An industrial pollution inspection robot

Abstract

The utility model discloses an industrial pollution discharge inspection robot, including core work unit and pay -off stand, the core work unit outer wall one end detachably installed has the obstacle removing push -board, the core work unit outer wall rotation is connected with the drive wheel, the drive wheel is along the periphery four corners of core work unit one -one correspondence distribution, the top of core work unit is provided with the bogie on the side of corresponding drive wheel, the core work unit top rotation is connected with the rotating base, the utility model drive wheel adopts four groups independent servo motor control, can realize left and right 45 degree independent corner adjustment, cooperation independent drive motor, can nimble switching symmetry eight character form on -the -spot U -turn, linear retreat and so on movement mode, can be combined with the posture of the camera module and the lighting component that adjust through electric telescopic link, can accurate cover the different area in pipeline, has promoted in narrow, many obstacle pollution discharge pipeline in the traffic nimble and the detection comprehensiveness.

Description

Technical Field

[0001] This utility model mainly relates to the field of pipeline inspection technology, specifically an industrial sewage inspection robot. Background Technology

[0002] Pipeline inspection refers to the use of equipment or methods to inspect and assess the internal structural integrity, sealing, flow capacity, and defects of various pipeline systems used for transporting fluids, whether in operation or out of service. Its core objective is to promptly identify potential pipeline problems. Among the many application scenarios of pipeline inspection, industrial sewage pipelines are particularly challenging because the media they transport are often corrosive, toxic, and polluting. Furthermore, the narrow internal space of these pipelines, low visibility, and the potential presence of harmful gases make traditional manual inspection not only inefficient but also pose significant safety risks, failing to meet the demands for efficient, accurate, and safe inspection. Industrial sewage inspection robots are intelligent equipment developed specifically to address this unique inspection scenario, becoming a key tool for overcoming the shortcomings of traditional inspection methods and improving the level of industrial sewage pipeline inspection.

[0003] Industrial wastewater inspection robots are automated inspection devices integrating motion control, environmental perception, data acquisition and transmission, and image recognition technologies. Primarily used in industrial wastewater pipeline systems, they can move inside or outside pipelines via preset paths or remote control. Using onboard cameras, corrosion sensors, and other devices, they collect real-time images of the pipeline interior, media parameters, and structural status data, transmitting this data to the backend control system for analysis and processing. However, most existing wastewater inspection robots struggle to turn around flexibly inside pipelines, and their camera and lighting components are often fixed-angle, making it difficult to cover multiple areas within the pipeline and resulting in insufficient comprehensive inspection capabilities. Utility Model Content

[0004] This utility model addresses the problem of overly simplistic existing technical solutions by providing an industrial sewage inspection robot. This robot solves the technical problems mentioned in the background, such as difficulty in maneuvering flexibly in narrow pipes, and the fact that camera and lighting components are mostly fixed angles, resulting in insufficient comprehensiveness of detection.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: An industrial sewage discharge inspection robot includes a core working unit and a wire feeding frame. A clearing push plate is detachably installed on one end of the outer wall of the core working unit. Drive wheels are rotatably connected to the outer wall of the core working unit. The drive wheels are distributed one-to-one along the four corners of the outer perimeter of the core working unit. A bogie is provided on the top of the core working unit on one side of the corresponding drive wheel. A rotating base is rotatably connected to the top of the core working unit. A linkage assembly for mounting a camera module and lighting components is provided on the rotating base.

[0006] Furthermore, the core working unit includes a sealed assembly cavity and a heat dissipation cavity. The sealed assembly cavity is used to install electrical components. A sealing cover plate is detachably connected to the top opening of the sealed assembly cavity. A through assembly cavity is opened in the middle of the sealing cover plate along its thickness direction. The assembly cavity is used to install heat dissipation fins. The heat dissipation cavity has a hollow structure and is filled with thermally conductive silicone grease that fits against the heat dissipation fins.

[0007] Furthermore, the cable reel includes a frame and a cable wound on a cable reel on the frame. The ends of the cable of the cable reel are provided with connectors, and one side of the outer wall of the core working unit is provided with an interface for threaded connection with one of the connectors.

[0008] Furthermore, the obstacle clearing push plate is trapezoidal in shape, and a plurality of strip-shaped slots extending along its length are provided in the middle of the obstacle clearing push plate, with each strip-shaped slot spaced apart along the width of the obstacle clearing push plate.

[0009] Furthermore, each core working unit is equipped with a servo motor at the position corresponding to the bogie on its top. The output end of the servo motor is fixed to one end of the bogie, and the other end of the bogie is fixedly connected to a mounting bracket for mounting the drive wheels.

[0010] Furthermore, the linkage assembly includes a fixed rod, a first connecting rod, a mounting connecting shaft, and a second connecting rod. The fixed rods are symmetrically distributed and fixed to the surface of the rotating base. Each fixed rod is rotatably connected to the corresponding first connecting rod via a pin. The first connecting rods are connected to each other via the mounting connecting shaft.

[0011] Furthermore, the mounting connecting shaft is used to mount the camera module and lighting components. The bottom of the mounting connecting shaft is provided with an electric telescopic rod with an external protective shell. The top and bottom of the electric telescopic rod are rotatably connected to the bottom of the mounting connecting shaft and the rotating base, respectively. The second connecting rod is symmetrically distributed at both ends of the camera module. The top of the second connecting rod is rotatably connected to the corresponding end of the outer wall of the camera module, and the bottom is rotatably connected to the surface of the rotating base.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: 1. The sealed assembly cavity of the core working unit ensures the safety of internal electrical components and effectively prevents sewage and sludge from entering. At the same time, the heat dissipation fins integrated in the sealed cover plate directly absorb the heat of the electrical components, which is then conducted to the heat dissipation cavity through thermal grease. Finally, the heat dissipation cavity shell contacts the sewage to exchange heat and complete the heat dissipation. This achieves a balance between sealing protection and efficient heat dissipation in a humid and harsh environment, ensuring the long-term stable operation of the equipment.

[0013] 2. The trapezoidal obstacle-clearing pusher at the front of this industrial sewage inspection robot guides obstacles such as silt and gravel through its inclined side, while the strip-shaped opening in the middle allows sewage and fine silt to pass through, significantly reducing travel resistance. Furthermore, the drive wheels are controlled by four independent servo motors, enabling independent 45° left and right rotation adjustment. With the independent drive motors, it can flexibly switch between symmetrical figure-eight turn-on-the-spot and straight backward movement modes. Combined with a camera module and lighting components whose posture can be adjusted via an electric telescopic rod, it can accurately cover different areas inside the pipeline, improving the flexibility and comprehensiveness of inspection in narrow, obstacle-ridden sewage pipelines.

[0014] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the main structure of this utility model; Figure 2 This is a schematic diagram of a partial internal structure of the core working unit of this utility model; Figure 3 This is a schematic diagram of the connecting rod assembly structure of this utility model.

[0016] Numbering on the map: 1. Core working unit; 101. Sealed assembly cavity; 102. Heat dissipation cavity; 2. Cable feeder; 3. Obstacle clearing push plate; 4. Drive wheel; 5. Bogie; 6. Rotating base; 7. Linkage assembly; 701. Fixed rod; 702. First link; 703. Mounting connecting shaft; 704. Second link; 705. Electric telescopic rod. Detailed Implementation

[0017] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the utility model more thorough and comprehensive.

[0018] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0019] Please refer to the appendix carefully. Figure 1-3An industrial sewage inspection robot includes a core working unit 1 and a wire feeding frame 2. A clearing push plate 3 is detachably installed on one end of the outer wall of the core working unit 1. A drive wheel 4 is rotatably connected to the outer wall of the core working unit 1. The drive wheels 4 are distributed one-to-one along the four corners of the outer perimeter of the core working unit 1. A bogie 5 is provided on the top of the core working unit 1 on one side of the corresponding drive wheel 4. A rotating base 6 is rotatably connected to the top of the core working unit 1. A linkage assembly 7 for installing a camera module and lighting components is provided on the rotating base 6.

[0020] In this embodiment, as Figure 2 As shown, the core working unit 1 includes a sealed assembly cavity 101 and a heat dissipation cavity 102. The sealed assembly cavity 101 is used to install electrical components. A sealing cover plate is detachably connected to the top opening of the sealed assembly cavity 101. A through assembly cavity is opened in the middle of the sealing cover plate along its thickness direction. The assembly cavity is used to install heat dissipation fins. The heat dissipation cavity 102 has a hollow structure and is filled with thermally conductive silicone grease that fits against the heat dissipation fins.

[0021] Through the above structure, the sealed assembly cavity 101 can form a sealed protection for the internal electrical components. The removable sealing cover plate on the top not only ensures the sealing performance, but also facilitates the later inspection and replacement of the electrical components inside the cavity, reducing the maintenance difficulty. A fluororubber sealing ring is sandwiched between the sealing cover plate and the opening edge of the sealed assembly cavity 101 to achieve the IP68 sealing requirement. The assembly cavity that runs through the middle of the sealing cover plate provides an integrated installation space for the heat dissipation fins. The heat dissipation fins directly contact the heat-generating electrical components in the sealed assembly cavity 101 below, minimizing the heat conduction distance. The heat is then conducted to the heat dissipation cavity 102 through the thermal grease above. Finally, the heat is discharged through the contact heat exchange between the outer shell of the heat dissipation cavity 102 and the sewage, realizing the path of heat absorption, conduction and heat dissipation.

[0022] In this embodiment, as Figure 1 and Figure 2 As shown, the cable reel 2 includes a frame and a cable wound on a cable reel on the frame. The ends of the cables in the cable reel 2 are provided with connectors. One side of the outer wall of the core working unit 1 is provided with an interface for threaded connection with one of the connectors.

[0023] With the above structure, elastic sealing rings are provided on both the inner and outer walls of the threaded sections of the connector outer wall and the interface inner wall. When the connector and interface threads are tightened, the sealing rings will be squeezed and filled in the gap between them, forming an inner and outer sealing layer at the interface, which effectively prevents sewage and sludge from entering through the thread gaps.

[0024] In this embodiment, as Figure 1 and Figure 2As shown, the obstacle clearing push plate 3 is trapezoidal in shape, and multiple strip-shaped slots extending along its length are provided in the middle of the obstacle clearing push plate 3. The strip-shaped slots are distributed at intervals along the width direction of the obstacle clearing push plate 3.

[0025] Through the above structure, the trapezoidal structure can smoothly guide obstacles such as silt and gravel in the sewage pipe to both sides by means of the inclined side, avoiding the obstacles from hitting the core working unit 1 head-on. The strip-shaped slots that extend along the length direction and are distributed at intervals in the width direction in the middle can allow sewage and fine mud to pass smoothly during the obstacle removal process, while avoiding the accumulation of impurities on the push plate surface, which would increase the weight of the equipment and greatly reduce the resistance when the core working unit 1 moves forward.

[0026] In this embodiment, as Figure 1 As shown, a servo motor is installed on the top of the core working unit 1 at the position corresponding to the bogie 5. The output end of the servo motor is fixed to one end of the bogie 5, and the other end of the bogie 5 is fixedly connected to the mounting bracket for mounting the drive wheel 4.

[0027] With the above structure, a servo motor is installed on the top of the core working unit 1 at the corresponding position of the bogie 5. The servo motor is equipped with an encoder, which can accurately control the rotation angle of the output end. Then, the bogie 5 drives the drive wheel 4 mounting frame to achieve precise angle adjustment, which meets the direction adjustment needs in different scenarios in the sewage pipeline. In addition, each bogie 5 has an independent corresponding servo motor, which can realize independent angle control of the four drive wheels 4. Combined with each drive wheel 4 with an independent control motor, it can flexibly adapt to different movement modes such as symmetrical figure-eight and straight driving, improve the equipment's flexibility and fault tolerance in the sewage pipeline. Furthermore, the drive wheel surface is equipped with a 2mm deep serrated anti-slip texture structure to improve its grip coefficient in the sludge environment.

[0028] In this embodiment, as Figure 3 As shown, the linkage assembly 7 includes a fixed rod 701, a first connecting rod 702, a mounting connecting shaft 703, and a second connecting rod 704. The fixed rods 701 are symmetrically distributed and fixed to the surface of the rotating base 6. The fixed rods 701 are rotatably connected to the first connecting rods 702 at their corresponding ends by pins. The first connecting rods 702 are connected to each other by the mounting connecting shaft 703.

[0029] With the above structure, the electric telescopic rod 705 with an external protective shell can be flexibly adjusted in angle and height by rotating the top to the mounting shaft 703 and the bottom to the rotating base 6, in conjunction with the telescopic function. This allows the camera module and lighting components to be adjusted accordingly to reach areas that are difficult to cover with traditional fixed-angle equipment.

[0030] In this embodiment, as Figure 3As shown, the mounting shaft 703 is used to mount the camera module and lighting components. The bottom of the mounting shaft 703 is provided with an electric telescopic rod 705 with an external protective shell. The top and bottom of the electric telescopic rod 705 are rotatably connected to the bottom of the mounting shaft 703 and the rotating base 6, respectively. The second connecting rod 704 is symmetrically distributed at both ends of the camera module. The top of the second connecting rod 704 is rotatably connected to the corresponding end of the outer wall of the camera module, and the bottom is rotatably connected to the surface of the rotating base 6.

[0031] Through the above structure, the protective shell isolates corrosive media such as sewage and sludge. The protective shell adopts a multi-section nested structure, which can be used in conjunction with the movement of the electric telescopic rod 705. While providing protection, it will not cause movement interference.

[0032] The specific operating procedure of this utility is as follows: First, it should be noted that the sealed assembly cavity 101 of the core working unit 1 integrates key electrical components, including the main control module (using an industrial-grade PLC controller that supports multi-protocol communication), the mounting bracket for mounting the drive wheel 4, which is equipped with a corresponding DC brushless motor that independently controls the drive wheel 4, the servo motor driver (with built-in encoder) on the top of the core working unit 1 for controlling the bogie 5, and the rotating base 6 mounted on the top of the core working unit 1 via the servo motor. At the same time, the core working unit 1 needs to be used in conjunction with an external monitoring and control system. The cable wound on the cable tray 2 is a multi-core composite cable, one end connector 8 of which is a male connector with a keyway, which is electrically connected to the power interface and data interface of the external monitoring equipment, and the other end connector 8 is a female connector, which is threadedly connected to the threaded interface on the outer wall of the core working unit 1.

[0033] Furthermore, on the outer wall of the core working unit 1, above the obstacle clearing push plate 3, there are detection probes for corrosion sensors and gas sensors, and the outside of both are covered with stainless steel mesh protective covers.

[0034] The threaded interface has a contact core inside, which is connected to the power interface of the main control module inside the sealed assembly cavity 101 via a cable.

[0035] In use, the core working unit 1 is smoothly placed at the sewage pipe inlet. After the power is turned on, the main control terminal of the external monitoring equipment sends an operation command to the main control module in the sealed assembly cavity 101. The main control module then drives the independent motors of the four drive wheels 4 to run synchronously, so that the core working unit 1 moves steadily along the inner wall of the sewage pipe. At the same time, the corrosion sensor and the gas sensor are activated synchronously. The sewage corrosion parameters and gas concentration data in the pipe collected by the probe are converted into digital signals by the signal processing module in the sealed assembly cavity 101 and then transmitted to the external monitoring equipment along with the image data of the camera module and the running status of the drive wheels 4.

[0036] During operation, the operator can adjust the posture of the camera module and lighting components through the main control terminal. The main control module sends an action signal to the electric telescopic pole 705, and the power output end of the electric telescopic pole 705 extends precisely, lifting the mounting connecting shaft 703. At this time, the first connecting rod 702 rotates around the pin of the fixed rod 701, and the included angle between the two gradually increases from the initial value. At the same time, the second connecting rod 704 is lifted synchronously around the connection point of the rotating base 6. By controlling the extension length of the output end of the electric telescopic pole 705, the height adjustment of the camera module and lighting components in the vertical direction and the angle adjustment in the horizontal direction can be realized.

[0037] The camera module uses a 316L stainless steel waterproof and explosion-proof housing, and has a built-in 4-megapixel high-definition industrial camera and infrared night vision module (night vision distance ≥8m). The lighting component is a 30W LED floodlight (color temperature 5000K, illumination distance ≥10m), which is symmetrically distributed on the rear side of the camera module to ensure that there are no blind spots in the lighting of the inner wall of the pipeline. At the same time, the electric telescopic rod 705 is covered with a waterproof telescopic protective shell made of polytetrafluoroethylene. The protective shell adopts a multi-section nested structure and is fitted on the outside of the electric telescopic rod 705. It moves synchronously with the extension and retraction of the electric telescopic rod 705, effectively isolating sewage and sludge corrosion and ensuring its sealing performance and service life.

[0038] Sewage pipes often contain obstacles such as silt accumulation, gravel, and fragments of abandoned pipelines. Traditional inspection robots are prone to collisions with their core working components due to the lack of a dedicated obstacle-clearing structure. However, the obstacle-clearing push plate 3 at the front of this device has an overall trapezoidal structure with rounded edges. The inclined sides of the trapezoid can guide obstacles in front to both sides, avoiding direct impacts on the core working unit 1. The strip-shaped slot in the middle of the push plate allows sewage and fine silt to pass through, reducing water resistance, reducing the load on the drive motor, and improving the efficiency of passage in complex environments.

[0039] The motion control of drive wheel 4 is adaptable to multiple scenarios. In addition to moving forward and backward via an independent motor, the servo motor of the top bogie 5 of the core working unit 1 can drive drive wheel 4 to achieve a 45° left and right rotation angle adjustment. When turning around in a large-sized pipeline, the main control module controls the diagonal drive wheel 4 to rotate 45° inward to form a symmetrical figure-eight posture, while controlling the drive wheel 4 on the same side to rotate in the opposite direction (the inner wheel moves backward and the outer wheel moves forward), achieving a turn-around on the spot. When retrieving equipment in a small-sized pipeline, drive wheel 4 can maintain a straight angle (0° rotation angle) and reverse along the original path by reversing the motor. At this time, the main control module drives the motor to make the rotating base 6 drive the upper component to rotate 180°, so that the camera module can monitor the environment inside the pipeline in the forward direction in real time and avoid collisions with obstacles when reversing.

[0040] During equipment operation, the heat generated by the electrical components inside the sealed assembly cavity 101 is absorbed by the aluminum alloy heat dissipation fins built into the assembly cavity in the middle of the sealed cover. A high thermal conductivity pad is laid on top of the heat dissipation fins, which fits in close contact with the cavity of the heat dissipation cavity 102. At the same time, the heat dissipation cavity 102 is filled with high thermal conductivity silicone grease to further enhance the heat transfer effect from the heat dissipation pad to the outer shell of the heat dissipation cavity 102. The outer shell of the core working unit 1 is made of 304 stainless steel, and the surface of the outer shell is sandblasted to improve the contact and adhesion with sewage, meet the working temperature requirements of each electrical component, and ensure the long-term stable operation of the equipment.

[0041] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. An industrial pollution inspection robot, comprising a core working unit (1) and a wire rack (2), characterized in that: The core working unit (1) has a detachable obstacle clearing push plate (3) installed on one end of its outer wall. The core working unit (1) has a drive wheel (4) rotatably connected to its outer wall. The drive wheels (4) are distributed one by one along the four outer corners of the core working unit (1). The top of the core working unit (1) is provided with a bogie (5) on one side of the corresponding drive wheel (4). The top of the core working unit (1) is rotatably connected with a rotating base (6). The rotating base (6) is provided with a connecting rod assembly (7) for installing the camera module and lighting components.

2. The industrial pollution inspection robot according to claim 1, characterized in that: The core working unit (1) includes a sealed assembly cavity (101) and a heat dissipation cavity (102). The sealed assembly cavity (101) is used to install electrical components. A sealing cover plate is detachably connected to the top opening of the sealed assembly cavity (101). A through assembly cavity is opened in the middle of the sealing cover plate along its thickness direction. The assembly cavity is used to install heat dissipation fins. The heat dissipation cavity (102) has a hollow structure and is filled with thermally conductive silicone grease that fits against the heat dissipation fins.

3. The industrial pollution inspection robot according to claim 1, characterized in that: The cable feeding frame (2) includes a frame and a cable wound on a cable reel on the frame. The ends of the cables of the cable feeding frame (2) are provided with connectors. One side of the outer wall of the core working unit (1) is provided with an interface for threaded connection with one of the connectors.

4. The industrial pollution inspection robot according to claim 1, characterized in that: The obstacle clearing push plate (3) is trapezoidal in shape, and a number of strip-shaped slots extending along its length are provided in the middle of the obstacle clearing push plate (3), and each strip-shaped slot is distributed at intervals along the width direction of the obstacle clearing push plate (3).

5. The industrial pollution inspection robot according to claim 1, characterized in that: The core working unit (1) is equipped with a servo motor at the position corresponding to the bogie (5) on its top. The output end of the servo motor is fixed to one end of the bogie (5), and the other end of the bogie (5) is fixedly connected to the mounting bracket for mounting the drive wheel (4).

6. The industrial pollution inspection robot according to claim 1, characterized in that: The linkage assembly (7) includes a fixed rod (701), a first connecting rod (702), a mounting connecting shaft (703), and a second connecting rod (704). The fixed rods (701) are symmetrically distributed and fixed to the surface of the rotating base (6). The fixed rods (701) are rotatably connected to the first connecting rods (702) at their corresponding ends by pins. The first connecting rods (702) are connected to each other by the mounting connecting shaft (703).

7. The industrial pollution inspection robot according to claim 6, characterized in that: The mounting connecting shaft (703) is used to mount the camera module and lighting components. The bottom of the mounting connecting shaft (703) is provided with an electric telescopic rod (705) with an external protective shell. The top and bottom of the electric telescopic rod (705) are rotatably connected to the bottom of the mounting connecting shaft (703) and the rotating base (6) respectively. The second connecting rod (704) is symmetrically distributed at both ends of the camera module. The top of the second connecting rod (704) is rotatably connected to the corresponding end of the outer wall of the camera module, and the bottom is rotatably connected to the surface of the rotating base (6).

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