Underground pipeline detection robotic arm

Abstract

The utility model belongs to underground pipeline detection technical field, and disclose underground pipeline detection mechanical arm, including detection appearance, the back of detection appearance rotatory splicing is provided with a plurality of groups splicing components, the splicing component includes the rotating platform, and the outside of rotating platform rotatory setting has the adjusting ring, the inner wall fixed mounting of adjusting ring has a plurality of groups of inclined extrusion blocks, the inside of rotating platform is embedded and is provided with a plurality of groups of push block, and the side fixed mounting of push block close to adjusting ring has the inclined block, the utility model discloses through setting splicing component and the cooperation of adjusting ring and so on structure, it is favourable to through the mode of quick insertion and rotating extrusion to adjust the locking block for locking fast, through this mode can realize the effect of quick disassembly mechanical arm connecting structure, it is convenient to disassemble and replace, reduce the work pressure of staff, to reach the effect of quick disassembly replacement, effectively reduce the time spent of disassembly installation, improve efficiency, convenient for staff to use.

Description

Technical Field

[0001] This utility model belongs to the field of underground pipeline detection technology, specifically an underground pipeline detection robotic arm. Background Technology

[0002] Underground pipeline detectors can accurately detect various data and conditions of underground pipelines without damaging the ground. During construction and maintenance, underground pipeline detectors are often used to detect the location of the pipeline to avoid or determine its location, making maintenance easier. Some underground pipeline detectors can directly enter the pipeline and, with the help of a mobile platform and a robotic arm equipped with the detector, can penetrate deep into the pipeline to observe the specific condition of the internal pipeline, making it easier to determine the internal situation for maintenance.

[0003] For example, utility model publication CN117704154A discloses a pipeline detection platform, including a housing, a pipeline detector, a robotic arm, an unmanned vehicle, a power supply module, and a terminal platform. The power supply module is installed inside the housing and is used to supply power to the robotic arm, the unmanned vehicle, and the terminal platform. This platform uses an unmanned vehicle to move the entire detection platform along the pipeline. Then, by setting up the robotic arm and the pipeline detector, the robotic arm moves the pipeline detector, which performs a 3D scan of the pipeline from all directions, thereby accurately detecting the 3D data of the pipeline. Finally, by setting up the terminal platform, the platform controls the robotic arm and the unmanned vehicle based on the pipeline parameters sent by the pipeline detector, thereby automatically generating a 3D data map of the pipeline. This allows workers to accurately know the location and other parameters of the underground pipeline. The overall structure is practical, reliable, and highly automated, requiring minimal operation.

[0004] In existing technologies, using a robotic arm to move the pipeline monitoring instrument can effectively improve the flexibility of the instrument and adapt to different needs. However, the existing underground pipelines are complex and often require disassembly and replacement of robotic arms of different lengths to meet different needs. Existing robotic arms are locked with bolts, which makes them difficult to disassemble flexibly, resulting in long installation and disassembly times and inconvenience for replacement. Utility Model Content

[0005] To address the problems mentioned in the background section, this utility model provides a robotic arm for detecting underground pipelines.

[0006] To achieve the above objectives, this utility model provides the following technical solution: an underground pipeline detection robotic arm, including a detector, wherein the back of the detector is rotatably spliced ​​with several sets of splicing components;

[0007] The splicing assembly includes a rotating platform, and an adjusting ring is rotatably arranged on the outer side of the rotating platform. Several sets of inclined extrusion blocks are fixedly installed on the inner wall of the adjusting ring. Several sets of pushing blocks are embedded in the interior of the rotating platform, and an inclined block is fixedly installed on the side of the pushing block near the adjusting ring. The inclined block is in close contact with the inclined extrusion block.

[0008] The splicing assembly includes a splicing disk, and a number of locking blocks are movably arranged inside the splicing disk. The locking blocks are movably inserted into the inside of the rotary table, and the locking blocks are in close contact with the inclined surface of the push block.

[0009] Preferably, the input end of the rotary table is equipped with an output shaft, and a power connector is embedded in the middle of the rotary table and the splicing plate.

[0010] Preferably, the top of the rotary table is provided with several sets of guide grooves, the groove on the outside of the locking block is in close contact with the guide grooves, a bearing ring is fixedly installed on the inner side of the lower end of the adjusting ring, and the bearing ring is rotatably arranged on the outside of the rotary table, and several sets of limiting grooves are provided inside the rotary table.

[0011] Preferably, a stabilizing slider is fixedly installed on the top of the pushing block, and the stabilizing slider is slidably disposed inside the limiting groove. Supporting springs are provided on the side of the pushing block away from the inclined block at both ends, and the supporting springs are movably disposed inside the rotary table.

[0012] Preferably, a limiting guide rod is slidably provided on the inner side of the lower end of the locking block, and the limiting guide rod is fixedly installed inside the splicing plate. A strong spring is fixedly installed on one side of the upper end of the locking block, and the strong spring is fixedly installed inside the splicing plate.

[0013] Preferably, the detector has a detection lens rotatably mounted on its front side, and several sets of rotating motors are mounted on its back side. A forearm is positioned between two sets of rotating motors, and a main arm is positioned between two sets of rotating motors. A rotating platform is mounted at the top and bottom output ends of the main arm. A rotating platform is mounted near the output end of the forearm of the detector, and a splicing plate is fixedly mounted at the end of the forearm away from the detector. A splicing plate is fixedly mounted on the side of the rotating motor, and a fixed base is rotatably mounted at the bottom of the lower rotating motor. A moving platform is fixedly mounted on the bottom of the fixed base by bolts.

[0014] Preferably, the mobile platform is equipped with a lighting end on the front, and three sets of anti-slip wheels are rotatably arranged on both sides of the mobile platform, and a connecting line is installed on the top of the back of the mobile platform.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] This invention, through the combination of splicing components and adjusting rings, facilitates the rapid adjustment of the locking block using quick insertion and rotational compression. This method enables the rapid disassembly of the robotic arm connection structure, simplifying disassembly and replacement, and reducing the workload of operators. The rotary table, rotating motor, upper arm, and lower arm can be assembled and connected via the output shaft. The motor drives the rotary table to rotate. During the splicing process, the locking block is positioned inside the guide groove. By pushing, the locking block is pushed into the splicing plate along the limiting guide rod. After insertion, the internal strong spring pushes the locking block outward and embeds it inside the rotary table, achieving the locking effect. By grasping the adjusting ring, the inclined compression block rotates, pushing the inclined block and pushing block outward along the inclined surface. During the outward expansion, the locking block is pushed outward, and after expansion, it can be separated from the rotary table, achieving rapid disassembly and replacement. This effectively reduces the time spent on disassembly and installation, improves efficiency, and facilitates operation for operators. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the detector structure of this utility model;

[0019] Figure 3 This is a schematic diagram of the cross-sectional structure of the splicing component of this utility model;

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the rotary table of this utility model;

[0021] Figure 5 For the present utility model Figure 4 Enlarged structural diagram at point A in the middle;

[0022] Figure 6 This is a schematic cross-sectional view of the splicing plate of this utility model;

[0023] Figure 7 This is a schematic diagram of the push block structure of this utility model.

[0024] In the diagram: 100, detector; 101, detection lens; 102, rotating motor; 103, forearm; 104, upper arm; 105, mounting base;

[0025] 001. Splicing assembly; 200. Rotary table; 201. Output shaft; 202. Electrical connector; 203. Bearing ring; 204. Adjusting ring; 205. Inclined extrusion block; 206. Guide chute; 207. Limiting chute;

[0026] 300. Push block; 301. Support spring; 302. Stabilizing slider; 303. Tilting block;

[0027] 400. Locking block; 401. Splicing plate; 402. Limiting guide rod; 403. High-strength spring;

[0028] 500. Mobile platform; 501. Lighting end; 502. Anti-slip casters; 503. Connecting cable. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] like Figures 1 to 7 As shown, this utility model provides an underground pipeline detection robotic arm, including a detector 100, and a number of splicing components 001 are rotatably spliced ​​on the back of the detector 100.

[0031] The splicing component 001 includes a rotating table 200, and an adjusting ring 204 is rotatably provided on the outer side of the rotating table 200. Several sets of inclined extrusion blocks 205 are fixedly installed on the inner wall of the adjusting ring 204. Several sets of pushing blocks 300 are embedded inside the rotating table 200, and an inclined block 303 is fixedly installed on the side of the pushing block 300 near the adjusting ring 204. The inclined block 303 is in close contact with the inclined extrusion block 205.

[0032] The splicing assembly 001 includes a splicing disk 401, and a number of locking blocks 400 are movably arranged inside the splicing disk 401. The locking blocks 400 are movably inserted into the inner side of the rotary table 200, and the locking blocks 400 are in close contact with the inclined surface of the push block 300.

[0033] The above solution provides an installation position for the inner structure using the rotary table 200. The locking block 400 is restricted by the slot at the bottom of the guide groove 206. The adjusting ring 204 provides a grip for the user and can be adjusted by rotation. The tilting and pressing block 205 can push the tilting block 303 and the pushing block 300 outward, which can squeeze out the locking block 400 for quick disassembly. The splicing plate 401 can be locked and installed after being combined with the rotary table 200. The slot of the locking block 400 restricts the splicing plate 401 to maintain the stability after installation.

[0034] like Figures 3-7 As shown, the input end of the rotary table 200 is equipped with an output shaft 201, and the rotary table 200 and the splicing plate 401 are embedded with a power connector 202.

[0035] The top of the rotary table 200 is provided with several sets of guide grooves 206. The groove on the outside of the locking block 400 is in close contact with the guide grooves 206. The inner side of the lower end of the adjusting ring 204 is fixedly installed with a bearing ring 203, and the bearing ring 203 is rotatably set on the outside of the rotary table 200. The interior of the rotary table 200 is provided with several sets of limiting grooves 207.

[0036] A stabilizing slider 302 is fixedly installed on the top of the push block 300, and the stabilizing slider 302 is slidably disposed inside the limiting groove 207. A support spring 301 is provided on the side of the push block 300 away from the inclined block 303 at both ends, and the support spring 301 is movably disposed inside the rotary table 200.

[0037] A limit guide rod 402 is slidably provided on the inner side of the lower end of the locking block 400, and the limit guide rod 402 is fixedly installed inside the splicing plate 401. A strong spring 403 is fixedly installed on one side of the upper end of the locking block 400, and the strong spring 403 is fixedly installed inside the splicing plate 401.

[0038] The above scheme is adopted as follows: the power base 202 can realize the transmission of power after the rotary table 200 and the splicing plate 401. The rotating motors 102, the upper arm 104, the lower arm 103 and the detector 100 are connected in series to ensure the transmission of power and electrical signals. The guide groove 206 can guide the inclined surface at the bottom of the locking block 400, and it can be quickly assembled by pushing. The bearing ring 203 can assist the adjusting ring 204 in rotation adjustment to maintain rotational stability. The limiting slide groove 207 can limit the stabilizing slider 302 to ensure the stability of sliding and avoid the problem of overturning due to lack of restriction. The limiting guide rod 402 can limit the lateral sliding of the locking block 400 to ensure the stability of sliding. The strong spring 403 can push the locking block 400 outward to embed into the inner side of the rotary table 200 to achieve the locking effect and prevent it from falling off.

[0039] like Figure 1 and Figure 2As shown, the detector 100 has a detection lens 101 rotatably mounted on its front side, and several sets of rotating motors 102 are mounted on its back side. A forearm 103 is arranged between two sets of rotating motors 102, and a large arm 104 is arranged between two sets of rotating motors 102. A rotating platform 200 is provided at the top and bottom output ends of the large arm 104. A rotating platform 200 is provided at the output end of the forearm 103 near the detector 100, and a splicing plate 401 is fixedly mounted at the end of the forearm 103 away from the detector 100. The splicing plate 401 is fixedly mounted on the side of the rotating motor 102. A fixed base 105 is rotatably mounted at the bottom of the lower end of the rotating motor 102. A moving platform 500 is fixedly mounted on the bottom of the fixed base 105 by bolts.

[0040] The mobile platform 500 has a lighting end 501 installed on the front, and three sets of anti-slip moving wheels 502 are rotatably installed on both sides of the mobile platform 500. A connecting line 503 is installed on the top of the back of the mobile platform 500.

[0041] The above solution allows for angle adjustment using the detection lens 101, facilitating observation of the pipe's interior. The rotating motor 102 drives the rotary table 200 on the outer side of the output end, achieving angle adjustment to meet different needs. The upper arm 104 and lower arm 103 adjust the angle of the end-mounted rotating motor 102, extending the overall length of the adjustment structure. The fixed base 105 connects the rotating motor 102 to the moving platform 500, ensuring installation stability. The moving platform 500 provides support for the overall structure at the top and ensures center-of-gravity stability. Anti-slip wheels 502, in conjunction with the moving platform 500, move the entire device inside the pipe. The connecting cable 503 connects to an external display device for easy observation of the interior.

[0042] The working principle and usage process of this utility model are as follows: First, the device is placed inside the pipe. An external controller is used to control the moving platform 500 to move along the inside of the pipe. After moving to the required detection position, the rotating motor 102 drives the rotating table 200 at the output end to rotate and adjust. Then, the large arm 104 is used to control the rotating tables 200 at both ends to rotate and adjust. The small arm 103 is used to drive the rotating table 200 at the output end to rotate and adjust. By coordinating the rotation, the angle can be adjusted, the position of the end detector 100 can be changed, and the detection lens 101 can be used to observe the situation inside the pipe.

[0043] When the robotic arm needs to be disassembled, grasp the adjusting ring 204 of the corresponding rotary table 200 and rotate it. Use the internal inclined pressing block 205 to push the tilting block 303 to move towards the output shaft 201. During the movement, the inclined surface will press the locking block 400 to extend outward along the limit guide rod 402. After extension, the locking block 400 will separate from the groove on the inner side of the rotary table 200. After separation, the splicing plate 401 can be disassembled and replaced for maintenance.

[0044] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0045] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for detecting underground pipelines, including a detector (100), characterized in that: The back of the detector (100) is rotatably spliced ​​with several sets of splicing components (001). The splicing assembly (001) includes a rotating platform (200), and an adjusting ring (204) is rotatably provided on the outer side of the rotating platform (200). Several sets of inclined extrusion blocks (205) are fixedly installed on the inner wall of the adjusting ring (204). Several sets of pushing blocks (300) are embedded inside the rotating platform (200), and an inclined block (303) is fixedly installed on the side of the pushing block (300) near the adjusting ring (204). The inclined block (303) is in close contact with the inclined extrusion block (205). The splicing assembly (001) includes a splicing disk (401), and a number of locking blocks (400) are movably arranged inside the splicing disk (401). The locking blocks (400) are movably inserted into the inner side of the rotary table (200), and the locking blocks (400) are in close contact with the inclined surface of the push block (300).

2. The underground pipeline detection robotic arm according to claim 1, characterized in that: The input end of the rotary table (200) is equipped with an output shaft (201), and a power connector (202) is embedded in the middle of the rotary table (200) and the splicing plate (401).

3. The underground pipeline detection robotic arm according to claim 1, characterized in that: The top of the rotary table (200) is provided with several sets of guide grooves (206), the groove on the outside of the locking block (400) is in close contact with the guide grooves (206), a bearing ring (203) is fixedly installed on the inner side of the lower end of the adjusting ring (204), and the bearing ring (203) is rotatably set on the outside of the rotary table (200). The interior of the rotary table (200) is provided with several sets of limiting grooves (207).

4. The underground pipeline detection robotic arm according to claim 3, characterized in that: A stabilizing slider (302) is fixedly installed on the top of the push block (300), and the stabilizing slider (302) is slidably disposed inside the limiting groove (207). A support spring (301) is provided on the side of the push block (300) away from the tilt block (303) at both ends, and the support spring (301) is movably disposed inside the rotary table (200).

5. The underground pipeline detection robotic arm according to claim 1, characterized in that: A limiting guide rod (402) is slidably provided on the inner side of the lower end of the locking block (400), and the limiting guide rod (402) is fixedly installed inside the splicing plate (401). A strong spring (403) is fixedly installed on one side of the upper end of the locking block (400), and the strong spring (403) is fixedly installed inside the splicing plate (401).

6. The underground pipeline detection robotic arm according to claim 1, characterized in that: The detector (100) has a rotating detection lens (101) on its front side and several sets of rotating motors (102) on its back side. A forearm (103) is provided between two sets of rotating motors (102), and a large arm (104) is provided between two sets of rotating motors (102). A rotating platform (200) is provided at the top and bottom output ends of the large arm (104). A rotating platform (200) is provided at the output end of the forearm (103) near the detector (100). A splicing plate (401) is fixedly installed at the end of the forearm (103) away from the detector (100). A splicing plate (401) is fixedly installed on the side of the rotating motor (102). A fixed base (105) is rotatably installed at the bottom of the lower rotating motor (102). A moving platform (500) is fixedly installed at the bottom of the fixed base (105) by bolts.

7. The underground pipeline detection robotic arm according to claim 6, characterized in that: The mobile platform (500) is equipped with a lighting end (501) on the front, and three sets of anti-slip moving wheels (502) are rotatably arranged on both sides of the mobile platform (500). A connecting line (503) is installed on the top of the back of the mobile platform (500).

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