Pipeline inspection robot

Abstract

The utility model relates to municipal engineering technical field especially, relate to a pipeline detection robot, including walking mechanism and the camera of setting in the front side of walking mechanism, the rear side of camera is connected with the mounting seat, the front side of mounting seat is connected with transparent protective cover, the arc -shaped support is rotatably connected to the mounting seat, and its one side is fixedly provided with first servo motor, the inboard of arc -shaped rubber scraping strip is equipped with in the arc -shaped support, the inboard of arc -shaped rubber scraping strip and the outside of transparent protective cover abut, drive pipeline detection robot to walk in the pipeline through walking mechanism, the defect condition in the pipeline is surveyed through the camera in the walking process and is photographed, drive arc -shaped support reciprocating swing through first servo motor, and then scrape transparent protective cover through arc -shaped rubber scraping strip, remove dust, mud and the like adherend, keep transparent protective cover surface clean, ensure the camera photographing clear, prevent the obstruction to camera, improve surveying definition and improve surveying effect.

Description

Technical Field

[0001] This utility model relates to the field of municipal engineering technology, and in particular to a pipeline inspection robot. Background Technology

[0002] Municipal engineering refers to the construction of municipal infrastructure. Underground pipeline construction is particularly important for urban development and environmental protection. Pipeline surveying equipment is used for defect inspection and repair of various pipelines such as natural gas pipelines, oil pipelines, urban water supply and drainage pipelines, and tap water pipelines. However, when pipeline surveying equipment travels inside pipelines, the camera in front of it is easily blocked by foreign objects or dirt inside the pipeline, resulting in unclear surveys and reduced effectiveness. Utility Model Content

[0003] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a pipeline inspection robot that prevents obstruction of the camera, improves the clarity of the survey, and enhances the survey effect.

[0004] The technical solution adopted in this utility model is as follows: A pipeline inspection robot includes a walking mechanism and a camera disposed at the front of the walking mechanism. A mounting base is connected to the rear of the camera, and a transparent protective cover is connected to the front of the mounting base. The transparent protective cover is semi-circular and surrounds the outside of the camera. An arc-shaped bracket is rotatably connected to the mounting base, and a first servo motor is fixedly disposed on one side of the bracket. The output end of the first servo motor is connected to one end of the arc-shaped bracket. An arc-shaped rubber scraper is provided on the inner side of the arc-shaped bracket, and the inner side of the arc-shaped rubber scraper abuts against the outer side of the transparent protective cover.

[0005] Preferably, a water spray head is fixedly installed on the other side of the mounting base, and arc-shaped water spray frames are symmetrically connected to both sides of the arc-shaped bracket. The interior of the arc-shaped water spray frame is hollow, and several water spray holes are evenly arranged on its inner side. A water storage box is connected to the rear side of the water spray head, and two water pipes are connected to its front side. The two water pipes are respectively connected to the two arc-shaped water spray frames.

[0006] Preferably, the traveling mechanism includes traveling components and shafts. There are three traveling components arranged in a circular array around the shafts. Each traveling component includes a traveling frame, a driving wheel, a driven wheel, and a second servo motor. The output end of the second servo motor is connected to the driving wheel. The driving wheel and the driven wheel are connected by a traveling belt. Both the driving wheel and the driven wheel are rotatably connected to the traveling frame.

[0007] Preferably, the walking frame includes a mounting plate, a first connecting rod, a second connecting rod, and a third connecting rod. The second connecting rod is arranged parallel to the first connecting rod. One end of the first connecting rod is hinged to the outer front end of the shaft, and the other end is hinged to the front end of the mounting plate. Its middle part is hinged to one end of the third connecting rod. One end of the second connecting rod is hinged to the outer rear end of the shaft, and its other end is hinged to the rear end of the mounting plate. Both the driving wheel and the driven wheel are rotatably connected to the mounting plate. A spring is sleeved on the outer side of the shaft, and a sliding sleeve is connected to the front end of the spring. The sliding sleeve is slidably connected to the outer side of the shaft. The other end of the third connecting rod is hinged to the outer side of the sliding sleeve.

[0008] Preferably, the outer side of the walking belt is provided with anti-slip texture.

[0009] Preferably, the arc-shaped rubber scraper includes a scraper cover and a deformation part connected to the outside of the scraper cover. The cross-section of the deformation part is rectangular, and the cross-section of the scraper cover is triangular. The outer width of the scraper cover is greater than the inner width of the deformation part.

[0010] Preferably, the two sides of the scraper cover are symmetrically provided with arc-shaped surfaces.

[0011] Preferably, the outer side of the arc-shaped rubber scraper is coated with a Teflon coating.

[0012] The beneficial effects of this utility model are as follows: This pipeline inspection robot is driven to walk inside the pipeline by a walking mechanism. During the walk, it uses a camera to inspect the defects inside the pipeline. The first servo motor drives the arc-shaped support to swing back and forth, and then the arc-shaped rubber scraper scrapes the transparent protective cover to remove dust, mud and other adhering substances, keep the surface of the transparent protective cover clean, ensure the camera image is clear, prevent the camera from being blocked, improve the clarity of the inspection and improve the inspection effect. Attached Figure Description

[0013] Figure 1 This is a three-dimensional schematic diagram of the present invention.

[0014] Figure 2 This is the front view of the present utility model.

[0015] Figure 3 for Figure 2 Sectional view at point AA.

[0016] Figure 4 for Figure 3 Sectional view at point B.

[0017] Figure 5 This is the left view of the present invention.

[0018] Figure 6 This is a schematic diagram of the connection of the arc-shaped rubber scraper.

[0019] In the diagram: 1. Camera; 2. Mounting base; 3. Transparent protective cover; 4. Arc-shaped bracket; 5. First servo motor; 6. Arc-shaped rubber scraper; 601. Scraper cover; 602. Deformation part; 603. Arc-shaped surface; 7. Spray head; 8. Arc-shaped spray frame; 9. Walking assembly; 901. Walking frame; 9011. Mounting plate; 9012. First connecting rod; 9013. Second connecting rod; 9014. Third connecting rod; 902. Drive wheel; 903. Driven wheel; 904. Second servo motor; 905. Walking belt; 10. Spray hole; 11. Water storage box; 12. Water pipe; 13. Shaft; 14. Spring; 15. Sliding sleeve. Detailed Implementation

[0020] 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.

[0021] Please see Figures 1-6 This utility model provides a technical solution: a pipeline inspection robot, including a walking mechanism and a camera 1 set in front of the walking mechanism. A mounting base 2 is connected to the rear of the camera 1, and a transparent protective cover 3 is connected to the front of the mounting base 2. The transparent protective cover 3 is semi-circular and surrounds the outside of the camera 1. An arc-shaped bracket 4 is rotatably connected to the mounting base 2, and a first servo motor 5 is fixedly set on one side of the bracket. The output end of the first servo motor 5 is connected to one end of the arc-shaped bracket 4. An arc-shaped rubber scraper 6 is provided on the inner side of the arc-shaped bracket 4, and the inner side of the arc-shaped rubber scraper 6 abuts against the outer side of the transparent protective cover 3. The pipeline inspection robot is driven by a walking mechanism to walk inside the pipeline. During the walking process, the robot uses camera 1 to conduct video inspection of the defects inside the pipeline. The first servo motor 5 drives the arc-shaped bracket to swing back and forth, and then the arc-shaped rubber scraper 6 scrapes the transparent protective cover 3 to remove dust, mud and other attachments from the surface of the transparent protective cover, keeping the surface of the transparent protective cover clean, ensuring the clear image of camera 1, preventing obstruction of camera 1, improving the clarity of inspection and improving the inspection effect.

[0022] To facilitate water spraying and remove stubborn stains, in this embodiment, preferably, a water spray head 7 is fixedly installed on the other side of the mounting base 2, and arc-shaped water spray frames 8 are symmetrically connected to both sides of the arc-shaped bracket 4. The interior of the arc-shaped water spray frame 8 is hollow, and several water spray holes 10 are evenly arranged on its inner side. A water storage box 11 is connected to the rear side of the water spray head 7, and two water pipes 12 are connected to the front side of the water spray head 7. The two water pipes 12 are respectively connected to the two arc-shaped water spray frames 8. The purpose is to spray clean water from the water storage box 11 into the water pipe 12 through the spray head 7, so that the clean water enters the arc-shaped spray frame 8 from the water pipe 12 and is sprayed out from the spray hole 10 onto the surface of the transparent protective cover 3. This can quickly soften the stubborn dirt on the surface of the transparent protective cover 3. In conjunction with the arc-shaped rubber scraper 6, the transparent protective cover 3 can be scraped, and the lubrication of the arc-shaped rubber scraper 6 can be improved, thus extending the service life of the arc-shaped rubber scraper 6.

[0023] To facilitate the movement of the pipeline inspection robot within the pipeline, in this embodiment, preferably, the walking mechanism includes a walking component 9 and a shaft 13. Three walking components 9 are arranged in a circular array around the shaft 13. Each walking component 9 includes a walking frame 901, a drive wheel 902, a driven wheel 903, and a second servo motor 904. The output end of the second servo motor 904 is connected to the drive wheel 902. The drive wheel 902 and the driven wheel 903 are connected by a walking belt 905. Both the drive wheel 902 and the driven wheel 903 are rotatably connected to the walking frame 901. The purpose is to increase the contact area between the travel belt 905 and the inner wall of the pipe by making the travel belt 905 rotate and contacting the inner wall of the pipe, thereby improving the reliability of travel. Specifically, the second servo motor 904 drives the drive wheel 902 to rotate, which in turn drives the driven wheel 903 to rotate through the travel belt 905. The travel belt 905 rotates and contacts the inner wall of the pipe to realize the pipe travel drive.

[0024] To improve walking reliability and prevent slippage during walking, in this embodiment, preferably, the outer side of the walking belt 905 is provided with anti-slip texture.

[0025] To facilitate operation in pipes with different inner diameters and improve applicability, in this embodiment, preferably, the traveling frame 901 includes a mounting plate 9011, a first connecting rod 9012, a second connecting rod 9013, and a third connecting rod 9014. The second connecting rod 9013 is arranged parallel to the first connecting rod 9012. One end of the first connecting rod 9012 is hinged to the outer front end of the shaft 13, and the other end is hinged to the front end of the mounting plate 9011. Its middle part is hinged to one end of the third connecting rod 9014. One end of the second connecting rod 9013 is hinged to the outer rear end of the shaft 13, and its other end is hinged to the rear end of the mounting plate 9011. The driving wheel 902 and the driven wheel 903 are both rotatably connected to the mounting plate 9011. A spring 14 is sleeved on the outer side of the shaft 13. A sliding sleeve 15 is connected to the front end of the spring 14. The sliding sleeve 15 is slidably connected to the outer side of the shaft 13. The other end of the third connecting rod 9014 is hinged to the outer side of the sliding sleeve 15. The purpose is to press the sliding sleeve 15 against the spring 14, and the sliding sleeve 15 pushes the first connecting rod 9012 to swing through the third connecting rod 9014. The second connecting rod 9013 swings with the swing of the first connecting rod 9012, thereby causing the mounting plate 9011 to move away from the shaft 13 and form an elastically open state, ensuring that the traveling belt 905 contacts the inner wall of the pipe. When the inner diameter of the pipe is small, the sliding sleeve 15 presses against the spring 14 to form a contraction.

[0026] In order to improve the wiping effect of the arc-shaped rubber scraper 6, in this embodiment, preferably, the arc-shaped rubber scraper 6 includes a scraper cover 601 and a deformation part 602 connected to the outside of the scraper cover 601. The cross-section of the deformation part 602 is rectangular, and the cross-section of the scraper cover 601 is triangular. The outer width of the scraper cover 601 is greater than the inner width of the deformation part 602. The purpose is to provide uniform elastic deformation capability through the deformation part 602, ensure that the arc-shaped rubber scraper 6 adapts to the curvature of the transparent protective cover 3, and ensure that the scraper part 601 is in continuous contact with the surface of the transparent protective cover 3. The cross-section of the scraper part 601 is triangular, which makes it easy to scrape away dust or mud and other adhering substances along the inclined surfaces on both sides of the scraper part 601, and concentrates the stress at the end of the scraper part 601 to improve the scraping effect.

[0027] In order to facilitate the scraping of dust or mud along the side of the scraper cover 601, in this embodiment, preferably, the two sides of the scraper cover 601 are provided with arc-shaped surfaces 603. The purpose is to scrape the dust or mud along the arc-shaped surfaces 603, improve the guiding effect, ensure that the dust or mud is scraped to the two sides of the scraper cover 601, and improve the scraping effect.

[0028] In order to improve the anti-fouling and anti-corrosion effect and reduce the friction coefficient, in this embodiment, preferably, the outer side of the arc-shaped rubber scraper 6 is coated with a Teflon coating.

[0029] The working principle and usage process of this utility model are as follows: The second servo motor 904 drives the active wheel 902 to rotate, which in turn drives the driven wheel 903 to rotate via the walking belt 905. The walking belt 905 rotates and contacts the inner wall of the pipe to drive the pipe to move. During the movement, the camera 1 performs video inspection of the defects inside the pipe. The water nozzle 7 sprays clean water from the water storage box 11 into the water pipe 12, which then enters the arc-shaped water spray frame 8 and sprays out from the water spray hole 10 onto the surface of the transparent protective cover 3. This can quickly soften stubborn dirt on the surface of the transparent protective cover 3. The first servo motor 5 drives the arc-shaped bracket to swing back and forth, which then scrapes the transparent protective cover 3 with the arc-shaped rubber scraper 6 to remove dust, mud and other attachments from the surface of the transparent protective cover, keeping the surface of the transparent protective cover clean, ensuring the clear image captured by the camera 1, preventing obstruction of the camera 1, improving the clarity of the inspection and improving the inspection effect.

[0030] 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 pipeline inspection robot, comprising a walking mechanism and a camera (1) disposed on the front side of the walking mechanism, characterized in that: A mounting base (2) is connected to the rear side of the camera (1), and a transparent protective cover (3) is connected to the front side of the mounting base (2). The transparent protective cover (3) is semi-circular and surrounds the outside of the camera (1). An arc-shaped bracket (4) is rotatably connected to the mounting base (2), and a first servo motor (5) is fixedly installed on one side of it. The output end of the first servo motor (5) is connected to one end of the arc-shaped bracket (4). An arc-shaped rubber scraper (6) is provided on the inner side of the arc-shaped bracket (4). The inner side of the strip (6) abuts against the outer side of the transparent protective cover (3). A water spray head (7) is fixedly installed on the other side of the mounting base (2). A curved water spray frame (8) is symmetrically connected to both sides of the curved bracket (4). The interior of the curved water spray frame (8) is hollow, and several water spray holes (10) are evenly arranged on its inner side. A water storage box (11) is connected to the rear side of the water spray head (7), and two water pipes (12) are connected to its front side. The two water pipes (12) are respectively connected to the two curved water spray frames (8).

2. The pipeline inspection robot according to claim 1, characterized in that: The walking mechanism includes a walking component (9) and a shaft (13). There are three walking components (9) arranged in a circular array with the shaft (13) as the center. Each walking component (9) includes a walking frame (901), a driving wheel (902), a driven wheel (903), and a second servo motor (904). The output end of the second servo motor (904) is connected to the driving wheel (902). The driving wheel (902) and the driven wheel (903) are connected by a walking belt (905). The driving wheel (902) and the driven wheel (903) are rotatably connected to the walking frame (901).

3. The pipeline inspection robot according to claim 2, characterized in that: The walking frame (901) includes a mounting plate (9011), a first connecting rod (9012), a second connecting rod (9013), and a third connecting rod (9014). The second connecting rod (9013) is arranged parallel to the first connecting rod (9012). One end of the first connecting rod (9012) is hinged to the outer front end of the shaft (13), and the other end is hinged to the front end of the mounting plate (9011). Its middle part is hinged to one end of the third connecting rod (9014). The second connecting rod (9013) is also hinged to the third connecting rod (9014). 3) One end is hinged to the outer rear end of the shaft (13), and the other end is hinged to the rear end of the mounting plate (9011). The driving wheel (902) and the driven wheel (903) are rotatably connected to the mounting plate (9011). A spring (14) is sleeved on the outer side of the shaft (13). A sliding sleeve (15) is connected to the front end of the spring (14). The sliding sleeve (15) is slidably connected to the outer side of the shaft (13). The other end of the third connecting rod (9014) is hinged to the outer side of the sliding sleeve (15).

4. The pipeline inspection robot according to claim 2, characterized in that: The outer side of the walking belt (905) is provided with anti-slip texture.

5. The pipeline inspection robot according to claim 1, characterized in that: The arc-shaped rubber scraper (6) includes a scraper cover (601) and a deformation part (602) connected to the outside of the scraper cover (601). The cross-section of the deformation part (602) is rectangular, and the cross-section of the scraper cover (601) is triangular. The outer width of the scraper cover (601) is greater than the inner width of the deformation part (602).

6. The pipeline inspection robot according to claim 5, characterized in that: The scraper cover (601) has symmetrical arc-shaped surfaces (603) on both sides.

7. The pipeline inspection robot according to claim 1, characterized in that: The outer side of the arc-shaped rubber scraper (6) is coated with a Teflon coating.

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