CN118129013A - Pipeline detection robot - Google Patents
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- CN118129013A CN118129013A CN202410402245.0A CN202410402245A CN118129013A CN 118129013 A CN118129013 A CN 118129013A CN 202410402245 A CN202410402245 A CN 202410402245A CN 118129013 A CN118129013 A CN 118129013A
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Abstract
The invention discloses a pipeline detection robot which comprises a main body, a driving assembly, a transmission assembly and a spiral cylinder assembly, wherein the main body comprises a detection assembly, an installation bin body and a transmission assembly, the detection assembly is installed on one side of the installation bin body, the transmission assembly is installed on the other side of the installation bin body, which is away from the detection assembly, the driving assembly is installed in the installation bin body, and the transmission assembly is connected with the driving end of the driving assembly; the spiral tube assembly is movably sleeved on the periphery of the installation bin body and is connected to the transmission assembly, the driving assembly drives the transmission assembly to move and drives the spiral tube assembly to rotate relative to the installation bin body, so that the pipeline detection robot walks in the pipeline, the driving assembly is used for driving the transmission assembly to move and drives the spiral tube assembly sleeved on the periphery of the installation bin body to rotate relative to the installation bin body, the pipeline detection robot can freely move in the high-water-level small pipeline, detection operation is directly carried out on the high-water-level small pipeline, and detection efficiency of the high-water-level small pipeline is improved.
Description
Technical Field
The invention relates to the technical field of pipeline detection equipment, in particular to a pipeline detection robot.
Background
Along with city rapid development, high water level pipeline environment is very common in current city pipe network, but can detect current high water level pipeline and can also get into small-size pipeline environment's equipment very rare, and common practice carries out the shutoff back of falling the water level to the pipeline, carries out relevant detection work again, and inefficiency and existence can't carry out the shutoff environment, leads to this kind of pipeline to carry out effectual detection always.
The existing common propeller equipment is easy to be wound by impurity garbage in a high-water-level pipeline and can only enter a large pipeline environment, and the double-spiral cylinder equipment is limited by the diameter of the pipeline due to the structural scheme, so that the problem that the detection equipment is inconvenient to enter the pipeline when the high-water-level pipeline with smaller diameter is detected, and the detection efficiency of the pipeline is affected.
Disclosure of Invention
The invention mainly aims to provide a pipeline detection robot, which aims to solve the problem that the detection equipment cannot detect a high water level pipeline with a smaller diameter.
In order to achieve the above object, the present application provides a pipeline inspection robot for inspecting an environment in a pipeline, comprising: the main body comprises a detection assembly, an installation bin body and a transmission assembly, wherein the detection assembly is installed on one side of the installation bin body, and the transmission assembly is installed on the other side of the installation bin body, which is away from the detection assembly;
The driving assembly is arranged in the installation bin body;
The transmission assembly is connected to the driving end of the driving assembly;
The spiral cylinder component is movably sleeved on the periphery of the mounting bin body and connected with the transmission component;
The driving assembly drives the transmission assembly to move and drives the spiral cylinder assembly to rotate relative to the installation bin body, so that the pipeline detection robot walks in the pipeline.
Optionally, the driving assembly comprises a first driving piece and a second driving piece, the first driving piece and the second driving piece are arranged in the radial direction of the installation bin body, the driving ends of the first driving piece and the second driving piece face the two ends of the installation bin body respectively, and the transmission assembly comprises a first transmission piece and a second transmission piece; the first transmission piece is connected to the driving end of the first driving piece, part of the first transmission piece extends out of the installation bin body, the second transmission piece is connected to the driving end of the second driving piece, and part of the second transmission piece extends out of the installation bin body;
The spiral cylinder assembly comprises a first spiral cylinder and a second spiral cylinder, and the first spiral cylinder is movably sleeved on the outer peripheral side of the installation bin body, which is close to the detection assembly, and is connected with the first transmission part; the second spiral cylinder is movably sleeved on the outer peripheral side of the installation bin body, which is close to the transmission assembly, and is connected with the second transmission part; the spiral directions of the first spiral cylinder and the second spiral cylinder are opposite;
the first driving piece drives the first spiral cylinder to rotate in a first direction relative to the installation bin body, and the second driving piece drives the second spiral cylinder to rotate in a second direction opposite to the first direction relative to the installation bin body.
Optionally, the first transmission part comprises a first transmission rod, a first connecting ring, a first driving gear and a first driven gear, the first driving gear is sleeved on the driving end of the first driving part, the first driven gear is sleeved on the first transmission rod and meshed with the first driving gear, an inner ring of the first connecting ring is sleeved on the first transmission rod, and an outer ring of the first connecting ring is connected to the inner wall of the first spiral cylinder;
The second transmission piece comprises a second transmission rod, a second connecting ring, a second driving gear and two driven gears, the second driving gear is sleeved on the driving end of the second driving piece, the second driven gear is sleeved on the second transmission rod and meshed with the second driving gear, the inner ring of the second connecting ring is sleeved on the second transmission rod, and the outer ring of the second connecting ring is connected to the inner wall of the second spiral cylinder;
The first driving part drives the first driving gear to rotate and drives the first driven gear, the first driving rod and the first connecting ring to rotate so as to enable the first spiral cylinder to rotate, and the second driving part drives the second driving gear to rotate and drives the first driven gear, the second driving rod and the second connecting ring to rotate so as to enable the second spiral cylinder to rotate.
Optionally, the first spiral tube is detachably connected to the outer ring of the first connecting ring, and the second spiral tube is detachably connected to the outer ring of the second connecting ring.
Optionally, a first convex rib is arranged on the outer peripheral side of the first connecting ring, a first groove is arranged on the inner peripheral side of the first spiral cylinder, and the first convex rib is inserted into the first groove;
the periphery side of second go-between is equipped with the second protruding muscle, the inner periphery side of second screw cylinder is equipped with the second recess, the protruding muscle of second is inserted and is located in the second recess.
Optionally, the installation bin body comprises a first bin body, a second bin body and a third bin body, the detection assembly is installed on the second bin body, the transmission assembly is installed on the third bin body, first connecting holes are formed in two ends of the first bin body, second connecting holes communicated with one end of the first bin body are formed in one end of the second bin body, and third connecting holes communicated with the other end of the first bin body are formed in one end of the third bin body; the first connecting ring is arranged between the end surfaces of the first bin body and the second bin body, and the second connecting ring is arranged between the end surfaces of the first bin body and the third bin body;
The first transmission rod sequentially penetrates through the first connecting hole, the first connecting ring and the second connecting hole, and the second transmission rod sequentially penetrates through the first connecting hole, the second connecting ring and the third connecting hole;
the external diameter of the first connecting ring is larger than the external diameters of the first bin body, the second bin body and the third bin body, and the external diameter of the second connecting ring is larger than the external diameters of the first bin body, the second bin body and the third bin body.
Optionally, sealing elements are arranged between the first transmission rod and the hole walls of the first connecting hole and the second connecting hole;
And/or sealing elements are arranged between the second transmission rod and the hole walls of the first connecting hole and the third connecting hole.
Optionally, the detection component includes a sonar, one end of the second bin body deviating from the first bin body is provided with a mounting groove, and the sonar is mounted in the mounting groove.
Optionally, the detection assembly further comprises a camera and an illumination piece, wherein the camera is installed in the second bin body and positioned on one side of the sonar, and the illumination piece is installed in the second bin body and positioned on the periphery of the camera.
Optionally, the transmission assembly includes plug connector and cable, the plug connector install in the third storehouse body deviate from one side of first storehouse body, the cable peg graft in the one end of plug connector, the other end of plug connector pass first storehouse body with the second storehouse body with the sonar electricity is connected.
The invention discloses a pipeline detection robot which comprises a main body, wherein the main body comprises a detection component, a mounting bin body and a transmission component, the detection component is mounted on one side of the mounting bin body, the transmission component is mounted on the other side of the mounting bin body, which is away from the detection component, a driving component is mounted in the mounting bin body, the transmission component is connected with the driving end of the driving component, a spiral cylinder component is movably sleeved on the periphery of the mounting bin body and connected with the transmission component, and the driving component drives the transmission component to move and drives the spiral cylinder component to rotate relative to the mounting bin body so as to enable the pipeline detection robot to walk in a pipeline.
Through using drive assembly drive transmission subassembly motion and driving spiral tube component and rotate for the installation storehouse body, spiral tube component cover is located the periphery of the installation storehouse body, makes whole pipeline detection robot volume reduce, further makes pipeline detection robot can carry out the free movement in high water level small-size pipeline, realizes directly detecting the operation at high water level small-size pipeline, promotes the small-size pipeline detection efficiency to high water level.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a pipeline inspection robot according to an embodiment of the present invention;
FIG. 2 is a top view of the pipeline inspection robot shown in FIG. 1;
FIG. 3 is a cross-sectional view of the pipe inspection robot of the present invention;
FIG. 4 is a partial view of the drive assembly and transmission assembly of the pipeline inspection robot of the present invention;
fig. 5 is a diagram showing a cabin body structure of the pipeline inspection robot according to the present invention.
Reference numerals illustrate:
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout is meant to include three side-by-side schemes, for example, "a and/or B", including a scheme, or B scheme, or a scheme that is satisfied by both a and B. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The present invention proposes a pipe inspection robot for inspecting an environment in a pipe, which includes a main body 10, a driving assembly 20, a transmission assembly 30, and a screw cylinder assembly 40, with reference to fig. 1 to 5.
The main body 10 comprises a detection assembly 11, an installation bin body 12 and a transmission assembly 13, wherein the detection assembly 11 is installed on one side of the installation bin body 12, and the transmission assembly 13 is installed on the other side of the installation bin body 12, which is away from the detection assembly 11;
The drive assembly 20 is mounted within the mounting bin body 12;
the transmission assembly 30 is connected to the driving end of the driving assembly 20;
the spiral cylinder assembly 40 is movably sleeved on the periphery of the mounting bin body 12 and is connected with the transmission assembly 30;
the driving assembly 20 drives the transmission assembly 30 to move and drives the spiral cylinder assembly 40 to rotate relative to the mounting bin body 12 so that the pipeline detection robot walks in the pipeline.
The main body 10 is a main body structure of the robot, and integrates a detection assembly 11, a mounting bin body 12 and a transmission assembly 13. The detection assembly 11 is responsible for collecting critical information inside the pipe, such as images, temperature, gas concentration, etc., while the transmission assembly 13 ensures that these data can be transmitted in real time to an operator or control center for analysis and processing, and the mounting cartridge 12 provides a robust housing for these components, protecting them from the harsh environment inside the pipe.
The drive assembly 20 is located within the mounting bin 12 and typically includes batteries, motors, and the like to provide the necessary power for the robot. The transmission assembly 30 serves as a bridge for power transmission, and effectively transmits power generated by the driving assembly 20 to the screw cylinder assembly 40. In this process, the arrangement of the transmission assembly 30 is required to ensure efficient transfer of power while reducing energy losses.
The screw cylinder assembly 40 is the key of robot walking, and realizes the rotation of the screw cylinder assembly by being connected with the transmission assembly 30. The provision of the screw barrel assembly 40 allows for flexible rotation on the mounting cartridge body 12 while its screw configuration is effective to push the robot forward, maintaining good walking performance even in narrow or irregular pipes. This arrangement enables the robot to autonomously perform a detection operation in the pipe without depending on external power.
According to the pipeline detection robot, the driving assembly is used for driving the transmission assembly to move and driving the spiral cylinder assembly to rotate relative to the installation bin body, the spiral cylinder assembly is sleeved on the periphery of the installation bin body, the volume of the whole pipeline detection robot is reduced, the pipeline detection robot can freely move in the small high-water-level pipeline, the detection operation on the small high-water-level pipeline is directly achieved, the detection efficiency of the small high-water-level pipeline is improved, the adaptability to the internal environment of the small high-water-level pipeline is further improved, and a safe and reliable scheme is provided for maintenance and overhaul of the small high-water-level pipeline.
As shown in fig. 3 and 4, in an embodiment of the present invention, the driving assembly 20 includes a first driving member 21 and a second driving member 22, the first driving member 21 and the second driving member 22 are arranged in a radial direction of the mounting bin 12, and driving ends of the first driving member 21 and the second driving member 22 face both ends of the mounting bin 12, respectively, and the transmission assembly 30 includes a first transmission member 31 and a second transmission member 32; the first transmission piece 31 is connected to the driving end of the first driving piece 21, partially extends out of the mounting bin body 12, and the second transmission piece 32 is connected to the driving end of the second driving piece 22 and partially extends out of the mounting bin body 12;
The screw cylinder assembly 40 comprises a first screw cylinder 41 and a second screw cylinder 42, wherein the first screw cylinder 41 is movably sleeved on the outer peripheral side of the mounting bin body 12, which is close to the detection assembly 11, and is connected with the first transmission piece 31; the second spiral cylinder 42 is movably sleeved on the outer peripheral side of the mounting bin body 12, which is close to the transmission assembly 11, and is connected with the second transmission piece 32; the spiral directions of the first spiral cylinder 41 and the second spiral cylinder 42 are opposite;
The first driving member 21 drives the first screw cylinder 41 to rotate in a first direction relative to the mounting bin body 12, and the second driving member 22 drives the second screw cylinder 42 to rotate in a second direction opposite to the first direction relative to the mounting bin body 12.
In this embodiment, two driving members and corresponding transmission members arranged side by side are utilized in the pipeline inspection robot, so as to realize efficient driving and stable control in the pipeline. The drive assembly 20 consists of a first drive member 21 and a second drive member 22, which are arranged in the radial direction of the mounting cartridge body 12, so that the robot can achieve a reduced body volume in the pipe.
The transmission assembly 30 includes a first transmission member 31 and a second transmission member 32 which partially extend outside the mounting bin body 12, and this arrangement allows the transmission members to be directly connected to the screw barrel assembly 40, ensuring high efficiency and straightness of power transmission. The layout of the first and second transmission members 31 and 32 allows for mechanical balance of the robot so that the movement of the robot within the pipe is smoother and more stable.
The screw cylinder assembly 40 is composed of a first screw cylinder 41 and a second screw cylinder 42, which are respectively movably sleeved on the outer peripheral sides of the two sides of the mounting bin body 12, and are close to the detection assembly 11 and the transmission assembly 13. The first screw 41 is connected to one end of the first transmission member 31, and the second screw 42 is connected to one end of the second transmission member 32. This connection allows the first 41 and second 42 screw barrels to move independently in different directions, i.e. the first screw barrel 41 is driven by the first driving member 21 to rotate in a first direction and the second screw barrel 42 is driven by the second driving member 22 to rotate in a second direction, whereby the robot can perform various movements in the pipe, such as forward, backward, steering, etc. due to the opposite screw directions of the two screw barrels.
In this embodiment, the provision of the bi-directional screw enables the robot to be flexibly steered and moved within the pipe, maintaining efficient detection capability even in narrow or curved pipes. Secondly, the radial arrangement of the first driving member and the second driving member helps the robot to maintain stable mechanical balance in the pipeline, and reduces swinging and vibration in complex pipeline environments. Furthermore, this arrangement also improves the passability of the robot so that it can accommodate smaller diameter pipes.
Referring to fig. 3 and fig. 4, in an embodiment of the present invention, the first transmission member 31 includes a first transmission rod 311, a first connection ring 312, a first driving gear 313 and a first driven gear 314, the first driving gear 313 is sleeved on the driving end of the first driving member 21, the first driven gear 314 is sleeved on the first transmission rod 311 and meshed with the first driving gear 313, an inner ring of the first connection ring 312 is sleeved on the first transmission rod 31, and an outer ring of the first connection ring 312 is connected to an inner wall of the first spiral cylinder 41;
The second transmission member 32 comprises a second transmission rod 321, a second connecting ring 322, a second driving gear 323 and two driven gears 324, the second driving gear 323 is sleeved on the driving end of the second driving member 22, the second driven gear 324 is sleeved on the second transmission rod 321 and meshed with the second driving gear 323, an inner ring of the second connecting ring 322 is sleeved on the second transmission rod 321, and an outer ring of the second connecting ring 322 is connected to the inner wall of the second spiral cylinder 42;
The axes of the first transmission rod 311 and the second transmission rod 321 are on the same straight line, the first driving member drives the first driving gear 313 to rotate and drives the first driven gear 314, the first transmission rod 311 and the first connecting ring 312 to rotate so as to enable the first spiral cylinder 41 to rotate, and the second driving member drives the second driving gear 323 to rotate and drives the first driven gear 324, the second transmission rod 312 and the second connecting ring 322 to rotate so as to enable the second spiral cylinder 42 to rotate.
In this embodiment, the transmission system of the pipeline inspection robot achieves efficient and reliable power transmission through a series of precise gear and connecting ring combinations. The first transmission member 31 and the second transmission member 32 are respectively in driving connection with the two first driving members 21 and the second driving members 22 which are arranged side by side, so that the bidirectional movement capability of the robot in the pipeline is ensured.
The first transmission member 31 is composed of a first transmission lever 311, a first connection ring 312, a first driving gear 313 and a first driven gear 314. The first driving gear 313 is directly sleeved on the driving end of the first driving member 21 and is engaged with the first driven gear 314, so that the rotation power of the first driving member 21 can be transmitted to the first driven gear 314 through the first driving gear 313. Further drive first transfer line 311 and rotate, first go-between 312 specifically sets up to a ring structure that has a plurality of portions of dodging, and its portion of dodging can lighten weight and make things convenient for inside cable to connect, and first go-between 312 that the cover was established on the first transfer line 311 is connected with the inner wall of first screw 41 for first screw 41 can rotate along with the rotation of first transfer line 311.
Likewise, the second transmission member 32 is composed of a second transmission rod 321, a second connection ring 322, a second driving gear 323, and a second driven gear 324. The second driving gear 323 is sleeved on the driving end of the second driving member 22, and is meshed with the second driven gear 324 to transmit the power of the second driving member 22 to the second spiral cylinder 42. The second connecting ring 322 is also provided with a ring structure with a plurality of avoidance parts, the avoidance parts can reduce weight and facilitate the connection of internal cables, and the second connecting ring 322 sleeved on the second transmission rod 321 is connected with the inner wall of the second spiral cylinder 42 to drive the second spiral cylinder 42 to rotate.
Further, the axes of the first transmission rod 311 and the second transmission rod 321 are located on the same straight line, and the arrangement enables the two transmission rods to work synchronously and drive the corresponding spiral cylinder assemblies at the same time. When the first driving member 21 and the second driving member 22 operate, they respectively drive the first driving gear 313 and the second driving gear 323, and further drive the first screw cylinder 41 and the second screw cylinder 42 to rotate through the first driven gear 314 and the second driven gear 324, and this synchronous transmission mechanism enables the robot to realize smooth and accurate movement in the pipeline, whether traveling in a straight line or turning.
In this embodiment, the avoidance portions of the first connecting ring 312 and the second connecting ring 322 reduce the weight of the whole machine, and simultaneously maintain stable mechanical properties and tight connection with the transmission rod, thereby ensuring the continuity and efficiency of power transmission. The arrangement of the transmission system not only improves the maneuverability and the operation flexibility of the robot, but also enhances the adaptability and the reliability of the robot in complex pipeline environments.
Referring to fig. 4 and 5, in an embodiment of the present invention, the first screw cylinder 41 is detachably connected to the outer ring of the first connection ring 312, and the second screw cylinder 42 is detachably connected to the outer ring of the second connection ring 322.
In this embodiment, the first spiral cylinder 41 and the second spiral cylinder 42 adopt a detachable connection mode, the external diameters, leads, leaf heights and other parameters of the first spiral cylinder 41 and the second spiral cylinder 42 are consistent, but the rotation directions are opposite, and the two driving parts transmit power to the first spiral cylinder 41 and the second spiral cylinder 42 respectively through two groups of driving parts with the same parameters, and the first spiral cylinder 41 and the second spiral cylinder 42 output the same or different rotation speeds to turn so that the equipment flexibly moves in a high water level pipeline, and through changing different rollers, great convenience is provided for maintenance, replacement and adaptation of a robot to different pipeline environments.
Specifically, the first screw cylinder 41 is detachably connected to the outer ring of the first connecting ring 312, and the second screw cylinder 42 is detachably connected to the outer ring of the second connecting ring 322, which allows the screw cylinder assembly to be quickly replaced without disassembling the entire transmission system, thereby greatly simplifying the maintenance and repair process of the robot.
Further, the arrangement of the detachable connection also enables the robot to replace different types of screw barrels according to different job requirements. For example, where a smaller diameter pipe is desired, a shorter screw barrel may be installed to accommodate a narrow space; while longer screw barrels may be replaced to provide greater propulsion when working in larger diameter pipes is required. The flexibility enables the robot to adapt to variable working environments, and the application range and the working efficiency of the robot are improved.
Still further, this arrangement of detachable connections also facilitates transportation and storage of the robot. When not carrying out pipeline detection operation, can dismantle the spiral shell subassembly, reduce the volume of robot, be convenient for transport and deposit. When the robot is required to be used, the spiral cylinder assembly is quickly installed in place, so that the robot can be put into operation at any time.
As shown in fig. 4 and 5, in an embodiment of the present invention, the outer circumferential side of the first connection ring 312 is provided with a first rib 3122, the inner circumferential side of the first screw cylinder 41 is provided with a first groove 413, and the first rib 3122 is inserted into the first groove 413;
The second connecting ring 322 has a second rib provided on the outer circumferential side thereof, and the second screw tube 42 has a second groove 3222 provided on the inner circumferential side thereof, the second rib being inserted into the second groove 423.
In the present embodiment, the connection between the first connection ring 312 and the first screw cylinder 41 and the connection between the second connection ring 322 and the second screw cylinder 42 employ a mechanical engagement arrangement of the ribs and the grooves, which ensures the stability of the connection and also provides a convenient detachable capability.
Specifically, the first connection ring 312 is provided with a first rib 3122 on the outer circumferential side, and a first groove 413 matching with the first screw 41 is provided on the inner circumferential side. The first ribs 3122 are just embedded in the first grooves 413, forming a stable mechanical connection. Similarly, the second connecting ring 322 has a second rib on the outer peripheral side, and the second screw cylinder 42 has a second groove 3222 on the inner peripheral side, and the second rib is also embedded in the second groove 423, so as to achieve firm connection.
The jogged arrangement of the convex ribs and the grooves provides a self-locking connection mechanism, even if the pipeline detection robot encounters a bumpy or distorted pipeline environment when operating in the pipeline, the screw cylinder assembly can be tightly connected with the connection ring, and the stability and the reliability of the robot structure are ensured. Second, this arrangement allows for quick removal and replacement of the screw barrel assembly 40 when necessary, improving maintenance efficiency and flexibility of the robot.
Further, while the ribs and grooves between the first connection ring 312 and the first screw cylinder 41 and the second connection ring 322 and the second screw cylinder 42 are connected, anchor bolts are provided at the first screw cylinder 41 and the second screw cylinder 42 to reinforce the connection.
Referring to fig. 3 and 5, in an embodiment of the present invention, the installation bin 12 includes a first bin 121, a second bin 122 and a third bin 123, the detection component 11 is installed on the second bin 122, the transmission component 13 is installed on the third bin 123, the first bin 121 has two ends provided with a first connection hole 1211, one end of the second bin 122 has a second connection hole 1221 communicated with one end of the first bin 121, and one end of the third bin 123 has a third connection hole 1231 communicated with the other end of the first bin 12; the first connecting ring 312 is arranged between the end surfaces of the first bin body 121 and the second bin body 122, and the second connecting ring 322 is arranged between the end surfaces of the first bin body 121 and the third bin body 123;
The first transmission rod 311 sequentially passes through a first connecting hole 1211, the first connecting ring 312, and a second connecting hole 1221, and the second transmission rod 321 sequentially passes through the first connecting hole 1211, the second connecting ring 322, and a third connecting hole 1221;
The outer diameter of the first connecting ring 312 is larger than the outer diameters of the first, second and third cartridge bodies 121, 122 and 123, and the outer diameter of the second connecting ring 322 is larger than the outer diameters of the first, second and third cartridge bodies 121, 122 and 123.
In the present embodiment, the mounting bin body 12 of the pipeline inspection robot is composed of three detachably connected parts: a first cartridge body 121, a second cartridge body 122, and a third cartridge body 123. The first bin body 121 may be configured as a cylindrical structure, the mounting frame 120 is installed in the first bin body 121, the driving assembly 20, the transmission assembly 30, etc. are all installed on the mounting frame 120, the second bin body 122 and the third bin body 123 are configured as conical structures or circular truncated cone structures with gradually reduced diameters at two ends, and the modularized bin bodies are all sealed independently, so that the equipment is guaranteed to have higher waterproof performance, and the weight and resistance of the whole installation bin body 12 are reduced.
Specifically, the detection assembly 11 is mounted on the second bin 122 and is responsible for performing detection tasks inside the pipeline, such as visual inspection, gas detection or other sensor monitoring. The transmission assembly 13 is mounted on the third bin 123, and is used for transmitting the detection data to an external receiving device or a control center. Such a layout ensures the independence and functionality of the detection assembly and the transmission assembly, while the different cartridge bodies can be replaced to replace and install the different detection assemblies 11 and the transmission assemblies 13, so that the robot obtains various detection data.
Further, the first connecting holes 1211 are formed at two ends of the first bin 121, the first transmission rod 311 and the second transmission rod 321 are respectively penetrated in the two connecting holes to form a framework of a transmission system, the second connecting hole 1221 is formed at one end of the second bin 122, the third connecting hole 1231 is formed at one end of the third bin 123, and the two connecting holes are communicated with two ends of the first bin 121, so that the first transmission rod 311 and the second transmission rod 321 can be respectively inserted into the second connecting hole 1221 and the third connecting hole 1231, and power is transmitted from the driving assembly to the screw cylinder assembly.
Still further, the first connecting ring 312 and the second connecting ring 322 are respectively abutted against one side of the first bin body 121, which is close to the second bin body 122 and the third bin body 123, and the outer diameter of the first connecting ring and the second connecting ring is larger than that of the third bin body, so that the connecting rings can be firmly positioned between the bin bodies, and enough space is provided to accommodate the insertion and rotation of the transmission rod, and the existence of the connecting rings ensures that the spiral tube assembly flexibly rotates outside the bin bodies and the stability of the transmission rod, so that the driving robot walks in the pipeline.
As shown in fig. 3 and 4, in an embodiment of the present invention, a sealing member 50 is disposed between the first transmission rod 311 and the hole walls of the two first connecting holes 1211 and the second connecting hole 1221;
And/or, the sealing element 50 is arranged between the second transmission rod 321 and the hole walls of the two first connecting holes 1211 and the third connecting hole 1231.
In the present embodiment, in order to ensure the sealability and durability of the installation housing body 12 of the pipeline inspection robot during operation, the first transmission rod 311 and the second transmission rod 321 each employ the sealing member 50 while passing through the corresponding connection hole.
Specifically, the first transmission rod 311 is provided with the sealing member 50 while passing through both the first and second connection holes 1211 and 1221 of the first cartridge body 121. Likewise, the second transmission rod 321 is also provided with a sealing member 50 when passing through the two first and third connection holes 1211 and 1231, the sealing member 50 functioning to form an effective sealing barrier between the transmission rod and the connection holes, preventing external contaminants such as liquid, moisture and dust from entering the interior of the housing, and also preventing the lubricating oil of the internal bearings from leaking to the external environment.
Further, the sealing member 50 ensures the tightness of the first, second and third cartridges 12, 122 and 123, further protects the sensing and transmitting assemblies 11 and 13 from the external environment, ensures the accuracy of sensing data and the reliability of transmission, and reduces mechanical wear in a wet or dusty pipe environment by using the sealing member 50.
Referring to fig. 1 and 2, in an embodiment of the present invention, the detecting assembly 11 includes a sonar 111, and a mounting groove is disposed at an end of the second bin 122 facing away from the first bin 121, where the sonar 111 is mounted.
In this embodiment, sonar 111 is one of the sensors of the present robot for detecting pipe defects in high water level pipe inspection for high-precision measurement and detection inside the pipe.
Specifically, the end of the second bin 122 facing away from the first bin 121 is provided with a mounting slot that provides a stable and suitable mounting platform for the sonar 111. The sonar 111 is installed in the installation groove, and the arrangement enables the sonar 111 to be directly aligned with the inner space of the pipeline, so that effective sound wave emission and receiving are performed, and the detection accuracy and coverage are further improved. Second, the provision of the mounting slots provides the necessary securement and protection for sonar 111 from collisions or damage while walking or steering within the pipeline.
Referring to fig. 1 and 2, in an embodiment of the invention, the detecting assembly 11 further includes a camera 112 and an illumination member 113, where the camera 112 is installed in the second housing 122 and located at one side of the sonar 111, and the illumination member 113 is installed in the second housing 122 and located at a peripheral side of the camera 112.
In this embodiment, the detection assembly 11 is provided not only with a sonar 111 for underwater or dark detection, but also with a camera 112 and an illumination member 113 in combination to achieve a more comprehensive detection of the interior of the pipeline. The integrated arrangement of the multiple sensors enables the robot to capture video detection data inside the pipeline, facilitates real-time operation of the device, and performs effective work in environments with insufficient light.
The camera 112 is mounted in the second bin 122 and is located on one side of the sonar 111. By the arrangement, the camera captures image information inside the pipeline while detecting the sonar. When sonar 111 detects an anomaly or an area requiring further inspection, camera 112 may provide detailed visual information for further analysis by the operator.
Further, the illuminating member 113 is installed at the peripheral side of the camera 112 to provide necessary light for the camera. The illumination pieces 113 are specifically provided in both left and right sides, and interference of shadows or reflections is avoided, thereby improving image quality.
Referring to fig. 1 and 2, in an embodiment of the present invention, the transmission assembly 13 includes a connector 131 and a cable 132, the connector 131 is mounted on a side of the third bin 123 facing away from the first bin 121, the cable 132 is connected to one end of the connector 131 in a plugging manner, and the other end of the connector 131 passes through the first bin 121 and the second bin 122 to be electrically connected to the sonar 111.
In this embodiment, the transmission assembly 13 includes two parts, namely, a plug connector 131 and a cable 132, where the plug connector 131 is specifically configured as an aviation plug, and is installed on a side of the third bin 123 facing away from the first bin 121, so that the plug connector 131 can be conveniently connected with an external device, and meanwhile, the internal structure of the robot is kept compact. One end of the plug-in component 131 is plugged with the cable 132, and the other end is electrically connected with the sonar 111, so that a complete circuit from the detection component 11 to the transmission component 13 is formed.
Further, the control signal is transmitted to the external equipment of the pipeline through the cable 132, and the external equipment also transmits electric power to the robot through the cable and the tail plug-in connector 131, so that the movement and detection functions of the robot in the pipeline can be controlled in real time. Meanwhile, the use of the cable 132 provides a flexible connection mode, and the length and the position can be easily adjusted according to the needs so as to adapt to different working environments and detection requirements. In addition, the combination of plug 131 and cable 132 also improves the reliability of signal transmission, ensuring that data collected by sonar 111 and camera 112 can be transmitted to external devices without loss.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (10)
1. A pipeline inspection robot for inspecting an environment within a pipeline, the pipeline inspection robot comprising:
The main body comprises a detection assembly, an installation bin body and a transmission assembly, wherein the detection assembly is installed on one side of the installation bin body, and the transmission assembly is installed on the other side of the installation bin body, which is away from the detection assembly;
The driving assembly is arranged in the installation bin body;
The transmission assembly is connected to the driving end of the driving assembly;
The spiral cylinder component is movably sleeved on the periphery of the mounting bin body and connected with the transmission component;
The driving assembly drives the transmission assembly to move and drives the spiral cylinder assembly to rotate relative to the installation bin body, so that the pipeline detection robot walks in the pipeline.
2. The pipeline inspection robot of claim 1, wherein the driving assembly comprises a first driving member and a second driving member, the first driving member and the second driving member are arranged in the radial direction of the installation bin body, the driving ends of the first driving member and the second driving member face the two ends of the installation bin body respectively, and the transmission assembly comprises a first transmission member and a second transmission member; the first transmission piece is connected to the driving end of the first driving piece, part of the first transmission piece extends out of the installation bin body, the second transmission piece is connected to the driving end of the second driving piece, and part of the second transmission piece extends out of the installation bin body;
The spiral cylinder assembly comprises a first spiral cylinder and a second spiral cylinder, and the first spiral cylinder is movably sleeved on the outer peripheral side of the installation bin body, which is close to the detection assembly, and is connected with the first transmission part; the second spiral cylinder is movably sleeved on the outer peripheral side of the installation bin body, which is close to the transmission assembly, and is connected with the second transmission part; the spiral directions of the first spiral cylinder and the second spiral cylinder are opposite;
the first driving piece drives the first spiral cylinder to rotate in a first direction relative to the installation bin body, and the second driving piece drives the second spiral cylinder to rotate in a second direction opposite to the first direction relative to the installation bin body.
3. The pipeline inspection robot according to claim 2, wherein the first transmission member comprises a first transmission rod, a first connecting ring, a first driving gear and a first driven gear, the first driving gear is sleeved on the driving end of the first driving member, the first driven gear is sleeved on the first transmission rod and meshed with the first driving gear, an inner ring of the first connecting ring is sleeved on the first transmission rod, and an outer ring of the first connecting ring is connected to the inner wall of the first spiral cylinder;
The second transmission piece comprises a second transmission rod, a second connecting ring, a second driving gear and two driven gears, the second driving gear is sleeved on the driving end of the second driving piece, the second driven gear is sleeved on the second transmission rod and meshed with the second driving gear, the inner ring of the second connecting ring is sleeved on the second transmission rod, and the outer ring of the second connecting ring is connected to the inner wall of the second spiral cylinder;
The first driving part drives the first driving gear to rotate and drives the first driven gear, the first driving rod and the first connecting ring to rotate so as to enable the first spiral cylinder to rotate, and the second driving part drives the second driving gear to rotate and drives the first driven gear, the second driving rod and the second connecting ring to rotate so as to enable the second spiral cylinder to rotate.
4. The pipeline inspection robot of claim 3, wherein the first screw barrel is detachably connected to the outer ring of the first coupling ring and the second screw barrel is detachably connected to the outer ring of the second coupling ring.
5. The robot for detecting a pipeline according to claim 4, wherein a first rib is arranged on the outer peripheral side of the first connecting ring, a first groove is arranged on the inner peripheral side of the first spiral cylinder, and the first rib is inserted into the first groove;
the periphery side of second go-between is equipped with the second protruding muscle, the inner periphery side of second screw cylinder is equipped with the second recess, the protruding muscle of second is inserted and is located in the second recess.
6. The pipeline inspection robot according to any one of claims 3 to 5, wherein the installation bin body comprises a first bin body, a second bin body and a third bin body, the inspection assembly is installed on the second bin body, the transmission assembly is installed on the third bin body, first connecting holes are formed in two ends of the first bin body, second connecting holes communicated with one end of the first bin body are formed in one end of the second bin body, and third connecting holes communicated with the other end of the first bin body are formed in one end of the third bin body; the first connecting ring is arranged between the end surfaces of the first bin body and the second bin body, and the second connecting ring is arranged between the end surfaces of the first bin body and the third bin body;
The first transmission rod sequentially penetrates through the first connecting hole, the first connecting ring and the second connecting hole, and the second transmission rod sequentially penetrates through the first connecting hole, the second connecting ring and the third connecting hole;
the external diameter of the first connecting ring is larger than the external diameters of the first bin body, the second bin body and the third bin body, and the external diameter of the second connecting ring is larger than the external diameters of the first bin body, the second bin body and the third bin body.
7. The pipeline inspection robot of claim 6, wherein a sealing member is arranged between the first transmission rod and the hole walls of the first connecting hole and the second connecting hole;
And/or sealing elements are arranged between the second transmission rod and the hole walls of the first connecting hole and the third connecting hole.
8. The pipeline inspection robot of claim 6, wherein the inspection assembly includes a sonar, and wherein an end of the second bin facing away from the first bin is provided with a mounting slot, and wherein the sonar is mounted in the mounting slot.
9. The pipeline inspection robot of claim 8, wherein the inspection assembly further comprises a camera and an illumination member, the camera mounted within the second housing on one side of the sonar, the illumination member mounted within the second housing on a peripheral side of the camera.
10. The pipeline inspection robot of claim 8, wherein the transmission assembly includes a connector and a cable, the connector is mounted on a side of the third bin facing away from the first bin, the cable is inserted into one end of the connector, and the other end of the connector is electrically connected with the sonar through the first bin and the second bin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410402245.0A CN118129013A (en) | 2024-04-03 | 2024-04-03 | Pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410402245.0A CN118129013A (en) | 2024-04-03 | 2024-04-03 | Pipeline detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118129013A true CN118129013A (en) | 2024-06-04 |
Family
ID=91241902
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410402245.0A Pending CN118129013A (en) | 2024-04-03 | 2024-04-03 | Pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118129013A (en) |
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2024
- 2024-04-03 CN CN202410402245.0A patent/CN118129013A/en active Pending
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