Drainage pipeline straightness detection robot structure

Abstract

The utility model discloses a drainage pipeline straightness detection robot structure, and mainly relates to the field of pipeline detection. Comprising a robot shell connected with a rack in a sliding mode, the rack is provided with a containing frame used for containing a drainage pipeline, the containing frame is provided with a plurality of notches, the notches are connected with a lifting frame in a sliding mode in the vertical direction, the lifting frame is provided with a plurality of rolling wheels, a plurality of detection arms are arranged in the robot shell, and compression springs are arranged between the detection arms and the robot shell. A plurality of sensing areas used in cooperation with the detection arms are arranged on the inner wall of the robot shell, a contact wheel is arranged at one end of each detection arm, and the contact wheels make rolling contact with the side wall of the drainage pipeline. The drainage pipeline straightness detection device has the advantages that the technical problem that accuracy is insufficient when an existing drainage pipeline is subjected to straightness detection can be solved, automatic detection of the straightness of the drainage pipeline is achieved, errors of detection of long pipelines are smaller, and detection accuracy is further improved.

Description

Technical Field

[0001] This utility model relates to the field of drainage pipeline inspection, specifically a structure for a robot for inspecting the straightness of drainage pipelines. Background Technology

[0002] Drainage pipes used in municipal engineering projects are easily bent due to compression or collision during transportation after production, which affects the straightness of the pipes and poses certain safety hazards for subsequent installation and use. The existing methods for detecting the straightness of drainage pipes are generally manual visual inspection or level inspection, which are not accurate enough. The error is even greater for longer pipes, which poses certain safety hazards for subsequent installation and maintenance of the pipes. Utility Model Content

[0003] The purpose of this invention is to provide a robot structure for detecting the straightness of drainage pipes. It can solve the technical problem of insufficient accuracy in the existing straightness detection of drainage pipes, realize the automatic detection of the straightness of drainage pipes, make the detection operation more convenient, reduce the error for detecting longer pipes, and further improve the accuracy of the detection.

[0004] To achieve the above objectives, this utility model employs the following technical solution:

[0005] A robot structure for detecting the straightness of drainage pipes includes a robot housing slidably connected to a frame. The frame has a placement rack for placing drainage pipes, and the placement rack has multiple notches. A lifting frame is slidably connected vertically to each notch. The lifting frame has multiple rollers that roll in contact with the bottom of the drainage pipe. The lifting frame has a flip motor that drives the rollers to rotate. The robot housing has multiple detection arms inside, which are slidably connected to the robot housing. A compression spring is provided between the detection arms and the robot housing. The inner wall of the robot housing has multiple sensing areas that cooperate with the detection arms. One end of each detection arm has a contact wheel that rolls in contact with the side wall of the drainage pipe.

[0006] Furthermore, the longitudinal section of the robot housing is arc-shaped, and the detection arm slides radially along the robot housing.

[0007] Furthermore, the detection arm is provided with a slide bar, which passes through the robot housing and is slidably connected to it, and the compression spring is sleeved on the outside of the slide bar.

[0008] Furthermore, the robot housing is provided with a lifting plate on its exterior, which is connected to multiple sliding rods.

[0009] Furthermore, a pressure sensor is provided in the sensing area, and a contact is provided on the detection arm, the contact being in contact with the pressure sensor.

[0010] Furthermore, the frame is provided with a guide rod and a rotating screw, and the robot housing is provided with symmetrical sliders. The sliders are slidably connected to the frame, the screw passes through one side of the slider and is threadedly connected to it, and the guide rod passes through the other side of the slider and is slidably connected to it.

[0011] Furthermore, the frame is provided with symmetrical sliding holes, through which the slider passes and is slidably connected.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0013] 1. The structure of this utility model includes a robot housing slidably connected to a frame. Multiple detection arms are mounted on the robot housing, slidably connected to the robot housing, and a compression spring is provided between the detection arms and the robot housing. Multiple sensing areas for use with the detection arms are provided on the side wall of the robot housing. One end of each detection arm is rotatably connected to a contact wheel, which rolls in contact with the side wall of a drainage pipe on the placement frame. This structure, under the action of the compression spring, keeps the contact wheel on the detection arm in rolling contact with the side wall of the drainage pipe. Thus, as the robot housing slides along the frame, the contact wheel always maintains rolling contact with the drainage pipe. Once a bend in the drainage pipe is encountered, the detection arm at a certain point is squeezed by the bend, causing the detection arm to contact the corresponding sensing area, thereby generating a sensing signal. This enables automatic identification of the bend, and the detection is not affected by the length of the drainage pipe, greatly improving the efficiency and convenience of straightness detection and increasing the accuracy of the detection.

[0014] 2. The frame is equipped with a placement rack for placing drainage pipes. The placement rack has multiple notches, and lifting frames are slidably connected to the notches vertically. The lifting frames have multiple rollers that roll in contact with the bottom of the drainage pipes. After inspecting the upper part of the drainage pipes, the multiple lifting frames drive the rollers to move upwards until they contact the bottom of the drainage pipes. Then, the drainage pipes are lifted and separated from the placement racks. Subsequently, a flipping motor drives the rollers to rotate, causing the drainage pipes to flip over, turning the bottom to the top. This facilitates the straightness inspection of the bottom, making the overall straightness inspection of the drainage pipes more comprehensive, reducing the inspection error, and further improving the accuracy of the inspection. Attached Figure Description

[0015] Appendix Figure 1 This is a three-dimensional structural diagram of the present invention.

[0016] Appendix Figure 2 This is a front view of the present invention.

[0017] Appendix Figure 3 This is the right view of this utility model.

[0018] Appendix Figure 4 This is an appendix to this utility model. Figure 3 A cross-sectional view along the AA direction.

[0019] Appendix Figure 5 This is an appendix to this utility model. Figure 4 A cross-sectional view along the BB direction.

[0020] Appendix Figure 6 This is an appendix to this utility model. Figure 4 A magnified view of part C in the middle.

[0021] The labels shown in the attached diagram:

[0022] 1. Frame; 2. Robot shell; 3. Drainage pipe; 4. Placement rack; 5. Notch; 6. Lifting frame; 7. Roller; 8. Tilting motor; 9. Detection arm; 10. Compression spring; 11. Contact wheel; 12. Slide bar; 13. Lifting plate; 14. Pressure sensor; 15. Contact; 16. Guide rod; 17. Screw; 18. Slider; 19. Sliding hole. Detailed Implementation

[0023] The present invention will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the present invention, and these equivalent forms also fall within the scope defined in this application.

[0024] Reference Figure 1 and Figure 2 This utility model describes a robot structure for detecting the straightness of drainage pipes. The main structure includes a robot housing 2 slidably connected to a frame 1. The frame 1 provides support and guidance for the sliding of the robot housing 2. A placement bracket 4 for placing drainage pipes 3 is fixed to the frame 1 by welding or bolts. Preferably, the top of the placement bracket 4 is arc-shaped, allowing for better contact and fit with the sidewall of the drainage pipe 3, thus improving the support effect on the drainage pipe 3. (Refer to...) Figure 6The placement frame 4 has multiple notches 5, which extend vertically through the frame. A lifting frame 6 is slidably connected vertically to each notch 5. The lifting frame 6 is driven to move up and down using existing cylinders or hydraulic cylinders, allowing it to rise above the placement frame 4 or descend into the notch 5. Multiple rollers 7 are rotatably connected to the lifting frame 6 via bearings. These rollers 7 roll in contact with the bottom of the drainage pipe 3. Preferably, at least two rollers 7 are symmetrically arranged. This structure ensures that when inspecting the drainage pipe 3, the lifting frame 6 descends into the notch 5, allowing the drainage pipe 3 to be stably positioned on the placement frame 4, guaranteeing the structural stability of the drainage pipe 3 and the accuracy of the straightness test. This allows for the inspection of the upper part of the drainage pipe 3. After completion, the lifting frame 6 rises from the opening 5, causing the multiple rollers 7 on the top of the lifting frame 6 to contact the drainage pipe 3, driving the drainage pipe 3 to rise and separate from the placement frame 4. The lifting frame 6 is equipped with a flipping motor 8 that drives the rollers 7 to rotate. Specifically, the output shaft of the flipping motor 8 is directly welded to the rollers 7 or a roller shaft is set on the rollers 7. The output shaft of the flipping motor 8 and the roller shaft are connected through meshing gears, realizing the rotation drive of the rollers 7 by the flipping motor 8. With this structure, after the lifting frame 6 rises and the rollers 7 contact the drainage pipe 3, the flipping motor 8 drives the rollers 7 to rotate, thereby realizing the flipping movement of the drainage pipe 3 on the multiple rollers 7, so that the bottom of the drainage pipe 3 flips to the top, which is convenient for inspection of the bottom after flipping. To ensure comprehensiveness and accuracy in detecting the straightness of the drainage pipe 3, the robot housing 2 is equipped with multiple detection arms 9 inside. These detection arms 9 are slidably connected to the robot housing 2, and a compression spring 10 is installed between them. Under the action of the compression spring 10, the multiple detection arms 9 extend away from the robot housing 2, facilitating contact detection of the drainage pipe 3. The inner wall of the robot housing 2 has multiple sensing areas that cooperate with the detection arms 9. Corresponding sensing components, such as contact sensors, are installed within these areas. Upon contact, a sensing signal is generated, enabling timely and rapid detection and feedback at bends in the drainage pipe 3. One end of each detection arm 9 is rotatably connected to a contact... The contact wheel 11 rolls in contact with the side wall of the drainage pipe 3. When inspecting the drainage pipe 3, the drainage pipe 3 is placed on the mounting frame 4, and multiple inspection arms 9 simultaneously slide towards the robot housing 2, compressing the compression spring 10. This allows the robot housing 2 to move smoothly to the outside of the drainage pipe 3. At this point, the multiple inspection arms 9 are released, and under the action of the compression spring 10, they simultaneously move towards the drainage pipe 3 until the rollers 7 at the ends of the inspection arms 9 contact the side wall of the drainage pipe 3. The compression spring 10 ensures that the rollers 7 remain in contact with the side wall of the drainage pipe 3. Afterward, the robot housing 2 slides laterally along the frame 1, causing the multiple inspection arms 9 to move axially along the drainage pipe 3 under the action of the rollers 7.When the drainage pipe 3 bends at a certain point, the detection arm 9 will inevitably be pressed against the bent drainage pipe 3, causing it to slide towards the robot housing 2. This triggers a sensing signal in the corresponding sensing area, recording the bend position of the drainage pipe 3. This allows for successful detection of the straightness of the drainage pipe 3, further improving detection efficiency. It is not limited by the length of the drainage pipe 3, greatly enhancing the convenience and accuracy of the detection.

[0025] Preferred, refer to Figure 3 The longitudinal section of the robot housing 2 is arc-shaped, and the detection arm 9 slides along the radial direction of the robot housing 2. The arc-shaped structure allows multiple detection arms 9 to slide relative to each other along the arc-shaped radial direction, thereby uniformly detecting various positions on the side wall of the drainage pipe 3, further improving the uniformity of detection on various positions on the side of the drainage pipe 3, and improving the accuracy of detection.

[0026] Preferably, a slide bar 12 is fixed to the detection arm 9 by welding or bolting. The slide bar 12 passes through the robot housing 2 and is slidably connected to it. This structure allows the detection arm 9 to slide accurately relative to the robot housing 2 under the guidance of the slide bar 12. The compression spring 10 is sleeved on the outside of the slide bar 12, and the slide bar 12 supports the compression spring 10, so that the compression spring 10 can accurately return to its original position when compressed, and it is not easy for the compression spring 10 to tilt. This ensures the accuracy of the elastic force and allows the detection arm 9 to be accurately pressed and adhered to the side wall of the drainage pipe 3, further ensuring the accuracy of the detection operation.

[0027] Preferably, the robot housing 2 is provided with a lifting plate 13 on its exterior. The lifting plate 13 is simultaneously fixedly connected to multiple sliding rods 12 along the same axis by welding or bolts. This structure allows the multiple sliding rods 12 and detection arms 9 along the same axis to slide towards the robot housing 2 by pulling the lifting plate 13 outward. This compresses multiple compression springs 10, leaving sufficient space inside the robot housing 2 so that the robot housing 2 can move smoothly laterally above the drainage pipe 3. After releasing the lifting plate 13, the multiple detection arms 9 can slide back to their original position under the action of the multiple compression springs 10, improving the convenience of controlling the sliding of the multiple detection arms 9.

[0028] Preferred, refer to Figure 4 and Figure 5A pressure sensor 14 is fixed in the sensing area by welding or bonding. The pressure sensor 14 can adopt a common contact sensor structure in the prior art. Specifically, it can be a sensor of model NS-P321 produced by Shanghai Tianmu Sensor Co., Ltd. A contact 15 is fixed on the detection arm 9 by welding or bonding. Preferably, the contact 15 is arc-shaped. The contact 15 contacts the pressure sensor 14. When encountering the bend of the drainage pipe 3, the bend can compress the detection arm 9 to slide towards the robot shell 2, thereby making the contact 15 at the end of the detection arm 9 contact the pressure sensor 14, so that the pressure sensor 14 at the corresponding position generates a sensing signal. The structure is simple and the detection of the bend position is more timely and accurate.

[0029] Preferably, the frame 1 is provided with a guide rod 16 and a rotating screw 17. The guide rod 16 is fixed to the frame 1 by welding or bolts, and the screw 17 is rotatably connected to the frame 1 by bearings. The screw 17 is driven to rotate by a mobile motor. Slider 18 is symmetrically fixed to the robot housing 2 by welding or bolts. The slider 18 is slidably connected to the frame 1. The screw 17 passes through one side of the slider 18 and is threaded to it. The guide rod 16 passes through the other side of the slider 18 and is slidably connected to it. With this structure, when the mobile motor drives the screw 17 to rotate, the slider 18 and the robot housing 2 can slide along the guide rod 16, so that the robot housing 2 can move smoothly along the axial direction of the drainage pipe 3 for detection, regardless of the length of the drainage pipe 3, thus improving the efficiency and convenience of detection.

[0030] Preferably, the frame 1 is provided with symmetrical sliding holes 19, which penetrate the side wall of the frame 1. The slider 18 passes through the sliding hole 19 and is slidably connected to it. This structure allows the sliding hole 19 to guide the sliding movement of the slider 18, making it less likely for the slider 18 and the robot housing 2 to tilt or sway relative to the frame 1 when they slide along the frame 1. This further improves the stability of the sliding movement of the robot housing 2, reduces detection errors, and further improves the accuracy of detection.

[0031] Working Principle: The structure of this utility model includes a robot housing 2 slidably connected to a frame 1. Multiple detection arms 9 are mounted on the robot housing 2, slidably connected to it. A compression spring 10 is provided between the detection arms 9 and the robot housing 2. Multiple sensing areas for use with the detection arms 9 are provided on the side wall of the robot housing 2. One end of each detection arm 9 is rotatably connected to a contact wheel 11, which rolls in contact with the side wall of the drainage pipe 3 on the placement frame 4. Under the action of the compression spring 10, this structure keeps the contact wheel 11 on the detection arm 9 in rolling contact with the side wall of the drainage pipe 3. Therefore, as the robot housing 2 slides along the frame 1, the contact wheel 11 always maintains rolling contact with the drainage pipe 3. When encountering a bend in the drainage pipe 3, the detection arm 9 at a certain point is squeezed by the bend, causing it to contact the corresponding sensing area, thereby generating a sensing signal. The system enables automatic identification of bending positions, and the detection is not affected by the length of the drainage pipe 3, greatly improving the efficiency and convenience of straightness detection and enhancing the accuracy of the detection. A placement rack 4 for placing the drainage pipe 3 is provided on the frame 1. The placement rack 4 has multiple notches 5, and a lifting frame 6 is vertically slidably connected to each notch 5. The lifting frame 6 has multiple rollers 7, which roll in contact with the bottom of the drainage pipe 3. After detecting the upper part of the drainage pipe 3, the multiple lifting frames 6 drive the rollers 7 upwards to contact the bottom of the drainage pipe 3. Then, the drainage pipe 3 is lifted and separated from the placement rack 4. Subsequently, the flipping motor 8 drives the rollers 7 to rotate, causing the drainage pipe 3 to flip, turning the bottom to the top. This facilitates straightness detection of the bottom, making the overall straightness detection of the drainage pipe 3 more comprehensive, reducing detection errors, and further improving detection accuracy.

Claims

1. A robot structure for detecting the straightness of drainage pipes, comprising a robot housing (2) slidably connected to a frame (1), wherein the frame (1) is provided with a mounting rack (4) for placing drainage pipes (3), characterized in that: The placement rack (4) is provided with multiple notches (5), and a lifting frame (6) is slidably connected to the notches (5) in the vertical direction. The lifting frame (6) is provided with multiple rollers (7), and the rollers (7) are in rolling contact with the bottom of the drainage pipe (3). The lifting frame (6) is provided with a flipping motor (8) that drives the rollers (7) to rotate. The robot housing (2) is provided with multiple detection arms (9) inside, and the detection arms (9) are slidably connected to the robot housing (2). A compression spring (10) is provided between the detection arms (9) and the robot housing (2). The inner wall of the robot housing (2) is provided with multiple sensing areas that cooperate with the detection arms (9). One end of the detection arm (9) is provided with a contact wheel (11), and the contact wheel (11) is in rolling contact with the side wall of the drainage pipe (3).

2. The structure of a robot for detecting the straightness of drainage pipes according to claim 1, characterized in that: The longitudinal section of the robot housing (2) is arc-shaped, and the detection arm (9) slides along the radial direction of the robot housing (2).

3. The structure of a robot for detecting the straightness of drainage pipes according to claim 2, characterized in that: The detection arm (9) is provided with a slide bar (12), which passes through the robot housing (2) and is slidably connected to it. The compression spring (10) is sleeved on the outside of the slide bar (12).

4. The structure of a robot for detecting the straightness of drainage pipes according to claim 3, characterized in that: The robot housing (2) is provided with a lifting plate (13) on the outside, and the lifting plate (13) is connected to multiple sliding rods (12).

5. The structure of a robot for detecting the straightness of drainage pipes according to claim 1, characterized in that: A pressure sensor (14) is provided in the sensing area, and a contact (15) is provided on the detection arm (9), and the contact (15) is in contact with the pressure sensor (14).

6. The structure of a robot for detecting the straightness of drainage pipes according to claim 1, characterized in that: The frame (1) is provided with a guide rod (16) and a rotating screw (17). The robot housing (2) is provided with symmetrical sliders (18). The sliders (18) are slidably connected to the frame (1). The screw (17) passes through the slider (18) on one side and is threadedly connected to it. The guide rod (16) passes through the slider (18) on the other side and is slidably connected to it.

7. The structure of a robot for detecting the straightness of drainage pipes according to claim 6, characterized in that: The frame (1) is provided with symmetrical sliding holes (19), and the slider (18) passes through the sliding holes (19) and is slidably connected to them.

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