A sewer pipe crawling detector

Abstract

The utility model discloses a kind of sewer pipe crawling detectors, it is related to pipeline detection technical field, including guide sliding structure, one end of the guide sliding structure is equipped with transmission structure, both sides of the transmission structure are evenly provided with propelling structure, the other end of the guide sliding structure is equipped with detection camera, the guide sliding structure includes guide sliding pipe body, the both sides of one end of the guide sliding pipe body are evenly provided with card frame, the four sides of the guide sliding pipe body are evenly provided with guide sliding groove, slidingly arranged in the guide sliding pipe body is push-pull frame. Through the hinged rotation of push-pull frame, first swing arm, second swing arm and hinged frame, the position of driven wheel is adjusted, the guide sliding structure is centrally positioned into pipeline by driven wheel, the central effect of keeping detection camera in pipeline is maintained, the completeness of detection camera shooting picture is improved, the accuracy of pipeline detection is improved, by propelling structure rolling in pipeline, propelling guide sliding structure, improve the speed of propulsion, it is beneficial to pipeline detection efficiency.

Description

Technical Field

[0001] This utility model relates to the field of pipeline inspection technology, and in particular to a drainage pipeline crawling detector. Background Technology

[0002] Drainage pipe crawling detectors are core equipment in the field of pipe inspection. Their core function is to carry a detection module into the inside of the pipe, move along the pipe axis and collect data such as pipe wall defects, foreign object blockages, and corrosion levels, and finally generate a pipe health report, providing accurate basis for pipe maintenance and repair. For example, a Chinese patent discloses a drainage pipe crawling detector (authorization announcement number CN218378334U). This patented technology achieves water-isolated imaging by attaching a transparent sealing cover to the outside of the robot body and connecting the tracked power wheels to the bottom of the robot body through an elastically connected frame. It can clearly capture the condition of the inner wall of the pipe, adapt to the complex environment inside the pipe, detect the quality of the pipe when the sewage level in the sewage pipe is too high, and walk in deep water and has obstacle crossing ability. However, existing publicly available drainage pipe crawling detectors still have some shortcomings in practical applications that need improvement, such as: The bottom rebound structure adjusts the fit between the drainage pipe crawling detector and the pipe. After adjustment, the camera cannot be centered inside the pipe, which affects the integrity of the captured image and the accuracy of pipe detection. The propulsion structure is located at the lower end of the detector. However, the lower end of the drainage pipe accumulates a significant amount of sludge, causing the propulsion structure to slip, affecting its propulsion speed and thus reducing pipeline inspection efficiency. Therefore, those skilled in the art have provided a drainage pipe crawling detector to address the problems mentioned in the background section. Utility Model Content

[0003] The purpose of this invention is to provide a drainage pipe crawling detector to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A drainage pipe crawling detector includes a guide slide structure, a transmission structure is installed at one end of the guide slide structure, a propulsion structure is provided on both sides of the transmission structure, and a detection camera is installed at the other end of the guide slide structure. The guide tube structure includes a guide tube body, with clips on both sides of one end of the guide tube body and guide grooves on all four sides. A push-pull frame is slidably arranged inside the guide tube body, and the push-pull frame is arranged in a cross shape. A first rotating arm is hinged to each of the four sides of the push-pull frame, and a second rotating arm is hinged to the other end of the first rotating arm. A hinge frame is provided on all four sides of the other end of the guide tube body. A driven wheel is rotatably arranged at one end of the second rotating arm. A first transmission motor is installed at one end of the guide tube body, and a transmission screw is provided at the power output end of the first transmission motor. A mounting plate is provided at the other end of the guide tube body.

[0005] As a further improvement of this invention: the other end of the second rotating arm is rotatably mounted within the hinge frame, and the outer end of the push-pull frame is slidably mounted within the guide groove. This structural design improves the stability of the push-pull frame sliding within the guide tube and prevents the movement of the push-pull frame from affecting the angle change of the second rotating arm.

[0006] As a further improvement of this invention: the transmission screw is threaded into the push-pull frame, and one end of the transmission screw is rotatably mounted within the mounting plate. This structural design improves the stability of the transmission screw during rotation, thereby driving the push-pull frame to slide within the guide tube.

[0007] As a further embodiment of this invention: the propulsion structure includes a wheel frame, within which a propulsion wheel is rotatably mounted. A sliding plate is located on the rear side of the wheel frame, and an internally threaded rod is located on one side of the sliding plate. An externally threaded rod is screwed into the internal thread of the internally threaded rod. A rotating rod is rotatably mounted at one end of the wheel frame, and a rotating tube is slidably mounted at one end of the rotating rod. Limiting strips are located on both sides of the rotating rod, and these limiting strips are slidably mounted within the rotating tube. A bevel gear is located at the other end of the rotating rod, and a gear groove is provided on the propulsion wheel. This structural design allows the propulsion structure to conform to the inner wall of the drainage pipe, facilitating the propulsion of the guiding sliding structure.

[0008] As a further improvement of this invention, the bevel gear is meshed within a gear groove. This structural design is used to drive the propulsion wheel to roll within the drainage pipe.

[0009] As a further embodiment of this invention: the transmission structure includes a positioning frame, with hooks on both sides of the positioning frame. A second transmission motor is mounted on the positioning frame, and a support plate is provided at the power output end of the second transmission motor. Slide rails are provided at both ends of the support plate, and the sliding plate is slidably mounted on the slide rails. A mounting bracket is provided on the front side of the support plate, a first dual-axis motor is mounted at the rear end of the mounting bracket, and a second dual-axis motor is mounted at the front end of the mounting bracket. This structural design is used for assembling and disassembling the guide slide structure and the transmission structure, while also adjusting the tilt angle of the guide slide structure.

[0010] As a further improvement of this invention: the power output end of the first dual-axis motor is fixedly connected to one end of the external threaded rod, and the power output end of the second dual-axis motor is fixedly connected to one end of the rotating tube. This structural design is used to drive the external threaded rod or the rotating tube, enabling the propulsion structure to complete the propulsion work.

[0011] As a further improvement of this invention: the rear end of the hook engages with the card holder, one end of the positioning frame is slidably disposed outside the guide tube, and the second drive motor is slidably disposed inside the guide tube. This structural design ensures that the assembly and disassembly of the positioning frame and the guide tube are not affected by the second drive motor, thus improving the ease of assembly and disassembly.

[0012] This utility model provides a drainage pipe crawling detector, which has the following advantages compared with the prior art: 1. This utility model adjusts the position of the driven wheel by hinged rotation of the push-pull frame, the first rotating arm, the second rotating arm, and the hinge frame. The driven wheel centers the guide slide structure inside the pipe, maintaining the centered effect of the detection camera inside the pipe and improving the completeness of the image captured by the detection camera. The angle of the guide slide structure is adjusted by the transmission structure, thereby adjusting the shooting tilt angle of the detection camera, improving the flexibility of the detection operation and the accuracy of pipe detection.

[0013] 2. This utility model uses a propulsion structure that rolls inside the pipe and a propulsion guide structure. The propulsion structure is located in the upper part of the pipe, which reduces the impact of sludge on the propulsion structure, avoids slippage, improves the propulsion speed, and is beneficial to the efficiency of pipe inspection. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the front view structure of a drainage pipe crawling detector; Figure 2 This is a schematic diagram of the rear structure of a drainage pipe crawling detector; Figure 3 A schematic diagram of the guide slide structure in a drainage pipe crawling detector; Figure 4 A crawling detector for drainage pipes Figure 3 A structural diagram of section B; Figure 5 This is a cross-sectional view of the guide slide structure in a drainage pipe crawling detector; Figure 6 This is a schematic diagram of the propulsion structure in a drainage pipe crawling detector. Figure 7 A crawling detector for drainage pipes Figure 6 A structural diagram of section C; Figure 8This is a schematic diagram of the transmission structure in a drainage pipe crawling detector. Figure 9 A crawling detector for drainage pipes Figure 2 A schematic diagram of the structure of part A; Figure 10 A crawling detector for drainage pipes Figure 2 A schematic diagram of the structure of part D.

[0015] In the diagram: 1. Guide slide structure; 2. Transmission structure; 3. Propulsion structure; 4. Detection camera; 5. Guide slide tube body; 6. Card holder; 7. Guide slide groove; 8. Push-pull frame; 9. First rotating arm; 10. Second rotating arm; 11. Hinge frame; 12. Driven wheel; 13. First transmission motor; 14. Transmission screw; 15. Mounting plate; 16. Wheel frame; 17. Propulsion wheel; 18. Slide plate; 19. Internal threaded rod; 20. External threaded rod; 21. Rotating rod; 22. Rotating tube; 23. Limiting strip; 24. Bevel gear; 25. Gear groove; 26. Positioning frame; 27. Hook; 28. Second transmission motor; 29. ​​Support plate; 30. Slide rail; 31. Mounting frame; 32. First dual-axis motor; 33. Second dual-axis motor. Detailed Implementation

[0016] Please see Figures 1-5In this embodiment of the present invention, a drainage pipe crawling detector includes a guide slide structure 1. A transmission structure 2 is installed at one end of the guide slide structure 1, and a propulsion structure 3 is provided on both sides of the transmission structure 2. A detection camera 4 is installed at the other end of the guide slide structure 1. The guide slide structure 1 includes a guide slide tube body 5. A bracket 6 is provided on both sides of one end of the guide slide tube body 5. Guide slide grooves 7 are provided on all four sides of the guide slide tube body 5. A push-pull frame 8 is slidably arranged inside the guide slide tube body 5. The push-pull frame 8 is arranged in a cross shape. A first rotating arm 9 is hinged to all four sides of the push-pull frame 8. A second rotating arm 10 is hinged to the other end of the first rotating arm 9. A hinge frame 11 is provided on all four sides of the other end of the guide slide tube body 5. A driven wheel 12 is rotatably arranged at one end of the second rotating arm 10. A first drive motor 13 is installed at one end of the guide tube body 5. A drive screw 14 is provided at the power output end of the first drive motor 13. A mounting plate 15 is provided at the other end of the guide tube body 5. The other end of the second rotating arm 10 is rotatably mounted within the hinge frame 11. The outer end of the push-pull frame 8 is slidably mounted within the guide groove 7. The drive screw 14 is threaded into the push-pull frame 8, and one end of the drive screw 14 is rotatably mounted within the mounting plate 15. First, according to the inner diameter of the drainage pipe, the first drive motor 13 drives the drive screw 14, which rotates clockwise within the push-pull frame 8, causing the push-pull frame 8 to slide forward within the guide tube body 5. Then, the drive screw 14 rotates counterclockwise within the push-pull frame 8, causing the push-pull frame 8 to slide backward within the guide tube body 5. During this sliding motion... The push-pull frame 8 slides inside the guide groove 7, guiding the push-pull frame 8. During forward sliding, one end of the first rotating arm 9 is hinged and rotates on the push-pull frame 8, and the other end of the first rotating arm 9 is hinged and rotates on the second rotating arm 10. The other end of the second rotating arm 10 is hinged and rotates within the hinge frame 11. The increased extension angle of the second rotating arm 10 increases the distance between the driven wheel 12 and the guide tube body 5, adapting to large-diameter drainage pipes. During backward sliding, one end of the first rotating arm 9 is hinged and rotates on the push-pull frame 8, and the other end of the first rotating arm 9 is hinged and rotates on the second rotating arm 10. The other end of the second rotating arm 10 is hinged and rotates within the hinge frame 11. The decreased extension angle of the second rotating arm 10 decreases the distance between the driven wheel 12 and the guide tube body 5, adapting to small-diameter drainage pipes. The transmission structure 2 moves the propulsion structure 3 outward to fit large-diameter drainage pipes, and the transmission structure 2 also moves the propulsion structure 3 inward to fit small-diameter drainage pipes. Then, a drainage pipe crawling detector is placed in the drainage pipe, and the driven wheel 12 rolls inside the pipe. The detection camera 4 detects the drainage pipe. During detection, the propulsion structure 3 pushes the guide slide structure 1 forward inside the pipe, and the driven wheel 12 rolls inside the drainage pipe, guiding the guide slide structure 1. The transmission structure 2 adjusts the angle of the guide slide structure 1 inside the drainage pipe, changing the shooting angle of the detection camera 4. Finally, the detection is completed, and the transmission structure 2 slides away from the guide slide tube 5. The transmission structure 2 and propulsion structure 3 are removed for inspection and maintenance. After inspection and maintenance...Reset the transmission structure 2 and the propulsion structure 3.

[0017] exist Figure 6 , 7In sections 8, 9, and 10: the propulsion structure 3 includes a wheel frame 16, within which a propulsion wheel 17 is rotatably mounted. A sliding plate 18 is located at the rear of the wheel frame 16, and an internally threaded rod 19 is located on one side of the sliding plate 18. An externally threaded rod 20 is screwed into the internal thread of the internally threaded rod 19. A rotating rod 21 is rotatably mounted at one end of the wheel frame 16, and a rotating tube 22 is slidably mounted at one end of the rotating rod 21. Limiting strips 23 are located on both sides of the rotating rod 21 and are slidably mounted within the rotating tube 22. A bevel gear 24 is located at the other end of the rotating rod 21. A gear groove 25 is located on the propulsion wheel 17, and the bevel gear 24 is meshed within the gear groove 25. The transmission structure 2 includes a positioning frame 26, with hooks 27 on both sides of the positioning frame 26. A second transmission motor is mounted on the positioning frame 26. The second drive motor 28 has a support plate 29 at its power output end. Both ends of the support plate 29 are equipped with slide rails 30. The slide plate 18 is slidably mounted on the slide rails 30. A mounting bracket 31 is located on the front side of the support plate 29. A first dual-axis motor 32 is mounted at the rear end of the mounting bracket 31, and a second dual-axis motor 33 is mounted at the front end of the mounting bracket 31. The power output end of the first dual-axis motor 32 is fixedly connected to one end of the external threaded rod 20, and the power output end of the second dual-axis motor 33 is fixedly connected to one end of the rotating tube 22. The rear end of the hook 27 engages with the bracket 6. One end of the positioning bracket 26 is slidably mounted outside the guide tube 5, and the second drive motor 28 is slidably mounted inside the guide tube 5. The first dual-axis motor 32 drives the external threaded rod 20. The threaded rod 20 rotates clockwise within the internal threaded rod 19, while the external threaded rod 20 and internal threaded rod 19 extend. The slide plate 18 slides on the slide rail 30, guided by the wheel frame 16. The rotating rod 21 and limiting strip 23 slide within the rotating tube 22. The rotating rod 21 and rotating tube 22 extend, and the wheel frame 16 drives the propulsion wheel 17 to move outward, adapting to a large-diameter drainage pipe. The external threaded rod 20 rotates counterclockwise within the internal threaded rod 19, while the external threaded rod 20 and internal threaded rod 19 retract. The slide plate 18 slides on the slide rail 30, guided by the wheel frame 16. The rotating rod 21 and limiting strip 23 slide within the rotating tube 22. The rotating rod 21 and rotating tube 22 retract, and the wheel frame 16 drives the propulsion wheel 17 to move inward, adapting to a small-diameter drainage pipe. Then, a drainage pipe crawling detector is placed into the drainage pipe. Driven wheel 12 rolls inside the drainage pipe, and push wheel 17 rolls inside the drainage pipe. Detection camera 4 detects the drainage pipe. During detection, the second dual-axis motor 33 drives the rotating tube 22, which in turn drives the rotating rod 21 to rotate. The rotating rod 21 rotates within the wheel frame 16 and transmits power through bevel gear 24 to gear groove 25. Gear groove 25 drives push wheel 17 to rotate, causing push wheel 17 to roll inside the drainage pipe and push guide structure 1 forward. Driven wheel 12 rolls inside the drainage pipe, guiding guide structure 1. The second drive motor 28 drives support plate 29, which rotates on one side of positioning frame 26, adjusting the angle of guide structure 1 within the drainage pipe and changing the shooting angle of detection camera 4. Finally, the detection is completed, and hook 27 is pulled.Hook 27 disengages from bracket 6, positioning bracket 26 slides away from guide tube 5, and transmission structure 2 and propulsion structure 3 are removed. Transmission structure 2 and propulsion structure 3 are then inspected and maintained. After inspection and maintenance, one end of positioning bracket 26 slides outside guide tube 5, second drive motor 28 slides into guide tube 5, and hook 27 engages with bracket 6, completing the reset of transmission structure 2 and propulsion structure 3.

[0018] The working principle of this utility model is as follows: First, according to the inner diameter of the drainage pipe, the first drive motor 13 drives the drive screw 14, which rotates clockwise within the push-pull bracket 8. The push-pull bracket 8 slides forward within the guide tube body 5. Then, the drive screw 14 rotates counterclockwise within the push-pull bracket 8, causing it to slide backward within the guide tube body 5. During this sliding motion, the push-pull bracket 8 slides within the guide groove 7, which guides it. As the push-pull bracket 8 slides forward, one end of the first rotating arm 9 is hinged and rotates on the push-pull bracket 8, while the other end of the first rotating arm 9 is hinged and rotates on the second rotating arm 10. The other end of the second rotating arm 10 is hinged and rotates within the hinge frame 11. The increased unfolding angle of the second rotating arm 10 increases the distance between the driven wheel 12 and the guide tube body 5, thus adapting to larger inner diameters. In the drainage pipe, the push-pull frame 8 slides backward. One end of the first rotating arm 9 is hinged and rotates on the push-pull frame 8, and the other end of the first rotating arm 9 is hinged and rotates on the second rotating arm 10. The other end of the second rotating arm 10 is hinged and rotates within the hinge frame 11. The unfolding angle of the second rotating arm 10 decreases, and the distance between the driven wheel 12 and the guide tube body 5 decreases, adapting to drainage pipes with small inner diameters. The first dual-shaft motor 32 drives the external thread rod 20, which rotates clockwise within the internal thread rod 19. The external thread rod 20 and the internal thread rod 19 extend, and the slide plate 18 slides on the slide rail 30, guiding the wheel frame 16. The rotating rod 21 and the limiting strip 23 slide within the rotating tube 22, and the rotating rod 21 and the rotating tube 22 extend. The wheel frame 16 drives the propulsion wheel 17 to move outward, adapting to drainage pipes with large inner diameters. In a water pipe, the external threaded rod 20 rotates counterclockwise within the internal threaded rod 19. The external threaded rod 20 and internal threaded rod 19 retract, the slide plate 18 slides on the slide rail 30, and the wheel frame 16 guides it. The rotating rod 21 and the limiting strip 23 slide within the rotating tube 22. The rotating rod 21 and rotating tube 22 retract, and the wheel frame 16 drives the propulsion wheel 17 to move inward, adapting to a small-diameter drainage pipe. Then, a drainage pipe crawling detector is placed in the drainage pipe. The driven wheel 12 rolls within the drainage pipe, and the propulsion wheel 17 rolls within the drainage pipe. The detection camera 4 detects the drainage pipe. During detection, the second dual-axis motor 33 drives the rotating tube 22, which in turn drives the rotating rod 21 to rotate. The rotating rod 21 rotates within the wheel frame 16. The rotating rod 21 transmits power to the gear groove 25 via the bevel gear 24. The groove 25 drives the propulsion wheel 17 to rotate. The propulsion wheel 17 rolls inside the drainage pipe, pushing the guide slide structure 1 forward. The driven wheel 12 rolls inside the drainage pipe, guiding the guide slide structure 1. The second drive motor 28 runs, driving the support plate 29. The support plate 29 rotates on one side of the positioning frame 26, adjusting the angle of the guide slide structure 1 inside the drainage pipe and changing the shooting angle of the detection camera 4. Finally, the detection is completed, and the hook 27 is pulled away. The hook 27 leaves the bracket 6, and the positioning frame 26 slides away from the guide slide tube 5. The transmission structure 2 and the propulsion structure 3 are removed for inspection and maintenance. After inspection and maintenance, one end of the positioning frame 26 slides outside the guide slide tube 5, the second drive motor 28 slides into the guide slide tube 5, and the hook 27 is engaged with the bracket 6.Complete the resetting of transmission structure 2 and propulsion structure 3.

[0019] Among them, the two propulsion structures 3 are installed in a mirror image with the transmission structure 2 as the center, one set of external thread rods 20 and internal thread rods 19 are connected by right-hand threads, and the other set of external thread rods 20 and internal thread rods 19 are connected by left-hand threads.

[0020] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A drainage pipe crawling detector, comprising a guide sliding structure (1), characterized in that, A transmission structure (2) is installed at one end of the guide slide structure (1), and a propulsion structure (3) is provided on both sides of the transmission structure (2). A detection camera (4) is installed at the other end of the guide slide structure (1). The guide slide structure (1) includes a guide slide tube (5), with a bracket (6) provided on both sides of one end of the guide slide tube (5), and guide slide grooves (7) provided on all four sides of the guide slide tube (5). A push-pull bracket (8) is slidably arranged inside the guide slide tube (5). The push-pull bracket (8) is arranged in a cross shape. A first rotating arm (9) is hinged to all four sides of the push-pull bracket (8). A second rotating arm (10) is hinged to the other end of the first rotating arm (9). A hinge bracket (11) is provided on all four sides of the other end of the guide slide tube (5). A driven wheel (12) is rotatably arranged at one end of the second rotating arm (10). A first transmission motor (13) is installed at one end of the guide slide tube (5). A transmission screw (14) is provided at the power output end of the first transmission motor (13). A mounting plate (15) is provided at the other end of the guide slide tube (5).

2. A drainage pipe crawling detector according to claim 1, characterized in that, The other end of the second rotating arm (10) is rotatably disposed in the hinge frame (11), and the outer end of the push-pull frame (8) is slidably disposed in the guide groove (7).

3. A drainage pipe crawling detector according to claim 1, characterized in that, The transmission screw (14) is threaded into the push-pull bracket (8), and one end of the transmission screw (14) is rotatably disposed in the mounting plate (15).

4. A drainage pipe crawling detector according to claim 1, characterized in that, The propulsion structure (3) includes a wheel frame (16), a propulsion wheel (17) is rotatably arranged inside the wheel frame (16), a sliding plate (18) is arranged on the rear side of the wheel frame (16), an internal thread rod (19) is arranged on one side of the sliding plate (18), an external thread rod (20) is screwed into the internal thread of the internal thread rod (19), a rotating rod (21) is rotatably arranged at one end of the wheel frame (16), a rotating tube (22) is slidably arranged at one end of the rotating rod (21), a limit strip (23) is arranged on both sides of the rotating rod (21), the limit strip (23) is slidably arranged in the rotating tube (22), a bevel gear (24) is arranged at the other end of the rotating rod (21), and a gear groove (25) is arranged on the propulsion wheel (17).

5. A drainage pipe crawling detector according to claim 4, characterized in that, The bevel gear (24) is meshed in the gear groove (25).

6. A drainage pipe crawling detector according to claim 4, characterized in that, The transmission structure (2) includes a positioning frame (26), with hooks (27) on both sides of the positioning frame (26). A second transmission motor (28) is installed on the positioning frame (26). A support plate (29) is provided at the power output end of the second transmission motor (28). A slide rail (30) is provided at both ends of the support plate (29). The slide plate (18) is slidably mounted on the slide rail (30). A mounting frame (31) is provided on the front side of the support plate (29). A first dual-axis motor (32) is installed at the rear end of the mounting frame (31). A second dual-axis motor (33) is installed at the front end of the mounting frame (31).

7. A drainage pipe crawling detector according to claim 6, characterized in that, The power output end of the first dual-axis motor (32) is fixedly connected to one end of the external threaded rod (20), and the power output end of the second dual-axis motor (33) is fixedly connected to one end of the rotating tube (22).

8. A drainage pipe crawling detector according to claim 6, characterized in that, The rear end of the hook (27) is engaged with the card holder (6), one end of the positioning frame (26) is slidably disposed outside the guide tube body (5), and the second drive motor (28) is slidably disposed inside the guide tube body (5).

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