Visual pipeline dredging robot

Abstract

The utility model relates to the technical field of pipeline dredging equipment, and discloses a visual pipeline dredging robot which comprises a robot body, a camera and a light supplementing lamp are arranged at the end of the robot body, a rotating shaft is arranged at the front end of the robot body, and a drill bit is detachably arranged on the rotating shaft. Driving wheels are arranged on the peripheral side of the robot body, and the distance between the driving wheels and the robot body is adjustable. According to the utility model, the operation condition in the pipeline can be observed in real time, the quick positioning of a blockage point is realized, the blockage cleaning efficiency is improved, the adverse effect on traffic is reduced, the interior of the pipeline is not damaged, the blockage cleaning operation on pipelines with various diameters can be met, the application range is wide, and the practicability is strong.

Description

Technical Field

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

[0002] Municipal drainage systems are prone to blockages due to rainwater carrying debris and dust into the pipes, which accumulate over time, and can also cause urban flooding due to factors such as partial pipe collapses and tree roots growing inside the pipes. Currently, drainage pipe cleaning often uses specialized sludge removal trucks, which are not only expensive but also only suitable for blockages of sludge and debris that are not yet completely blocked. Furthermore, the lack of visibility into the internal structure of the pipes during cleaning makes secondary damage to the pipes more likely, the cleaning effectiveness cannot be quantified and assessed, the location of the blockage is difficult, the construction period is long, and road traffic is severely disrupted. Meanwhile, blockages caused by tree roots, petrochemical waste, and small local collapses require manual excavation, and equipment cannot handle the cleaning of pipes of different diameters. Therefore, there is an urgent need for a visual pipe cleaning robot to solve these problems. Utility Model Content

[0003] The purpose of this invention is to provide a visual pipeline dredging robot that can observe the operation inside the pipeline in real time, quickly locate blockages, improve dredging efficiency, reduce the adverse impact on traffic, and avoid damaging the pipeline. It can also be used to dredge pipelines of various diameters, making it widely applicable and highly practical.

[0004] The present invention adopts the following technical solution:

[0005] A visual pipe clearing robot includes a robot body, a camera and a supplementary light at the end of the robot body, a rotating shaft at the front end of the robot body, and a drill bit detachably mounted on the rotating shaft; drive wheels are arranged around the robot body, and the distance between the drive wheels and the robot body is adjustable.

[0006] Preferably, a cleaning brush is provided on the rotating shaft.

[0007] Preferably, a spring is provided between the cleaning brush and the rotating shaft. In the initial state, the spring is in a compressed state, and the cleaning brush is in contact with the end face of the robot body.

[0008] Preferably, three drive wheels are spaced apart along the axis of the robot body.

[0009] Preferably, the drive wheel is a track wheel.

[0010] Preferably, each of the drive wheels is connected to a drive motor via an active linkage, and the drive motor is mounted on the robot body.

[0011] Preferably, the drive motor is provided with a protective housing, and a driven connecting rod is provided between the protective housing and the drive wheel.

[0012] Preferably, a drive motor is provided at the end of the robot body, a worm gear is connected to the drive shaft of the drive motor, a plurality of support seats are provided on the robot body around the worm gear, a turbine is provided in the support seat, and a drive shaft is provided on each turbine. The drive shaft is connected to the drive wheel through a drive rod.

[0013] Preferably, a driven rod is provided between the drive wheel and the support base.

[0014] Preferably, the drive wheel is detachably provided with a plurality of rubber pads, each of which is provided with anti-slip stripes.

[0015] Compared with existing technologies, the advantages of this invention are as follows: By installing a camera and supplementary lighting on the robot body, this invention can remotely connect the robot body to a host computer via a drive cable, enabling rapid location of blockages, improving clearing efficiency, and reducing adverse effects on traffic. Simultaneously, the visualized operation does not damage the inside of the pipeline, and the clearing effect can be quantified, facilitating targeted analysis and report output. The distance between the drive wheels and the robot body is adjustable, allowing the drive wheels to extend around the robot body, thus meeting the clearing needs of pipelines with different diameters and expanding its applicability. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of this application;

[0017] Figure 2 This is a schematic diagram of the structure of Embodiment 2 of this application;

[0018] Figure 3 for Figure 2 A magnified view of A in the middle. Detailed Implementation

[0019] The present invention will now be described clearly and completely with reference to the accompanying drawings and embodiments:

[0020] like Figure 1As shown, the present invention discloses a visual pipe cleaning robot, comprising a robot body 1. The robot body 1 includes an outer shell and internal circuit control components. The robot body 1 is completely sealed, achieving IP68 waterproof rating to ensure that it is not affected by water flow and dirt inside the pipe during cleaning operations. A camera 2 is installed on the robot body 1, embedded at both the front and rear ends, to transmit real-time information about the pipe's condition to an external device as the robot body 1 moves. The external device can be a host computer, connected to the robot body 1 via a drive cable. To facilitate observation of the pipeline interior by external personnel, the robot body 1 is equipped with a rotating shaft 3 at its front end. Driven by a motor controlled by the robot body 1, the shaft 3 can rotate at three levels (high, medium, and low) to accommodate different blockage conditions and improve unblocking effectiveness. A drill bit 4 is mounted on the rotating shaft 3, and is detachably connected to it for targeted replacement under different working conditions, further enhancing unblocking efficiency and effectiveness. Drive wheels 5 are located around the robot body 1. During operation, the drive wheels 5 propel the robot body 1 along the inner wall of the pipeline, thereby completing the unblocking operation. Preferably, three drive wheels 5 are spaced apart along the axis of the robot body 1, with a 120° distribution between them to provide stable support and ensure stability during movement.

[0021] Furthermore, in this embodiment, the drive wheel 5 is a tracked wheel, and the distance between the drive wheel 5 and the robot body 1 is adjustable, so that the unblocking operation of pipes of different diameters can be achieved by adjusting the distance between the drive wheel 5 and the robot body 1. Each drive wheel 5 has an independent drive structure to ensure the power for the robot to move inside the pipe; in addition, multiple rubber pads 6 are detachably installed on the chain of the drive wheel 5. The rubber pads 6 can reduce the damage to the inner wall of the pipe. The outer side of the rubber pads 6 is provided with anti-slip stripes to increase the friction between them and the inner wall of the pipe and prevent the robot from slipping during movement.

[0022] This utility model optimizes the adjustment method of the drive wheel 5 in different ways to meet different operating conditions, as follows:

[0023] Example 1

[0024] In this embodiment, each drive wheel 5 can be individually adjusted in distance from the robot body 1 to accommodate asymmetrical working conditions caused by deformation inside the pipe. The drive wheel 5 is connected to a drive motor via an active linkage 7. The drive motor is mounted on the robot body 1 and controlled by the robot body 1. A protective housing 8 is provided outside the drive motor to protect it. A driven linkage 9 is provided between the protective housing 8 and the drive wheel 5. The driven linkage 9 ensures that the drive wheel 5 is parallel to the axis of the robot body 1 after adjustment, ensuring stable movement of the robot body 1.

[0025] Example 2

[0026] like Figure 2 and Figure 3 In this embodiment, the multiple drive wheels 5 can be adjusted simultaneously to maintain their distance from the robot body 1, suitable for situations where the internal shape of the pipe is relatively regular. Specifically, a drive motor is installed at the end of the robot body 1, and a worm gear 10 is connected to the drive shaft of the drive motor. Multiple support seats 11 are installed on the robot body 1 around the worm gear 10. Each support seat 11 contains a turbine 12, and each turbine 12 has a drive shaft 13. The drive shaft 13 is connected to the drive wheel 5 through a drive rod 14. During operation, the drive motor drives the worm gear 10 to rotate, and the worm gear 10 engages with the turbine 12 for transmission. As the turbine 12 rotates, it supports the drive rod 14 and the drive wheel 5 through the drive shaft 13. A driven rod 15 is installed between the drive wheel 5 and the support seat 11 to ensure that the drive wheel 5 remains parallel to the axis of the robot body 1, ensuring the stability of the entire robot's movement during operation.

[0027] Furthermore, in both embodiments one and two, supplementary lights 16 are embedded at both the front and rear ends of the robot body 1 to provide supplementary lighting for the camera 2, improving the clarity of the images transmitted to the host computer. In both embodiments one and two, a cleaning brush 17 is provided on the rotating shaft 3 to clean the front wall of the robot body 1 as the shaft 3 rotates, preventing dirt from covering the camera 2 and affecting the shooting effect during the cleaning process. Preferably, the cleaning brush 17 is mounted on the rotating shaft 3 via a spring 18 to ensure constant contact between the cleaning brush 17 and the end face of the robot body 1. Initially, the spring 18 is compressed; as the cleaning brush 17 wears down, the spring 18 gradually returns to its original position, continuously ensuring contact between the cleaning brush 17 and the end face of the robot body 1, ensuring cleaning effectiveness, extending the service life of the cleaning brush 17, and reducing the frequency of replacement.

[0028] In use, the robot body 1 is first remotely connected to the host computer via a drive cable. After the robot body 1 enters the pipe, the drive wheel 5 is controlled to open around the robot body 1 until it contacts the inner wall of the pipe and reaches a preset pressure. Information is then fed back to the host computer to stop the drive wheel 5 from expanding outwards. The host computer controls the robot to move inside the pipe. At this time, the supplementary light 16 can be turned on to observe the situation inside the pipe. When encountering a blockage, the robot body 1 is controlled to rotate the shaft 3, which drives the drill bit 4 to rotate and clear the blockage from the pipe. If excessive resistance causes the drive wheel 5 to slip, adjust the pressure value of the drive wheel 5 to ensure sufficient grip and propel it forward. If a soft blockage is encountered, the robot needs to be disengaged, the corresponding drill bit 4 replaced, and the operation resumed from step S1. After clearing the blockage, the robot continues to move forward, while the front-end camera 2 records data from the inner wall of the pipe until the section of pipe is inspected. After clearing the blockage, the robot returns to the starting point, the drive wheel 5 retracts, and the pipe clearing operation is completed. The operator analyzes the internal pipe conditions through the video recorded by the host computer and outputs an inspection report. This invention allows for real-time observation of the operation inside the pipe, enabling rapid location of blockages, improving clearing efficiency, reducing adverse effects on traffic, and preventing damage to the pipe interior. It is also adaptable to pipes of different diameters, enabling clearing operations on pipes of various diameters, expanding the scope of application and enhancing the practicality of this invention.

[0029] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for 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. A visual pipe cleaning robot, characterized in that: The robot includes a robot body, with a camera and a fill light at one end, a pivot at the front end of the robot body, and a drill bit detachably mounted on the pivot; drive wheels are arranged around the robot body, and the distance between the drive wheels and the robot body is adjustable.

2. The visualized pipe cleaning robot according to claim 1, characterized in that: A cleaning brush is provided on the rotating shaft.

3. The visualized pipe dredging robot according to claim 2, characterized in that: A spring is provided between the cleaning brush and the rotating shaft. In the initial state, the spring is in a compressed state, and the cleaning brush is in contact with the end face of the robot body.

4. The visualized pipe cleaning robot according to claim 1, characterized in that: The drive wheels are arranged at intervals along the axis of the robot body.

5. The visualized pipe cleaning robot according to claim 1, characterized in that: The drive wheel is a track wheel.

6. The visualized pipe cleaning robot according to claim 5, characterized in that: Each of the aforementioned drive wheels is connected to a drive motor via an active linkage, and the drive motor is mounted on the robot body.

7. The visualized pipe dredging robot according to claim 6, characterized in that: The drive motor is provided with a protective housing, and a driven connecting rod is provided between the protective housing and the drive wheel.

8. The visualized pipe cleaning robot according to claim 5, characterized in that: The robot body has a drive motor at its end, and a worm gear is connected to the drive shaft of the drive motor. Multiple support seats are provided on the robot body around the worm gear, and a turbine is provided inside the support seat. Each turbine is equipped with a drive shaft, and the drive shaft is connected to the drive wheel through a drive rod.

9. The visualized pipe cleaning robot according to claim 8, characterized in that: A driven rod is provided between the drive wheel and the support base.

10. The visualized pipe cleaning robot according to claim 5, characterized in that: The drive wheel is detachably equipped with multiple rubber pads, each of which has anti-slip stripes.

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