting housing 5 via a rotating shaft, and gear 8-1 and gear 8-2 are meshed together.

[0041] The first connecting rod 8-3 is rotatably mounted on the rear side wall of the second gear 8-2 via a rotating shaft. One end of the first connecting rod 8-3 is rotatably mounted with a lifting rod 8-4 via a rotating shaft. The lifting rod 8-4 is movably mounted on the top wall of the connecting shell 5. Guide bars 15 are fixedly mounted on both the left and right side walls of the lifting rod 8-4, and the guide bars 15 are movably mounted on the top wall of the connecting shell 5. The guide bars 15 can provide guidance for the up-and-down reciprocating movement of the lifting rod 8-4, thereby improving the movement stability of the lifting rod 8-4.

[0042] Wiping plate 8-5 is fixedly installed on the side wall of lifting rod 8-4 above connecting shell 5, and wiping plate 8-5 is movable and in contact with the first camera 6. With the cooperation of lens cleaning mechanism 8, the first camera 6 can be wiped and cleaned at the same time while cleaning the blockage inside the pipe, so as to avoid mud and water splashing on the first camera 6 and affecting the shooting effect. The second gear 8-2 has a larger diameter than the first gear 8-1, so the second gear 8-2 has a smaller rotation speed than the first gear 8-1, thereby avoiding the wiping frequency of the first camera 6 too fast.

[0043] The adapter adjustment mechanism 13 includes:

[0044] An electric push rod 13-1 is fixedly installed inside the housing 1. The electric push rod 13-1 is electrically connected to the radio controller 2. The front end of the electric push rod 13-1 passes through the front side wall of the housing 1 and is fixedly installed with a movable frame 13-2. Several linkage frames 13-3 are distributed on the movable frame 13-2 with rounded corners. The linkage frames 13-3 are movably sleeved on the connecting rod 4.

[0045] There are several second connecting rods 13-4, which are respectively hinged to several linkage frames 13-3, and one end of the second connecting rod 13-4 is hinged to the second flip frame 12.

[0046] When using this invention, the robot is placed inside the pipe, and then the electric push rod 13-1 is activated. The electric push rod 13-1 drives the moving frame 13-2 to move forward, and the moving frame 13-2 drives the linkage frame 13-3 to move forward. The linkage frame 13-3 drives the second tilting frame 12 to tilt via the second connecting rod 13-4, and the first tilting frame 9 also tilts synchronously, so that several drive vehicle assemblies 10 are all away from the housing 1 and come into contact with the inner wall of the pipe. At this time, several second cameras 11 can take close-up pictures near the inner wall of the pipe, while the first camera 6 can capture the general situation inside the pipe. Afterwards, the drive vehicle assembly 10 can be used to move inside the pipe. When a blockage occurs in the pipe, the motor 7-1 can be activated. The motor 7-1 drives the rotating disk 7-2 to rotate, and the rotating disk 7-2 drives the first cleaning rod 7-3 and the second cleaning rod 7-4 to clean the pipe. The internal rotation of the cleaning rod 7-4, influenced by centrifugal force, causes it to move outward from the cleaning rod 7-3 and compress the spring 7-6. The contact ball 7-8 then contacts the inner wall of the pipe. As the cleaning rod 7-4 rotates within the pipe, the contact ball 7-8 also rotates on the inner wall. The rotating cleaning rods 7-3 and 7-4 effectively clear blockages within the pipe. During this process, the motor 7-1 drives the gear 8-1 to rotate, which in turn drives the gear 8-2. The gear 8-2, through the connecting rod 8-3, drives the lifting rod 8-4 to move up and down repeatedly. The lifting rod 8-4 then drives the wiping plate 8-5 to move up and down repeatedly, thus wiping the camera 6 and preventing wastewater from adhering to the camera 6 and affecting the shooting effect.

[0047] Compared with the prior art, the beneficial effects of this utility model are:

[0048] 1. Through the cooperation of connecting rod 4, first flip frame 9, second flip frame 12 and adapter adjustment mechanism 13, not only can the rounded corners of several drive vehicle assemblies 10 be distributed on the inner wall of the pipe, so that the second camera 11 can take pictures at a position close to the inner wall of the pipe, improving the clarity of the pictures of the inner wall of the pipe, but it can also be adapted to pipes of different diameters, fully expanding the application range of the robot.

[0049] 2. With the cooperation of the cleaning mechanism 7, blockages in pipes of different diameters can be cleared, preventing the robot from being obstructed due to blockages;

[0050] 3. With the cooperation of the lens cleaning mechanism 8, the first camera 6 can be wiped and cleaned at the same time while cleaning the blockage inside the pipe, so as to avoid mud and water splashing on the first camera 6 and affecting the shooting effect.

[0051] 4. The sealing sleeve 14 can improve the sealing between the first cleaning rod 7-3 and the second cleaning rod 7-4, and prevent mud and water from seeping into the first cleaning rod 7-3 and causing the second cleaning rod 7-4 to get stuck.

[0052] For those skilled in the art, modifications can be made to the technical solutions described in the foregoing embodiments, and equivalent substitutions can be made to some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An underground rainwater pipeline detection robot, comprising a housing (1), a radio controller (2) and a power supply (3), wherein the radio controller (2) is fixedly installed on the housing (1) and the power supply (3) is fixedly installed inside the housing (1) and electrically connected to the radio controller (2). Its features are, It also includes: Connecting rod (4), there are several connecting rods (4), which are fixed on the front side wall of the housing (1) with equal rounded corners. Connecting shell (5) is fixedly provided at the front end of several connecting rods (4). A cleaning mechanism (7) is provided on the connecting shell (5). A No. 1 camera (6) is fixedly provided on the upper part of the connecting shell (5) and electrically connected to the radio controller (2). A lens cleaning mechanism (8) connected to the cleaning mechanism (7) is provided on the connecting shell (5). A first flip frame (9) is made up of several frames, which are hinged to the outer ring wall of the housing (1) with equal rounded corners. A drive vehicle assembly (10) is hinged to the first flip frame (9). The drive vehicle assembly (10) is electrically connected to the radio controller (2). A second camera (11) is fixedly installed on the rear side wall of the drive vehicle assembly (10) and electrically connected to the radio controller (2). The second tilting frame (12) consists of several units, which are respectively hinged to several drive vehicle assemblies (10). The second tilting frame (12) is hinged to the outer ring wall of the connecting shell (5). The housing (1) is provided with an adaptation adjustment mechanism (13) connected to the second tilting frame (12).

2. The underground rainwater pipeline detection robot according to claim 1, characterized in that: The cleaning mechanism (7) includes: The motor (7-1) is fixedly installed inside the connecting shell (5). The motor (7-1) is electrically connected to the radio controller (2). The output shaft of the motor (7-1) passes through the sealed bearing on the front side wall of the connecting shell (5) and is fixedly installed with a rotating disk (7-2). Several No. 1 cleaning rods (7-3) are distributed on the rotating disk (7-2) with equal rounded corners. The second cleaning rod (7-4) consists of several rods that are movably inserted into several first cleaning rods (7-3). One end of the second cleaning rod (7-4) is fixedly provided with a limit block (7-5). A spring (7-6) is movably sleeved on the second cleaning rod (7-4). The two ends of the spring (7-6) are fixedly connected to the inner wall of the first cleaning rod (7-3) and the limit block (7-5), respectively. Abutting blocks (7-7), there are several abutting blocks (7-7), which are fixedly installed at the other end of several second cleaning rods (7-4), and abutting balls (7-8) are movably installed inside the abutting blocks (7-7).

3. The underground rainwater pipeline detection robot according to claim 2, characterized in that: A sealing sleeve (14) is movably fitted on the second cleaning rod (7-4), and the sealing sleeve (14) is fixedly installed inside the first cleaning rod (7-3).

4. The underground rainwater pipeline detection robot according to claim 1, characterized in that: The lens cleaning mechanism (8) includes: Gear No. 1 (8-1) is fixedly sleeved on the output shaft of motor (7-1). Gear No. 2 (8-2) is rotatably arranged on the inner wall of the front side of the connecting shell (5) through a rotating shaft, and Gear No. 1 (8-1) and Gear No. 2 (8-2) are meshed together. The first connecting rod (8-3) is rotatably mounted on the rear side wall of the second gear (8-2) via a rotating shaft. One end of the first connecting rod (8-3) is rotatably mounted with a lifting rod (8-4) via a rotating shaft. The lifting rod (8-4) is movably mounted on the top wall of the connecting shell (5). Wiping plate (8-5) is fixedly installed on the side wall of the lifting rod (8-4) above the connecting shell (5), and the wiping plate (8-5) is movable and in contact with the first camera (6).

5. The underground rainwater pipeline detection robot according to claim 4, characterized in that: Guide bars (15) are fixedly installed on both the left and right side walls of the lifting rod (8-4), and the guide bars (15) are movably inserted through the top wall of the connecting shell (5).

6. The underground rainwater pipeline detection robot according to claim 1, characterized in that: The adaptation adjustment mechanism (13) includes: An electric push rod (13-1) is fixedly installed inside the housing (1). The electric push rod (13-1) is electrically connected to the radio controller (2). The front end of the electric push rod (13-1) passes through the front side wall of the housing (1) and is fixedly installed with a movable frame (13-2). Several linkage frames (13-3) are distributed on the movable frame (13-2) with rounded corners. The linkage frames (13-3) are movably sleeved on the connecting rod (4). There are several second connecting rods (13-4), which are respectively hinged to several linkage frames (13-3), and one end of the second connecting rod (13-4) is hinged to the second flipping frame (12).

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