CN115493025A - Take water pipeling inspection robot - Google Patents

Take water pipeling inspection robot Download PDF

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Publication number
CN115493025A
CN115493025A CN202211255716.7A CN202211255716A CN115493025A CN 115493025 A CN115493025 A CN 115493025A CN 202211255716 A CN202211255716 A CN 202211255716A CN 115493025 A CN115493025 A CN 115493025A
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China
Prior art keywords
water
propeller
rack
frame
submerging
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Pending
Application number
CN202211255716.7A
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Chinese (zh)
Inventor
宋有聚
宋晓辉
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Shenzhen Srod Industrial Group Co Ltd
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Shenzhen Srod Industrial Group Co Ltd
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Priority to CN202211255716.7A priority Critical patent/CN115493025A/en
Publication of CN115493025A publication Critical patent/CN115493025A/en
Pending legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
    • G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/02—Indexing codes associated with the analysed material
    • G01N2291/023—Solids
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N2291/00—Indexing codes associated with group G01N29/00
    • G01N2291/26—Scanned objects
    • G01N2291/263—Surfaces

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Combustion & Propulsion (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)

Abstract

The invention provides a water pipeline detection robot, and relates to the technical field of water pipeline detection robots. The water pipeline detection robot comprises a frame, a submerging and floating mechanism, a propelling mechanism and a detection mechanism. The frame is provided with a down-the-hole penetrating through the upper surface and the lower surface of the frame; the submerging and surfacing mechanism is rotationally arranged in the submerging and surfacing hole; the propelling mechanism comprises a first propeller and a second propeller, the first propeller is rotatably arranged on the side part of the rear end of the rack, and the second propeller is rotatably arranged on the side part of the rack and is used for driving the rack to move forwards or backwards in the sludge; detection mechanism includes camera, first sonar and second sonar, and the camera sets up in the top of the front end of frame, and first sonar sets up in the front end of frame, and the second sonar sets up in the lateral part of the front end of frame. The detection robot for the pipeline with the water, provided by the invention, can submerge, float, advance, retreat or steer in water, can advance or retreat in silt, and has the functions of detection and centering positioning.

Description

Take water pipeling inspection robot
Technical Field
The invention relates to the technical field of water-carrying pipeline detection robots, in particular to a water-carrying pipeline detection robot.
Background
The robot for detecting the water-carrying pipeline is a machine, electricity and instrument integrated system which can automatically walk along the interior of the water-carrying pipeline, carry one or more sensors and an operating machine and carry out a series of water-carrying pipeline operations under the remote control of workers or the automatic control of a computer.
The existing water pipeline detection robot cannot work in a silt or deep water environment due to the structural defects.
Disclosure of Invention
In view of the above, the present invention provides a water pipeline inspection robot to solve the technical problem that the water pipeline inspection robot in the prior art cannot work in a sludge or deep water environment due to a structural defect.
The invention provides the following technical scheme:
a water pipeline detection robot includes:
the device comprises a rack, a first fixing device and a second fixing device, wherein the rack is provided with a submerged hole penetrating through the upper surface and the lower surface of the rack;
the submerging and surfacing mechanism is rotationally arranged in the submerging and surfacing hole and is used for driving the rack to submerge or surfacing in water;
the propelling mechanism comprises a first propeller and a second propeller, the first propeller is rotatably arranged on the side part of the rear end of the rack and is used for driving the rack to move forwards, backwards or turn in the water, and the second propeller is rotatably arranged on the side part of the rack and is used for driving the rack to move forwards or backwards in the sludge;
the detection mechanism comprises a camera, a first sonar and a second sonar, wherein the camera is arranged at the top of the front end of the rack, the first sonar is arranged at the front end of the rack, and the second sonar is arranged at the side part of the front end of the rack.
In some embodiments of the present application, the submerging and surfacing mechanism includes a first propeller and a first driving device, and an output end of the first driving device is connected with the first propeller and used for driving the first propeller to rotate.
In some embodiments of the present application, at least two submerging and surfacing mechanisms are provided, and the two submerging and surfacing mechanisms are respectively and rotatably arranged on two opposite sides of the frame.
In some embodiments of the present application, the first propeller includes a second propeller and a second driving device, and an output end of the second driving device is connected with the second propeller and is used for driving the second propeller to rotate.
In some embodiments of the present application, the first propellers are provided in two, and the two first propellers are respectively rotatably provided at two opposite sides of the rear end of the frame.
In some embodiments of the present application, the angle formed between two of said first propellers is α, satisfying α =30 degrees.
In some embodiments of the present application, the second propeller includes a helical drum and a third driving device, and an output end of the third driving device is connected with the helical drum for driving the helical drum to rotate.
In some embodiments of the present application, the second thrusters are provided in two, and the two second thrusters are respectively rotatably provided on two opposite sides of the frame.
In some embodiments of the present application, the second sonar is provided in two, and the two second sonars are respectively provided on two opposite sides of the front end of the rack.
In some embodiments of the present application, the inspection robot with water pipeline further includes a control device, the control device is disposed in the frame and is electrically connected to the submerging and surfacing mechanism, the propelling mechanism and the inspection mechanism, respectively.
The embodiment of the invention has the following advantages:
the application provides a water pipeline inspection robot, through set up the stealthily hole that floats that runs through its upper surface and lower surface in the frame to stealthily float the mechanism and set up in stealthily floating downtheholely with rotating, with the realization orders about the frame and dives or come-up in aqueous, thereby realizes taking water pipeline inspection robot's dive and showy function. The first propeller is rotatably arranged on the side part of the rear end of the rack, so that the rack is driven to move forwards, backwards or turn in water, and the moving function of the water-carrying pipeline detection robot in water is realized. The second propeller is rotatably arranged at the side part of the frame to drive the frame to move forwards or backwards in the sludge, so that the moving function of the water-carrying pipeline detection robot in the sludge is realized.
Specifically, set up the camera through the top at the front end of frame to set up first sonar at the front end of frame, in order to realize the detection function of water-carrying pipeline inspection robot. When the pipeline with water is the penetration water, the detection robot for the pipeline with water carries out underwater detection through the first sonar. When the pipeline that takes water is half through water, take water pipeline detection robot to float, detect on water through the camera to detect under water through first sonar. Set up the second sonar through the lateral part at the frame front end to measure the second sonar and to the distance between the pipe wall of water-carrying pipeline, thereby reach the effect that water-carrying pipeline inspection robot marchd at the pipeline center, realized water-carrying pipeline inspection robot and relied on the sonar to fix a position the function of motion placed in the middle. The technical problem that the water-carrying pipeline detection robot in the prior art cannot work in a sludge or deep water environment due to the structural defects is solved.
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible and comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 illustrates a perspective view of a water pipeline inspection robot according to some embodiments of the present application;
FIG. 2 illustrates another perspective view of the inspection robot with water pipeline in some embodiments of the present application;
FIG. 3 illustrates a further perspective, schematic view of a water pipeline inspection robot in accordance with certain embodiments of the present application;
FIG. 4 illustrates a schematic top view of a water pipeline inspection robot in some embodiments of the present application.
Description of the main element symbols:
100-a water-carrying pipeline detection robot; 10-a frame; 101-a down-the-hole; 20-a submerging and surfacing mechanism; 201-a first propeller; 202-a first drive; 30-a propulsion mechanism; 301-a first thruster; 3011-a second propeller; 3012-a second drive; 302-a second propeller; 3021-a helical drum; 3022-third drive means; 40-a detection mechanism; 401-a camera; 402-first sonar; 403-second sonar; 50-a control device.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are 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 one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 3, an embodiment of the present application provides a water pipeline inspection robot 100, which is mainly applied to marine/lake exploration, water pipeline inspection, and other occasions. The water pipeline detection robot 100 comprises a frame 10, a submerging and surfacing mechanism, a propelling mechanism 30 and a detection mechanism 40.
Wherein, the frame 10 is provided with a diving and floating hole penetrating through the upper surface and the lower surface thereof. The submerging and surfacing mechanism is rotatably arranged in the submerging and surfacing hole and is used for driving the rack 10 to submerge or levitate in water.
Referring also to fig. 4, the propelling mechanism 30 includes a first propeller 301 and a second propeller 302, the first propeller 301 is rotatably provided at a side portion of the rear end of the frame 10 for propelling the frame 10 to move forward, backward or turn in the water, and the second propeller 302 is rotatably provided at a side portion of the frame 10 for propelling the frame 10 to move forward or backward in the sludge.
The detection mechanism 40 includes a camera 401, a first sonar 402, and a second sonar 403, the camera 401 being provided on the top of the front end of the gantry 10, the first sonar 402 being provided on the front end of the gantry 10, and the second sonar 403 being provided on the side of the front end of the gantry 10.
According to the robot 100 for detecting the pipeline with water provided by the embodiment of the application, the frame 10 is provided with the submerging and surfacing holes 101 penetrating through the upper surface and the lower surface of the frame, the submerging and surfacing mechanism 20 is rotatably arranged in the submerging and surfacing holes 101, the submerging and surfacing mechanism 20 can be a propeller or an impeller, so that the frame 10 is driven to submerge or float in water, and the submerging and surfacing functions of the robot 100 for detecting the pipeline with water are realized. By rotatably disposing the first propeller 301 at the side of the rear end of the frame 10, the first propeller 301 may be a propeller or an impeller to drive the frame 10 to move forward, backward or turn in the water, thereby realizing the moving function of the water-carrying pipeline inspection robot 100 in the water. By rotatably disposing the second propeller 302 at the side of the frame 10, the second propeller 302 may be a spiral buoy to drive the frame 10 to advance or retreat in the sludge, thereby implementing the moving function of the water carrying pipeline inspection robot 100 in the sludge.
Specifically, the detection function of the water carrying pipeline detection robot 100 is realized by arranging a camera 401 at the top of the front end of the rack 10 and arranging a first sonar 402 at the front end of the rack 10. When the pipeline with water is the slalom water, the camera 401 and the first sonar 402 are both located in the water, and the pipeline with water detection robot 100 only carries out underwater detection through the first sonar 402. When the pipeline with water is semi-through water, the submerging and surfacing mechanism 20 drives the pipeline with water detection robot 100 to float upwards, so that the camera 401 is exposed out of the water surface, the first sonar 402 is still located in the water, at the moment, the camera 401 can be used for detecting on the water, and the first sonar 402 can be used for detecting under the water.
Through the lateral part at frame 10 front end sets up second sonar 403, second sonar 403 can set up to two to measure two second sonars 403 and arrive the distance between the pipe wall of water-carrying pipeline respectively, thereby reach the effect that water-carrying pipeline detection robot 100 marchd at the pipeline center, realized water-carrying pipeline detection robot 100 and relied on the sonar to fix a position the function of motion between two parties. By arranging the submerging and surfacing mechanism, the propelling mechanism 30 and the detecting mechanism 40, the technical problem that the water-carrying pipeline detecting robot in the prior art cannot work in a sludge or deep water environment due to structural defects is solved.
For example, the submerging and surfacing mechanism 20 can perform the submerging or surfacing function of the frame 10 in water by using a rotating motor to drive a propeller or an impeller to rotate. The first propeller 301 can realize the function of advancing, retreating or steering the frame 10 in the water by adopting a rotary motor to drive a propeller or an impeller to rotate. The second propeller 302 can realize the function of advancing or retreating the frame 10 in the sludge by adopting a rotary motor to drive the spiral buoy to rotate. When the water carrying pipeline detection robot 100 is in a high water level, the first propeller 301 is mainly used for providing power for advancing, retreating or steering. When the water-carrying pipeline detection robot 100 is low in water level/sludge/water is relatively turbid and the first propeller 301 cannot be adopted, the second propeller 302 provides forward or backward power, so that the floating, submerging and land triphibious functions of the water-carrying pipeline detection robot 100 are realized.
A portion of the frame 10 may be made of a buoyant material or provided with a buoyant block, and the spiral buoy has a sealed accommodating cavity to provide a certain buoyancy, so that the pipeline inspection robot 100 with water floats more easily, and the energy consumption of the submerging and surfacing mechanism 20 is reduced. A counterweight may be further disposed in the frame 10, so that the gravity and the buoyancy tend to be balanced, and the balance and stability of the water pipeline detection robot 100 are improved.
As shown in fig. 2, fig. 3 and fig. 4, in an embodiment of the present application, optionally, the submerging and surfacing mechanism 20 includes a first propeller 201 and a first driving device 202, and an output end of the first driving device 202 is connected to the first propeller 201 for driving the first propeller 201 to rotate.
In this embodiment, the output end of the first driving device 202 is connected to the first propeller 201 to drive the first propeller 201 to rotate, so as to drive the frame 10 to submerge or float up in the water. Illustratively, the first driving device 202 may be a rotary motor.
As shown in fig. 2, 3 and 4, in the above embodiment of the present application, optionally, at least two submerging and surfacing mechanisms 20 are provided, and the two submerging and surfacing mechanisms 20 are respectively and rotatably provided on two opposite sides of the frame 10.
In this embodiment, at least two submerging and surfacing mechanisms 20 are provided, and the two submerging and surfacing mechanisms 20 are respectively rotatably provided on two opposite sides of the frame 10, so that the efficiency and stability of the water pipeline inspection robot 100 for surfacing or submerging are improved. Of course, the number of the submerging and surfacing mechanisms 20 can be three, four or more, which are not necessarily illustrated here.
As shown in fig. 2, 3 and 4, in an embodiment of the present application, optionally, the first propeller 301 includes a second propeller 3011 and a second driving device 3012, and an output end of the second driving device 3012 is connected to the second propeller 3011 for driving the second propeller 3011 to rotate.
In this embodiment, the output end of the second driving device 3012 is connected to the second propeller 3011 to drive the second propeller 3011 to rotate, so as to implement the function of driving the frame 10 to move forward, backward or turn in water. Illustratively, the second driving device 3012 may be a rotary motor.
As shown in fig. 3 and 4, in the above embodiment of the present application, optionally, two first propellers 301 are provided, and the two first propellers 301 are respectively rotatably provided at two opposite sides of the rear end of the rack 10.
In this embodiment, the driving efficiency, the balance and the stability are improved by providing two first propellers 301, and the two first propellers 301 are respectively rotatably disposed on two opposite sides of the rear end of the frame 10, so as to drive the frame 10 to stably advance, retreat or turn in the water.
In the above embodiment of the present application, optionally, the included angle formed between the two first propellers 301 is α, and α =30 degrees is satisfied.
In the present embodiment, the included angle α formed between the two first thrusters 301 is set to be 30 degrees so as to facilitate steering, so that the thrusts generated by the two first thrusters 301 intersect on the extension line of the advancing direction of the rack 10 to provide driving force for advancing, retreating or steering of the rack 10, thereby implementing the function of advancing, retreating or steering the water pipeline detection robot 100 in water.
Specifically, the propulsion force generated by the first propeller 301 on the left side of the rack 10 may drive the rack 10 to rotate, advance or retreat right, and the propulsion force generated by the first propeller 301 on the right side of the rack 10 may drive the rack 10 to rotate, advance or retreat left, so as to implement the functions of steering, advancing or retreating the water pipeline detection robot 100 in water.
As shown in fig. 2, 3 and 4, in an embodiment of the present application, optionally, the second propeller 302 includes a spiral drum 3021 and a third driving device 3022, and an output end of the third driving device 3022 is connected to the spiral drum 3021 for driving the spiral drum 3021 to rotate.
In the embodiment, the output end of the third driving device 3022 is connected with the spiral roller 3021, so that the spiral roller 3021 is driven to rotate. Thus, when the water carrying pipeline detection robot 100 is in a high water level, the first propeller 301 is mainly used for providing power for advancing, retreating or steering. When the water-carrying pipeline detection robot 100 is low in water level/sludge/water is relatively turbid and the first propeller 301 cannot be adopted, the second propeller 302 provides forward or backward power, so that the floating, submerging and land triphibious functions of the water-carrying pipeline detection robot 100 are realized. Illustratively, the third driving device 3022 may be a rotary electric machine.
The spiral cylinder 3021 may have a structure with large ends and small middle portions, so as to prevent the water flow from interfering with the rotation of the first propeller 201 of the submerging and surfacing mechanism 20 at the middle portion of the spiral cylinder 3021, thereby improving the stability of each function.
As shown in fig. 3 and 4, in the above embodiment of the present application, optionally, two second propellers 302 are provided, and the two second propellers 302 are respectively rotatably provided on two opposite sides of the frame 10.
In the present embodiment, by providing two second propellers 302 and rotatably providing the two second propellers 302 on two opposite sides of the frame 10, when the frame 10 is at a low water level/the sludge/water is relatively turbid and the first propeller 301 cannot be used, the frame 10 is driven to stably move forward or backward by the two second propellers 302, thereby improving the driving efficiency, balance and stability.
As shown in fig. 3 and 4, in an embodiment of the present invention, two second sonars 403 may be optionally provided, and the two second sonars 403 are respectively provided on two opposite sides of the front end of the frame 10.
In this embodiment, set up a second sonar 403 respectively through the double-phase offside at the front end of frame 10 to measure two second sonars 403 and respectively reach the distance between the pipe wall of water-carrying pipeline, thereby reach the effect that water-carrying pipeline inspection robot 100 marchd at the pipeline center, realized water-carrying pipeline inspection robot 100 and relied on sonar location motion between two parties's function.
Specifically, when water carrying pipeline inspection robot 100 walks in the water carrying pipeline, one of them second sonar 403 and another second sonar 403 gather the distance that the both sides are apart from the pipe wall of pipeline in real time to feed back data to controlling means 50, controlling means 50 can set up and equal to the distance that another second apart sonar arrived the pipe wall with one of them second sonar 403 to the distance of pipe wall, with the effect that reaches water carrying pipeline inspection robot 100 and go at water carrying pipeline center.
As shown in fig. 2, 3 and 4, in an embodiment of the present application, optionally, the water pipeline inspection robot further includes a control device 50, where the control device 50 is disposed in the rack 10 and is electrically connected to the submerging and surfacing mechanism, the propelling mechanism 30 and the inspecting mechanism 40, respectively.
In this embodiment, by providing the control device 50 in the frame 10, and electrically connecting the control device 50 to the submerging and surfacing mechanism, the propelling mechanism 30 and the detecting mechanism 40 respectively, it is possible to electrically connect through signal transmission cables, so as to realize the functions of automatically controlling the water pipeline detecting robot 100 to submerge, float, advance, retreat or turn in water, advance or retreat in sludge, and detect and center-position.
Specifically, the control device 50 is electrically connected to the first drive device 202, the second drive device 3012, the third drive device 3022, the camera 401, the first sonar 402, and the second sonar 403, respectively. The control device 50 controls the operation state of the first driving device 202 to control the rotation state, forward rotation, reverse rotation or stop, of the first propeller 201, thereby controlling the frame 10 to submerge, float or hover in the water.
The control device 50 controls the operation state of the second driving device 3012 to control the rotation state, forward rotation, reverse rotation, or stop, of the second propeller 3011, thereby controlling the chassis 10 to advance, retreat, turn, or hover in the water.
The control means 50 controls the operation state of the third driving means 3022 to control the rotation state, forward rotation, reverse rotation or stop, of the spiral drum 3021, thereby controlling the housing 10 to advance, retreat or hover when the water level is low/the sludge/water ratio is turbid, which cannot be adopted by the first propeller 301.
When the pipeline with water is full of water, the camera 401 and the first sonar 402 are both located in the water, and the control device 50 controls the first sonar 402 to perform underwater detection. When the pipeline with water is semi-through water, the camera 401 is exposed out of the water surface, the first sonar 402 is still located in the water, and at the moment, the control device 50 controls the camera 401 to perform detection on the water surface and controls the first sonar 402 to perform detection under the water.
The control device 50 can control the water carrying pipeline detection robot 100 to run at the center of the water carrying pipeline according to the distance signals fed back by the two second sonars 403, and the function of centering positioning movement is realized.
In the above embodiment of the present application, optionally, the robot 100 for detecting a water pipeline further includes a power supply device, wherein a mounting groove is formed in the frame 10, and the power supply device is disposed in the mounting groove and electrically connected to the control device 50.
In this embodiment, by forming a mounting groove on the frame 10 and disposing the power supply device in the mounting groove, stable and sealed mounting is achieved, and the power supply device is electrically connected to the control device 50, so as to achieve a power supply function for the water supply pipeline inspection robot 100, thereby improving the cruising ability of the water supply pipeline inspection robot 100. Illustratively, the power supply device may be a secondary battery module (rechargeable battery), such as a lithium ion battery, a sodium ion battery, or the like.
In an embodiment of the present application, optionally, the water pipe inspection robot 100 further includes a handle mechanism, and the handle mechanism is hinged to the frame 10.
In this embodiment, a handle mechanism is hinged to the frame 10, so that the worker can lift and carry the inspection robot 100 with water pipe through the handle mechanism. Specifically, when the robot 100 for inspecting pipes with water needs to be lifted and carried, the handle mechanism is rotated to be vertically connected with the rack 10, so that the worker can lift and carry the robot 100 for inspecting pipes with water through the handle mechanism. When the water pipeline detection robot 100 needs to work, the handle mechanism is enabled to rotate and fit on the rack 10, so that the size of the water pipeline detection robot 100 is reduced, the work of the water pipeline detection robot is prevented from being influenced, and the water pipeline detection robot 100 can work in a water pipeline in a narrow space.
In the above embodiment of the present application, optionally, the water pipeline inspection robot 100 further includes a carrier device, and the carrier device is disposed at the rear end of the rack 10 and electrically connected to the control device 50.
In the embodiment, a carrier device electrically connected to the control device 50 is disposed at the rear end of the rack 10 to implement a signal receiving function, so that a worker can remotely control the water pipeline inspection robot 100.
In the above embodiment of the present application, optionally, the water pipeline inspection robot 100 further includes a depth sensor, which is disposed at the front end of the rack 10 and electrically connected to the control device 50.
In the present embodiment, a depth sensor electrically connected to the control device 50 is provided at the front end of the frame 10, the depth sensor transmits collected data to the control device 50, and the control device 50 transmits an output control signal to the first driving device 202 of the submerging and surfacing mechanism 20 to control the rotation state of the first propeller 201, thereby realizing a function of controlling the water-carrying pipeline to detect the ascent, descent, or hovering of the robot 100.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention.

Claims (10)

1. The utility model provides a take water pipeline inspection robot which characterized in that includes:
the device comprises a rack, a first fixing device and a second fixing device, wherein the rack is provided with a submerged hole penetrating through the upper surface and the lower surface of the rack;
the submerging and surfacing mechanism is rotationally arranged in the submerging and surfacing hole and is used for driving the rack to submerge or levitate in water;
the propelling mechanism comprises a first propeller and a second propeller, the first propeller is rotatably arranged on the side part of the rear end of the rack and is used for driving the rack to move forwards, backwards or turn in the water, and the second propeller is rotatably arranged on the side part of the rack and is used for driving the rack to move forwards or backwards in the sludge;
the detection mechanism comprises a camera, a first sonar and a second sonar, wherein the camera is arranged at the top of the front end of the rack, the first sonar is arranged at the front end of the rack, and the second sonar is arranged at the side part of the front end of the rack.
2. The water pipeline detection robot of claim 1, wherein the submerging and surfacing mechanism comprises a first propeller and a first driving device, and an output end of the first driving device is connected with the first propeller and used for driving the first propeller to rotate.
3. The water pipeline detection robot as claimed in claim 2, wherein there are at least two submerging and surfacing mechanisms, and the two submerging and surfacing mechanisms are respectively and rotatably disposed on two opposite sides of the frame.
4. The water pipeline detection robot of claim 1, wherein the first propeller comprises a second propeller and a second driving device, and an output end of the second driving device is connected with the second propeller and used for driving the second propeller to rotate.
5. The inspection robot for pipelines with water of claim 4, wherein there are two first thrusters, and the two first thrusters are rotatably disposed on two opposite sides of the rear end of the frame, respectively.
6. The water carrying pipeline detecting robot as claimed in claim 5, wherein the included angle formed between the two first thrusters is α, and α =30 degrees is satisfied.
7. The water pipeline detection robot according to claim 1, wherein the second propeller comprises a spiral roller and a third driving device, and an output end of the third driving device is connected with the spiral roller and is used for driving the spiral roller to rotate.
8. The inspection robot for pipes with water of claim 7, wherein there are two second thrusters, and the two second thrusters are rotatably disposed on two opposite sides of the frame, respectively.
9. The inspection robot for the water-carrying pipeline according to claim 1, wherein two of the second sonars are provided, and the two second sonars are provided on two opposite sides of the front end of the frame, respectively.
10. The water pipeline detection robot according to claim 1, further comprising a control device disposed in the frame and electrically connected to the submerging and surfacing mechanism, the propelling mechanism, and the detection mechanism, respectively.
CN202211255716.7A 2022-10-13 2022-10-13 Take water pipeling inspection robot Pending CN115493025A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211255716.7A CN115493025A (en) 2022-10-13 2022-10-13 Take water pipeling inspection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211255716.7A CN115493025A (en) 2022-10-13 2022-10-13 Take water pipeling inspection robot

Publications (1)

Publication Number Publication Date
CN115493025A true CN115493025A (en) 2022-12-20

Family

ID=84475247

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211255716.7A Pending CN115493025A (en) 2022-10-13 2022-10-13 Take water pipeling inspection robot

Country Status (1)

Country Link
CN (1) CN115493025A (en)

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