CN112590960A - Pipeline box culvert detection robot - Google Patents
Pipeline box culvert detection robot Download PDFInfo
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- CN112590960A CN112590960A CN202011535014.5A CN202011535014A CN112590960A CN 112590960 A CN112590960 A CN 112590960A CN 202011535014 A CN202011535014 A CN 202011535014A CN 112590960 A CN112590960 A CN 112590960A
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- 238000001514 detection method Methods 0.000 title claims abstract description 61
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
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Abstract
The invention discloses a pipeline box culvert detection robot which comprises a robot body, a spiral roller assembly and a four-wheel driving mechanism, wherein the width of the spiral roller assembly and/or the four-wheel driving mechanism is adjustable so as to change the width of the pipeline box culvert detection robot, and the spiral roller assembly and/or the four-wheel driving mechanism are used for supporting the robot body and driving the robot body to move. The technical scheme of the invention can solve the problem that the work of the pipeline box culvert detection robot is limited due to poor adaptability of the existing pipeline box culvert detection robot to different operating environments.
Description
Technical Field
The invention relates to the technical field of intelligent detection equipment, in particular to a pipeline box culvert detection robot.
Background
To some work that go on under special environment, for example carry out the cable in the narrow and small cable pit in space and patrol, carry out inside inspection or patrol and examine safely etc. under inflammable and explosive environment to the pipeline that the pipe diameter is less, accomplish with the help of intelligent detection equipment such as pipeline box culvert detection robot usually. The adaptability of the existing pipeline box culvert detection robot to different operation environments is poor, so that the work of the pipeline box culvert detection robot is limited.
Disclosure of Invention
The invention mainly aims to provide a pipeline box culvert detection robot, and aims to solve the problem that the work of the pipeline box culvert detection robot is limited due to poor adaptability of the existing pipeline box culvert detection robot to different operation environments.
In order to achieve the above object, the present invention provides a robot for detecting a pipe box culvert, comprising:
a robot body; and
the width of the spiral roller assembly and/or the four-wheel driving mechanism is adjustable so as to change the width of the pipeline box culvert detection robot;
the spiral roller assembly and/or the four-wheel driving mechanism are used for supporting the robot body and driving the robot body to move.
In one embodiment, the spiral roller assembly comprises:
the first support frame is used for supporting the robot body;
the two spiral rollers are respectively connected to two ends of the first support frame and used for driving the robot body to move; and
the first driving assembly is connected to the first support frame and used for driving the two spiral rollers to get close to or get away from each other so as to change the width of the pipeline box culvert detection robot.
In one embodiment, the helical rollers are rotatably connected with the first support frame, and the first driving assembly drives the helical rollers to rotate relative to the first support frame so as to enable the two helical rollers to approach or move away from each other.
In one embodiment, the first support frame comprises at least two support rods arranged at intervals in the length direction of the spiral drum.
In one embodiment, the four-wheel drive mechanism includes:
the second support frame is used for supporting the robot body;
the four idler wheels are connected to the second supporting frame and used for driving the robot body to move; and
and each driving arm is arranged on each roller and respectively drives one roller to move.
In an embodiment, each driving arm includes a longitudinal swing portion swinging up and down and a transverse swing portion swinging left and right, the transverse swing portion is connected to the longitudinal swing portion, the roller and the second support frame are connected through the transverse swing portion and the longitudinal swing portion, and the transverse swing portion swings left and right to change the width of the pipeline box culvert detection robot.
In an embodiment, the longitudinal swinging portion includes a second driving assembly disposed on the second supporting frame and a longitudinal swinging arm connected to a driving end of the second driving assembly, and the second driving assembly drives the longitudinal swinging arm to swing longitudinally.
In an embodiment, a buoyancy body is arranged on the robot body, and the buoyancy body is used for increasing the buoyancy of the pipeline box culvert detection robot.
In one embodiment, the robot body is provided with a 3D laser radar.
In one embodiment, the robot body is provided with a water quality sampler.
According to the technical scheme, the spiral roller assembly and the four-wheel driving mechanism are arranged, the robot body is supported by the spiral roller assembly and/or the four-wheel driving mechanism and is driven to move, and the width of the pipeline box culvert detection robot is changed by adjusting the width of the spiral roller assembly and/or the four-wheel driving mechanism, so that the pipeline box culvert detection robot is suitable for space size change under different operation environments, and the problem that the work of the pipeline box culvert detection robot is limited due to poor adaptability of the existing pipeline box culvert detection robot to different operation environments is solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a pipeline box culvert detection robot of the invention;
FIG. 2 is a schematic view of a part of the structure of the pipeline box culvert detection robot in FIG. 1;
FIG. 3 is a schematic structural diagram of an embodiment of a spiral roller assembly of the pipeline culvert detection robot in FIG. 1;
FIG. 4 is a schematic view of the first support frame and the first drive assembly of the spiral roller assembly of FIG. 3;
fig. 5 is a schematic structural diagram of an embodiment of a four-wheel drive mechanism of the pipeline box culvert detecting robot in fig. 1;
FIG. 6 is a schematic diagram of the structure of the drive arm of the four wheel drive mechanism of FIG. 5;
fig. 7 is a schematic structural diagram of an embodiment of a water sampler of the pipeline box culvert detection robot in fig. 1;
FIG. 8 is an exploded view of the structure of FIG. 7;
FIG. 9 is a schematic view of a portion of the structure of FIG. 8;
FIG. 10 is an exploded view of the structure of FIG. 9;
FIG. 11 is a schematic diagram of the structure of FIG. 10 from another perspective;
FIG. 12 is a schematic diagram of the structure of FIG. 9 from another perspective;
fig. 13 is a sectional view taken along line I-I of fig. 12.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a pipeline box culvert detection robot.
Referring to fig. 1 and 2, in an embodiment of the present invention, the pipe box culvert detecting robot includes a robot body, a spiral roller assembly and a four-wheel driving mechanism, wherein the width of the spiral roller assembly and/or the four-wheel driving mechanism is adjustable so as to change the width of the pipe box culvert detecting robot, and the spiral roller assembly and/or the four-wheel driving mechanism is used for supporting the robot body and driving the robot body to move.
According to the technical scheme, the spiral roller assembly and the four-wheel driving mechanism are arranged, the robot body is supported by the spiral roller assembly and/or the four-wheel driving mechanism and is driven to move, and the width of the pipeline box culvert detection robot is changed by adjusting the width of the spiral roller assembly and/or the four-wheel driving mechanism, so that the pipeline box culvert detection robot is suitable for space size change under different operation environments, and the problem that the work of the pipeline box culvert detection robot is limited due to poor adaptability of the existing pipeline box culvert detection robot to different operation environments is solved.
Referring to fig. 3 and 4, in an embodiment of the present invention, the spiral roller assembly includes a first support frame 110, two spiral rollers 120 and a first driving assembly 130, the first support frame 110 is used for supporting the robot body, the two spiral rollers 120 are respectively connected to two ends of the first support frame 110 for driving the robot body to move, and the first driving assembly 130 is connected to the first support frame 110 for driving the two spiral rollers 120 to move closer to or away from each other, so as to change the width of the pipe culvert detection robot.
According to the technical scheme, the first support frame 110 is adopted to support the robot main body, the spiral rollers 120 are respectively arranged at two ends of the first support frame 110, the robot main body is driven to move by the spiral rollers 120, the first support frame 110 is provided with the first driving assembly 130, and the first driving assembly 130 is used for driving the two spiral rollers 120 to mutually approach or depart. Thereby when the size of guarantee pipeline box culvert detection robot is moderate in order to guarantee intelligent detection equipment's task load capacity and structural stability, make pipeline box culvert detection robot can be at operation in-process according to operational environment's space size and control two spiral cylinder 120 and be close to each other or keep away from, in order to reach the effect of folding or expanding pipeline box culvert detection robot, change pipeline box culvert detection robot's width promptly, and then make pipeline box culvert detection robot's size adapt to its operational environment space size's change, in order to pass smoothly and ensure its normal work.
In the above-mentioned embodiment, be close to each other or keep away from through two helical cylinder 120 of first drive assembly 130 drive, the problem of the size restriction of pipeline box culvert detection robot when getting into the pipeline shaft has been solved, get into two helical cylinder 120 of in-process drive and be close to each other in order to reach folding effect, expand the bigger structure of formation size after getting into the pipeline operation district, realize the promotion of structural stability, and provide bigger task load-carrying capacity, thereby provide stable work platform when realizing multitask load, the operating efficiency of pipeline box culvert detection robot has been improved, the time cost of the work of patrolling and examining of pipeline box culvert has been reduced.
In one embodiment, the spiral roller 120 is rotatably connected to the first support frame 110, and the first driving assembly 130 drives the spiral roller 120 to rotate relative to the first support frame 110 so as to move the two spiral rollers 120 toward or away from each other. At least one of the two spiral rollers 120 is rotated relative to the first support frame 110 by rotatably connecting the spiral roller 120 with the first support frame 110, so that the distance between the two spiral rollers 120 is changed, and the folding and unfolding of the spiral roller assembly are realized, so as to adapt to the space size change of the working environment.
In one embodiment, the first support frame 110 includes at least two support rods spaced apart from each other along the length of the spiral drum 120. Support the robot body through setting up at least two bracing pieces of interval arrangement on the length direction of spiral cylinder 120, for example, the bracing piece sets up two, and two bracing pieces set up the both ends on the length direction of spiral cylinder 120 respectively, perhaps, the bracing piece sets up threely, four, five, and each bracing piece is arranged along the length direction interval of spiral cylinder 120 to increase first support frame 110 and to the support area of robot body, improve the stationarity of robot body at the removal in-process.
In one embodiment, the spiral drum 120 includes a drum main body 121 and an end cover 122, the drum main body 121 is moved by rotating the belt-moving robot body, the end cover 122 is disposed at an end of the drum main body 121, and the end cover 122 is coupled to the first support frame 110. The end shield 122 is provided at the end of the drum body 121, and the end shield 122 is connected to the first support frame 110, so that the spiral drum 120 and the first support frame 110 are connected without interfering with the rotation of the drum body 121 of the spiral drum 120.
The specific method for driving the robot body to move by the spiral roller 120 refers to a method for driving the robot body to move by the spiral roller 120 in the prior art, and is not described herein again.
In an embodiment, two ends of the roller body 121 are respectively provided with an end shield 122, the two end shields 122 are connected by a connecting rod 123, and the spiral roller 120 is connected with the first support frame 110 by the connecting rod 123. The connection between the spiral drum 120 and the first support frame 110 is facilitated by the arrangement of the connection rod 123, and the connection of the connection rod 123 to the spiral drum 120 is facilitated by the arrangement of the end caps 122 at both ends of the drum body.
In an embodiment, the connecting rod 123 is disposed above the spiral drum 120, the connecting rod 123 includes a first extending section extending along a length direction of the spiral drum 120 and a second extending section extending along a longitudinal direction or an oblique direction, two ends of the first extending section are respectively connected with a second extending section, the first extending section is rotatably connected with the first support frame 110, and the other end of the second extending section is connected with the end cover 122, that is, the connecting rod 123 is integrally protruded upward relative to the spiral drum 120, and the robot body carried by the first support frame 110 is located above the connecting rod 123 protruded on the spiral drum 120, so as to prevent the robot body from being wetted when the spiral drum 120 travels in water.
In one embodiment, the first support frame 110 includes at least two support rods spaced apart from each other in the longitudinal direction of the spiral drum 120, the support rods have a square cross section, and the connecting rod 123 passes through the support rods and is rotatably connected to the support rods. The cross section through with the bracing piece sets up to square, forms the plane in the bracing piece periphery, is convenient for trompil and supports other parts to the connecting rod 123 of being convenient for wears to establish, simultaneously, also is convenient for bear the weight of the robot body.
In one embodiment, the first driving assembly 130 includes a first motor 131 and a first worm gear structure 132, the first motor 131 is disposed on the first support frame 110, the first worm gear structure 132 includes a first worm gear and a first worm screw, the first worm gear is fixed on the connecting rod 123, the first worm screw is engaged with the first worm gear, and the first worm is connected with the driving end of the first motor 131, the first worm is driven to rotate by the rotation of the first motor 131, thereby driving the first turbine to rotate, so that the connecting rod 123 rotates, and the connecting rod 123 is rotatably disposed on the first supporting frame 110 to connect the first supporting frame 110 and the spiral drum 120, therefore, the rotation of the connecting rod 123 drives the spiral drum 120 to rotate relative to the first supporting frame 110, thereby changing the interval between the two spiral rollers 120 to move the two spiral rollers 120 away from or close to each other, and thus accomplishing the folding or unfolding of the spiral roller assembly. Moreover, due to the self-locking characteristic of the worm and gear structure, when the spiral roller 120 is folded or unfolded to a certain required position, the spiral roller 120 can be kept at the position without additionally arranging a locking or limiting structure, so that the folding function of the spiral roller assembly is ensured, and the structure of the spiral roller assembly is simplified.
In an embodiment, two first worm and gear structures 132 and two first motors 131 are provided, the two first worm and gear structures 132 are respectively provided on the connecting rods 123 on the two cylinder bodies 121, and the driving ends of the two first motors 131 are respectively connected with the two first worm and gear structures 132. Through setting up two first worm gear structures 132 and two first motors 131 to make two spiral cylinder 120 can be driven simultaneously and rotate, make spiral cylinder subassembly fold fast or expand, improve work efficiency, and, because two spiral cylinder 120 can rotate in step, make the in-process that spiral cylinder subassembly folded or expanded, the robot main part can keep steadily, is difficult to take place the slope.
In an embodiment, the number of the first worm gear structures 132 is two, two first worm gear structures 132 are respectively disposed on the connecting rods 123 on the two cylinder bodies 121, the first motor 131 has two driving ends, and the two driving ends of the first motor 131 are respectively connected with the two first worm gear structures 132. By providing one first motor 131 with two driving ends, the space occupied by the first driving assembly 130 is reduced and the weight of the first driving assembly 130 is reduced while ensuring that the spiral roller assembly can be folded and unfolded quickly.
In the above embodiment, the first driving assembly 130 is disposed in the middle of the first support frame 110. Through setting up first drive assembly 130 in the middle part of first support frame 110, make first drive assembly 130 drive in the middle part of first support frame 110, keep spiral roller assembly work stationarity to, set up first drive assembly 130 in the middle part of first support frame 110, make the weight distribution of first drive assembly 130 in the middle part of spiral roller assembly, be favorable to keeping the centre of gravity of whole pipeline box culvert detection robot steady. It is understood that the above-mentioned first driving assembly 130 is disposed in the middle of the first support frame 110, which means that the first driving assembly 130 is disposed in the middle region of the first support frame 110, and the first driving assembly 130 is not limited to be strictly controlled at the center of the first support frame 110.
Referring to fig. 5 and 6, in an embodiment of the present invention, the four-wheel driving mechanism includes a second supporting frame 210, four rollers 220 and driving arms 230, the second supporting frame 210 is used for supporting the robot body, the four rollers 220 are provided, the four rollers 220 are connected to the second supporting frame 210 for driving the robot body to move, each roller 220 is provided with one driving arm 230, and each driving arm 230 drives one roller 220 to move.
According to the technical scheme, the robot body is supported by the second support frame 210, the four rollers 220 are arranged on the second support frame 210 to drive the robot body to move, each roller 220 is provided with one driving arm 230, each driving arm 230 is used for driving the roller 220 connected with the driving arm to move independently, and when the pipeline box culvert detection robot works in a complex terrain environment, the rollers 220 can be driven to move independently by the driving arms 230 according to the terrain characteristics, so that the problem that the pipeline box culvert detection robot is relatively poor in obstacle crossing capability and limited in work is solved.
Wherein, four gyro wheels 220 set up respectively in the four corners department of second support frame 210 to the guarantee gyro wheel 220 drives the robot body steadily and removes. For example, the four rollers 220 are distributed in a rectangular shape or an isosceles trapezoid shape, and in an embodiment, the four rollers 220 are distributed in a rectangular shape, so that the front and rear widths of the four-wheel driving mechanism are consistent, and the space occupied by the four-wheel driving mechanism is reduced as much as possible, thereby facilitating movement in a small space.
In an embodiment, each driving arm 230 includes a longitudinal swing portion swinging up and down and a lateral swing portion swinging left and right, the lateral swing portion is connected to the longitudinal swing portion, and the roller 220 and the second supporting frame 210 are connected by the lateral swing portion and the longitudinal swing portion, and the lateral swing portion swings left and right to change the width of the pipe box culvert detection robot. Be connected between gyro wheel 220 and the second support frame 210 through setting up vertical swing portion and horizontal swing portion for each swing arm can freely luffing motion and horizontal hunting, thereby can be according to the position and the angle of each swing arm of operation environment adjustment of reality, so that four wheel drive mechanism drive robot body and move smoothly under complicated operation environment, solved pipeline box culvert detection robot and met the obstacle crossing difficult problem of large-scale solid barrier crawling the in-process. For example, when the four-wheel drive mechanism moves in an uneven place, the roller 220 on the left side or the right side is adjusted to be lifted by the longitudinal swing part so as to pass through smoothly, and the effect of smoothly crawling on uneven ground is achieved. Alternatively, when a protrusion occurs on the moving path of the four-wheel drive mechanism, the distance between the left roller 220 and the right roller 220 can be adjusted by the lateral swing portion, so that the vehicle can smoothly pass through the protrusion without bypassing. In addition, when a puddle appears on the moving path of the four-wheel drive mechanism, the height of the second support frame 210 is raised through the longitudinal swinging part, so that the robot body supported by the second support frame 210 is prevented from being stained with water, and the robot body is protected.
In an embodiment, the longitudinal swing portion includes a second driving assembly 231 and a longitudinal swing arm 235, the second driving assembly 231 is disposed on the second supporting frame 210, the longitudinal swing arm 235 is connected to a driving end of the second driving assembly 231, and the second driving assembly 231 drives the longitudinal swing arm 235 to swing longitudinally. The second drive assembly 231 is used to drive the longitudinal swing arm 235 to swing longitudinally, thereby effecting longitudinal swing of the drive arm 230.
In one embodiment, the second driving assembly 231 includes a second motor 232 mounted on the second supporting frame 210 and a second worm gear structure 233, the second worm gear structure 233 is mounted at a driving end of the second motor 232, and one end of the longitudinal swing arm 235 is connected to the second worm gear structure 233. Wherein, the motor shaft of the second motor 232 is transversely arranged, the second worm gear and worm structure 233 comprises a second worm gear and a second worm, the second worm is connected to the driving end of the second motor 232, the second worm gear is meshed with the second worm, and one end of the longitudinal swing arm 235 is fixed with the second worm gear. When the second motor 232 works, the driving end of the second motor 232 drives the second worm to rotate, so as to drive the second worm wheel to rotate, further drive the longitudinal swing arm 235 to rotate, and realize the up-and-down swing of the longitudinal swing arm 235.
In an embodiment, the second driving assembly 231 further includes a longitudinal speed reducer, and the longitudinal speed reducer is connected to the second motor 232, so as to increase the output torque and reduce the load inertia while reducing the speed.
In one embodiment, the lateral swinging portion includes a steering gear 236 connected to the roller 220 and a plane link mechanism 237 connected to the steering gear 236, and the steering gear 236 drives the plane link mechanism 237 to swing left and right, so that the steering gear 236 and the plane link mechanism 237 realize the left and right swinging.
In the above embodiment, the third motor 240 is disposed between the roller 220 and the driving arm 230, the driving end of the third motor 240 is connected to the roller 220, and the roller 220 is driven to rotate by the rotation of the third motor 240, so as to realize the movement of the four-wheel driving mechanism.
In the above embodiment, the rolling portion reducer 250 is connected between the third motor 240 and the driving arm 230. A rolling portion reducer 250 is provided between the third motor 240 and the driving arm 230 to reduce the speed and increase the output torque and reduce the load inertia.
In the above embodiment, a bevel gear 260 is connected between the driving end of the third motor 240 and the roller 220. The bevel gear 260 includes a first sub gear and a second sub gear, the first sub gear is engaged with the second sub gear, a motor shaft of the third motor 240 is connected with the first sub gear, and the third motor 240 rotates to drive the first sub gear to rotate, so as to drive the second sub gear engaged with the first sub gear to rotate, thereby changing the direction of the driving force and facilitating the installation of the roller 220.
Working environment usually has water in the present pipeline box culvert, the solid waste of mud and multiple material, cause the operation face difficulty of walking, and in the above-mentioned embodiment, spiral drum subassembly help pipeline box culvert detection robot is on ground, walk freely under different operating modes such as silt and water, the difficult problem of hindering more of large-scale solid barrier that pipeline box culvert detection robot meets at the in-process of crawling is solved to the four-wheel drive mechanism, make pipeline box culvert detection robot also can walk smoothly on the operation face of complicacy, guarantee detection achievement goes on smoothly, and improve work efficiency.
In one embodiment, the robot body is provided with a buoyancy body 300, and the buoyancy body 300 is used for increasing the buoyancy of the pipeline culvert detection robot. Through set up buoyancy body 300 on the robot body, utilize buoyancy body 300 to increase pipeline box culvert detection robot's buoyancy to avoid pipeline box culvert detection robot to wet the electric power part on the robot body when the aquatic walking. The buoyant body 300 is made of a material having a density lower than that of water, such as common plastics.
In the above embodiment, the robot body is provided with the 3D laser radar 400. The 3D laser radar 400 realizes three-dimensional modeling of the internal structure and the sludge of the pipeline box culvert, forms a digital map of the underground pipe network, and is convenient for accurate measurement and positioning of aging and damage of the pipe network, volume measurement and calculation of the silting amount of a silting site, and control of efficiency and cost during subsequent maintenance operation and desilting operation. The structure and principle of the 3D laser radar 400 refer to the prior art, and are not described herein again.
In the above embodiment, the robot body is provided with the water quality sampler 500. The water quality sampler 500 meets the requirement of the pipeline box culvert on an environment-friendly monitoring task, and has the advantages of simple structure, no secondary pollution, one-time completion of multiple collection points, improvement of collection efficiency and detection cost saving.
In one embodiment, the pipeline box culvert detection robot comprises a controller and the water quality sampler 500 as described above, wherein the controller and the water quality sampler 500 are installed on the robot body, and the controller is electrically connected with the water quality sampler 500. This water quality sampling ware can sample the quality of water of a plurality of collection points, and this water quality sampling ware can improve water quality sampling ware's reliability, avoids water quality sampling ware to appear the sampling water when sampling the water of a plurality of collection points and takes place by secondary pollution's the condition, and then improves the sampling precision of sampling water.
Referring to fig. 7 to 10, in an embodiment, the water quality sampler 500 includes a pumping mechanism 510, a diversion mechanism 520, and a plurality of water storage bottles 530, wherein the pumping mechanism 510 is used for pumping the sampled water from the outside and transferring the sampled water to the diversion mechanism 520 through a transfer pipe; the flow dividing mechanism 520 comprises a flow dividing base 521 and a flow dividing member 522, the flow dividing member 522 is movably mounted on the flow dividing base 521, the flow dividing base 521 is provided with a plurality of sampling water outlet channels 5211 and a plurality of waste water outlet channels 5212, the sampling water outlet channels 5211 are not communicated with the waste water outlet channels 5212, the waste water outlet channels are communicated with the outside of the flow dividing base 521, and the flow dividing member 522 is provided with a transmission channel 5221; a water storage bottle 530 is communicated with a sampling water outlet passage 5211; wherein the flow divider 522 is movable relative to the flow divider base 521 such that the water pumping mechanism 510 is switchably communicated with one of the plurality of sample water outlet passages 5211 or one of the plurality of waste water outlet passages 5212 through the transmission passage 5221.
Specifically, the pumping mechanism 510 and the diversion mechanism 520 are communicated via a transmission pipe, and the driving design of the pumping mechanism 510 can be various, such as but not limited to: the peristaltic pump or the direct-flow liquid pump can be used for pumping and conveying external sampling water to the shunting mechanism. The shunt piece can be arranged on the shunt seat in a rotating mode, can also be arranged on the shunt seat in a sliding mode, and can also be arranged on the shunt seat in a translation mode, and the limitation is not specifically made here.
Further, the plurality of sampling water outlet passages 5211 correspond to the plurality of water storage bottles 530, one water storage bottle 530 is communicated with one sampling water outlet passage 5211, so that the plurality of sampling water outlet passages 5211 are not affected by each other, the plurality of water storage bottles 530 are used for collecting sampling water at a plurality of sampling points, and the number of the water storage bottles 530 can be set as required, and is not particularly limited herein.
In addition, the waste water outlet passage 5212 is communicated with the outside of the shunt base 521, so that the sampling water flowing through the waste water outlet passage 5212 can be discharged to the outside of the shunt base 521, the shunt member 522 moves relative to the shunt base 521, when the pumping mechanism 510 is switched to be communicated with one of the waste water outlet passages 5212 through the transmission passage 5221, the sampling water remained in the pumping mechanism 510 and the shunt member 522 can be cleaned by the sampling water to be sampled, the situation that secondary pollution is caused to the sampling water by the residual sampling water in the water sampler 500 is avoided, and the reliability of the water sampler 500 is further improved.
According to the technical scheme, the water pumping mechanism 510, the flow dividing mechanism 520 and the water storage bottles 530 are arranged, the flow dividing mechanism 520 comprises a flow dividing base 521 and a flow dividing piece 522, the flow dividing piece 522 is movably mounted on the flow dividing base 521, the flow dividing base 521 is provided with a plurality of sampling water outlet channels 5211 and a plurality of waste water outlet channels 5212, and the sampling water outlet channels 5211 are not communicated with the waste water outlet channels 5212, so that the situation that sampling water in the waste water outlet channels 5212 is transmitted into the sampling water outlet channels 5211 to pollute the sampling water outlet channels 5211 is avoided;
the waste water outlet passage is communicated with the outside of the diverging seat 521 so that waste water can be discharged to the outside of the diverging seat 521; a water storage bottle 530 is communicated with a sampling water outlet passage 5211, so that the sampling water outlet passages 5211 are not influenced mutually, and the sampling water transmitted into the sampling water outlet passage 5211 can be transmitted into the water storage bottle 530 to finish water quality sampling of a plurality of collecting points;
the flow dividing piece 522 moves relative to the flow dividing base 521, so that the water pumping mechanism 510 is communicated with one of the sampling water outlet channels 5211 or one of the waste water outlet channels 5212 in a switchable manner through the transmission channel 5221, when the water quality of a collection point needs to be sampled, the water pumping mechanism 510 is switched to be communicated with one of the sampling water outlet channels 5211 through the transmission channel, so that the sampling water sequentially flows into the corresponding water storage bottle 530 after passing through the transmission channel of the water pumping mechanism 510, the transmission channel of the flow dividing piece 522 and the sampling water outlet channel 5211, and the function of sampling the sampling water is further realized; when the pumping mechanism 510 is switched to be communicated with one of the waste water outlet channels 5212 through the transmission pipeline, the sampling water is sequentially discharged to the outside of the shunt seat 521 through the transmission pipeline of the pumping mechanism 510, the transmission pipeline of the shunt member 522 and the waste water outlet channel 5212, so that the function of cleaning the transmission pipeline of the pumping mechanism 510 and the transmission pipeline of the shunt member 522 by using the sampling water to be sampled before sampling is realized, the situation that the sampling water sampled at the previous time is remained in the transmission pipeline of the pumping mechanism 510 and in the transmission pipeline of the shunt member 522 to cause secondary pollution to the sampling water sampled at the next time is avoided, when water quality sampling needs to be carried out for multiple times, the sampling and cleaning actions are repeated, the sampling water can be sampled for multiple times, and the transmission pipeline of the pumping mechanism 510 and the transmission pipeline of the shunt member 522 can be cleaned before each sampling, the sampling residue is avoided, the reliability of the water quality sampler 500 is improved, and the sampling precision of the sampled water is further improved.
In addition, the transmission channel 5221 through the pumping mechanism 510 and the flow divider 522 is switchable to be communicated with the sampling water outlet channel 5211 or the waste water outlet channel 5212, so that the water quality sampler 500 is compact in structural arrangement, the volume and the weight of the water quality sampler 500 are reduced, and the water quality sampler 500 is light and convenient to carry and install.
Referring to fig. 9 to 11, in an embodiment, the flow dividing member 522 is provided with a first mounting surface, the transmission passage 5221 includes a first water inlet 5221a and a first water outlet 5221b, and the first water outlet 5221b is provided on the first mounting surface; the flow distribution base 521 is provided with a second mounting surface and a third mounting surface, the plurality of sampling water outlet passages 5211 comprise a plurality of second water inlets 5211a and a plurality of second water outlets 5211b, the plurality of second water inlets 5211a are arranged on the second mounting surface at intervals, and a second water outlet 5211b is communicated with a water storage bottle 530; the plurality of waste water outlet passages 5212 comprise a plurality of third water inlets 5212a, and the plurality of third water inlets 5212a are arranged on the third mounting surface; the flow divider 522 is movable relative to the flow dividing base 521, so that the first mounting surface abuts against the second mounting surface or the third mounting surface, and when the first mounting surface abuts against the second mounting surface, the first water outlet 5221b can be communicated with one of the second water inlets 5211a in a switching manner; when the first mounting surface abuts against the third mounting surface, the first water outlet 5221b is switchably communicated with one of the plurality of third water inlets 5212 a.
Specifically, the shunt member 522 can move relative to the shunt base 521 in a variety of ways, such as, but not limited to: the shunt member 522 may rotate or slide on the shunt base 521 in a motor-driven manner, and the shunt member 522 may also slide on the shunt base 521 in a cylinder-driven manner, which is not limited herein. The sampled water transmitted to the flow dividing mechanism 520 through the water pumping mechanism 510 can be transmitted to the flow dividing member 522 through the flow dividing seat 521, and then transmitted to one of the plurality of sampled water outlet passages 5211 or one of the plurality of waste water outlet passages 5212 through the flow dividing member 522; or may be directly transmitted to one of the plurality of sample water outlet passages 5211 or one of the plurality of waste water outlet passages 5212 through the flow dividing member 522, which is not limited herein.
Further, the plurality of waste water outlet passages 5212 may include a plurality of third water outlets 5212b, and may also include a third water outlet 5212b, when a plurality of third water outlets 5212b are included, a third water inlet 5212a is communicated with a third water outlet 5212b through a waste water outlet passage 5212, and a plurality of third water outlets 5212b are disposed on the outer wall of the flow dividing seat 521; when a third water outlet 5212b is included, a plurality of waste water outlet passages 5212 are gathered together and communicated with a third water outlet 5212b, and a third water outlet 5212b is provided on the outer wall of the flow distribution base 521, so that the sampled water can be discharged to the outside of the flow distribution base 521 along the third water outlet 5212 b.
Further, the second mounting surface and the third mounting surface may be two different surfaces or the same surface, and the first mounting surface selectively abuts against the second mounting surface or the third mounting surface, so that there is no gap between the flow divider 522 and the flow dividing seat 521, and when the first water outlet 5221b communicates with one of the plurality of second water inlets 5211a or one of the plurality of third water inlets 5212a, the sample water discharged through the first water outlet 5221b may be transferred into one of the plurality of second water inlets 5211a or one of the plurality of third water inlets 5212a, thereby achieving a function of selectively transferring the sample water to one of the plurality of sample water outlet passages 5211 or one of the plurality of waste water outlet passages 5212. It is understood that the water quality sampler 500 may further include a transfer pipe connector 540, and the transfer pipe connector 540 is inserted at the second and third water outlets 5211b and 5212b to facilitate installation of the transfer pipe.
Referring to fig. 10 to 13, in an embodiment, the flow dividing base 521 is provided with a receiving groove 5213, the flow dividing member 522 is rotatably installed in the receiving groove 5213 and abuts against the bottom surface of the receiving groove 5213, a surface of the flow dividing member 522 abutting against the bottom surface of the receiving groove 5213 is a first mounting surface, the second mounting surface and the third mounting surface together form the bottom surface of the receiving groove 5213, the plurality of second water inlets 5211a and the plurality of third water inlets 5212a are arranged on the bottom surface of the receiving groove 5213 and circumferentially spaced apart, and the flow dividing member 522 rotates in the receiving groove 5213, so that the first water outlet 5221b is switchably communicated with one of the plurality of second water inlets 5211a or one of the plurality of third water inlets 5212 a.
Specifically, the flow divider 522 is rotatably installed in the receiving groove 5213, the cross section of the receiving groove 5213 along the rotation direction of the flow divider 522 may be circular, elliptical, or irregular, and the flow divider 522 is adapted to the receiving groove 5213. The flow splitter 522 rotates about an axis of rotation, which may be located at the center of the flow splitter 522, between the center of the flow splitter 522 and the sidewall of the flow splitter 522. Specifically, in this embodiment, the cross section of the accommodating groove 5213 along the rotation direction of the flow divider 522 is circular, the flow divider 522 is cylindrical, and the rotation axis is disposed at the center of the flow divider 522, so that the flow divider 522 rotates around the rotation axis at the center.
Further, the first water outlet 5221b is disposed at one side of the flow dividing member 522 close to the bottom surface of the accommodating groove 5213 and between the rotation axis of the flow dividing member 522 and the outer wall of the flow dividing member 522, so that when the flow dividing member 522 rotates around the rotation axis, the first water outlet 5221b can synchronously rotate around the rotation axis. The flow divider 522 is disposed in the receiving groove 5213 of the flow divider base 521 and is abutted against the bottom surface of the receiving groove 5213, the second water inlet 5211a and the third water inlet 5212a correspond to the first water outlet 5221b in position, the plurality of second water inlets 5211a are spaced apart from each other in the circumferential direction of the bottom surface of the receiving groove 5213 and have the same distance from the rotational axis of the flow divider 522, the plurality of third water inlets 5212a are also spaced apart from each other in the circumferential direction of the bottom surface of the receiving groove 5213 and have the same distance from the rotational axis of the flow divider 522, and the second water inlet 5211a and the third water inlet 5212a are not communicated with each other. The arrangement is such that when the flow divider 522 rotates around the rotation axis, the first water outlet 5221b can be switched to communicate with one of the second water inlets 5211a or one of the third water inlets 5212a, thereby realizing the function of selectively delivering the sampled water to one of the sampled water outlet passages 5211 or one of the waste water outlet passages 5212.
Further, the shunt mechanism 520 further includes a driving motor 523, a first mounting groove 5224 is formed in a side of the shunt 522 opposite to the bottom surface of the accommodating groove 5213, a motor shaft of the driving motor 523 is mounted in the first mounting groove 5224, and the driving motor 523 is used for driving the shunt 522 to rotate in the accommodating groove 5213. So configured, the first installation groove 5224 is formed on the rotation axis of the shunt member 522, and the motor shaft of the driving motor 523 is formed in the first installation groove and can drive the shunt member 522 to rotate around the rotation axis. In order to facilitate the rotation of the shunt member 522 driven by the motor shaft of the driving motor 523, optionally, the driving end of the motor shaft of the driving motor 523 may be in a non-cylindrical configuration, such as a semi-cylinder, or a cylindrical lacking part of the mechanism, or a mitsubishi lamp, so as to facilitate the transmission of the acting force to the shunt member 522 by the driving end of the motor shaft, so that the shunt member 522 may rotate synchronously with the motor shaft of the driving motor 523, thereby achieving the function of driving the shunt member 522 to rotate in the accommodating groove 5213 by the driving motor 523.
Further, the water pumping mechanism 510 includes a peristaltic pump 511, the peristaltic pump 511 is communicated with the flow dividing mechanism 520 through a transmission pipe, and the peristaltic pump 511 is used for drawing the sampled water from the outside. The peristaltic pump 511 is provided with a water inlet and a water outlet, the water inlet extracts sampling water from the outside through a transmission pipe, and the sampling water is discharged from the water outlet to the flow dividing mechanism 520 along the transmission pipe after passing through the peristaltic pump 511, so that the function of extracting the sampling water from the outside is realized.
Further, the flow dividing base 521 is further formed with a sampling water inlet passage 5214, the sampling water inlet passage 5214 includes a fourth water inlet 5214a and a fourth water outlet 5214b, the fourth water inlet 5214a is disposed on the outer wall of the flow dividing base 521 and is communicated with the water pumping mechanism 510 through a delivery pipe, the fourth water outlet 5214b is disposed on the side wall of the accommodating groove 5213 and is communicated with the delivery passage 5221, the flow dividing member 522 is formed with a first annular groove 5221c and a conducting passage 5221d, the first annular groove 5221c is disposed on the side wall of the flow dividing member 522, the first annular groove 5221c is communicated with the conducting passage 5221d to form the delivery passage 5221, and the fourth water outlet 5214b is communicated with the first annular groove 5221 c.
It is understood that the water quality sampler 500 may further include a transfer pipe connector 540, the transfer pipe connector 540 is inserted at the fourth water inlet 5214a so that the transfer pipe connects the water outlet of the peristaltic pump 511 with the fourth water inlet 5214a, the sampled water pumped from the peristaltic pump 511 can be transferred to the fourth water inlet 5214a along the transfer pipe and transferred to the first annular groove 5221c along the fourth water outlet 5214b, the first annular groove 5221c is communicated with the communication channel 5221d, the first water outlet 5221b is provided on the first mounting surface so that the sampled water can be discharged to the first water outlet 5221b along the first annular groove 5221c and the communication channel 5221d, and the sampled water discharged from the first water outlet 5221b can be selectively transferred to one of the plurality of second water inlets 5211a or to one of the plurality of third water inlets 5212a, thereby achieving the function of dividing the flow dividing member 522. And, the reposition of redundant personnel piece 522 is rotatable to be installed in the storage tank 5213 of reposition of redundant personnel seat 521, when the reposition of redundant personnel piece 522 rotates, the sampling water of discharging from fourth delivery port 5214b can both be transmitted to in the first annular groove 5221c, first annular groove 5221c is equivalent to first water inlet 5221a, so set up, the structure of water quality sample thief 500 has been simplified, the condition of installing the transmission pipe on reposition of redundant personnel piece 522 along with reposition of redundant personnel piece 522 synchronous rotation has been avoided taking place, make the transmission pipe can fixed mounting on the outer wall of reposition of redundant personnel seat 521, the installation of transmission pipe is stable, reliable, ensured the stable transmission of sampling water.
Further, a second annular groove 5222 and a third annular groove 5223 are further formed in the sidewall of the flow dividing member 522, the first annular groove 5221c is disposed between the second annular groove 5222 and the third annular groove 5223, the flow dividing mechanism 520 further includes a sealing member (not shown), the sealing member is sleeved on the second annular groove 5222 and the third annular groove 5223 and abuts against the sidewall of the accommodating groove 5213, and the sealing member is used for sealing a gap between the flow dividing seat 521 and the flow dividing member 522. So set up, guaranteed that the stable second water inlet 5211a and the transmission of third water inlet 5212a to reposition of redundant personnel seat 521 along first annular groove 5221c of sampling hydroenergy, avoided the condition emergence that the sampling water appears leaking in reposition of redundant personnel seat 521 and reposition of redundant personnel piece 522, improved water quality sampler 500's reliability.
Referring to fig. 10 and 11, in an embodiment, the plurality of waste water outlet passages 5212 are gathered together and communicated with each other, the plurality of waste water outlet passages 5212 include a third water outlet 5212b, the third water outlet 5212b is disposed on the outer wall of the separating seat, the plurality of third water inlets 5212a are communicated with the third water outlet 5212b, and the plurality of third water inlets 5212a and the plurality of second water inlets 5211a are sequentially and alternately arranged at intervals in the circumferential direction of the bottom surface of the accommodating groove 5213; or, the plurality of waste water outlet passages 5212 include a plurality of third water outlets 5212b, the plurality of third water outlets 5212b are arranged on the outer wall of the flow dividing seat 521 at intervals, a third water inlet 5212a is communicated with the third water outlet 5212b, and the plurality of third water inlets 5212a and the plurality of second water inlets 5211a are arranged in the circumferential direction of the bottom surface of the accommodating groove 5213 at intervals in turn.
Specifically, in one embodiment, the plurality of waste water outlet passages 5212 are gathered together and communicated with each other, so that the sampled water flowing through the waste water outlet passages 5212 can be transmitted toward a third water outlet 5212b, the structure of the flow dividing seat 521 is simple, and the flow dividing seat 521 is easy to machine and form.
In another embodiment, the plurality of waste water outlet passages 5212 include a plurality of third water outlets 5212b, so that the sampled water flowing through the waste water outlet passages 5212 can be transmitted towards the plurality of third water outlets 5212b, and the positions of the plurality of third water outlets 5212b can be set as required to meet the requirements of different positions, and the applicability of the water quality sampler 500 is improved through various options.
In the above embodiment, the plurality of third water inlets 5212a and the plurality of second water inlets 5211a are sequentially and alternately arranged at intervals in the circumferential direction of the bottom surface of the accommodating groove 5213, so that the motor shaft of the driving motor 523 can conveniently drive the flow dividing member 522, the flow dividing member 522 rotates to enable the first water outlet 5221b to be communicated with one of the plurality of second water inlets 5211a so as to collect and sample the sampled water at one sampling point, after sampling is completed, the motor shaft of the driving motor 523 drives the flow dividing member 522 to rotate for a certain angle, so that the first water outlet 5221b of the flow dividing member 522 is communicated with the third water inlets 5212a arranged at intervals so as to clean the sampled water remained in the transmission pipe of the pumping mechanism 510 and in the transmission pipe of the flow dividing member 522 at the previous sampling, after cleaning is completed, the motor shaft of the driving motor 523 again drives the flow dividing member 522 to rotate for a certain angle around the same direction, in order to carry out the quality of water sampling next time, so circulate, can accomplish the sampling many times of sampling water, and can all wash the transmission pipe of mechanism 510 that draws water and the transmission pipeline of reposition of redundant personnel piece 522 before sampling at every turn, avoid the sampling to remain. The motor shaft of driving motor 523 can rotate around same direction, for example around clockwise rotation, or around anticlockwise rotation, so as to avoid the motor shaft to make a round trip to rotate and cause the damage to driving motor 523, and simultaneously, the motor shaft of driving motor 523 rotates around same direction and has still avoided sampling water to remain in the bottom surface of storage tank 5213 and remain on first installation face when reposition of redundant personnel piece 522 makes a round trip to rotate, and the sampling water that waits to sample next time causes secondary pollution's the condition to take place, and then has improved water sampler 500's reliability.
Referring to fig. 10 and 11, in an embodiment, when the plurality of waste water outlet passages 5212 are gathered together and communicated with each other, the plurality of waste water outlet passages 5212 are disposed on the bottom surface of the accommodating groove 5213 and are sequentially arranged at intervals and gathered at a communication point, and a second water inlet 5211a is disposed between two adjacent waste water outlet passages 5212, so that the plurality of second water inlets 5211a and the plurality of third water inlets 5212a are sequentially and alternately arranged at intervals around the communication point. So set up for waste water outlet passage 5212's simple structure, reposition of redundant personnel seat 521 easily machine-shaping, and then improved water quality sampler 500's manufacturability.
Referring to fig. 11, in an embodiment, the flow dividing mechanism 520 further includes a position sensor (not shown), a second mounting groove 5225 is further disposed on a side of the flow dividing member 522 opposite to the bottom surface of the accommodating groove 5213, the position sensor is mounted in the second mounting groove 5225, and the position sensor is used for detecting a position of the first water outlet 5221b relative to the bottom surface of the accommodating groove 5213. It can be understood that the position sensor may be composed of a magnet and a hall element assembly, and the second mounting groove 5225 may correspond to the position of the first water outlet 5221b and be disposed on the side of the flow divider 522 facing away from the first water outlet 5221b, so that the position of the first water outlet 5221b can be detected in real time, so as to ensure that the first water outlet 5221b can be accurately aligned and communicated with the second water outlet 5211b or the third water outlet 5212b, thereby improving the reliability of the water sampler 500.
Further, a lightening groove 5226 can be further formed in one side, back to the bottom surface of the accommodating groove 5213, of the flow dividing piece 522, the lightening groove 5226 is used for lightening the weight of the flow dividing piece 522, and then lightening the weight of the water quality sampler 500, so that the water quality sampler 500 is convenient to carry and install, and further the practicability of the water quality sampler 500 is improved.
Referring to fig. 7 and 8, in an embodiment, the water quality sampler 500 further includes a first mounting box 550 and a second mounting box 560, the water storage bottles 530 are mounted in the first mounting box 550, and the size and shape of the first mounting box 550 are adapted to the size and shape of the water storage bottles 530; the second mounting box 560 includes a box body 561 and a box cover 562, the box cover 562 and the box body 561 are fixed by a bolt structure, the peristaltic pump 511 and the driving motor 523 are mounted in the box body 561, and the peristaltic pump 511 and the driving motor 523 are fixed by the box cover 562. Still be equipped with observation window 551 on the first mounting box 550, observation window 551 is used for observing the sample water in the water storage bottle 530, and the person of facilitating the use tentatively observes the sample water of gathering and confirms, avoids taking out the condition emergence that could confirm with water storage bottle 530 from first mounting box 550, and then has improved water sampler 500's convenience.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a pipeline box culvert detection robot which characterized in that includes:
a robot body; and
the width of the spiral roller assembly and/or the four-wheel driving mechanism is adjustable so as to change the width of the pipeline box culvert detection robot;
the spiral roller assembly and/or the four-wheel driving mechanism are used for supporting the robot body and driving the robot body to move.
2. The pipeline culvert detection robot of claim 1, wherein the spiral roller assembly comprises:
the first support frame is used for supporting the robot body;
the two spiral rollers are respectively connected to two ends of the first support frame and used for driving the robot body to move; and
the first driving assembly is connected to the first support frame and used for driving the two spiral rollers to get close to or get away from each other so as to change the width of the pipeline box culvert detection robot.
3. The pipeline culvert detection robot of claim 2, wherein the spiral roller is rotatably connected with the first support frame, and the first drive assembly drives the spiral roller to rotate relative to the first support frame so as to enable the two spiral rollers to approach or move away from each other.
4. The pipeline culvert detecting robot of claim 3, wherein the first support frame comprises at least two support rods arranged at intervals in the length direction of the spiral roller.
5. The pipeline box culvert detection robot of claim 1, wherein the four-wheel drive mechanism comprises:
the second support frame is used for supporting the robot body;
the four idler wheels are connected to the second supporting frame and used for driving the robot body to move; and
and each driving arm is arranged on each roller and respectively drives one roller to move.
6. The pipe box culvert detecting robot of claim 5, wherein each driving arm comprises a longitudinal swinging portion swinging up and down and a transverse swinging portion swinging left and right, the transverse swinging portion is connected with the longitudinal swinging portion, the roller and the second supporting frame are connected through the transverse swinging portion and the longitudinal swinging portion, and the transverse swinging portion swings left and right to change the width of the pipe box culvert detecting robot.
7. The pipeline culvert detecting robot of claim 6, wherein the longitudinal swinging part comprises a second driving component arranged on the second supporting frame and a longitudinal swinging arm connected to a driving end of the second driving component, and the second driving component drives the longitudinal swinging arm to swing longitudinally.
8. The pipeline culvert detecting robot of any one of claims 1 to 7, wherein a buoyancy body is arranged on the robot body, and the buoyancy body is used for increasing buoyancy of the pipeline culvert detecting robot.
9. The pipeline box culvert detecting robot of any one of claims 1-7, wherein a 3D laser radar is arranged on the robot body.
10. The pipeline box culvert detecting robot as claimed in any one of claims 1 to 7, wherein a water quality sampler is arranged on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011535014.5A CN112590960A (en) | 2020-12-22 | 2020-12-22 | Pipeline box culvert detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011535014.5A CN112590960A (en) | 2020-12-22 | 2020-12-22 | Pipeline box culvert detection robot |
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| CN112590960A true CN112590960A (en) | 2021-04-02 |
Family
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| CN202011535014.5A Pending CN112590960A (en) | 2020-12-22 | 2020-12-22 | Pipeline box culvert detection robot |
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| CN (1) | CN112590960A (en) |
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Address after: 350000 Building 21, Fuzhou Software Park B, 89 Software Avenue, Gulou District, Fuzhou City, Fujian Province Applicant after: East China Survey and Design Institute (Fujian) Co.,Ltd. Applicant after: China power construction east China Survey and Design Institute (Shenzhen) Co.,Ltd. Applicant after: Shenzhen bomingwei Technology Co.,Ltd. Address before: 350000 Building 21, Fuzhou Software Park B, 89 Software Avenue, Gulou District, Fuzhou City, Fujian Province Applicant before: East China Survey and Design Institute (Fujian) Co.,Ltd. Applicant before: China power construction east China Survey and Design Institute (Shenzhen) Co.,Ltd. Applicant before: SHENZHEN BOMINWELL ROBOTICS Co.,Ltd. |
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Inventor after: Zeng Xuming Inventor after: Tan Xusheng Inventor after: Zhu Shengyan Inventor after: Yang Hui Inventor after: Wei Debiao Inventor after: Li Liangping Inventor after: Huang Yao Inventor after: Chen Shaobo Inventor after: Dai Yi Inventor after: Du Guangqian Inventor before: Wei Debiao Inventor before: Chen Shaobo Inventor before: Li Liangping Inventor before: Huang Yao Inventor before: Dai Yi Inventor before: Du Guangqian Inventor before: Tan Xusheng |