CN114811264B

CN114811264B - Robot for pipeline detection

Info

Publication number: CN114811264B
Application number: CN202210431414.4A
Authority: CN
Inventors: 牛华; 刘琪; 熊文新; 王文斌; 张玉红; 谢小洁; 王铁建
Original assignee: Changzhou Zhengxin Construction Engineering Inspection Co ltd
Current assignee: Changzhou Zhengxin Construction Engineering Inspection Co ltd
Priority date: 2022-04-23
Filing date: 2022-04-23
Publication date: 2023-03-24
Anticipated expiration: 2042-04-23
Also published as: CN114811264A

Abstract

The utility model relates to a robot for pipeline inspection belongs to the technical field of pipeline inspection, and it includes chassis dolly and external display, be equipped with the mechanism of making a video recording that is used for shooing the inside image of pipeline on the dolly of chassis, be equipped with the lighting mechanism who is used for the illumination on the dolly of chassis, be equipped with on the dolly of chassis and inhale water mechanism, crowded water mechanism and water storage mechanism, external display is used for showing the shooting picture of the mechanism of making a video recording. This application can absorb and wait to detect remaining water in the pipeline, helps subsequent pipeline to detect the operation.

Description

Robot for pipeline detection

Technical Field

The application relates to the field of pipeline detection, in particular to a robot for pipeline detection.

Background

At present, in various industries such as oil, natural gas, nuclear industry, water supply and drainage, boiler, central air conditioning ventilation and the like, the use amount of pipelines is rapidly increased, and the functions of the pipelines are not small. However, the pipeline may be damaged by corrosion, pressure and other external forces during use. The interior of the pipeline needs to be cleaned and maintained regularly, so that the service life of the pipeline is prolonged, and the work of preventing major safety accidents and the like through regular detection and safety assessment is performed. Because the environment of the pipeline is complex and workers cannot even enter the pipeline to work, the pipeline robot is urgently required to perform corresponding work.

Before the work of carrying out pipeline inspection, need treat the pipeline that detects and dredge the clearance, nevertheless advance the partial region that waits to detect in the pipeline after the clearance and can have remaining water, wait to detect the bottom formation little water flat of pipeline, when the light of pipeline robot shines on these remaining aquatic, can form the reflection of light on little water flat, influence the shooting detection of pipeline robot.

Disclosure of Invention

In order to solve the above-described problems, the present application provides a robot for pipeline inspection.

The application provides a pipeline inspection robot, adopts following technical scheme:

the robot for pipeline detection comprises a chassis trolley and an external display, wherein a camera shooting mechanism for shooting images inside a pipeline is arranged on the chassis trolley, a lighting mechanism for lighting is arranged on the chassis trolley, a water absorbing mechanism, a water squeezing mechanism and a water storage mechanism are arranged on the chassis trolley, and the external display is used for displaying shooting pictures of the camera shooting mechanism.

By adopting the technical scheme, before the pipeline detection is carried out, the chassis trolley is arranged at one end of the pipeline to be detected, and then the chassis trolley is controlled to move towards the other end of the pipeline to be detected. When the mechanism of making a video recording shoots the place ahead of waiting to detect the pipeline and has the beach, start the mechanism that absorbs water, when the chassis dolly moves to beach department, the mechanism that absorbs water absorbs the beach. And then the water squeezing mechanism squeezes out the absorbed water, and the squeezed water is stored by the water storage mechanism. In the running process of the chassis trolley, the water absorption mechanism, the water squeezing mechanism and the water storage mechanism cooperate to absorb the residual water in the pipeline to be detected, and the continuous operation can be performed, so that the subsequent pipeline detection operation is facilitated.

Optionally, the water absorption mechanism is including the roller that absorbs water that is used for absorbing the pipeline bottom ponding of waiting to detect, it is connected with two sets of synchronizing wheels to rotate on the chassis dolly, every group the synchronizing wheel is equipped with a plurality ofly, and is two sets of the synchronizing wheel symmetry sets up on the chassis dolly, every group the outside of synchronizing wheel is around being equipped with the hold-in range, be equipped with drive synchronous belt drive's drive assembly on the chassis dolly, the surface of hold-in range is equipped with the sleeve pipe, the roller that absorbs water rotates with the sleeve pipe to be connected, the roller that absorbs water is equipped with two, two the roller that absorbs water evenly sets up in the outside of hold-in range, be equipped with two grooves of dodging on the chassis dolly, the hold-in range is worn to locate two and dodges the inslot, it can supply the roller that absorbs water to pass to dodge the groove in the hold-in range transmission in-process, the roller that absorbs water can wait to detect the inner wall butt of pipeline.

Through adopting above-mentioned technical scheme, when the mechanism of making a video recording shoots the place ahead of waiting to detect the pipeline and has the beach, drive assembly starts, drives the hold-in range motion for the water absorption roller moves along the motion route of hold-in range, when the water absorption roller with wait to detect the inner wall butt of pipeline, can be with waiting to detect the beach on the pipeline and absorb. Can treat the beach on the pipeline that detects and absorb in turn through two suction rolls, improve the absorption efficiency of beach.

Optionally, the driving assembly includes a driving motor and a driving wheel, the driving motor is disposed on the chassis trolley, the driving wheel is rotatably connected to the chassis trolley, an output end of the driving motor is connected to the driving wheel, and the driving wheel is engaged with the synchronous belt.

Through adopting above-mentioned technical scheme, when the mechanism of making a video recording shoots the place ahead of waiting to detect the pipeline and has the water beach, driving motor starts, drives the drive wheel and rotates, thereby the drive wheel rotates and drives the hold-in range and carry out the transmission, simple structure, the operation of being convenient for.

Optionally, the wringing mechanism includes a wringing plate, the wringing plate is arranged on the chassis trolley, the wringing plate is arranged between two avoiding grooves, the thickness of the wringing plate is gradually reduced along the self height direction from top to bottom, the water absorbing roller comprises a central shaft and a water absorbing sponge sleeved on the central shaft, and when the central shaft moves from bottom to top, the water absorbing sponge is gradually close to the wringing plate and generates extrusion.

Through adopting above-mentioned technical scheme, when the suction roll moved from bottom to top, the sponge that absorbs water was extruded by crowded water board, and the sponge that absorbs water is extruded from the absorbent water of beach department, and the water of extruding is stored by water storage mechanism. When one of the water absorbing rollers absorbs water, the other water absorbing roller extrudes water, the two water absorbing rollers absorb water and extrude water in opposite working states, and the water absorbing efficiency and the water extruding efficiency are improved, so that the overall working efficiency is improved.

Optionally, the water storage mechanism includes two sets of water storage components, the water storage components symmetry sets up in the both sides of wringing board thickness direction, the water storage components include storage water tank and the driving source that the drive storage water tank removed along wringing board thickness direction, the driving source is located on the chassis dolly, the output fixed connection of storage water tank and driving source, storage water tank sliding connection is on the chassis dolly.

Through adopting above-mentioned technical scheme, when the roller that absorbs water is about to carry out crowded water, the driving source starts, drives the storage water tank and removes towards crowded water board, until storage water tank and crowded water board butt after, the water that the roller that absorbs water was extruded falls into in the storage water tank, realizes carrying out the purpose of collecting to the water of extruding. After the completion is collected the water of extruding one of them suction roll, the driving source starts, drives the storage water tank and deviates from crowded water board and removes to the synchronous belt of being convenient for drives the circumferential motion that the suction roll goes on, simple structure, the operation of being convenient for.

Optionally, be equipped with the fender lid on the storage water tank, the fender lid slides with the storage water tank and is connected, be equipped with the rotation motor on the storage water tank, the coaxial drive gear that is fixed with of output that rotates the motor, be equipped with the drive rack on the fender lid, the drive rack sets up along crowded water plate thickness direction, drive gear and drive rack meshing.

Through adopting above-mentioned technical scheme, rotate the motor and start, can drive gear and rotate, drive gear drives the drive rack and removes, and the drive rack drives the fender lid and removes along the thickness direction of crowded water board. When the water storage tank moves towards the water squeezing plate, the driving rack drives the blocking cover to move and enables the blocking cover to be opened, so that squeezed water can be collected conveniently; when the water storage tank deviates from the water baffle to move, the driving rack drives the blocking cover to move and enables the blocking cover to be closed, and the situation that water in the water storage tank shakes to spill in the moving process of the water storage tank is reduced.

Optionally, a locking assembly is arranged on the water storage tank and comprises a driving cylinder and a locking rack, the driving cylinder is arranged on the water storage tank, the locking rack is fixedly connected with the output end of the driving cylinder, and the locking rack is matched with the driving gear.

Through adopting above-mentioned technical scheme, when keeping off the lid and closing completely, drive actuating cylinder and start, drive the locking rack and move towards drive gear, until locking rack and drive gear meshing. Therefore, when the rotating motor is closed, the driving gear is braked, and the situation that the blocking cover is opened due to deflection of the driving gear is reduced. When the blocking cover needs to be opened, the driving air cylinder is started to drive the locking rack to move away from the driving gear, so that the motor can be rotated to drive the driving gear to rotate, and the blocking cover is opened conveniently.

Optionally, the bottom of the chassis trolley is rotatably connected with bottom wheels, the bottom wheels are symmetrically arranged along the length direction of the chassis trolley, a driving shaft is coaxially fixed between the two bottom wheels symmetrically arranged along the length direction of the chassis trolley, a first bevel gear is fixedly sleeved on the driving shaft, a second bevel gear is coaxially fixed at the output end of the driving motor, and the first bevel gear is meshed with the second bevel gear.

Through adopting above-mentioned technical scheme, when driving motor started, drive second bevel gear and rotate, second bevel gear drives first bevel gear and rotates, and first bevel gear drives the drive shaft and rotates, and the drive shaft drives the return pulley and rotates to drive the chassis dolly and remove, realize the purpose of traveling.

Optionally, a connecting plate is arranged on the chassis trolley, a pushing cylinder is arranged on the connecting plate, an output end of the pushing cylinder is fixedly connected with a rotating sleeve, a rotating round table is connected in the rotating sleeve in a rotating mode, a small head end of the rotating round table penetrates out of the rotating sleeve, a connecting column is fixedly connected with the small head end of the rotating round table, the cross section of the connecting column is non-circular, the connecting column penetrates out of a driving wheel and is connected with the driving wheel in a sliding mode, a third bevel gear is arranged at one end, far away from the rotating round table, of the connecting column, and the third bevel gear is meshed with the first bevel gear.

Through adopting above-mentioned technical scheme, when the mechanism of making a video recording shoots the place ahead of waiting to detect the pipeline and has the beach, promote the cylinder and start, drive and rotate the sleeve and remove, rotate the sleeve and drive and rotate the round platform and remove, rotate the round platform and drive the spliced pole and remove, the spliced pole drives the removal of third bevel gear, until the third bevel gear remove to take place the meshing with first bevel gear. At the moment, when the chassis trolley runs, the first bevel gear rotates to drive the third bevel gear to rotate, the third bevel gear drives the connecting column to rotate, and the connecting column drives the driving wheel to rotate, so that the purpose of driving the synchronous belt to rotate in the circumferential direction is achieved. When waiting to detect the place ahead of pipeline and not appearing the beach, promote the cylinder and start, drive the direction removal of rotating sleeve towards keeping away from first bevel gear for third bevel gear and first bevel gear separation. At the moment, when the chassis trolley runs, the synchronous belt does not run in the circumferential direction, so that the energy consumption is reduced.

Optionally, the both ends of chassis dolly length direction are equipped with the crash bar, the one end that the chassis dolly was kept away from to the crash bar is equipped with the mounting groove, install buffer spring in the mounting groove, buffer spring's one end and the diapire fixed connection of mounting groove, other end fixedly connected with buffer block, the buffer block slides with the inside wall of mounting groove and is connected, the one end of buffer block is located inside the mounting groove, and the other end is located the outside of mounting groove, the one end that the buffer block is close to the mounting groove diapire is equipped with the feeler lever, be equipped with the corresponding contact with the feeler lever position on the mounting groove diapire, the contact is connected with driving motor electricity.

By adopting the technical scheme, when the chassis trolley collides with the plugging objects at the two ends of the pipeline to be detected, the anti-collision rod plays a role in protecting the chassis trolley. In addition, when the buffer block collides with a plugging object, the buffer spring is compressed, so that the collision can be further buffered, and the chassis trolley is protected. In addition, the buffer block moves towards the bottom wall of the mounting groove, and the contact rod is pushed to move towards the contact. When the feeler lever contacts the contact, the contact sends an electric signal, the driving motor starts to rotate reversely after receiving the electric signal, so that the chassis trolley runs in the opposite direction, the chassis trolley achieves the purpose of circular reciprocating running, the residual water in the pipeline to be detected is conveniently cleaned, and the subsequent pipeline detection operation is facilitated.

In summary, the present application includes at least one of the following beneficial technical effects:

1. through the cooperative operation of the water absorption mechanism, the water squeezing mechanism and the water storage mechanism, the water residual in the pipeline to be detected can be absorbed, and the continuous operation can be performed, so that the subsequent pipeline detection operation is facilitated;

2. through the setting of crowded water board, when the suction roll moved from bottom to top, the sponge that absorbs water was extruded by crowded water board, and the sponge that absorbs water is extruded from the water beach absorptive water, and the water of extruding is stored by water storage mechanism. When one of the water absorbing rollers absorbs water, the other water absorbing roller extrudes water, the two water absorbing rollers perform water absorbing and extruding circulation and are always in opposite working states, and the water absorbing efficiency and the water extruding efficiency are improved, so that the overall working efficiency is improved;

3. through the setting of locking subassembly, can be so that when rotating the motor and closing, brake drive gear, reduce the drive gear and deflect and cause the condition emergence that the fender lid was opened.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 2 is a schematic structural view of a water absorbing mechanism in an embodiment of the present application.

FIG. 3 is a cutaway view of a drive assembly embodying an embodiment of the present application.

Fig. 4 is a schematic structural diagram of a water storage mechanism in an embodiment of the present application.

Fig. 5 is a partially enlarged schematic view at a in fig. 4.

Fig. 6 is a schematic view showing the internal structure of the impact beam in the embodiment of the present application.

Fig. 7 is a partially enlarged schematic view at B in fig. 6.

Description of reference numerals: 1. a chassis trolley; 11. a synchronizing wheel; 12. a synchronous belt; 121. a sleeve; 13. a drive assembly; 131. a drive motor; 1311. a second bevel gear; 132. a drive wheel; 14. an avoidance groove; 15. a bottom wheel; 151. a drive shaft; 1511. a first bevel gear; 16. a connecting plate; 161. a push cylinder; 162. rotating the sleeve; 163. rotating the circular truncated cone; 164. connecting columns; 1641. a third bevel gear; 17. a limiting plate; 171. a through hole; 18. an anti-collision bar; 181. mounting grooves; 1811. a contact; 182. a buffer spring; 183. a buffer block; 1831. a feeler lever; 2. a camera mechanism; 3. an illumination mechanism; 4. a water absorbing mechanism; 41. a suction roll; 411. a central shaft; 412. a water-absorbing sponge; 5. a water squeezing mechanism; 51. a water squeezing plate; 6. a water storage mechanism; 61. a water storage assembly; 611. a water storage tank; 6111. a blocking cover; 6112. an installation table; 6113. rotating the motor; 6114. a drive gear; 6115. a drive rack; 612. a drive source; 62. a locking assembly; 621. a driving cylinder; 622. and locking the rack.

Detailed Description

The present application is described in further detail below with reference to figures 1-7.

The embodiment of the application discloses robot for pipeline inspection. Referring to fig. 1, the robot for pipeline inspection comprises a chassis trolley 1 and an external display, wherein a camera mechanism 2 and a lighting mechanism 3 are arranged on the chassis trolley 1, the camera mechanism 2 is used for shooting images inside a pipeline, the lighting mechanism 3 is used for lighting the environment inside the pipeline, a water absorbing mechanism 4, a water squeezing mechanism 5 and a water storage mechanism 6 are arranged on the chassis trolley 1, and the external display is used for displaying shooting pictures of the camera mechanism 2.

Before the pipeline detection is carried out, the chassis trolley 1 is placed at one end of the pipeline to be detected, and then the chassis trolley 1 is controlled to run towards the other end of the pipeline to be detected. When the mechanism 2 of making a video recording shoots the place ahead of waiting to detect the pipeline and has the water flat, start mechanism 4 that absorbs water, when chassis dolly 1 moves to water flat department, mechanism 4 that absorbs water absorbs the water flat. The water squeezing mechanism 5 then squeezes out the absorbed water, and the squeezed water is stored by the water storage mechanism 6. In the running process of the chassis trolley 1, the water absorbing mechanism 4, the water squeezing mechanism 5 and the water storage mechanism 6 are cooperatively operated, so that the residual water in the pipeline to be detected can be absorbed, and the continuous operation can be performed, thereby being beneficial to the subsequent pipeline detection operation.

Referring to fig. 1 and 2, the water suction mechanism 4 includes a water suction roller 41 for sucking accumulated water at the bottom of the pipeline to be detected, two sets of synchronizing wheels 11 are rotatably connected to the chassis trolley 1, each set of synchronizing wheels 11 is provided with a plurality of synchronizing wheels, and the two sets of synchronizing wheels 11 are symmetrically arranged on the chassis trolley 1. The outer side of each group of synchronizing wheels 11 is wound with a synchronizing belt 12, and the chassis trolley 1 is provided with a driving component 13 for driving the synchronizing belt 12 to transmit. The outer surface of the synchronous belt 12 is fixedly connected with a sleeve 121, and the water suction roller 41 is rotatably connected with the sleeve 121. Two water suction rollers 41 are arranged, and the two water suction rollers 41 are uniformly distributed on the outer side of the synchronous belt 12. Two avoidance grooves 14 are formed in the chassis trolley 1, the synchronous belt 12 penetrates through the two avoidance grooves 14, and the avoidance grooves 14 can be penetrated by the water suction roller 41. During the circumferential running of the timing belt 12, the water suction roller 41 can abut against the inner wall of the pipe to be detected.

When there is the beach in the place ahead of waiting to detect the pipeline when camera mechanism 2 shoots, drive assembly 13 starts, drives hold-in range 12 motion for the water absorption roller 41 moves along hold-in range 12's motion route, when water absorption roller 41 with wait to detect the inner wall butt of pipeline, can will wait to detect the beach on the pipeline and absorb. The water beaches on the pipeline to be detected can be alternately absorbed through the two water suction rollers 41, and the absorption efficiency of the water beaches is improved.

Referring to fig. 1 and 3, the driving assembly 13 includes a driving motor 131 and a driving wheel 132, the driving motor 131 is fixedly connected to the chassis trolley 1, the driving wheel 132 is rotatably connected to the chassis trolley 1, an output end of the driving motor 131 is connected to the driving wheel 132, and the driving wheel 132 is engaged with the timing belt 12. When there is the beach in the place ahead of waiting to detect the pipeline when mechanism 2 shoots, driving motor 131 starts, drives drive wheel 132 and rotates, thereby drive wheel 132 rotates and drives hold-in range 12 and carry out the transmission, simple structure, the operation of being convenient for.

Referring to fig. 2, the wringing mechanism 5 includes a wringing plate 51, the wringing plate 51 is fixedly connected to the chassis trolley 1, and the wringing plate 51 is located in the middle of the two avoidance grooves 14. The wringing plate 51 is in an inverted isosceles trapezoid shape, and the thickness of the wringing plate 51 is gradually reduced from top to bottom along the height direction. The suction roll 41 includes a central shaft 411 and a suction sponge 412 fitted around the central shaft 411, and when the central shaft 411 moves from bottom to top, the suction sponge 412 gradually approaches the wringing plate 51 and generates a squeezing action. When the water suction roller 41 moves from bottom to top, the water suction sponge 412 is squeezed by the water squeezing plate 51, the water absorbed by the water suction sponge 412 from the water bank is squeezed out, and the squeezed water is stored by the water storage mechanism 6. When one of the water absorbing rollers 41 absorbs water, the other water absorbing roller 41 squeezes water, the two water absorbing rollers 41 absorb water and squeeze water in opposite working states, and the water absorbing efficiency and the water squeezing efficiency are improved, so that the overall working efficiency is improved.

Referring to fig. 4, the water storage mechanism 6 includes two water storage units 61, and the water storage units 61 are symmetrically disposed on two sides of the wringing plate 51 in the thickness direction. The water storage unit 61 includes a water storage tank 611 and a driving source 612 for driving the water storage tank 611 to move in the thickness direction of the wringing plate 51. The driving source 612 is fixedly connected to the chassis trolley 1, the water storage tank 611 is fixedly connected with the output end of the driving source 612, and the water storage tank 611 is connected to the chassis trolley 1 in a sliding manner. In the present embodiment, the driving source 612 is a cylinder. When the water suction roller 41 is about to squeeze water, the driving source 612 is started to drive the water storage tank 611 to move towards the water squeezing plate 51 until the water storage tank 611 abuts against the water squeezing plate 51, and the squeezed water of the water suction roller 41 falls into the water storage tank 611, so that the purpose of collecting the squeezed water is achieved. After the water extruded by one of the water suction rollers 41 is collected, the driving source 612 is started to drive the water storage tank 611 to move away from the water extrusion plate 51, so that the synchronous belt 12 drives the water suction rollers 41 to perform circumferential motion conveniently, the structure is simple, and the operation is convenient.

Referring to fig. 4 and 5, a cover 6111 is slidably connected to the water storage tank 611, and the cover is disposed on the water storage tank 611. The sidewall of the water storage tank 611 is fixedly connected with an installation platform 6112, and the installation platform 6112 is fixedly connected with a rotating motor 6113. A driving gear 6114 is coaxially fixed at the output end of the rotating motor 6113, a driving rack 6115 is fixedly connected to the side wall of one side of the blocking cover 6111 in the length direction, the driving rack 6115 is arranged along the thickness direction of the wringing plate 51, and the driving gear 6114 is meshed with the driving rack 6115. Therefore, the rotating motor 6113 is started to drive the driving gear 6114 to rotate, the driving gear 6114 drives the driving rack 6115 to move, and the driving rack 6115 drives the blocking cover 6111 to move along the thickness direction of the wringing plate 51. When the water storage tank 611 moves towards the wringing plate 51, the driving rack 6115 drives the blocking cover 6111 to move and opens the blocking cover 6111, so that the squeezed water can be collected conveniently; when the water storage tank 611 moves away from the wringing plate 51, the driving rack 6115 drives the blocking cover 6111 to move and close the blocking cover 6111, so that the situation that water in the water storage tank 611 shakes to spill in the moving process of the water storage tank 611 is reduced.

Referring to fig. 4 and 5, a locking assembly 62 is arranged on the water storage tank 611, the locking assembly 62 includes a driving cylinder 621 and a locking rack 622, the driving cylinder 621 is fixedly connected to the side wall of the water storage tank 611, the locking rack 622 is fixedly connected to the output end of the driving cylinder 621, and the locking rack 622 is adapted to the driving gear 6114. When the blocking cover 6111 is completely closed, the driving cylinder 621 is activated to drive the locking rack 622 to move towards the driving gear 6114 until the locking rack 622 is meshed with the driving gear 6114. Therefore, when the rotating motor 6113 is turned off, the driving gear 6114 is braked, and the situation that the driving gear 6114 deflects to cause the opening of the blocking cover 6111 is reduced. When the blocking cover 6111 needs to be opened, the driving cylinder 621 is started to drive the locking rack 622 to move away from the driving gear 6114, so that the rotating motor 6113 can drive the driving gear 6114 to rotate, and the blocking cover 6111 can be opened conveniently.

Referring to fig. 1 and 3, the bottom of the chassis trolley 1 is rotatably connected with bottom wheels 15, the bottom wheels 15 are symmetrically arranged along the length direction of the chassis trolley 1, and a driving shaft 151 is coaxially fixed between the two bottom wheels 15 symmetrically arranged along the length direction of the chassis trolley 1. The driving shaft 151 is fixedly sleeved with a first bevel gear 1511, the output end of the driving motor 131 is coaxially fixed with a second bevel gear 1311, and the first bevel gear 1511 is meshed with the second bevel gear 1311. When the driving motor 131 is started, the second bevel gear 1311 is driven to rotate, the second bevel gear 1311 drives the first bevel gear 1511 to rotate, the first bevel gear 1511 drives the driving shaft 151 to rotate, and the driving shaft 151 drives the bottom wheel 15 to rotate, so that the chassis trolley 1 is driven to move, and the purpose of running is achieved.

Referring to fig. 1 and 3, a connecting plate 16 is fixedly connected to the chassis trolley 1, and a pushing cylinder 161 is fixedly connected to the connecting plate 16. The output end of the pushing cylinder 161 is fixedly connected with a rotating sleeve 162, a rotating round table 163 is connected in the rotating sleeve 162 in a rotating manner, and the small end of the rotating round table 163 penetrates out of the rotating sleeve 162. The small end of the rotary round table 163 is fixedly connected with a connecting column 164, the cross section of the connecting column 164 is non-circular, and the connecting column 164 penetrates through the driving wheel 132 and is coaxially connected with the driving wheel 132 in a sliding manner. Limiting plates 17 are attached to two axial ends of the driving wheel 132, the limiting plates 17 are fixedly connected to the chassis trolley 1, and through holes 171 for allowing the connecting columns 164 to rotate freely are formed in the limiting plates 17. One end of the connecting column 164, which is far away from the rotating round table 163, is provided with a third bevel gear 1641, and the third bevel gear 1641 is engaged with the first bevel gear 1511.

When shooting mechanism 2 and waiting to detect the place ahead of pipeline and have the water flat, promote cylinder 161 and start, drive and rotate sleeve 162 and remove, rotate sleeve 162 and drive and rotate round platform 163 and remove, rotate round platform 163 and drive spliced pole 164 and remove, spliced pole 164 drives third bevel gear 1641 and removes, until third bevel gear 1641 remove to take place the meshing with first bevel gear 1511. At this moment, when the chassis trolley 1 runs, the first bevel gear 1511 rotates to drive the third bevel gear 1641 to rotate, the third bevel gear 1641 drives the connecting column 164 to rotate, and the connecting column 164 drives the driving wheel 132 to rotate, so that the purpose of driving the synchronous belt 12 to rotate in the circumferential direction is achieved. When no water bank appears in front of the pipeline to be detected, the pushing cylinder 161 is started to drive the rotating sleeve 162 to move towards the direction far away from the first bevel gear 1511, so that the third bevel gear 1641 is separated from the first bevel gear 1511. At this time, when the chassis trolley 1 runs, the synchronous belt 12 does not run in the circumferential direction, thereby reducing energy consumption.

Referring to fig. 3, it is noted that the chassis bogie 1 has four bottom wheels 15, and each of the driving shafts 151 is provided with a first bevel gear 1511 since one driving shaft 151 is connected between the two bottom wheels 15. One drive motor 131 is provided and one second bevel gear 1311 is provided. When the second bevel gear 1311 is engaged with one of the first bevel gears 1511, the driving motor 131 rotates to drive the second bevel gear 1311 to rotate, the second bevel gear 1311 rotates to drive the first bevel gear 1511 engaged therewith to rotate, so as to drive the chassis trolley 1 to run, and the chassis trolley 1 runs to drive the other first bevel gear 1511 to rotate. In order to keep the running directions of the two timing belts 12 the same, the tooth surfaces of the two first bevel gears 1511 are oppositely faced.

Referring to fig. 6 and 7, the two ends of the chassis trolley 1 in the length direction are fixedly connected with the crash bar 18, one end of the crash bar 18, which is far away from the chassis trolley 1, is provided with a mounting groove 181, and a buffer spring 182 is mounted in the mounting groove 181. One end of the buffer spring 182 is fixedly connected with the bottom wall of the mounting groove 181, the other end of the buffer spring is fixedly connected with the buffer block 183, and the buffer block 183 is connected with the inner side wall of the mounting groove 181 in a sliding manner. One end of the buffer block 183 is located inside the mounting groove 181, and the other end is located outside the mounting groove 181. One end of the buffer block 183 close to the bottom wall of the mounting groove 181 is fixedly connected with a feeler lever 1831, the bottom wall of the mounting groove 181 is fixedly connected with a contact 1811 corresponding to the position of the feeler lever 1831, and the contact 1811 is electrically connected with the driving motor 131.

When the chassis trolley 1 collides with blocking objects at two ends of the pipeline to be detected, the anti-collision rod 18 plays a role in protecting the chassis trolley 1. In addition, when the buffer block 183 collides with the plugging object, the buffer spring 182 is compressed, so that the collision can be further buffered, and the chassis trolley 1 can be protected. In addition, the buffer block 183 moves toward the bottom wall of the mounting groove 181, pushing the feeler lever 1831 to move toward the contact 1811. When the feeler lever 1831 touches the contact 1811, the contact 1811 sends an electric signal, and the driving motor 131 starts to rotate reversely after receiving the electric signal, so that the chassis trolley 1 runs in the opposite direction, the chassis trolley 1 can realize the purpose of circular reciprocating running, the residual water in the pipeline to be detected can be cleaned conveniently, and the subsequent pipeline detection operation can be facilitated.

The implementation principle of the robot for pipeline detection in the embodiment of the application is as follows: before the pipeline detection is carried out, the chassis trolley 1 is placed at one end of the pipeline to be detected, and then the driving motor 131 is started to drive the chassis trolley 1 to move towards the other end of the pipeline to be detected.

In the running process of the chassis trolley 1, when the shooting mechanism 2 shoots that there is a water beach in front of the pipeline to be detected, the pushing cylinder 161 is started, so that the third bevel gear 1641 moves to be meshed with the second bevel gear 1311, the driving wheel 132 rotates, and the synchronous belt 12 is driven to realize circumferential running. When the chassis trolley 1 moves to a water beach, the water absorption sponge 412 absorbs the water beach when the water absorption roller 41 contacts the bottom of the pipeline to be detected. Then the water suction roller 41 continues to follow the running of the synchronous belt 12, when the water suction roller 41 moves from bottom to top, the water suction sponge 412 is squeezed by the water squeezing plate 51, and the water absorbed by the water suction sponge 412 from the water beach is squeezed out. At the same time, the driving source 612 is activated to drive the water tank 611 to move toward the wringing plate 51 until the water tank 611 abuts against the wringing plate 51. In the moving process of the water storage tank 611, the blocking cover 6111 is opened, and the water extruded by the water suction roller 41 falls into the water storage tank 611, so that the purpose of collecting the extruded water is achieved.

When the chassis trolley 1 collides with blocking objects at two ends of the pipeline to be detected, the buffer block 183 moves towards the bottom wall of the mounting groove 181, and pushes the feeler lever 1831 to move towards the contact 1811. When the feeler lever 1831 touches the contact 1811, the contact 1811 sends an electric signal, and the driving motor 131 starts to rotate reversely after receiving the electric signal, so that the chassis trolley 1 runs in the opposite direction, the chassis trolley 1 can realize the purpose of circular reciprocating running, the residual water in the pipeline to be detected can be cleaned conveniently, and the subsequent pipeline detection operation can be facilitated.

In the running process of the chassis trolley 1, the water absorbing mechanism 4, the water squeezing mechanism 5 and the water storage mechanism 6 are cooperatively operated, so that the residual water in the pipeline to be detected can be absorbed, and the continuous operation can be performed, thereby being beneficial to the subsequent pipeline detection operation.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A robot for pipeline inspection is characterized in that: the pipeline image shooting device comprises a chassis trolley (1) and an external display, wherein a camera shooting mechanism (2) for shooting an image inside a pipeline is arranged on the chassis trolley (1), a lighting mechanism (3) for lighting is arranged on the chassis trolley (1), a water absorbing mechanism (4), a water squeezing mechanism (5) and a water storage mechanism (6) are arranged on the chassis trolley (1), and the external display is used for displaying a shooting picture of the camera shooting mechanism (2);

the water absorption mechanism (4) comprises a water absorption roller (41) for absorbing accumulated water at the bottom of a pipeline to be detected, two groups of synchronous wheels (11) are rotatably connected to the chassis trolley (1), each group of synchronous wheels (11) is provided with a plurality of synchronous wheels, the two groups of synchronous wheels (11) are symmetrically arranged on the chassis trolley (1), a synchronous belt (12) is wound on the outer side of each group of synchronous wheels (11), a driving component (13) for driving the synchronous belt (12) to transmit is arranged on the chassis trolley (1), a sleeve (121) is arranged on the outer surface of the synchronous belt (12), the water absorption roller (41) is rotatably connected with the sleeve (121), the two water absorption rollers (41) are uniformly arranged on the outer side of the synchronous belt (12), two avoidance grooves (14) are arranged on the chassis trolley (1), the synchronous belt (12) is arranged in the two avoidance grooves (14) in a penetrating manner, the avoidance grooves (14) can be used for the water absorption roller (41) to pass through, and the synchronous belt (12) can be abutted against the inner wall of the pipeline to be detected;

the driving assembly (13) comprises a driving motor (131) and a driving wheel (132), the driving motor (131) is arranged on the chassis trolley (1), the driving wheel (132) is rotationally connected to the chassis trolley (1), the output end of the driving motor (131) is connected with the driving wheel (132), and the driving wheel (132) is meshed with the synchronous belt (12);

the water squeezing mechanism (5) comprises a water squeezing plate (51), the water squeezing plate (51) is arranged on the chassis trolley (1), the thickness of the water squeezing plate (51) is gradually reduced from top to bottom along the height direction of the water squeezing plate, the water absorbing roller (41) comprises a central shaft (411) and water absorbing sponge (412) sleeved on the central shaft (411), and when the central shaft (411) moves from bottom to top, the water absorbing sponge (412) is gradually close to the water squeezing plate (51) and generates squeezing;

the water storage mechanism (6) comprises two groups of water storage components (61), the water storage components (61) are symmetrically arranged on two sides of the thickness direction of the water squeezing plate (51), each water storage component (61) comprises a water storage tank (611) and a driving source (612) for driving the water storage tank (611) to move along the thickness direction of the water squeezing plate (51), the driving source (612) is arranged on the chassis trolley (1), the water storage tank (611) is fixedly connected with the output end of the driving source (612), and the water storage tank (611) is connected to the chassis trolley (1) in a sliding mode;

the bottom of the chassis trolley (1) is rotatably connected with bottom wheels (15), the bottom wheels (15) are symmetrically arranged along the length direction of the chassis trolley (1), a driving shaft (151) is coaxially fixed between the two bottom wheels (15) symmetrically arranged along the length direction of the chassis trolley (1), a first bevel gear (1511) is fixedly sleeved on the driving shaft (151), a second bevel gear (1311) is coaxially fixed at the output end of the driving motor (131), and the first bevel gear (1511) is meshed with the second bevel gear (1311);

be equipped with connecting plate (16) on chassis dolly (1), be equipped with on connecting plate (16) and promote cylinder (161), the output fixed connection who promotes cylinder (161) rotates sleeve (162), it rotates round platform (163) to rotate sleeve (162) internal rotation to be connected with, it wears out to rotate sleeve (162) to rotate the microcephaly end of round platform (163), the microcephaly end fixedly connected with spliced pole (164) that rotates round platform (163), the cross section of spliced pole (164) is non-circular, spliced pole (164) are worn out drive wheel (132) and are connected with drive wheel (132) coaxial sliding, the one end that rotates round platform (163) is kept away from to spliced pole (164) is equipped with third bevel gear (1641), third bevel gear (1641) and first bevel gear (1511) meshing.

2. The robot for inspecting a pipe according to claim 1, wherein: the water storage tank (611) is provided with a blocking cover (6111), the blocking cover (6111) is connected with the water storage tank (611) in a sliding mode, the water storage tank (611) is provided with a rotating motor (6113), the output end of the rotating motor (6113) is coaxially fixed with a driving gear (6114), the blocking cover (6111) is provided with a driving rack (6115), the driving rack (6115) is arranged along the length direction of the water storage tank (611), and the driving gear (6114) is meshed with the driving rack (6115).

3. The robot for inspecting a pipe according to claim 2, wherein: be equipped with locking subassembly (62) on storage water tank (611), locking subassembly (62) are including driving actuating cylinder (621) and locking rack (622), drive actuating cylinder (621) and locate on storage water tank (611), locking rack (622) and the output fixed connection who drives actuating cylinder (621), locking rack (622) and drive gear (6114) looks adaptation.

4. The robot for inspecting a pipe according to claim 1, wherein: chassis dolly (1) length direction's both ends are equipped with crash bar (18), the one end that chassis dolly (1) was kept away from in crash bar (18) is equipped with mounting groove (181), install buffer spring (182) in mounting groove (181), the one end of buffer spring (182) and the diapire fixed connection of mounting groove (181), other end fixedly connected with buffer block (183), buffer block (183) slide with the inside wall of mounting groove (181) and are connected, the one end of buffer block (183) is located inside mounting groove (181), and the other end is located the outside of mounting groove (181), the one end that buffer block (183) are close to mounting groove (181) diapire is equipped with feeler lever (1831), be equipped with on mounting groove (181) diapire and touch lever (1831) position corresponding contact (1811), contact (1811) are connected with driving motor (131) electricity.