Underground pipe gallery robot inspection device

Abstract

The utility model relates to the technical field of inspection devices, in particular to an underground pipe gallery robot inspection device which comprises an inspection device body located at the upper end of a robot body, the underground pipe gallery robot inspection device comprises a protective cover, and the inner side of the protective cover passes through four fixing columns, two guide rods and four transmission rods; the four transmission rods are connected with two connecting rods through four fixing seats, the fixing seats are connected with a first buffer spring and a second buffer spring, the fixing seats are connected with a guide plate through the connecting rods, and the guide plate makes contact with the robot body through a hole plate. The protective cover has the beneficial effects that the pore plate is in close contact with the interlayer, so that air pressure exists for buffering when the pore plate moves, meanwhile, the fixed seat is driven to slide by sliding the guide rod when the protective cover collides, buffering is provided through contraction and stretching of the first buffer spring and the second buffer spring, and the impact force is further reduced; therefore, the robot body and the inspection device are protected, and the safety and stability of the inspection device are improved.

Description

Technical Field

[0001] This utility model relates to the field of inspection device technology, specifically to an underground utility tunnel robot inspection device. Background Technology

[0002] Underground utility tunnels refer to pipelines and ancillary facilities for gas, heat, electricity, water supply, drainage, and communications within a city. They are important infrastructure for ensuring the operation of the city. Due to maintenance issues, there may be some debris or equipment and objects left behind by people inside the tunnels.

[0003] Chinese Patent CN111221339A discloses an underground utility tunnel inspection robot, comprising a chassis, a differential motor, drive wheels, a battery, driven wheels, a steering mechanism, and a visual navigation system. Two drive wheels are mounted at the rear of the chassis, and two driven wheels are mounted at the front. The differential motor is threadedly fixed to the chassis, and its two output shafts are connected to the left and right drive wheels respectively via flat keys. The steering mechanism is installed between the two driven wheels at the front of the chassis, enabling synchronous steering between the two driven wheels. This invention provides an underground utility tunnel inspection robot with high speed and flexible steering. Furthermore, the robot employs a visual navigation system based on a linear CCD camera, ensuring reliable performance. Compared to fixed-rail inspection robots, this reduces costs and enables autonomous inspection operations.

[0004] However, in the aforementioned patent, the robot moves at a relatively high speed, and the routes within underground utility tunnels, due to their low inspection frequency, may contain obstacles, causing the inspection robot to easily collide with them and damage the inspection device. Therefore, this utility model proposes an underground utility tunnel robot inspection device to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide an underground utility tunnel robot inspection device to solve the problem mentioned in the background art that the inspection device is easily damaged when a person collides with it.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an underground utility tunnel robot inspection device, comprising an inspection device located at the upper end of the robot body, the underground utility tunnel robot inspection device comprising: a protective cover, the inner side of the protective cover being connected by four fixed columns, two guide rods and four transmission rods, the four transmission rods being connected by four fixed seats to two connecting rods, the fixed seats being connected to buffer spring one and buffer spring two, the fixed seats being connected to a guide plate through the connecting rods, the guide plate being in contact with the robot body through a perforated plate.

[0007] Preferably, the upper end of the robot body is fixedly connected with an inspection device, both ends of the robot body on both sides are fixedly connected with wheels, one end of the robot body is provided with a sandwich, and the upper end of the robot body is provided with a slot, a plug-in board is inserted into the slot, and the slot and the lower end of the plug-in board penetrate through the sandwich.

[0008] Preferably, the inner arc surface of the protective cover is fixedly connected with four fixed columns, the surface of the guide rod is slidingly connected with two fixed columns of the same horizontal plane, the other end of each fixed column is rotatably connected with a transmission rod, and the other end of the transmission rod is rotatably connected with a fixed seat.

[0009] Preferably, one end of the hole plate is fixedly connected with a guide plate, a sliding groove is formed in the side surface of the other end of the guide plate, the surfaces of the hole plate and the guide plate are slidingly connected with the sandwich, and the side of the hole plate close to the sliding groove is in contact with the plug-in board.

[0010] Preferably, the connecting rod is provided with two upper and lower connecting rods, a buffer spring one is sleeved at the midpoint of the surface of each connecting rod, both ends of the buffer spring one are fixedly connected with a fixed seat, the other side of each fixed seat is fixedly connected with a buffer spring two, and the other end of the buffer spring two is fixedly connected with the guide plate.

[0011] Preferably, the surfaces of the two connecting rods are slidingly connected with two fixed seats, the two ends of the connecting rod penetrate through the buffer spring two from the center and are fixedly connected with the guide plate, and the two ends of the guide rod are slidingly connected with the sliding groove.

[0012] Compared with the prior art, the utility model has the advantages that: through the close contact between the hole plate and the sandwich, the hole plate moves, the air pressure exists, and the buffer is achieved; when the protective cover collides, the sliding guide rod is used to drive the fixed seat to slide, the buffer is provided through the contraction and stretching of the buffer spring one and the buffer spring two, the impact force is further reduced, the robot body and the inspection device are protected, and the safety and stability of the inspection device are improved. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 It is a three-dimensional schematic view of the whole structure of the utility model;

[0014] Figure 2 It is a sectional view schematic view of the robot body of the utility model;

[0015] Figure 3 It is a side view schematic view of the robot body of the utility model;

[0016] Figure 4 It is a side view schematic view of the guide plate of the utility model.

[0017] In the figure: 1, robot body; 2, inspection device; 3, wheel; 4, slot; 5, plugboard; 6, interlayer; 7, protective cover; 8, aperture plate; 9, fixed column; 10, transmission rod; 11, fixed seat; 12, buffer spring I; 13, buffer spring II; 14, connecting rod; 15, guide plate; 16, sliding slot; 17, guide rod. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme of the utility model carry out clearly, complete description, and the advantage is more clear and distinct, the following combines the figure to the utility model embodiment further detailed explanation.Should understand, the specific embodiment described here is a part of the embodiment of the utility model, instead of all the embodiment, only use to explain the embodiment of the utility model, and do not use to limit the embodiment of the utility model, all other embodiments obtained by the ordinary skill in the art without making the creative labor belongs to the scope of the protection of the utility model.

[0019] Please refer to Figures 1 to 3 The utility model provides a kind of technical scheme: a kind of underground pipe gallery robot inspection device, including the inspection device 2 of being located at the upper end of robot body 1, the underground pipe gallery robot inspection device includes: protective cover 7, the upper end of robot body 1 is fixedly connected with inspection device 2, by inspection device 2 can make robot body 1 when moving in underground pipe gallery to internal inspection, the two ends of the both sides of robot body 1 are fixedly connected with wheel 3, facilitate the movement of robot body 1, the one end of robot body 1 is provided with interlayer 6, the upper end of robot body 1 is provided with slot 4, slot 4 is inserted with plugboard 5, by the movement of plugboard 5 facilitate the disassembly of aperture plate 8, the lower end of slot 4 and plugboard 5 are all through interlayer 6.

[0020] The device moves in the underground pipe gallery by robot body 1 driving inspection device 2, to check.

[0021] The inner arc surface of protective cover 7 is fixedly connected with four fixed columns 9, the surface of guide rod 17 is slidingly connected with two fixed columns 9 of the same horizontal plane, at this time, fixed column 9 can slide along guide rod 17, the other end of each fixed column 9 is rotatably connected with a transmission rod 10, the other end of transmission rod 10 is rotatably connected with fixed seat 11, when fixed column 9 slides, it will drive transmission rod 10 to rotate, so as to force fixed seat 11 to move, one end of aperture plate 8 is fixedly connected with guide plate 15, the side surface of the other end of guide plate 15 is provided with sliding slot 16, the movement of guide rod 17 is guided by sliding slot 16, the surface of aperture plate 8 and guide plate 15 is slidingly connected with interlayer 6, so as to facilitate disassembly, the side of aperture plate 8 close to sliding slot 16 is in contact with plugboard 5, aperture plate 8 is fixed by plugboard 5, to avoid it from coming out of interlayer 6 in the process of moving.

[0022] Before use, the protective cover 7 can be quickly installed through the hole plate 8 and the transmission rod 10, the hole plate 8 is slid along the interlayer 6, then the plug plate 5 is inserted into the slot 4, then the hole plate 8 is pulled outwards to be in contact with the plug plate 5, at this time, when the collision occurs, the hole plate 8 moves, at this time, the interlayer 6 generates a certain air pressure under the movement of the hole plate 8, the air pressure is slowly reduced through the air holes on the surface of the hole plate 8, thereby providing a certain buffer.

[0023] The connecting rod 14 is provided with two upper and lower connecting rods 14, the two upper and lower connecting rods 14 facilitate fixing the protective cover 7 to avoid tilting, a buffer spring one 12 is sleeved at the midpoint of the surface of each connecting rod 14, both ends of the buffer spring one 12 are fixedly connected with a fixed seat 11, when the fixed seat 11 moves, the buffer spring one 12 will be stretched or contracted, the other side of each fixed seat 11 is fixedly connected with a buffer spring two 13, the other end of the buffer spring two 13 is fixedly connected with a guide plate 15, when the buffer spring two 13 is subjected to pressure, the buffer spring two 13 will be buffered, the surfaces of the two connecting rods 14 are slidably connected with the two fixed seats 11, both ends of the connecting rod 14 pass through the buffer spring two 13 from the center and are fixedly connected with the guide plate 15, at this time, the movement direction of the fixed seat 11 is limited and can only slide along the connecting rod 14, both ends of the guide rod 17 are slidably connected with the sliding groove 16, through the movement of the guide rod 17, the transmission rod 10 is forced to rotate.

[0024] When the protective cover 7 collides, the protective cover 7 will drive the guide rod 17 to slide through the fixed column 9, at this time, the distance between the guide rod 17 and the connecting rod 14 is reduced, thereby forcing the transmission rod 10 to rotate, and in turn driving the fixed seat 11 to start sliding, at this time, the buffer spring one 12 starts to contract, and the buffer spring two 13 starts to stretch, thereby providing a buffer for the fixed seat 11, reducing the impact force received by the inspection device 2.

[0025] When the device works, the protective cover 7 is installed at one end of the robot body 1, then the robot body 1 carries the inspection device 2 into the underground pipe gallery, when the protective cover 7 collides, the hole plate 8 moves, and is buffered through the slowly reduced air pressure, at the same time, the protective cover 7 provides a buffer for the robot body 1 through the contraction and stretching of the buffer spring one 12 and the buffer spring two 13, thereby protecting the inspection device 2.

[0026] Although the embodiments of the present application have been shown and described, it should be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An underground pipe gallery robot inspection device, comprising an inspection device (2) located at the upper end of a robot body (1), characterized in that: The underground pipe gallery robot inspection device, the inner side of the protective cover (7) is connected with four fixed columns (9), two guide rods (17) and four transmission rods (10) through four fixed seats (11), two connecting rods (14) are connected to the four transmission rods (10) through the four fixed seats (11), the fixed seat (11) is connected with buffer spring one (12) and buffer spring two (13), the fixed seat (11) is connected with the guide plate (15) through the connecting rod (14), and the guide plate (15) is in contact with the robot body (1) through the hole plate (8). 2.The underground pipe gallery robot inspection device according to claim 1, characterized in that: The upper end of the robot body (1) is fixedly connected with the inspection device (2), both ends of the robot body (1) are fixedly connected with the wheels (3), one end of the robot body (1) is provided with the interlayer (6), the upper end of the robot body (1) is provided with the slot (4), the plug-in plate (5) is inserted into the slot (4), and the slot (4) and the lower end of the plug-in plate (5) penetrate through the interlayer (6). 3.The underground pipe gallery robot inspection device according to claim 1, characterized in that: The inner arc surface of the protective cover (7) is fixedly connected with the four fixed columns (9), the surface of the guide rod (17) is slidably connected with two fixed columns (9) of the same horizontal plane, and the other end of each fixed column (9) is rotatably connected with a transmission rod (10). 4.The underground pipe gallery robot inspection device according to claim 1, characterized in that: One end of the hole plate (8) is fixedly connected with the guide plate (15), the side surface of the other end of the guide plate (15) is provided with the sliding groove (16), the surfaces of the hole plate (8) and the guide plate (15) are slidably connected with the interlayer (6), and the side of the hole plate (8) close to the sliding groove (16) is in contact with the plug-in plate (5). 5.The underground pipe gallery robot patrol inspection device according to claim 1, characterized in that: The connecting rod (14) is provided with two upper and lower connecting rods (14), a buffer spring one (12) is sleeved at the midpoint of the surface of each connecting rod (14), both ends of the buffer spring one (12) are fixedly connected with a fixed seat (11), the other side of each fixed seat (11) is fixedly connected with a buffer spring two (13), and the other end of the buffer spring two (13) is fixedly connected with the guide plate (15). 6.The underground pipe gallery robot inspection device according to claim 1, characterized in that: The surfaces of the two connecting rods (14) are slidably connected with two fixed seats (11), the two ends of the connecting rod (14) penetrate through the buffer spring two (13) from the center and are fixedly connected with the guide plate (15), and the two ends of the guide rod (17) are slidably connected with the sliding groove (16).

Images