CN113958798A - Underground pipeline detection robot and detection method thereof - Google Patents

Abstract

The invention discloses an underground pipeline detection robot and a detection method thereof, belonging to the technical field of pipeline detection, the underground pipeline detection robot comprises a shell and a probe, wherein the probe is connected with the front end of the shell, and the underground pipeline detection robot also comprises: the side plates are connected to the front end of the shell and incline towards the two sides of the shell; the two lifting frames are symmetrically designed, the two lifting frames are connected in the shell in a sliding mode, and a connecting plate is fixedly connected between the two lifting frames; the moving wheel drives the shell to move transversely, and the moving wheel is rotatably connected in the lifting frame; when the robot was when lateral shifting, made first spin and underground piping inner wall paste through the second threaded rod, and the second threaded rod has certain angle with the casing, played the supporting role, after bypassing the barrier, can withdraw the second threaded rod automatically again, effectively reduced the risk that the detection robot turned on one's side, improved detection stability.

Description

Underground pipeline detection robot and detection method thereof

Technical Field

The invention relates to the technical field of pipeline detection, in particular to an underground pipeline detection robot and a detection method thereof.

Background

Along with the rapid development of cities, underground pipelines in old urban areas often have the problems of silting up, internal damage and the like caused by long-term overhaul, further cause unsmooth drainage, and easily cause urban waterlogging disasters in rainstorm seasons to cause serious environmental pollution and serious economic loss, so that the internal cleaning of the underground pipelines in the old urban areas is strengthened, and the internal cleaning is not easy to realize.

Before clearing up underground piping inside, need survey the pipeline inside, know the condition, because inside narrow and small space to and there is poisonous gas in the air, so, pipeline robot becomes the first-selected of underground piping detection gradually.

Due to the fact that underground pipelines are overhauled for a long time, obstacles such as silt, rock blocks and branches exist inside the underground pipelines, and in the current market, when a robot for detecting the pipelines walks in the pipelines, the robot cannot automatically bypass the obstacles after encountering the obstacles, and cannot adapt to the complex operation environment inside the pipelines.

Disclosure of Invention

The invention aims to solve the problems that the prior art cannot automatically bypass obstacles and the like, and provides an underground pipeline detection robot and a detection method thereof.

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

an underground pipeline exploring robot, comprising a housing and a probe connected to the front end of the housing, further comprising: the side plates are connected to the front end of the shell and incline towards the two sides of the shell; the two lifting frames are symmetrically designed, the two lifting frames are connected in the shell in a sliding mode, and a connecting plate is fixedly connected between the two lifting frames; the lifting frame is provided with a lifting frame, a moving wheel for driving the shell to move transversely, the moving wheel is rotatably connected in the lifting frame, the side wall of the lifting frame is fixedly connected with a motor, and the output end of the motor is connected with the moving wheel; a driving mechanism for driving the lifting frame to move up and down is arranged in the shell; the side wall of the shell is rotatably connected with a hollow cylinder, and one end of the hollow cylinder, which extends out of the shell, is connected with a first rolling ball which is attached to the inner wall of the underground pipeline when the shell moves transversely; and the bottom of the shell is provided with a driving wheel for driving the shell to walk.

Reciprocate for the drive crane, it is preferred, actuating mechanism includes motor and second pivot, motor fixed connection is in the casing, the second pivot is rotated and is connected in the casing, be connected through the second belt between the output of motor and the second pivot, lifter top fixedly connected with fixed axle, be equipped with first threaded rod on the fixed axle, threaded connection has first thread bush on the first threaded rod, be connected through first belt between first thread bush and the second pivot, the inside fixedly connected with limiting plate of casing, both ends are pasted down on limiting plate and the first thread bush.

In order to drive the hollow cylinder to rotate, preferably, be equipped with the third threaded rod in the second pivot, threaded connection has the second thread bush on the third threaded rod, a side surface that the hollow cylinder extends to in the casing slides and has the sliding sleeve, rotate between second thread bush and the sliding sleeve and be connected, sliding connection has the second threaded rod in the hollow cylinder, the one end fixedly connected with backup pad that the hollow cylinder was extended to the second threaded rod, first spin is connected in the backup pad, the casing lateral wall is equipped with when the one end that the hollow cylinder extends the casing rotates the least significant end, drives the second threaded rod at the gliding control mechanism of hollow cylinder, the second belt is lax state, be equipped with the cylinder in the casing, the output of cylinder is connected with the runner, the runner pastes with the second belt inner wall.

In order to drive the second threaded rod to move, preferably, the control mechanism comprises a third threaded sleeve and a third rotating shaft, the third threaded sleeve is rotatably connected to the hollow cylinder, the second threaded rod is in threaded connection with the third threaded sleeve, the third rotating shaft is rotatably connected with the side wall of the shell, one end of the third rotating shaft extending into the shell is fixedly connected with a second bevel gear, a first helical gear in meshed connection with the second helical gear is fixedly connected to the second rotating shaft, a third helical gear is fixedly connected to one end of the third rotating shaft, which extends out of the outer side of the shell, a fourth helical gear is fixedly connected to the third threaded sleeve, when one end of the hollow cylinder extending out of the shell rotates to the lowest end, the third helical gear is meshed with the fourth helical gear, one end of the second threaded rod extending into the hollow cylinder is fixedly connected with a sliding block capable of preventing the second threaded rod from rotating.

In order to prevent the second belt from falling off, preferably, a support cylinder is fixedly connected in the shell, a limiting sleeve is connected with the output end of the cylinder in the support cylinder, the limiting sleeve is connected with the inner wall of the support cylinder through a second spring, and the limiting sleeve is sleeved on the second belt.

For the drive probe rotates, do the circumference scanning for underground piping, it is preferred, the output of motor is connected with the worm, the casing lateral wall rotates and is connected with first pivot, one side fixedly connected with that first pivot extends to in the casing meshes the worm wheel of being connected with the worm, the one end fixedly connected with slope piece that the casing outside was extended to first pivot, the probe is fixed on the slope piece.

In order to improve lateral shifting's stability, it is preferred, casing bottom sliding connection has the lifter, the lifter bottom is equipped with the second spin, the lifter extends to the one end fixedly connected with regulating plate in the casing, fixedly connected with third spring and guide bar on the regulating plate, the guide bar slides on the crane, the one end and the crane fixed connection of regulating plate are kept away from to the third spring, the lifter is located the one side of being close to first spin.

For the efficient push both sides with the silt of direction of advance, it is preferred, the casing front end rotates and is connected with the push pedal, casing front end fixedly connected with fixed plate, be connected with first spring between fixed plate and the push pedal, curb plate fixed connection is on the push pedal.

Preferably, a storage battery is arranged in the shell and is positioned on one side far away from the first rolling ball.

A method for detecting underground pipelines comprises the following steps:

firstly, a robot is placed in an underground pipeline, is driven by a driving wheel to move forwards, shoots the inner wall of the underground pipeline through a probe, and detects the condition of the inner wall of the underground pipeline; then, in the process of walking forwards, pushing the sludge in the advancing direction of the robot to the two sides of the robot through the side plates; secondly, when a large obstacle is encountered and needs to be bypassed, the moving wheel is contacted with the inner wall of the pipeline through the driving mechanism, the driving wheel is separated from the contact with the inner wall of the pipeline, and the driving wheel is driven to rotate through the motor, so that the robot transversely moves in the underground pipeline and bypasses the obstacle; and finally, when the robot transversely moves in the underground pipeline, the first rolling ball is attached to the inner wall of the underground pipeline through the hollow cylinder, so that the robot is prevented from turning over.

Compared with the prior art, the invention provides an underground pipeline detection robot and a detection method thereof, and the underground pipeline detection robot has the following beneficial effects:

1. according to the underground pipeline detection robot and the detection method thereof, when the robot travels in the underground pipeline and encounters a large obstacle, the robot can transversely move through the movable wheels, and can move forward after returning to the original position after bypassing the obstacle, so that the underground pipeline detection robot can adapt to a complex operation environment in the pipeline.

2. According to the underground pipeline detection robot and the detection method thereof, when the robot moves transversely, the first rolling ball is attached to the inner wall of the underground pipeline through the second threaded rod, the second threaded rod and the shell have a certain angle, a supporting effect is achieved, the second threaded rod can be automatically retracted after the obstacle is bypassed, the rollover risk of the detection robot is effectively reduced, and the detection stability is improved.

Drawings

Fig. 1 is a first schematic structural diagram of an underground pipeline detection robot and a detection method thereof according to the present invention;

FIG. 2 is a schematic structural diagram of a second underground pipeline detection robot and a detection method thereof according to the present invention;

FIG. 3 is a first front view of an underground pipeline exploring robot and an exploring method thereof according to the present invention;

FIG. 4 is an enlarged view of a portion A of FIG. 3 of an underground pipeline inspection robot and an inspection method thereof according to the present invention;

FIG. 5 is a second front view of the underground pipeline inspection robot and the inspection method thereof according to the present invention;

FIG. 6 is a schematic structural diagram of a crane of an underground pipeline detection robot and a detection method thereof according to the present invention;

FIG. 7 is a schematic structural diagram of a second rotating shaft of the underground pipeline detecting robot and the detecting method thereof according to the present invention;

FIG. 8 is a top view of a second belt of the underground pipeline inspection robot and the inspection method thereof according to the present invention;

FIG. 9 is a top view of a sliding sleeve of an underground pipeline inspection robot and an inspection method thereof according to the present invention;

fig. 10 is a side view of a slider of an underground pipeline exploring robot and an exploring method thereof according to the present invention.

In the figure: 1. a housing; 101. a drive wheel; 2. a motor; 201. a worm; 202. a first rotating shaft; 203. a worm gear; 204. an inclined block; 205. a probe; 3. pushing the plate; 301. a fixing plate; 302. a first spring; 303. a side plate; 4. a lifting frame; 401. a moving wheel; 402. a motor; 403. a connecting plate; 5. a fixed shaft; 501. a first threaded rod; 502. a first threaded sleeve; 503. a limiting plate; 6. a second rotating shaft; 601. a first belt; 7. a second belt; 701. a cylinder; 702. a rotating wheel; 703. a support cylinder; 704. a limiting sleeve; 705. a second spring; 8. a hollow cylinder; 801. a second threaded rod; 802. a slider; 9. a third threaded rod; 901. a second threaded sleeve; 902. a sliding sleeve; 10. a third thread bush; 1001. a support plate; 1002. a first ball; 11. a first helical gear; 1101. a third rotating shaft; 1102. a second helical gear; 1103. a third bevel gear; 1104. a fourth helical gear; 12. an adjusting plate; 1201. a third spring; 1202. a guide bar; 1203. a lifting rod; 1204. a second roller ball; 13. a storage battery; 14. a fifth helical gear; 1401. a fourth rotating shaft; 1402. a sixth helical gear; 1403. a seventh helical gear; 15. a fourth spring; 1501. and (5) pressing the plate.

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.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Example 1:

referring to fig. 1 to 10, an underground pipe probing robot includes a housing 1 and a probe 205, the probe 205 is connected to a front end of the housing 1, and further includes: the side plates 303 are connected to the front end of the shell 1, the front end of the side plates 303 is one end in the advancing direction of the robot, the side plates 303 incline towards two sides of the shell 1, the side plates 303 are V-shaped, and two sides of the side plates incline towards two sides of the shell 1; the two lifting frames 4 are symmetrically designed, the two lifting frames 4 are both connected in the shell 1 in a sliding mode, and a connecting plate 403 is fixedly connected between the two lifting frames 4; the device comprises a moving wheel 401 for driving the shell 1 to move transversely, wherein the moving wheel 401 is rotatably connected in a lifting frame 4, the side wall of the lifting frame 4 is fixedly connected with a motor 402, and the output end of the motor 402 is connected with the moving wheel 401; a driving mechanism for driving the lifting frame 4 to move up and down is arranged in the shell 1; the side wall of the shell 1 is rotatably connected with a hollow cylinder 8, the hollow cylinder 8 rotates around a connecting point of the side wall of the shell 1 as a circle center, one end of the hollow cylinder 8, which extends out of the shell 1, is connected with a first rolling ball 1002 which is attached to the inner wall of an underground pipeline when the shell 1 moves transversely, and the hollow cylinder 8 is connected with the side wall of one side in the opposite direction of transverse movement; wherein, the bottom of the shell 1 is provided with a driving wheel 101 for driving the shell 1 to move.

When the robot works, the robot is placed in an underground pipeline, the robot is driven by the driving wheel 101 to move forwards, the inner wall of the underground pipeline is shot by the probe 205 to detect the condition of the inner wall of the underground pipeline, in the process of moving forwards, the side plate 303 is attached to the inner wall of the pipeline, sludge in the advancing direction of the robot is pushed to two sides of the robot through the side walls on two sides of the V-shaped side plate 303, when a large obstacle, such as a tree branch, needs to detour, the moving wheel 401 is contacted with the inner wall of the pipeline through the driving mechanism, the driving wheel 101 is separated from the contact with the inner wall of the pipeline, the driving wheel 101 is driven by the motor 402 to rotate, the robot moves transversely in the underground pipeline to detour the obstacle, the cross section of the underground pipeline is circular, so the robot can incline to the opposite direction during transverse movement, at the moment, the first rolling ball 1002 is attached to the inner wall of the underground pipeline through the hollow cylinder 8, the robot is prevented from side turning.

The probe 205 includes, but is not limited to, a Phantom v1611 high speed camera, using a wide angle lens, while processing the image with specialized analysis software.

A searchlight for illumination is further provided at the front end of the housing 1 to improve the image quality of the picture taken by the probe 205.

Example 2:

referring to fig. 1-10, on the basis of example 1, further,

the embodiment discloses an actuating mechanism, actuating mechanism includes motor 2 and second pivot 6, 2 fixed connection of motor is in casing 1, 6 rotation of second pivot are connected in casing 1, be connected through second belt 7 between 2's of motor output and the second pivot 6, 4 top fixedly connected with fixed axles 5 of crane, be equipped with first threaded rod 501 on the fixed axle 5, threaded connection has first thread bush 502 on the first threaded rod 501, be connected through first belt 601 between first thread bush 502 and the second pivot 6, the inside fixedly connected with limiting plate 503 of casing 1, both ends are pasted about limiting plate 503 and first thread bush 502.

Starting motor 2, motor 2 drives second pivot 6 through second belt 7 and rotates, and second pivot 6 drives first thread bush 502 through first belt 601 and rotates, and first thread bush 502 drives fixed axle 5 through first threaded rod 501 and moves down, drives crane 4 and moves down, makes removal wheel 401 and underground piping inner wall contact, supports drive wheel 101, and when needs made removal wheel 401 upwards, motor 2 opposite direction rotated can.

The diameter of the fixing shaft 5 is smaller than that of the first threaded rod 501, and when the first threaded rod 501 moves downward and the first threaded sleeve 502 contacts the fixing shaft 5, the fixing shaft 5 automatically slips and stops moving downward.

The driving mechanism can also drive the lifting frame 4 through the electric contraction rod.

Example 3:

referring to fig. 1-10, on the basis of example 2, further,

be equipped with third threaded rod 9 on the second pivot 6, threaded connection has second thread bush 901 on the third threaded rod 9, hollow cylinder 8 extends to a side surface in the casing 1 and slides and has sliding sleeve 902, rotate between second thread bush 901 and the sliding sleeve 902 and be connected, sliding connection has second threaded rod 801 in the hollow cylinder 8, second threaded rod 801 extends the one end fixedly connected with backup pad 1001 of hollow cylinder 8, first spin 1002 is connected on backup pad 1001, casing 1 lateral wall is equipped with when hollow cylinder 8 extends the one end of casing 1 and rotates to the least significant end, drive second threaded rod 801 at the gliding control mechanism of hollow cylinder 8, second belt 7 is the lax state, be equipped with cylinder 701 in the casing 1, the output of cylinder 701 is connected with runner 702, runner 702 pastes with second belt 7 inner wall mutually.

The second belt 7 can be changed into a loose state, the first belt 601 always keeps a gazelle state, when the automobile seat is in work, the air cylinder 701 is started, the second belt 7 is pushed through the rotating wheel 702, the second belt 7 is gazelle, and the rotating wheel 702 is connected to the output end of the air cylinder 701 in a rotating mode.

When the second pivot 6 rotates to make the crane 4 move downwards, drive second thread bush 901 rebound through third threaded rod 9, drive hollow section of thick bamboo 8 through sliding sleeve 902 and rotate, make hollow section of thick bamboo 8 extend the one end of casing 1 and rotate downwards, when rotating the lower extreme, make first spin 1002 paste with the underground pipe inner wall through control mechanism, play the supporting role, prevent to turn on one's side, first spin 1002 pastes with the pipeline inner wall in the opposite direction of lateral shifting.

The diameter of the second rotating shaft 6 is smaller than that of the third threaded rod 9, and when the second threaded sleeve 901 moves downwards or downwards and contacts with the second rotating shaft 6, the second threaded sleeve 901 automatically slips and stops moving.

When the second threaded sleeve 901 automatically slips over the third threaded rod 9, and the third threaded rod 9 rotates in the reverse direction, the second threaded sleeve 901 is again threadedly engaged with the third threaded rod 9 by means of the gravity applied by the hollow cylinder 8 and the gravity of the second threaded sleeve 901 itself, and the second threaded sleeve 901 moves downward.

When the first rolling ball 1002 is attached to the inner wall of the underground pipeline, the cylinder 701 is retracted, the second belt 7 becomes a loose state, and the second rotating shaft 6 stops rotating.

Through the arrangement of the third threaded rod 9 and the first threaded rod 501 in thread pitch, the moving wheel 401 contacts the inner wall of the underground pipeline before the first rolling ball 1002 contacts the inner wall of the underground pipeline.

When the obstacle is passed, the cylinder 701 is started again, the motor 2 rotates in the reverse direction, and the moving wheel 401 and the first rolling ball 1002 are retracted.

The first ball 1002 rolls on the bottom of the support plate 1001.

Example 4:

referring to fig. 1-10, on the basis of example 3, further,

the control mechanism comprises a third threaded sleeve 10 and a third rotating shaft 1101, the third threaded sleeve 10 is rotatably connected to the hollow cylinder 8, a second threaded rod 801 is in threaded connection with the third threaded sleeve 10, the third rotating shaft 1101 is rotatably connected to the side wall of the housing 1, one end of the third rotating shaft 1101 extending into the housing 1 is fixedly connected with a second helical gear 1102, a first helical gear 11 in meshed connection with the second helical gear 1102 is fixedly connected to the second rotating shaft 6, one end of the third rotating shaft 1101 extending out of the housing 1 is fixedly connected with a third helical gear 1103, a fourth helical gear 1104 is fixedly connected to the third threaded sleeve 10, when one end of the hollow cylinder 8 extending out of the housing 1 rotates to the lowest end, the third helical gear 1103 is meshed with the fourth helical gear 1104, and one end of the second threaded rod 801 extending into the hollow cylinder 8 is fixedly connected with a slider 802 capable of preventing the second threaded rod 801 from rotating.

When the hollow cylinder 8 extends out of the shell 1, one end rotates downwards, when the hollow cylinder rotates to the lowest end, the third bevel gear 1103 is meshed with the fourth bevel gear 1104, the second rotating shaft 6 drives the third rotating shaft 1101 to rotate through the first bevel gear 11 and the second bevel gear 1102, the third threaded sleeve 10 is driven to rotate through the third bevel gear 1103 and the fourth bevel gear 1104, under the action of the third threaded sleeve 10, the second threaded rod 801 moves towards the outer side of the hollow cylinder 8, and when the first rolling ball 1002 is in contact with the inner wall of an underground pipeline, the air cylinder 701 is retracted.

The inner wall of the hollow cylinder 8 is provided with a groove, the side wall of the sliding block 802 is provided with a convex block, and the convex block slides in the groove to prevent the second threaded rod 801 from rotating.

Example 5:

referring to fig. 1-10, on the basis of example 4, further,

a supporting cylinder 703 is fixedly connected in the housing 1, the supporting cylinder 703 and the output end of the air cylinder 701 are both connected with a limiting sleeve 704, the limiting sleeve 704 is connected with the inner wall of the supporting cylinder 703 through a second spring 705, and the limiting sleeve 704 is sleeved on the second belt 7.

The stop sleeve 704 in the supporting cylinder 703 is slidably connected in the supporting cylinder 703, the stop sleeve 704 at the output end of the air cylinder 701 is fixedly connected at the output end of the air cylinder 701, and the second belt 7 is prevented from falling off in a loose state by the stop sleeve 704.

Example 6:

referring to fig. 1-10, based on example 5, further,

the output end of the motor 2 is connected with a worm 201, the side wall of the housing 1 is rotatably connected with a first rotating shaft 202, one side of the first rotating shaft 202 extending into the housing 1 is fixedly connected with a worm wheel 203 engaged with the worm 201, one end of the first rotating shaft 202 extending out of the housing 1 is fixedly connected with an inclined block 204, and the probe 205 is fixed on the inclined block 204.

The motor 2 drives the first rotating shaft 202 to rotate through the worm 201 and the worm wheel 203, and further drives the probe 205 to rotate, the detection angle of the probe 205 is inclined, and the detection range can be expanded through rotation.

Example 7:

referring to fig. 1-10, on the basis of example 6, further,

the bottom of the shell 1 is slidably connected with a lifting rod 1203, a second rolling ball 1204 is arranged at the bottom of the lifting rod 1203, the lifting rod 1203 extends to an adjusting plate 12 fixedly connected with one end of the shell 1, a third spring 1201 and a guide rod 1202 are fixedly connected to the adjusting plate 12, the guide rod 1202 slides on the lifting frame 4, one end of the adjusting plate 12, far away from the third spring 1201, is fixedly connected with the lifting frame 4, and the lifting rod 1203 is located on one side close to the first rolling ball 1002.

When the lifting frame 4 moves downwards, the lifting rod 1203 is driven to move downwards through the third spring 1201 and the adjusting plate 12, so that the second rolling ball 1204 is attached to the inner wall of the underground pipeline, and the stability of transverse movement is improved.

Through the reaction force of the third spring 1201, the pipe is always kept attached to the inner wall of the underground pipe according to the actual condition of the inner wall of the underground pipe.

Example 8:

referring to fig. 1-10, based on example 7, further,

the front end of the shell 1 is rotatably connected with a push plate 3, the front end of the shell 1 is fixedly connected with a fixing plate 301, a first spring 302 is connected between the fixing plate 301 and the push plate 3, and a side plate 303 is fixedly connected on the push plate 3.

Push pedal 3 is located fixed plate 301 below, through the reaction force of first spring 302, makes push pedal 3 and underground piping inner wall keep the state of pasting mutually constantly, and push pedal 3 front end is the closed angle design, through the closed angle, can shovel out silt fast, then pushes away it to the robot both sides through curb plate 303, prevents that the robot from walking on silt and producing the phenomenon of skidding.

Example 9:

referring to fig. 1-10, on the basis of example 8, further,

a storage battery 13 is arranged in the housing 1, and the storage battery 13 is positioned on the side far away from the first rolling ball 1002.

The battery 13 not only can supply power for whole robot, through setting up in the one side of keeping away from first spin 1002, when the robot lateral shifting, the robot is the tilt state, and battery 13 is located the higher one side of robot, through self dead weight, can further reduce the risk of turning on one's side.

The first rolling ball 1002 is located on the lower side of the robot, and forms a certain angle with the shell 1 through the second threaded rod 801, so that a supporting effect is achieved.

Example 10:

referring to fig. 1-10, based on example 9, further,

a fourth rotating shaft 1401 is rotatably connected to a side wall of the housing 1 near the first rolling ball 1002, a sixth helical gear 1402 is fixedly connected to one end of the fourth rotating shaft 1401 extending into the housing 1, a fifth helical gear 14 engaged with the sixth helical gear 1402 is fixedly connected to the second rotating shaft 6, and a seventh helical gear 1403 is fixedly connected to one end of the fourth rotating shaft 1401 extending out of the housing 1.

After the obstacle is bypassed, the cylinder 701 is started, the motor 2 drives the second rotating shaft 6 to rotate in the opposite direction, one end of the hollow cylinder 8 extending into the housing 1 rotates downwards, so that the hollow cylinder 8 is restored, the fourth helical gear 1104 is meshed with the seventh helical gear 1403, at this time, because the second rotating shaft 6 rotates in the opposite direction, the third threaded sleeve 10 also synchronously rotates in the opposite direction through the seventh helical gear 1403 and the fourth helical gear 1104, so that the second threaded rod 801 slides into the hollow cylinder 8 from the new position, the occupied space is reduced, the stability is improved, and then the second threaded rod retracts into the cylinder 701.

The inner side of the shell 1 is fixedly connected with a stabilizing frame, the stabilizing frame is connected with an extrusion plate 1501 in a sliding mode, a fourth spring 15 is connected between the bottom of the extrusion plate 1501 and the stabilizing frame, and two ends of the fourth spring 15 are fixed on the extrusion plate 1501 and the stabilizing frame respectively.

When the second thread bushing 901 automatically slips below the third thread rod 9, the second thread bushing 901 pushes the pressing plate 1501 to move downward on the stabilizer, pressing the pressing plate 1501.

When the third threaded rod 9 rotates in the reverse direction, the second threaded sleeve 901 generates an initial upward pushing force by the reaction force of the fourth spring 15, so that the second threaded sleeve 901 and the third threaded rod 9 are again threadedly engaged, and the second threaded sleeve 901 moves upward.

When the second bush 901 automatically slips below the third threaded rod 9, the pressing plate 1501 is pressed, the second bush 901 drives the hollow cylinder 8 by the reaction force of the fourth spring 15 to generate an upward thrust, and the seventh helical gear 1403 and the fourth helical gear 1104 are held in an engaged state by the thrust.

Example 11:

referring to fig. 1-10, based on embodiment 10, further,

a method for detecting underground pipelines comprises the following steps:

firstly, a robot is placed in an underground pipeline, is driven by a driving wheel 101 to move forwards, shoots the inner wall of the underground pipeline through a probe 205, and detects the condition of the inner wall of the underground pipeline; then, in the process of walking forwards, silt in the advancing direction of the robot is pushed to the two sides of the robot through the side plates 303; secondly, when a large obstacle is encountered and needs to detour, the moving wheel 401 is in contact with the inner wall of the pipeline through the driving mechanism, the driving wheel 101 is separated from the contact with the inner wall of the pipeline, the driving wheel 101 is driven to rotate through the motor 402, and the robot moves transversely in the underground pipeline to detour the obstacle; finally, when the robot moves transversely in the underground pipeline, the first rolling ball 1002 is attached to the inner wall of the underground pipeline through the hollow cylinder 8, and the robot is prevented from rolling over.

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 person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (10)

1. An underground pipeline exploring robot comprising a casing (1) and a probe (205), the probe (205) being connected to a front end of the casing (1), characterized by further comprising:

the side plates (303) are connected to the front end of the shell (1), and the side plates (303) incline towards two sides of the shell (1);

the two lifting frames (4) are symmetrically designed, the two lifting frames (4) are both connected in the shell (1) in a sliding mode, and a connecting plate (403) is fixedly connected between the two lifting frames (4);

the lifting frame is characterized by comprising a moving wheel (401) for driving the shell (1) to move transversely, wherein the moving wheel (401) is rotatably connected in the lifting frame (4), a motor (402) is fixedly connected to the side wall of the lifting frame (4), and the output end of the motor (402) is connected with the moving wheel (401);

a driving mechanism for driving the lifting frame (4) to move up and down is arranged in the shell (1);

the side wall of the shell (1) is rotatably connected with a hollow cylinder (8), one end of the hollow cylinder (8) extending out of the shell (1) is connected with a first rolling ball (1002) which is attached to the inner wall of the underground pipeline when the shell (1) moves transversely;

wherein the content of the first and second substances,

the bottom of the shell (1) is provided with a driving wheel (101) for driving the shell (1) to walk.

2. Underground pipe probing robot according to claim 1, wherein the driving mechanism comprises a motor (2) and a second shaft (6), the motor (2) is fixedly connected in the shell (1), the second rotating shaft (6) is rotatably connected in the shell (1), the output end of the motor (2) is connected with the second rotating shaft (6) through a second belt (7), the top of the lifting frame (4) is fixedly connected with a fixed shaft (5), the fixed shaft (5) is provided with a first threaded rod (501), a first threaded sleeve (502) is connected to the first threaded rod (501) in a threaded manner, the first thread bush (502) is connected with the second rotating shaft (6) through a first belt (601), the shell (1) is fixedly connected with limiting plates (503) inside, and the limiting plates (503) are attached to the upper end and the lower end of the first threaded sleeve (502).

3. The underground pipeline exploring robot according to claim 2, wherein a third threaded rod (9) is arranged on the second rotating shaft (6), a second threaded sleeve (901) is connected to the third threaded rod (9) in a threaded manner, a sliding sleeve (902) slides on one side surface of the hollow cylinder (8) extending into the casing (1), the second threaded sleeve (901) is rotatably connected with the sliding sleeve (902), a second threaded rod (801) is connected in the hollow cylinder (8) in a sliding manner, a supporting plate (1001) is fixedly connected to one end of the second threaded rod (801) extending out of the hollow cylinder (8), the first rolling ball (1002) is connected to the supporting plate (1001), a control mechanism for driving the second threaded rod (801) to slide in the hollow cylinder (8) when one end of the hollow cylinder (8) extending out of the casing (1) rotates to the lowest end is arranged on the side wall of the casing (1), the second belt (7) is in a loose state, a cylinder (701) is arranged in the shell (1), the output end of the cylinder (701) is connected with a rotating wheel (702), and the rotating wheel (702) is attached to the inner wall of the second belt (7).

4. The underground pipeline detecting robot according to claim 3, wherein the control mechanism comprises a third threaded sleeve (10) and a third rotating shaft (1101), the third threaded sleeve (10) is rotatably connected to the hollow cylinder (8), the second threaded rod (801) is rotatably connected in the third threaded sleeve (10), the third rotating shaft (1101) is rotatably connected to the side wall of the casing (1), one end of the third rotating shaft (1101) extending into the casing (1) is fixedly connected with a second helical gear (1102), the second rotating shaft (6) is fixedly connected with a first helical gear (11) engaged with the second helical gear (1102), one end of the third rotating shaft (1101) extending out of the casing (1) is fixedly connected with a third helical gear (1103), and a fourth helical gear (1104) is fixedly connected to the third threaded sleeve (10), when one end of the hollow cylinder (8) extending out of the shell (1) rotates to the lowest end, the third bevel gear (1103) is meshed with the fourth bevel gear (1104), and one end, extending into the hollow cylinder (8), of the second threaded rod (801) is fixedly connected with a sliding block (802) capable of preventing the second threaded rod (801) from rotating.

5. The underground pipeline detecting robot according to claim 3, characterized in that a supporting cylinder (703) is fixedly connected in the casing (1), a limiting sleeve (704) is connected in the supporting cylinder (703) and at the output end of the air cylinder (701), the limiting sleeve (704) is connected with the inner wall of the supporting cylinder (703) through a second spring (705), and the limiting sleeve (704) is sleeved on the second belt (7).

6. The underground pipeline detecting robot according to claim 2, wherein a worm (201) is connected to an output end of the motor (2), a first rotating shaft (202) is rotatably connected to a side wall of the housing (1), a worm wheel (203) meshed with the worm (201) is fixedly connected to one side of the first rotating shaft (202) extending into the housing (1), an inclined block (204) is fixedly connected to one end of the first rotating shaft (202) extending out of the housing (1), and the probe (205) is fixed on the inclined block (204).

7. The underground pipeline detecting robot according to claim 3, characterized in that a lifting rod (1203) is slidably connected to the bottom of the casing (1), a second rolling ball (1204) is arranged at the bottom of the lifting rod (1203), an adjusting plate (12) is fixedly connected to one end of the lifting rod (1203) extending into the casing (1), a third spring (1201) and a guide rod (1202) are fixedly connected to the adjusting plate (12), the guide rod (1202) slides on the lifting frame (4), one end of the third spring (1201), which is far away from the adjusting plate (12), is fixedly connected with the lifting frame (4), and the lifting rod (1203) is located on one side close to the first rolling ball (1002).

8. The underground pipeline detecting robot according to claim 1, wherein the push plate (3) is rotatably connected to the front end of the casing (1), the fixing plate (301) is fixedly connected to the front end of the casing (1), the first spring (302) is connected between the fixing plate (301) and the push plate (3), and the side plate (303) is fixedly connected to the push plate (3).

9. A robot as claimed in claim 7, characterised in that a battery (13) is provided within the housing (1), the battery (13) being located on a side remote from the first ball (1002).

10. A method of underground pipe probing comprising a robot of any of claims 1-9, characterized by the steps of:

s1, the robot is placed in the underground pipeline, is driven by a driving wheel (101) to move forwards, shoots the inner wall of the underground pipeline through a probe (205), and detects the condition of the inner wall of the underground pipeline;

s2, pushing the sludge in the advancing direction of the robot to the two sides of the robot through the side plates (303) in the process of walking forwards;

s3, when a large obstacle is encountered and the robot needs to detour, the moving wheel (401) is in contact with the inner wall of the pipeline through the driving mechanism, the driving wheel (101) is separated from the contact with the inner wall of the pipeline, and the driving wheel (101) is driven to rotate through the motor (402), so that the robot transversely moves in the underground pipeline to detour the obstacle;

s4, when the robot moves transversely in the underground pipeline, the first rolling ball (1002) is attached to the inner wall of the underground pipeline through the hollow cylinder (8), and the robot is prevented from rolling over.

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