CN109780368B - Sewage pipeline detection robot with water based on pneumatic driving mechanism - Google Patents

Abstract

The invention provides a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism. The method mainly comprises the following steps: the device comprises a front mounting disc, a rear mounting disc, a crank multi-connecting-rod folding mechanism, a water-carrying detection actuating mechanism and a lower supporting wall mechanism; the lower parts of the front mounting disc and the rear mounting disc are provided with telescopic cylinders, two ends of each telescopic cylinder are respectively connected to the front mounting disc and the rear mounting disc, the water detection actuating mechanism is fixed on the front mounting disc through screws, and the crank multi-connecting-rod folding mechanism is respectively fixed on the front mounting disc and the rear mounting disc; prop wall mechanism down including propping wall cylinder, walking wheel, aluminium alloy and articulated slab down, prop the wall cylinder down and pass through aluminium alloy and preceding mounting disc, back mounting disc articulated, prop wall mechanism down and support preceding mounting disc, back mounting disc, inside the robot got into drainage pipe, utilize the walking wheel to walk in drainage pipe, take water to detect actuating mechanism and utilize the video acquisition system on the rotary motor to carry out video acquisition round drainage pipe's pipe wall. The robot can detect water in pipelines with different diameters.

Description

Sewage pipeline detection robot with water based on pneumatic driving mechanism

Technical Field

The invention relates to the technical field of drainage pipeline detection equipment, in particular to a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism.

Background

The drainage pipeline is a system consisting of a pipe duct for collecting and discharging sewage, wastewater and rainwater and accessory facilities thereof. Including main pipes, branch pipes and pipes leading to the treatment plant, whether built on streets or anywhere else, as long as the pipes are functioning as drains, should be counted as drains.

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. The pipeline detection robot suitable for urban drainage pipelines in China needs to detect in the clean and ventilated drainage pipeline, and due to the fact that primary pipeline detection is carried out, the pipeline needs to be cut off and cleaned, time and labor are wasted, and urban functions are affected.

At present, no robot for effectively detecting water in a sewage pipeline exists in the prior art.

Disclosure of Invention

The embodiment of the invention provides a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism, so that sewage pipeline water carrying detection can be effectively carried out by using the robot.

In order to achieve the purpose, the invention adopts the following technical scheme.

A sewage pipeline detection robot with water based on a pneumatic driving mechanism comprises: the device comprises a front mounting disc, a rear mounting disc, a crank multi-connecting-rod folding mechanism, a water-carrying detection actuating mechanism and a lower supporting wall mechanism;

arranging telescopic cylinders at the lower parts of the front mounting disc and the rear mounting disc, respectively connecting two ends of each telescopic cylinder to the front mounting disc and the rear mounting disc, fixing the water-carrying detection actuating mechanism on the front mounting disc through screws, and fixing the crank multi-connecting-rod folding mechanism on the front mounting disc and the rear mounting disc through screws;

prop wall mechanism down including propping wall cylinder, walking wheel, aluminium alloy and articulated slab down, prop the wall cylinder down and pass through the aluminium alloy with preceding mounting disc, back mounting disc are articulated, prop wall mechanism down and support preceding mounting disc, back mounting disc, the robot gets into inside the drainage pipe, utilizes walking wheel walking in drainage pipe, compressed air gets into take water detect actuating mechanism lift cylinder down prop wall cylinder down in the wall mechanism with on prop the wall cylinder in the many connecting rod folding mechanism of crank, take water to detect actuating mechanism and utilize the video acquisition system on the rotating motor to carry out video acquisition round drainage pipe's pipe wall.

Preferably, the crank multi-connecting-rod folding mechanism comprises an upper supporting wall cylinder, an upper supporting wall cylinder hinged support, an upper supporting wall cylinder hinged pin, a crank hinged support, a triangular crank and crank hinged support hinged pin, a sheet hinged plate, a triangular crank, a crank connecting plate and upper supporting wall rod hinged pin, a crank connecting plate, an upper supporting wall rod I, a set screw, an upper supporting wall rod II, a supporting wall rod hinged pin, an upper supporting wall wheel support, an upper supporting wall wheel, an upper supporting wall cylinder piston rod, a Y-shaped hinged joint, a Y-shaped head and triangular crank hinged pin, and a triangular crank and crank hinged plate hinged pin.

Preferably, the water detection actuating mechanism comprises a motor reduction box, a pneumatic motor, a video acquisition module, a connecting plate of a lifting cylinder and a motor, a gasket, a set screw, a lifting cylinder, a motor supporting plate, a triangular bracket, a first motorized reversing valve, a second motorized reversing valve, a connecting plate of the motorized reversing valve and a telescopic rod, a hinged bolt of the connecting plate and the lifting cylinder, a hinged bolt of the lifting cylinder and an L-shaped hinged plate, and the video acquisition module comprises a transparent sealing shell cover, a supporting rod of the video acquisition module, a camera shell and a light supplement lamp.

Preferably, prop wall mechanism down including prop wall cylinder, anti-skidding rubber pad, walking wheel backup pad, walking wheel and support aluminium alloy, decorative board, mounting disc and prop wall cylinder articulated aluminium alloy down, prop the articulated slab of wall cylinder and aluminium alloy down, walking wheel connecting pin one, walking wheel connecting pin two, hinge pin and lifting hook down.

Preferably, the rear mounting plate is a sector-shaped plate body with a narrow upper part and a wide lower part, five through holes are formed in the narrow upper part of the sector-shaped plate body, the five through holes correspond to five threaded holes of the crank hinged seat and the upper supporting wall air cylinder hinged seat respectively from top to bottom, the crank multi-connecting-rod folding mechanism is fixed on the rear mounting plate through screws, the lower supporting wall air cylinder is fixed on the side edge of an aluminum profile hinged with the lower supporting wall air cylinder through the hinged plate, and the tail part of the aluminum profile provided with the cylinder body is symmetrically mounted on two sides of the lower part of the rear mounting plate through screws.

Preferably, four threaded holes are formed in the front mounting disc, the four threaded holes correspond to four through holes in the triangular support respectively, the water-carrying detection executing mechanism is fixed on the front mounting disc through screws, and the crank multi-connecting-rod folding mechanism on the front mounting disc is mounted on the same position as the lower support wall mechanism and the rear mounting disc;

the third motor-driven reversing valve and the fourth motor-driven reversing valve are fixedly connected to two sides of the front mounting plate respectively, when the telescopic cylinder is contracted to the bottom, the head of the cylinder body of the telescopic cylinder touches a button of the third motor-driven reversing valve, so that the third motor-driven reversing valve is switched on, and the pneumatic control logic of the robot is changed; when the telescopic cylinder extends to the bottom, the steel wire rope connected with the cylinder body of the telescopic cylinder and the motor-driven reversing valve IV is stretched, so that the button of the motor-driven reversing valve IV is pulled, and the pneumatic control logic of the robot is changed.

Preferably, the upper supporting wall cylinder hinged support is a cuboid block, two threaded holes are formed in the rear portion of the upper supporting wall cylinder hinged support, the upper supporting wall cylinder hinged support is fixed on the rear mounting plate through screws by means of the threaded holes, a through hole is formed in the position, close to the head, of the side face of the upper supporting wall cylinder hinged support, and the upper supporting wall cylinder is connected with the through hole through an upper supporting wall cylinder hinge pin, so that the upper supporting wall cylinder can rotate relative to the upper supporting wall cylinder hinged support by taking the upper supporting wall cylinder hinge pin as a shaft;

the crank hinged seat is a rectangular block, three threaded holes are formed in the rear portion of the crank hinged seat, the crank hinged seat is fixed to the rear mounting plate through screws, 4 threaded holes are formed in the side portion of the crank hinged seat, the two sides of the crank hinged seat are sheet-shaped hinged plates, four small through holes in the sheet-shaped hinged plates correspond to the four threaded holes respectively and are fixed through screws, two through holes are formed in the sheet-shaped hinged plates, one through hole in the upper portion of each sheet-shaped hinged plate is hinged to one through hole in the tail end of the upper supporting wall rod through a supporting wall rod hinged pin, the two triangular cranks are symmetrically arranged on the two sides of the sheet-shaped hinged plates respectively, and the two triangular.

Preferably, the upper supporting wall rod is a cuboid rod piece with a square cross section, the upper supporting wall rod is sleeved outside the upper supporting wall rod, the length of the rod is freely adjusted through a set screw, two threaded holes are formed in the top end of the supporting wall rod, the outer parts of the two threaded holes correspond to the two through holes in the upper supporting wall wheel support and are hinged through bolts, the other through hole in the supporting wheel support is hinged with the supporting wheel through a hinge pin, and the supporting wheel can freely rotate around the hinge pin;

the side edge of a flange at the tail end of the telescopic cylinder is provided with a threaded hole, the upper part of a connecting plate of the motor-driven reversing valve and the telescopic rod is provided with three threaded holes, the three threaded holes correspond to three through holes in a first motor-driven reversing valve respectively, the connecting plate is fixed on the telescopic cylinder through screws, the first motor-driven reversing valve is fixed on the connecting plate through screws, and the arrangement of the other side of the telescopic cylinder 3 is the same;

when the deceleration pneumatic motor rotates to one side, the L-shaped hinged plate touches a button of the first motor-driven reversing valve, so that the first motor-driven reversing valve is switched on, and the pneumatic control logic of the robot is changed; after the motor realizes steering, when the motor rotates to the other side, the L-shaped hinged plate touches a button of the second motorized reversing valve, so that the second motorized reversing valve is switched on, and the pneumatic control logic of the robot is changed.

Preferably, a camera shell is arranged in the transparent sealing shell cover, four threaded holes are respectively formed in two ends of the camera shell and correspond to four through holes in two ends of the transparent sealing shell cover, the camera shell is fixed in the shell cover through bolts, a light supplement lamp and a camera are arranged inside the camera shell, four through holes are formed in the bottom of the transparent sealing shell cover, and the transparent sealing shell cover is connected with the video acquisition module supporting rod through the four through holes; a multi-core cable is arranged at the cylindrical center of the camera shell and is connected with an electric cabinet arranged outside the drainage pipe;

the side part of the sealing shell cover is provided with two hinge holes, the two hinge holes correspond to one through hole in the L-shaped hinged plate respectively, the two hinge holes are fixed with one through hole in the L-shaped hinged plate through screws, the other through hole in the L-shaped hinged plate and a threaded hole in the top of the lifting cylinder are fixed with the hinge bolt of the L-shaped hinged plate through the lifting cylinder, and therefore the sealing shell cover can lift and rotate along with the telescopic cylinder.

Preferably, the lifting cylinder is connected with a connecting plate of the motor and an output shaft of the motor reduction gearbox, counter bores are arranged on two sides of the connecting plate of the lifting cylinder and the motor, the connecting plate and the lifting cylinder are fixed together through a hinge bolt, the tail end of the output shaft of the motor reduction gearbox is sleeved into a through hole of the connecting plate through a gasket, threaded holes on two sides of the connecting plate are screwed into a key groove of the output shaft of the motor reduction gearbox through screws, the lifting cylinder is fixed in the axial direction and the circumferential direction, and the motor reduction gearbox is fixed with the motor supporting plate through a bottom plate connecting bolt;

the hinged plate of the lower supporting wall cylinder and the aluminum profile is a cuboid block, the side surface of the hinged plate is provided with 4 through holes, the 4 through holes are attached to the aluminum profile and connected through T-shaped nuts, the side surface of the aluminum profile is provided with 4 threaded holes, and the aluminum profile is attached to the lower supporting wall cylinder 1 and connected through screws;

the supporting aluminum profile fixed support with the walking wheel is on the aluminum profile, the walking wheel supporting plates are placed on two sides of a through hole in the supporting aluminum profile, the supporting plates can rotate freely around the hinge pins through hinge pin connection, the walking wheel is fixed through the hinge pins by small through holes in two sides of the supporting plates, the walking wheel is rotated freely around the hinge pins, the decorative plate is fixed in a threaded hole in the aluminum profile through screws, and the lifting hook is fixed in another threaded hole in the aluminum profile.

According to the technical scheme provided by the embodiment of the invention, the sewage pipeline water carrying detection robot based on the pneumatic driving mechanism can directly detect water carrying in pipelines with different diameters.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of the overall structure of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a crank multi-link folding wall-supporting mechanism of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention;

FIG. 3 is a side sectional view of a crank multi-link folding wall-supporting mechanism of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a water carrying detection actuator of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an entire video capture module of a sewage pipeline water detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention;

FIG. 6 is a side sectional view of a video capture module of a wastewater pipeline water detection robot based on a pneumatic drive mechanism according to an embodiment of the present invention;

FIG. 7 is an exploded view of a video capture module lifting mechanism assembly of a sewage pipe water detection robot based on a pneumatic drive mechanism according to an embodiment of the present invention;

FIG. 8 is a front view of a water detection actuator of a sewage pipe water detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention;

FIG. 9 is an overall view of a lower supporting wall assembly of a sewage pipeline water detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention;

FIG. 10 is a diagram of the working state of the lower supporting wall assembly of the robot for detecting the presence of water in the sewage pipeline based on the pneumatic driving mechanism according to the embodiment of the invention;

FIG. 11 is a schematic diagram of an all-pneumatic control system of a wastewater pipeline water detection robot based on a pneumatic driving mechanism according to an embodiment of the invention;

FIG. 12 is a schematic structural diagram of a sewage pipeline water carrying detection robot in a pipeline based on a pneumatic driving mechanism according to an embodiment of the invention;

the respective symbols in the figure are as follows:

a lower supporting wall cylinder 1; an upper supporting wall cylinder 2; a telescopic cylinder 3; a rear mounting plate 4; a motor reduction box 5; a front mounting plate 6; a pneumatic motor 7; a transparent sealing can 8; an upper supporting wall cylinder hinged support 9; an upper support wall cylinder hinge pin 10; a crank hinge base 11; a triangular crank and a crank hinged base hinged pin 12; a sheet-shaped hinge plate 13; a triangular crank 14; the crank connecting plate is connected with a hinge pin 15 of the upper supporting wall rod; a crank connecting plate 16; an upper supporting wall rod I17; a set screw 18; a second upper supporting wall rod 19; a buttress rod hinge pin 20; an upper supporting wall wheel bracket 21; an upper support wall wheel 22; an upper support wall cylinder piston rod 23; a Y-shaped hinge 24; a Y-head and triangular crank hinge pin 25; a triangular crank and crank hinge plate hinge pin 26; a video capture module support bar 27; a connecting plate 28 for the lifting cylinder and the motor; a gasket 29; a set screw 30; a lift cylinder 31; a motor support plate 32; a triangular bracket 33; a first motor-driven reversing valve 34; a second motor-driven reversing valve 35; a motorized reversing valve and telescopic link connecting plate 36; the hinge hole 37; an L-shaped hinge plate 38; a hinge hole 39; the reduction box is connected with the bottom plate by a bolt 40; a triangular bracket and mounting plate hinge hole 41; a camera 42; a camera housing 43; a fill light 44; the connecting plate is hinged with a lifting cylinder through a bolt 45; a lifting cylinder and L-shaped hinged plate hinged bolt 46; an anti-slip rubber block 47; a road wheel support plate 48; a traveling wheel 49; the road wheel supporting aluminum profile 50; a decorative plate 51; the mounting disc is hinged with an aluminum profile 52 of the lower supporting wall cylinder; a hinged plate 53 of the lower supporting wall cylinder and the aluminum profile; a first road wheel connecting pin 54; a second traveling wheel connecting pin 55; a hinge pin 56; a hook 57; a tube wall 58; a forward switch 59; a changeover switch 60; a two-position five-way one-way pneumatic control valve 61; a three-position five-way bidirectional pneumatic control valve 62; a two-position three-way one-way pneumatic control valve 63; a two-position five-way bidirectional pneumatic control valve 64; a third motorized reversing valve 65; a motorized reversing valve four 66; a two-position three-way one-way pneumatic control valve 67; a two-position three-way one-way pneumatic control valve 68; a lift cylinder control switch 69; a fully retracted switch 70.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or coupled. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

For the convenience of understanding the embodiments of the present invention, the following description will be further explained by taking several specific embodiments as examples in conjunction with the drawings, and the embodiments are not to be construed as limiting the embodiments of the present invention.

The embodiment of the invention designs an overall structural schematic diagram of a full-pneumatic pipeline water-carrying detection robot based on an automatic slewing mechanism, which is shown in figure 1 and comprises a lower supporting wall cylinder 1; an upper supporting wall cylinder 2; a telescopic cylinder 3; a rear mounting plate 4; a motor reduction box 5; a front mounting plate 6; a pneumatic motor 7; a transparent sealing can 8; an upper supporting wall cylinder hinged support 9; an upper support wall cylinder hinge pin 10; a crank hinge base 11; a triangular crank and a crank hinged base hinged pin 12; a sheet-shaped hinge plate 13; a triangular crank 14; the crank connecting plate is connected with a hinge pin 15 of the upper supporting wall rod; a crank connecting plate 16; an upper supporting wall rod I17; a set screw 18; a second upper supporting wall rod 19; a buttress rod hinge pin 20; an upper supporting wall wheel bracket 21; an upper support wall wheel 22; an upper support wall cylinder piston rod 23; a Y-shaped hinge 24; a Y-head and triangular crank hinge pin 25; a triangular crank and crank hinge plate hinge pin 26; a video capture module support bar 27; a connecting plate 28 for the lifting cylinder and the motor; a gasket 29; a set screw 30; a lift cylinder 31; a motor support plate 32; a triangular bracket 33; a first motor-driven reversing valve 34; a second motor-driven reversing valve 35; a motorized reversing valve and telescopic link connecting plate 36; the hinge hole 37; an L-shaped hinge plate 38; a hinge hole 39; the reduction box is connected with the bottom plate by a bolt 40; a triangular bracket and mounting plate hinge hole 41; a camera 42; a camera housing 43; a fill light 44; the connecting plate is hinged with a lifting cylinder through a bolt 45; a lifting cylinder and L-shaped hinged plate hinged bolt 46; an anti-slip rubber pad 47; a road wheel support plate 48; a traveling wheel 49; the road wheel supporting aluminum profile 50; a decorative plate 51; the mounting disc is hinged with an aluminum profile 52 of the lower supporting wall cylinder; a hinged plate 53 of the lower supporting wall cylinder and the aluminum profile; a first road wheel connecting pin 54; a second traveling wheel connecting pin 55; a hinge pin 56; a hook 57; a tube wall 58; a forward switch 59; a changeover switch 60; a two-position five-way one-way pneumatic control valve 61; a three-position five-way bidirectional pneumatic control valve 62; a two-position three-way one-way pneumatic control valve 63; a two-position five-way bidirectional pneumatic control valve 64; a third motorized reversing valve 65; a motorized reversing valve four 66; a two-position three-way one-way pneumatic control valve 67; a two-position three-way one-way pneumatic control valve 68; a lift cylinder control switch 69; a full retract switch 70; a multi-core cable 71; an electric cabinet 72.

Fig. 2 is a schematic structural diagram of a crank multi-link folding wall-supporting mechanism of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the invention. The crank multi-connecting-rod folding mechanism is composed of an upper supporting wall cylinder 2, an upper supporting wall cylinder hinged support 9, an upper supporting wall cylinder hinged pin 10, a crank hinged support 11, a triangular crank and crank hinged support hinged pin 12, a sheet hinged plate 13, a triangular crank 14, a crank connecting plate and upper supporting wall rod hinged pin 15, a crank connecting plate 16, an upper supporting wall rod 17, a set screw 18, an upper supporting wall rod II 19, a supporting wall rod hinged pin 20, an upper supporting wall wheel support 21, an upper supporting wall wheel 22, an upper supporting wall cylinder piston rod 23, a Y-shaped hinged head 24, a Y-shaped head and triangular crank hinged pin 25 and a triangular crank and crank hinged plate hinged pin 26.

Fig. 4 is a schematic diagram of a water carrying detection executing mechanism of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism, which is disclosed by the embodiment of the invention, and the water carrying detection executing mechanism is composed of a motor reduction box 5, a pneumatic motor 7, a video acquisition module 5, a connecting plate 28 of a lifting cylinder and a motor, a gasket 29, a set screw 30, a lifting cylinder 31, a motor supporting plate 32, a triangular bracket 33, a first motor-driven reversing valve 34, a second motor-driven reversing valve 35, a connecting plate 36 of the motor-driven reversing valve and a telescopic rod, a connecting plate and lifting cylinder hinge bolt 45, a lifting cylinder and an L-shaped hinge plate hinge bolt 46.

Fig. 5 is a schematic structural diagram of a video capture module of a sewage pipeline water detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention, and fig. 6 is a cross-sectional side view of the video capture module. As shown in fig. 5 and 6, the video capture module is composed of a transparent sealing housing 8, a video capture module support rod 27, a camera 42, a camera housing 43 and a fill light 44.

Fig. 9 is an overall structural view of a lower supporting wall assembly of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention, and fig. 10 is a working state diagram of the lower supporting wall assembly. As shown in fig. 9 and 10, the lower supporting wall mechanism is composed of a lower supporting wall cylinder 1, an anti-skid rubber pad 47, a traveling wheel supporting plate 48, a traveling wheel 49, a traveling wheel supporting aluminum profile 50, a decorative plate 51, an aluminum profile 52 with a mounting plate hinged with the lower supporting wall cylinder, a hinge plate 53 of the lower supporting wall cylinder and the aluminum profile, a traveling wheel connecting pin I54, a traveling wheel connecting pin II 55, a hinge pin 56 and a hook 57.

Referring to fig. 1, the full-pneumatic pipeline water carrying detection robot based on the automatic rotation mechanism is composed of a rear mounting disc 4, a front mounting disc 6, a crank multi-connecting-rod folding mechanism (fig. 2), a water carrying detection executing mechanism (fig. 4) and a lower supporting wall mechanism (fig. 9). The lower parts of the front mounting disc 6 and the rear mounting disc 4 are provided with telescopic cylinders, the two ends of each telescopic cylinder are respectively connected to the front mounting disc 6 and the rear mounting disc 4, the water-carrying detection actuating mechanism is fixed on the front mounting disc 6 through screws, and the crank multi-connecting-rod folding mechanism is fixed on the rear mounting disc 4 through screws; the wall mechanism comprises a wall cylinder 1, a walking wheel 49 and an aluminum profile 52, and a hinged plate 53 of the wall cylinder and the aluminum profile, the wall cylinder 1 is hinged with a front mounting disc 6 and a rear mounting disc 4 through the aluminum profile, the wall mechanism 1 supports the front mounting disc 6 and the rear mounting disc 4, the robot enters the drainage pipeline, the walking wheel 49 walks in the drainage pipeline, compressed air enters a lifting cylinder 31 in the water-carrying detection executing mechanism, the wall cylinder 1 in the wall mechanism is supported downwards and an upper wall cylinder 2 in the crank multi-connecting-rod folding mechanism, and the water-carrying detection executing mechanism carries out video acquisition around the pipe wall of the drainage pipeline by using a video acquisition system on a rotary motor.

Fig. 3 is a side sectional view of a crank multi-link folding wall supporting mechanism of a sewage pipeline water carrying detection robot based on a pneumatic driving mechanism according to an embodiment of the invention. The rear mounting plate 4 is a sector-shaped plate body with a narrow upper part and a wide lower part, five through holes are arranged on the narrow upper part of the sector-shaped plate body, the five through holes correspond to five threaded holes in a crank hinge seat 11 and an upper supporting wall air cylinder hinge seat 9 in a cross section of fig. 3 from top to bottom respectively, the crank multi-connecting-rod folding mechanism is fixed on the rear mounting plate 4 through screws, the lower supporting wall air cylinder 1 is fixed on the side edge of an aluminum profile 52 hinged with the rear mounting plate and the lower supporting wall air cylinder through a lower supporting wall air cylinder and a hinge plate 53 of the aluminum profile, and the tail parts of the aluminum profile 52 provided with the cylinder body are symmetrically arranged on two sides of the lower part of the rear mounting plate 4 through.

Fig. 8 is a front view of a water detection actuator 4 of a sewage pipeline water detection robot based on a pneumatic driving mechanism according to an embodiment of the present invention. The front mounting plate 6 and the rear mounting plate 4 are the same in shape, and parts mounted on the outer side of the front mounting plate 6 are similar to the front mounting plate 4; the water detection actuating mechanism 4 is fixedly arranged on the front mounting disc 6, four threaded holes are formed in the front mounting disc 6 and correspond to four through holes in the triangular support 33 in the figure 8 respectively, and the water detection actuating mechanism is fixed on the front mounting disc through screws.

Two telescopic cylinders 3 are symmetrically and uniformly arranged at the lower parts of the front and rear mounting discs, and two ends of each telescopic cylinder 3 are respectively connected to the front mounting disc 6 and the rear mounting disc 4; and is fixed by screws.

And a third motor-driven reversing valve 65 and a fourth motor-driven reversing valve 66 are fixedly connected to two sides of the front mounting plate 4 respectively. When the telescopic cylinder 3 is contracted to the bottom, the head of the cylinder body of the telescopic cylinder 3 touches the button of the motor-driven reversing valve III 65, so that the motor-driven reversing valve III 65 is switched on, and the pneumatic control logic of the robot is changed; when the telescopic cylinder 3 extends to the bottom, the steel wire rope connected with the cylinder body of the telescopic cylinder 3 and the motor-driven reversing valve IV 66 is stretched, so that the button of the motor-driven reversing valve IV 66 is pulled, and the pneumatic control logic of the robot is changed.

See fig. 2, 3.

It is a cuboid piece to prop wall cylinder free bearing 9 on, as shown in 9 in fig. 3, the rear portion that props wall cylinder free bearing 9 on is equipped with two screw holes, utilize this screw hole to prop wall cylinder free bearing 9 on through the screw and fix on the mounting disc of back, it has a through-hole to prop the side of wall cylinder free bearing 9 on and to open near the head position, prop wall cylinder 2 on and to prop wall cylinder hinge pin 10 and be connected with this through-hole through last, make and prop wall cylinder 2 and can prop wall cylinder hinge pin 10 above and be the axle, prop wall cylinder free bearing 9 on relatively and rotate.

The crank hinge seat 11 is a cuboid block, as shown in fig. 3 at 11, the rear part of the crank hinge seat 11 is provided with three threaded holes, the crank hinged seat 11 is fixed on the rear mounting plate through screws, 4 threaded holes are formed in the side portion of the crank hinged seat 11, the two sides of the cuboid block are sheet-shaped hinged plates 13, four small through holes in the sheet-shaped hinged plates 13 correspond to the four threaded holes of the cuboid block respectively, the sheet-shaped hinged plate 13 is provided with two large through holes through screw fixation, as shown in fig. 2, one large through hole at the upper part is hinged with one through hole at the tail end of an upper supporting wall rod 17 through a supporting wall rod hinge pin 20, the supporting wall rod 17 can rotate relatively around the hinge pin, two triangular cranks 14 are respectively and symmetrically arranged at two sides of the sheet-shaped hinged plate 13, the two triangular cranks are hinged through a hinge pin 12, and the two triangular cranks 14 can rotate around the hinge pin 12.

The Y-shaped hinge joint 24 is clamped between the two triangular cranks 14, the triangular cranks 14 are hinged with the triangular crank hinge pin 25 through the Y-shaped hinge joint 24, the two triangular cranks 14 can freely rotate around the hinge pin 25, the two crank connecting plates 16 are respectively arranged between the first supporting wall rod 17 and the triangular cranks 14 and are hinged with the hinge pin 26 through the hinge pin 15, and the two crank connecting plates 16 can freely rotate relatively.

The first supporting wall rod 17 is a cuboid rod piece with a square cross section, the second supporting wall rod 19 is sleeved outside the first upper supporting wall rod 17, the length of the rod is freely adjusted through a set screw 18, the top end of the second supporting wall rod 19 is provided with two threaded holes, the outer portions of the two threaded holes correspond to the two through holes in the upper supporting wall wheel support 21 and are hinged through bolts, the other through hole in the supporting wheel support 21 is hinged with the supporting wheel 22 through a hinge pin, and the supporting wheel 22 can freely rotate around the hinge pin.

Fig. 7 is an exploded view of a video capture module lift mechanism assembly of a pneumatic drive mechanism based sewer line water detection robot in accordance with an embodiment of the present invention. See fig. 4, 5, 6, 7 and 8.

In fig. 4, a threaded hole is formed in the side edge of a flange at the tail end of the telescopic cylinder 3, three threaded holes are formed in the upper portion of a motor-driven reversing valve and telescopic rod connecting plate 36, the three threaded holes correspond to three through holes in a motor-driven reversing valve I34 respectively, the connecting plate 36 is fixed to the telescopic cylinder 3 through screws, the reversing valve I34 is fixed to the connecting plate 36 through screws, and the arrangement of the other side of the telescopic cylinder 3 is the same.

As shown in fig. 8, when the deceleration pneumatic motor rotates to one side, the L-shaped hinge plate touches the button of the first reversing valve 34, so that the first reversing valve 34 is switched on, and the pneumatic control logic of the robot is changed, after the motor realizes the steering, when the deceleration pneumatic motor rotates to the other side, the L-shaped hinge plate touches the button of the second reversing valve 35, so that the second reversing valve 35 is switched on, and the pneumatic control logic of the robot is changed.

Put camera shell 43 in the transparent sealed clamshell 8, the both ends of camera shell 43 are equipped with four screw holes respectively, and corresponding with four through-holes at transparent sealed clamshell 8 both ends, fix the camera shell in the clamshell through the bolt, inside light filling lamp 44 and the camera 42 of being provided with of camera shell. The bottom of the transparent sealing housing cover 8 is provided with four through holes, and the transparent sealing housing cover 8 is connected with the video acquisition module supporting rod 27 through the four through holes.

As shown in fig. 6, a multicore cable 71 is provided at the center of the cylindrical shape of the camera housing 43, and the multicore cable 71 is connected to an electric cabinet 72 provided outside the drain pipe.

Two hinge holes 37 are formed in the side part of the sealing shell cover, the two hinge holes 37 respectively correspond to one through hole in the L-shaped hinge plate 38, the two hinge holes 37 and one through hole in the L-shaped hinge plate 38 are fixed through screws, and the other through hole 39 in the L-shaped hinge plate 38 and a threaded hole in the top of the lifting cylinder 31 are fixed with an L-shaped hinge plate hinge bolt 46 through the lifting cylinder, so that the sealing shell cover can lift and rotate along with the telescopic cylinder.

The lifting cylinder 31 is connected with the connecting plate 28 of the motor and the output shaft of the motor reduction gearbox 5 through the lifting cylinder, counter bores are formed in the two sides of the lifting cylinder 31 and the connecting plate 28 of the motor, the connecting plate 28 and the lifting cylinder 31 are fixed together through the connecting plate lifting cylinder hinge bolt 45, a large through hole is formed in the middle of the connecting plate 28, the output shaft of the motor reduction gearbox 5 is long, three thick gaskets 29 are additionally arranged, the tail end of the output shaft of the motor reduction gearbox 5 is sleeved into the large through hole, threaded holes are formed in the two sides of the connecting plate 28, the threaded holes are screwed into a key groove of the output shaft of the motor reduction gearbox 5 through the fastening screws 30, the lifting cylinder is fixed in the axial direction and the circumferential direction, and the motor reduction gearbox 5.

See fig. 9, 10.

The hinged plate 53 of the lower supporting wall cylinder and the aluminum profile is a rectangular block, the side surface of the hinged plate 53 is provided with 4 through holes, and the 4 through holes are attached to the aluminum profile 52 and connected through T-shaped nuts. The side of aluminium alloy 52 is equipped with 4 screw holes, with the laminating of wall cylinder 1 that props down and through bolted connection.

The support aluminum profile 50 of the walking wheel is fixedly supported on the aluminum profile 52, the walking wheel support plates 48 are arranged on two sides of a through hole in the support aluminum profile 50 and connected through a hinge pin, so that the support plates 48 can rotate freely around the hinge pin, the walking wheel 49 can be fixed through the hinge pin by small through holes in two sides of the support plates 48 and can rotate freely around the hinge pin, the decorative plate 51 is fixed on one threaded hole in the aluminum profile 52 through a screw, and the lifting hook 57 is fixed on the other threaded hole in the aluminum profile 52.

Refer to fig. 11.

The air source 71 is divided into three paths after being connected.

The first path is a two-position five-way lifting cylinder control switch 69, and 2 ports and 4 ports of the manual switch are respectively connected into a rod cavity and a rodless cavity of the lifting cylinder;

the second path is a two-position three-way manual full-contraction switch 70, the 2 ports of the manual full-contraction switch 70 are divided into five paths, the first path is connected with a rod cavity of the lower supporting wall cylinder 2, the second path is connected with the rod cavity of the forward cylinder group after being connected in parallel, the third path is connected with the rod cavity of the lower supporting wall cylinder 1, the fourth path is connected with a two-position three-way one-way air control valve 67, and the fifth path is connected with the rod cavity of the upper supporting wall cylinder after being connected in parallel;

the third way is a general forward switch and is divided into six ways after being switched on, the first way is a rodless cavity of the upper supporting wall cylinder after being connected in parallel, the second way is a reversing switch, the third way is a port 1 of the three-position five-way bidirectional pneumatic control valve 62, the fourth way is a port 1 of the two-position five-way bidirectional pneumatic control valve 64, the fifth way is a forward cylinder maneuvering valve after being connected in parallel, and the sixth way is a motor maneuvering valve after being connected in parallel.

See fig. 12.

The working state of the robot in the pipeline.

The invention discloses an automatic slewing mechanism-based full-pneumatic pipeline water-carrying detection robot, which has the following overall working process:

as will be analyzed with reference to fig. 11 and fig. 1, the robot for detecting water in a sewage pipeline is performed, therefore, before entering the well mouth of a drainage pipeline, all cylinders on the robot need to be contracted to facilitate entering the well, after the master switch 71 is switched on, the first path of air enters the lifting cylinder control switch, at this time, the port 1 and the port 2 of the lifting cylinder control switch are switched on, the air enters the rod cavity of the lifting cylinder, the lifting cylinder realizes full contraction, the second path of air realizes full contraction of other cylinders, the switch is pressed down to conduct the port 1 and the port 2 of the full contraction switch, the air passes through the two-position three-way one-way air control valves 63 and 68, the valve core moves to the right, the port 1 and the port 2 are disconnected, the air enters the rod cavities of the lower supporting wall cylinders 1 and 2 through the one-way valves to realize full contraction of the lower supporting wall cylinders 1 and 2, the one-way air controls the two-position three-way one-way air control valve, then the gas enters the rod cavity of the forward cylinder group through the two-position five-way bidirectional pneumatic control valve 64 to realize the full contraction of the forward cylinder group, the other path of gas is communicated with the rod cavity of the upper supporting wall cylinder after the parallel connection, and the upper supporting wall cylinder group realizes the full contraction.

The robot enters the inside of a drainage pipeline, a full-contraction switch is closed, a forward switch is opened, gas is introduced into a rodless cavity of an upper supporting wall cylinder, the upper supporting wall cylinder controls the upper supporting wall mechanism of FIG. 2, the supporting wall wheel mechanism is in contact with the pipe wall, the gas passes through a three-position five-way two-way pneumatic control valve 62, at the moment, a port 1 of the pneumatic control valve 62 is not communicated with ports 2 and 4, the gas passes through the two-position five-way two-way pneumatic control valve 64, a port 1 of the pneumatic control valve 64 is communicated with a port 2, the gas enters a rodless cavity of a forward cylinder group and a speed reduction pneumatic motor 5, a telescopic rod of the forward cylinder group extends out, after the gas extends to a certain distance, a thin steel wire rope fixed at the port of a telescopic cylinder pulls a forward cylinder motorized valve 66 fixed on a mounting disc, after the forward cylinder valve 66 is communicated with the gas, the gas enters a two-position three-, at the moment, the gas enters a rod cavity of the lower supporting wall cylinder 1, the lower supporting wall cylinder 1 contracts, a supporting wall wheel 49 on the lower supporting wall assembly supports the pipe wall, the other path of gas enters a rodless cavity of the lower supporting wall cylinder 2, the lower supporting wall cylinder 2 supports the pipe wall, the supporting wall wheel 49 on the lower supporting wall cylinder 2 leaves the pipe wall, meanwhile, as shown in figure 8, the motor rotates to one side, the L-shaped hinged plate contacts a button of the second reversing valve 34 to enable the second reversing valve 34 to be switched on, the gas controls the two-position five-way pneumatic control valve 64 to enable 1 port of the pneumatic control valve 64 to be switched on to the rod cavity of the advancing cylinder group, the advancing cylinder group retracts, at the moment, the direction of the middle gas of the rotating motor is changed, the rotating motor starts to rotate reversely, the advancing cylinder group retracts, the flange contacts an advancing cylinder maneuvering valve 65 on the mounting plate, after the advancing cylinder maneuvering valve 65 conducts the gas, the gas controls the five-way two-way control valve 62 to realize three-position valve core movement through, at the moment, the logics of the lower supporting wall cylinders 1 and 2 are changed, gas is introduced into a rodless cavity of the lower supporting wall cylinder 1, the lower supporting wall cylinder supports the pipe wall 58, meanwhile, a supporting wheel on the supporting wall component is suspended, the other path of gas enters a rod cavity of the lower supporting wall cylinder 2, the lower supporting wall cylinder 2 leaves the pipe wall, a supporting wall wheel 49 on the lower supporting wall component supports the pipe wall, when the motor rotates to the other side, a plate touches a button of a reversing valve II 35, the gas of the reversing valve II 35 is conducted to enable a valve core of the two-position five-way two-way pneumatic control valve to move, the gas enters a rodless cavity of an advancing cylinder group through the reversing valve II 35, the advancing cylinder group extends out, the alternating reciprocating is carried out, and the robot wriggles forwards. The video acquisition system on the rotary motor in fig. 5 performs video acquisition around the pipe wall, and the distance from the video acquisition system to the pipe wall can be controlled by the lifting cylinder control switch to realize the acquisition of clear videos.

In summary, the robot for detecting the water carried in the sewage pipeline based on the pneumatic driving mechanism provided by the embodiment of the invention can directly detect the water carried in the pipelines with different diameters.

The existing pipeline robot for detection can only implement video detection on a clean and waterless pipeline and is applied to a drainage pipeline needing water cut-off. And the transmittance in the sewage is very low, and the video cannot be obtained. The sewage pipeline water carrying detection robot based on the pneumatic driving mechanism provided by the embodiment of the invention collects video by the transparent cover close to the wall surface of the pipeline, and is arranged on the walking mechanism and the rotating mechanism driven by pneumatic transmission to form the robot, so that the video can be collected in sewage, and possible damage on the wall surface of the sewage pipeline can be detected, thereby realizing the detection of municipal drainage sewage pipelines without stopping water supply.

Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.

Those of ordinary skill in the art will understand that: the components in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be correspondingly changed in one or more devices different from the embodiments. The components of the above embodiments may be combined into one component, or may be further divided into a plurality of sub-components.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for apparatus or system embodiments, since they are substantially similar to method embodiments, they are described in relative terms, as long as they are described in partial descriptions of method embodiments. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A sewage pipeline detection robot with water based on a pneumatic driving mechanism is characterized by comprising: the device comprises a front mounting disc, a rear mounting disc, a crank multi-connecting-rod folding mechanism, a water-carrying detection actuating mechanism and a lower supporting wall mechanism;

arranging telescopic cylinders at the lower parts of the front mounting disc and the rear mounting disc, respectively connecting two ends of each telescopic cylinder to the front mounting disc and the rear mounting disc, fixing the water-carrying detection actuating mechanism on the front mounting disc through screws, and fixing the crank multi-connecting-rod folding mechanism on the front mounting disc and the rear mounting disc respectively through screws;

prop wall mechanism down including propping wall cylinder, walking wheel, aluminium alloy and propping the articulated slab of wall cylinder and aluminium alloy down, prop the wall cylinder down and pass through the aluminium alloy with preceding mounting disc, back mounting disc are articulated, prop wall mechanism down and support preceding mounting disc, back mounting disc, inside the robot gets into drainage pipe, utilize walking wheel walking in drainage pipe, compressed air gets into take water to detect the lift cylinder in the actuating mechanism under prop the wall cylinder in the wall mechanism with prop the last wall cylinder that props in the many connecting rod folding mechanism of crank, take water to detect the video acquisition system that actuating mechanism utilized on the rotating motor and carry out video acquisition round the pipe wall of drainage pipe.

2. The pneumatic driving mechanism-based sewage pipeline water detection robot of claim 1, wherein the crank multi-link folding mechanism comprises an upper supporting wall cylinder, an upper supporting wall cylinder hinged support, an upper supporting wall cylinder hinged pin, a crank hinged support, a triangular crank and crank hinged support hinged pin, a sheet-shaped hinged plate, a triangular crank, a crank connecting plate and upper supporting wall rod hinged pin, a crank connecting plate, an upper supporting wall rod I, a set screw, an upper supporting wall rod II, a supporting wall rod hinged pin, an upper supporting wall wheel support, an upper supporting wall wheel, an upper supporting wall cylinder piston rod, a Y-shaped hinged head, a Y-shaped head and triangular crank hinged pin, and a triangular crank and crank hinged plate hinged pin.

3. The sewage pipeline water detection robot based on the pneumatic driving mechanism according to claim 2, wherein the water detection executing mechanism comprises a motor reduction box, a pneumatic motor, a video acquisition module, a connecting plate of a lifting cylinder and a motor, a gasket, a set screw, the lifting cylinder, a motor supporting plate, a triangular bracket, a first motor-driven reversing valve, a second motor-driven reversing valve, a connecting plate of a motor-driven reversing valve and a telescopic rod, a connecting plate and lifting cylinder hinged bolt, a lifting cylinder and an L-shaped hinged plate hinged bolt, and the video acquisition module comprises a transparent sealing housing, a video acquisition module supporting rod, a camera shell and a light supplement lamp.

4. The sewage pipeline water detection robot based on the pneumatic driving mechanism according to claim 1, wherein the lower supporting wall mechanism comprises a lower supporting wall cylinder, an anti-skid rubber pad, a traveling wheel supporting plate, a traveling wheel supporting aluminum profile, a decorative plate, an aluminum profile with a mounting disc hinged to the lower supporting wall cylinder, a hinged plate of the lower supporting wall cylinder and the aluminum profile, a traveling wheel connecting pin I, a traveling wheel connecting pin II, a hinged pin and a lifting hook.

5. The robot as claimed in claim 3, wherein the rear mounting plate is a sector plate with a narrow top and a wide bottom, the narrow top of the sector plate is provided with five through holes corresponding to the five screw holes of the crank hinge base and the hinge base of the upper supporting wall cylinder, the crank multi-link folding mechanism is fixed on the rear mounting plate by screws, the lower supporting wall cylinder is fixed on the side of the aluminum profile hinged to the rear mounting plate and the lower supporting wall cylinder by the hinge plate, and the tail of the aluminum profile with the cylinder body is symmetrically mounted on the two sides of the lower part of the rear mounting plate by screws.

6. The pneumatic driving mechanism based sewer pipeline water detection robot of claim 5, wherein the front mounting plate is provided with four threaded holes, the four threaded holes correspond to the four through holes on the triangular bracket respectively, and the water detection actuator is fixed on the front mounting plate through screws;

the third motor-driven reversing valve and the fourth motor-driven reversing valve are fixedly connected to two sides of the front mounting plate respectively, when the telescopic cylinder is contracted to the bottom, the head of the cylinder body of the telescopic cylinder touches a button of the third motor-driven reversing valve, so that the third motor-driven reversing valve is switched on, and the pneumatic control logic of the robot is changed; when the telescopic cylinder extends to the bottom, the steel wire rope connected with the cylinder body of the telescopic cylinder and the motor-driven reversing valve IV is stretched, so that the button of the motor-driven reversing valve IV is pulled, and the pneumatic control logic of the robot is changed.

7. The sewage pipeline water detection robot based on the pneumatic driving mechanism according to claim 5, wherein the upper supporting wall cylinder hinged support is a rectangular block, two threaded holes are formed in the rear portion of the upper supporting wall cylinder hinged support, the upper supporting wall cylinder hinged support is fixed on the rear mounting plate through screws by means of the threaded holes, a through hole is formed in the side face of the upper supporting wall cylinder hinged support, close to the head, and the upper supporting wall cylinder is connected with the through hole through an upper supporting wall cylinder hinge pin, so that the upper supporting wall cylinder can rotate relative to the upper supporting wall cylinder hinged support by taking the upper supporting wall cylinder hinge pin as a shaft;

the crank hinged seat is a rectangular block, three threaded holes are formed in the rear portion of the crank hinged seat, the crank hinged seat is fixed to the rear mounting plate through screws, 4 threaded holes are formed in the side portion of the crank hinged seat, sheet-shaped hinged plates are arranged on the two sides of the crank hinged seat, four small through holes in the sheet-shaped hinged plates correspond to the 4 threaded holes respectively and are fixed through the screws, two through holes are formed in the sheet-shaped hinged plates, one through hole in the upper portion of each through hole is hinged to one through hole in the tail end of the upper supporting wall rod through a supporting wall rod hinged pin, the two triangular cranks are symmetrically arranged on the two sides of the sheet-shaped hinged plates respectively, and the two triangular cranks.

8. The pneumatic driving mechanism-based sewer pipe water detection robot of claim 7, wherein the upper supporting wall rod is a rectangular rod with a square cross section, the upper supporting wall rod is sleeved outside the upper supporting wall rod, the length of the rod is freely adjusted through a set screw, the top end of the supporting wall rod is provided with two threaded holes, the outer parts of the two threaded holes correspond to the two through holes in the upper supporting wall wheel bracket and are hinged through bolts, the other through hole in the supporting wheel bracket is hinged with the supporting wheel through a hinge pin, and the supporting wheel can freely rotate around the hinge pin;

the side edge of a flange at the tail end of the telescopic cylinder is provided with a threaded hole, the upper part of a motor-driven reversing valve and telescopic rod connecting plate is provided with three threaded holes, the three threaded holes correspond to three through holes on a motor-driven reversing valve I respectively, the connecting plate is fixed on the telescopic cylinder through screws, the motor-driven reversing valve I is fixed on the connecting plate through screws, and the arrangement of the other side of the telescopic cylinder 3 is the same;

when the deceleration pneumatic motor rotates to one side, the L-shaped hinged plate touches a button of the first motor-driven reversing valve, so that the first motor-driven reversing valve is switched on, and the pneumatic control logic of the robot is changed; after the motor realizes steering, when the motor rotates to the other side, the L-shaped hinged plate touches a button of the second motorized reversing valve, so that the second motorized reversing valve is switched on, and the pneumatic control logic of the robot is changed.

9. The pneumatic driving mechanism-based sewer pipe water detection robot of claim 8, wherein the transparent sealing housing is an arched transparent four-sided housing, four through holes are respectively formed in the front end face, the rear end face and the bottom face of the transparent sealing housing, two hinge holes are formed outside one end face, a camera housing is placed in the transparent sealing housing, four threaded holes are respectively formed in two ends of the camera housing and correspond to the four through holes in the two ends of the transparent sealing housing, the camera housing is fixed in the housing through bolts, a light supplement lamp and a camera are arranged inside the camera housing, four through holes are formed in the bottom of the transparent sealing housing, and the transparent sealing housing is connected with the video acquisition module support rod through the four through holes; a multi-core cable is arranged at the cylindrical center of the camera shell and is connected with an electric cabinet arranged outside the drainage pipe;

two hinge holes formed in one end face of the transparent sealing shell cover correspond to through holes in the two L-shaped hinge plates respectively, the two hinge holes and the through holes in the two L-shaped hinge plates are fixed through screws, the other through holes in the two L-shaped hinge plates and two threaded holes in the top of the lifting cylinder are fixed with hinge bolts of the L-shaped hinge plates through the lifting cylinder, and therefore the sealing shell cover can lift and rotate along with the telescopic cylinder.

10. The sewage pipeline water detection robot based on the pneumatic driving mechanism according to claim 9, wherein the lifting cylinder is connected with a connecting plate of the motor and an output shaft of the motor reduction gearbox, counter bores are arranged on two sides of the connecting plate of the lifting cylinder and the motor, the connecting plate and the lifting cylinder are fixed together through a hinge bolt, the tail end of the output shaft of the motor reduction gearbox is sleeved into a through hole of the connecting plate through a gasket, threaded holes on two sides of the connecting plate are screwed into a key groove of the output shaft of the motor reduction gearbox through screws, the lifting cylinder is fixed in the axial direction and the circumferential direction, and the motor reduction gearbox is fixed with the motor supporting plate through a bottom plate connecting bolt;

the hinged plate of the lower supporting wall cylinder and the aluminum profile is a rectangular block, the side surface of the hinged plate is provided with 4 through holes, the 4 through holes are attached to the aluminum profile and connected through T-shaped nuts, the side surface of the aluminum profile is provided with 4 threaded holes, and the aluminum profile is attached to the lower supporting wall cylinder 1 and connected through screws;

the supporting aluminum profile fixed support with the walking wheel is on the aluminum profile, the walking wheel supporting plates are placed on two sides of a through hole in the supporting aluminum profile, the supporting plates can rotate freely around the hinge pins through hinge pin connection, the walking wheel is fixed through the hinge pins by small through holes in two sides of the supporting plates, the walking wheel is rotated freely around the hinge pins, the decorative plate is fixed in a threaded hole in the aluminum profile through screws, and the lifting hook is fixed in another threaded hole in the aluminum profile.

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