CN117774008A - All-visual-angle pipe gallery inspection robot - Google Patents

Abstract

The invention belongs to the technical field of inspection robots, in particular to an all-visual-angle pipe gallery inspection robot which comprises a cradle head, wherein the inside of the cradle head is of a hollow structure, an inspection unit is arranged in a space on one side of the cradle head, an adjusting unit is arranged on the cradle head, and a maintenance unit is arranged on the adjusting unit; according to the invention, the inner joint rod reciprocates, the inner cabin is synchronously controlled to drive the rubber plate and the spray head to generate relative motion with the lens, meanwhile, the inner cabin synchronously drives the rubber plate and the spray head to move towards the direction of the lens under the interaction of the angle shovel and the inclined plate until the rubber plate contacts with the end face of the lens, and then the synchronous scraping and washing processing of the end face of the lens is completed when the rubber plate and the spray head synchronously move with the inner joint rod, so that the long-term effectiveness of the definition of the end face of the lens is fully ensured, the improvement of the high efficiency and the accuracy of the inspection robot in the internal operation process of the pipe gallery is facilitated, and the timely response and the processing capability of the inspection robot to the emergency in the pipe gallery are improved.

Description

All-visual-angle pipe gallery inspection robot

Technical Field

The invention belongs to the technical field of inspection robots, and particularly relates to an all-visual-angle pipe gallery inspection robot.

Background

At present, the green city construction is developing intelligently and at high speed, and the underground comprehensive pipe rack is used as life line engineering of the infrastructure, so that a new concept of green city development is practiced;

however, with development and expansion, the length of the comprehensive pipe rack is gradually increased, the scale is continuously enlarged, and the problems of operation and management of the traditional comprehensive pipe rack are gradually highlighted, such as poor light, poor air, complex structure and the like, so that the inspection difficulty of related personnel is increased; in order to better complete intelligent inspection optimization management of the pipe rack, the application of intelligent inspection robots is becoming more common;

the conventional pipe gallery inspection robot reciprocates in the underground pipe gallery in a track moving mode and is provided with a high-definition camera and an infrared thermal imager so as to realize real-time monitoring and temperature measurement diagnosis of the tunnel; in addition, sensors such as harmful gas, smoke, illuminance, temperature and humidity and the like, a positioning device and a voice intercom system are integrated, so that environmental information in a tunnel can be controlled in real time, corresponding warning or processing response is made, and the probability of occurrence of management safety accidents is reduced;

however, the problems of topography, geology, abnormal invasion, temperature, humidity, harmful gas, smoke and the like are all important components forming the environment complexity of the underground pipe gallery, and the problems of dust deposition, degradation and adhesion of harmful gas, smoke or particulate matters exist on the end face of a camera lens for capturing and imaging in the long-time working accumulation process of the inspection robot, so that spots appear on the end face of the camera lens, light transmission is blocked, and image acquisition and presentation are affected;

in addition, the inspection robot has the problem that liquid is condensed on the surface of a camera lens in the use process under the influence of relatively high ventilation effect and humidity and temperature difference factors, so that the related image acquisition and environment judgment are influenced, even the problem of electricity safety occurs, and inspection equipment is damaged.

Disclosure of Invention

In order to achieve the above purpose, the invention adopts the following technical scheme that the all-visual-angle pipe gallery inspection robot comprises a cradle head, wherein the inside of the cradle head is of a hollow structure, an inspection unit is arranged in a space on one side of the cradle head, an adjusting unit is arranged on the cradle head, and a maintenance unit is arranged on the adjusting unit;

the maintenance unit includes:

the number of the frames is two, and the frames are symmetrically arranged on the end surfaces of two sides of the cradle head;

the two bottom plates are in a group and are symmetrically and slidably clamped and installed at the middle position of the horizontal section of the port frame;

the return cavity is rotatably arranged at the middle position of the two opposite bottom plates through a rotating shaft;

straight slot, offer in the two side end surfaces of the back-mouth cabin symmetrically;

the inner joint rod is arranged in the straight slot close to one end of the cradle head in a sliding clamping manner;

the inner cabin is arranged in the middle of the outer wall of the inner joint rod in a sliding clamping manner;

the angle shovel is arranged on one side end surface of the built-in cabin close to the middle position of the return cavity in a clamping manner, and one end of the angle shovel, which is far away from the built-in cabin, is subjected to right-angle chamfering;

the rubber plate is clamped and installed on one side end face of the inner cabin, which is far away from the middle position of the return cavity, through the installation plate;

the shower nozzle, joint are installed and are kept away from back oral cavity intermediate position one side terminal surface at built-in cabin, and the cross-sectional shape of shower nozzle is isosceles right trapezoid.

Preferably, the side ear seat is installed at the middle position of the horizontal section of the port frame, which is close to the holder, the micro motor is installed at the middle position of the bottom surface of the bottom plate, which is far away from one side of the inspection unit, the vertical plate is installed at the middle position of the bottom surface of the bottom plate, which is far away from one end of the holder, in the back oral cavity, the inclined plate is installed at the middle position of the back oral cavity, which is close to one end of the holder, and the vertical distance between the inclined plate and the vertical plate is five centimeters.

Preferably, keep away from cloud platform one end outside the pole that closes is installed to inside slip joint of straight mouth groove, outside the pole outer wall intermediate position fixed mounting that closes has external cabin, external cabin lateral wall be the symmetry form be provided with its normal running fit installation turn the roller, two the common joint of outer wall of turning the roller installs the chain belt, and the chain belt material is the metal material, and the even joint of chain belt outer end face distributes has the support, support intermediate position slidable mounting has telescopic part, and telescopic part keeps away from chain belt intermediate position one end joint and installs the plaque.

Preferably, the switching valve that is linked together with the shower nozzle is personally submitted to array distribution to built-in cabin top end, and built-in cabin is close to cloud platform one side terminal surface and is symmetrical form joint and install the plywood, and offset plate and shower nozzle are in two between the plywood, put the board in built-in cabin inside intermediate position joint is installed, and the quantity is two, and the built-in pole outer wall intermediate position is the wearing that runs through and installs with put the board sliding fit and put the pole that closes, wears to close the pole outer wall and is symmetrical form cover and be equipped with reset spring, and reset spring all is in corresponding position department put board outside terminal surface.

Preferably, the panel is installed to the inside face joint of being close to internal cabin one side of external cabin, and the dust collecting plate is installed to the face joint of panel one side of keeping away from internal cabin one side, and the face is kept away from internal cabin one side terminal surface and is provided with the heat seal pipe through the mount pad, and is symmetrical form distribution between heat seal pipe and the dust collecting plate, and external cabin top terminal surface is provided with the dehumidifier through the mount pad, and external cabin top is kept away from back oral cavity intermediate position one end and is the array and distributes by the fan, and the fan is greater than the dehumidifier with back the perpendicular distance between the oral cavity intermediate position, and the bin outlet has been seted up to external bilge wall near dust collecting plate one end.

Preferably, the inspection unit includes:

the telescopic air pressure rod is clamped and installed in the middle of the cradle head;

the central control cabin is arranged at one end of the telescopic air pressure rod, which is far away from the cradle head, in a rotating fit manner through the mounting disc, and the section of the central control cabin is isosceles trapezoid;

the number of the side plates is two, and the side plates are symmetrically distributed on the outer walls of the two ends of the central control cabin and are detachably arranged between the side plates and the central control cabin through bolts;

the warning lamps are arranged on the end surfaces of the two sides of the central control cabin in a clamping manner, and the warning lamps and the same side plywood are distributed in a vertical position;

the infrared sensors are embedded in the middle positions of the end faces of the two sides of the central control cabin and are in one-to-one correspondence with the warning lamps;

the embedded plate is clamped and installed in the middle position of one end, far away from the cradle head, of the central control cabin;

the corner frames are arranged at four corners of the embedded plate in a clamping manner in a rectangular shape, and the cross section of the corner frames is L-shaped;

the two side holding plates are symmetrically arranged at two ends of the embedded plate and are detachably arranged with the pin shaft between the two corner frames;

and the convex joint rail is clamped and installed between the two opposite side holding plates.

Preferably, the angle frame is kept away from embedded plate one end and is rotated through the pivot and install the guide pulley, and embedded plate is kept away from cloud platform one end and is provided with the track with the cooperation of guide pulley slip joint installation, and the track is close to cloud platform one side terminal surface and is the symmetry form and install the opening plate, and protruding the close rail is close to track one side terminal surface and is the symmetry form and distributes and have the slat with the cooperation of opening plate slip joint installation.

Preferably, the adjusting unit includes:

the end plates are symmetrically arranged on the outer walls of the two ends of the cradle head, and the cross section of the end plates is L-shaped;

the center shafts are symmetrically arranged in the middle of the end surfaces of the two sides of the cradle head in a rotating fit manner, and the vertical distance between the two opposite center shafts is five centimeters;

the main bevel gear is fixedly arranged on the outer wall of one end of the middle shaft, which is close to the middle position of the cradle head;

the upright posts are arranged in the middle of the bottom wall of the cradle head in a penetrating type rotating fit manner, and are vertically distributed among the upright posts and the same center shaft;

the auxiliary bevel gear is fixedly arranged on the outer wall of one end of the vertical rod, which is close to the main bevel gear, and is meshed with the main bevel gear;

the camera is fixedly arranged on the outer wall of one end of the middle shaft, which is far away from the middle position of the cradle head, and is fixedly connected with the end plate;

the lens is clamped and mounted at one end of the camera, which is close to the port frame;

the sheet plate is symmetrically clamped and installed on one end face of the camera, which is far away from the cradle head;

one end of the bridge frame is inserted and arranged at the middle position of the sheet plate, and the other end of the bridge frame is inserted and arranged at the middle position of the lug seat.

Preferably, the camera is close to the side face of the tripod head and is symmetrically distributed with side wall plates connected with a port frame, middle ear seats are symmetrically arranged in the middle of the side face of the camera, water pipes are inserted between the two middle ear seats, and pipe joints are installed on the outer wall of the water pipes in a clamping mode.

The utility model provides a cleaning method of robot camera lens is patrolled and examined to piping lane, adopts a full visual angle piping lane to patrol and examine robot and realize self-cleaning, and specific steps are as follows:

s1: firstly, through the mutual matching between the guide wheels and the rails, the angle frame is controlled to drive the embedded plate and the central control cabin to move, and then the central control cabin is realized to drive the adjusting unit and the curing unit to the appointed position;

s2: then the built-in cabin drives the rubber plate and the spray head to move relative to the lens, scraping and washing processing of the end face of the lens are realized, and the direction of the cleaning liquid is guided through the inclined panel, the water plate and the rubber plate, so that the overall cleanliness of the equipment is improved;

s3: finally, the micro motor is used for controlling the return cavity to turn over by one hundred eighty degrees, so that the alternation of the positions of the external cabin and the internal cabin is realized, and after that, the external cabin synchronously drives the ornamental plate and the lens to do relative movement until the end face of the lens is wiped dry by the ornamental plate.

The invention has the following beneficial effects:

1. according to the invention, through the reciprocating motion of the inner joint rod, the inner cabin is synchronously controlled to drive the rubber plate and the spray head to generate relative motion with the lens, meanwhile, the inner cabin synchronously drives the rubber plate and the spray head to move towards the lens under the interaction of the angle shovel and the inclined plate until the rubber plate contacts with the end face of the lens, so that the scraping and washing synchronous processing of the end face of the lens is completed when the rubber plate and the spray head synchronously move with the inner joint rod, the long-term effectiveness of the definition of the end face of the lens is fully ensured, the improvement of the high efficiency and the accuracy of the inspection robot in the internal operation process of the pipe gallery is facilitated, and the timely response and the processing capability of the inspection robot to the emergency inside the pipe gallery are improved.

2. According to the invention, through the relative movement between the external cabin and the vertical plate, the decorative plate is promoted to wipe the end face of the lens, the dryness of the end face of the lens is fully ensured, the definition of the lens is increased, the image acquisition effect is improved, and in the process, the interaction force between the decorative plate and the lens is improved through the retractility of the telescopic part, and the cleaning capability of the decorative plate to the end face of the lens is improved; in addition, the plaque can be under the drive of chain belt, realizes the change nature adjustment of position, promptly the plaque can be through the rotation effect of chain belt after using the regulation time, and new plaque replaces old plaque position to this ensures the plaque and in the long-term operation validity of camera lens, reduces maintenance degree of difficulty and cycle, improves inspection robot's work efficiency indirectly.

3. According to the invention, the telescopic function of the telescopic air pressure rod is utilized to realize the telescopic operation of the lens, and meanwhile, the rotation effect between the camera and the cradle head is utilized to realize the swinging (compared with the telescopic direction of the telescopic air pressure rod) function of the lens in the telescopic process, so that the operation capability of the camera in a complex environment is improved, namely, the image capturing and presenting can be more specifically completed; in addition, the swing angles of the two cameras are oppositely arranged, so that the repetition probability of the image acquisition areas of the cameras at the same end is reduced, namely, the image acquisition efficiency of the cameras is improved, and meanwhile, the practicability of the equipment is improved.

4. According to the invention, through the separated layout between the dehumidifier and the lens, the damage of the lens material caused by the attached type drying is avoided, and meanwhile, through the blowing effect of the fan, the interactivity between the overflow heat of the dehumidifier and the lens is increased, namely, through the mutual matching of the air cooling and the hot drying of the dehumidifier, the rapid drying treatment with relatively low influence on the end face of the lens is realized, and the standby period of the inspection robot is reduced.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a front view of the structure of fig. 1 in accordance with the present invention.

FIG. 3 is a schematic diagram of a part of the inspection unit according to the present invention.

Fig. 4 is a plan view showing the inspection unit and the local adjusting unit of the present invention.

Fig. 5 is a perspective view showing the structure of the adjusting unit and the curing unit of the present invention.

Fig. 6 is a top view of the structure of fig. 5 in accordance with the present invention.

Fig. 7 is a sectional plan view of a part of the internal structure of the regulating unit of the present invention.

Fig. 8 is a partially schematic illustration of the curing unit of the present invention.

Fig. 9 is another view showing the curing unit of the present invention.

Fig. 10 is a cross-sectional plan view of the structure of fig. 9 in accordance with the present invention.

Fig. 11 is a plan view showing the structure of the c-region of fig. 10 according to the present invention.

Fig. 12 is a plan view showing the structure of the b area in fig. 10 according to the present invention.

Fig. 13 is a plan view showing the construction of the fastener tape, the telescopic member and the ornamental plate of the present invention.

Reference numerals in the drawings: 1. a cradle head; 2. a patrol unit; 3. an adjusting unit; 4. a maintenance unit;

21. a telescopic pneumatic rod; 22. a central control cabin; 23. a side plywood; 24. a warning light; 25. an infrared sensor; 26. an embedded plate; 27. a corner bracket; 28. a side holding plate; 29. convex rail combination;

271. a guide wheel; 272. a track; 273. an opening plate; 274. a slat;

31. an end plate; 32. a center shaft; 33. a main bevel gear; 34. a vertical rod; 35. a secondary bevel gear; 36. a camera; 37. a lens; 38. a sheet plate; 39. a bridging frame;

361. a side wall panel; 362. middle ear seat; 363. a water pipe; 364. a pipe joint;

41. mouth frame; 42. a bottom plate; 43. returning to the oral cavity; 44. a straight slot; 45. an inner closing rod; 46. a built-in cabin; 47. an angle shovel; 48. a rubber plate; 49. a spray head;

431. a side ear seat; 432. a micro motor; 433. a vertical plate; 434. an inclined plate;

441. an outer closing rod; 442. an external cabin; 443. a rotating roller; 444. a chain belt; 445. a bracket; 446. a telescopic member; 447. a decorative plate;

451. an adapter valve; 452. a water-laminated plate; 453. a middle plate; 454. a penetrating rod; 455. a return spring;

4421. a panel; 4422. a dust removal plate; 4423. a heat sealing tube; 4424. a dehumidifier; 4425. a fan; 4426. and a discharge port.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

It should be noted that the terms "vertical", "horizontal", "left", "right" and the like are used herein for illustrative purposes only and do not represent the only embodiment.

Specific implementations of the invention are described in detail below in connection with specific embodiments.

Referring to fig. 1 and 2, it can be seen that a full view pipe gallery inspection robot includes a cradle head 1, wherein the cradle head 1 is of a hollow structure, an inspection unit 2 is disposed in a space on one side of the cradle head 1, an adjusting unit 3 is disposed on the cradle head 1, and a maintenance unit 4 is disposed on the adjusting unit 3.

As can be seen with reference to fig. 1, 2 and 3, the inspection unit 2 comprises: the telescopic air pressure rod 21 is clamped and installed in the middle of the cradle head 1; the central control cabin 22 is mounted at one end of the telescopic air pressure rod 21 far away from the cradle head 1 in a rotating fit manner through a mounting disc, and the section of the central control cabin 22 is isosceles trapezoid; the number of the side plates 23 is two, and the side plates are symmetrically distributed on the outer walls of the two ends of the central control cabin 22 and are detachably arranged between the central control cabin 22 through bolts; the warning lamps 24 are arranged on the end surfaces of the two sides of the central control cabin 22 in a clamping manner, and are distributed in a vertical position between the two same side plywood plates 23;

the infrared sensors 25 are embedded in the middle positions of the end surfaces of the two sides of the central control cabin 22 and are in one-to-one correspondence with the warning lamps 24; the embedded plate 26 is arranged in the middle of one end of the central control cabin 22, which is far away from the cradle head 1, in a clamping manner; the corner brackets 27 are arranged at four corners of the embedded plate 26 in a clamping manner in a rectangular shape, and the cross section of the corner brackets is L-shaped; the number of the side holding plates 28 is two, and the side holding plates are symmetrically arranged at two ends of the embedded plate 26 and are detachably arranged with the pin shafts between the corner brackets 27; a convex joint rail 29 which is clamped and installed between the two opposite side holding plates 28;

referring to fig. 2, 3 and 4, a guide wheel 271 is rotatably mounted on one end of the corner bracket 27 away from the embedding plate 26 through a rotating shaft, a track 272 slidably engaged with the guide wheel 271 is disposed on one end of the embedding plate 26 away from the pan-tilt-head 1, an opening plate 273 is symmetrically mounted on one end surface of the track 272 near the pan-tilt-head 1, and strips 274 slidably engaged with the opening plate 273 are symmetrically distributed on one end surface of the protruding rail 29 near the track 272.

The regulating unit 3 and the maintenance unit 4 synchronously follow the inspection unit 2 to move;

the inspection unit 2 relies on the movement process of the track 272 (in the implementation, the position of the track 272 is relatively unchanged):

the guide wheel 271 stably slides in the track 272 (when in implementation, the guide wheel 271 is clamped with the side rail in the track 272) under the dual functions of support and limit of the corner frame 27 (indirectly improving the operation stability of the inspection unit 2, the adjusting unit 3 and the maintenance unit 4, and reducing the influence of external factors such as tremble on image acquisition);

meanwhile, on the premise that the side holding plate 28 and the convex closing rail 29 serve as bridges, the embedded plate 26 synchronously drives the central control cabin 22 to move, and in the concrete implementation, the convex closing rail 29 can be driven by the electric sliding block to move (the convex closing rail 29 provides driving force for the rolling of the guide wheel 271), and then the cradle head 1 synchronously drives the adjusting unit 3 and the maintenance unit 4 to move to a designated position or area along with the whole inspection unit 2 under the control of the telescopic air pressure rod 21;

side plywood 23: providing external protection of the central cabin 22 (attack by foreign matter, air, humidity factors, improving to some extent the service life and safety of use of the central cabin 22);

opening plate 273, slat 274: the slat 274 and the opening and closing plate are in seamless clamping fit, so that the movement stability between the convex closing rail 29 and the rail 272 is improved, meanwhile, the interaction force between a part of guide wheel 271 and the rail 272 is shared, and the service life between the guide wheel 271 and the rail 272 is prolonged;

warning lamp 24, infrared sensor 25: the monitoring capability of the inspection robot in complex operation environments such as smoke is improved through the infrared sensor 25, meanwhile, related personnel are reminded to timely respond and process the found problems through the warning lamp 24, and the effect of the inspection robot is fully exerted.

As can be seen with reference to fig. 1, 7 and 8, the adjustment unit 3 comprises: the number of the end plates 31 is two, the end plates are symmetrically arranged on the outer walls of the two ends of the cradle head 1, and the cross section of the end plates is L-shaped; the center shafts 32 are symmetrically arranged in a rotating fit manner at the middle positions of the end surfaces of the two sides of the cradle head 1, and the vertical distance between the two opposite center shafts 32 is five centimeters; the main bevel gear 33 is fixedly arranged on the outer wall of one end of the middle shaft 32, which is close to the middle position of the cradle head 1; the upright rods 34 are arranged in the middle of the bottom wall of the cradle head 1 in a penetrating type rotating fit manner, and the upright rods 34 are distributed in a vertical position with the middle shaft 32;

the auxiliary bevel gear 35 is fixedly arranged on the outer wall of one end of the upright rod 34, which is close to the main bevel gear 33, and is meshed with the main bevel gear 33; the camera 36 is fixedly arranged on the outer wall of one end of the middle shaft 32, which is far away from the middle position of the cradle head 1, and the camera 36 is fixedly connected with the end plate 31; the lens 37 is clamped and mounted at one end of the camera 36 close to the port frame 41; the plate 38 is symmetrically clamped and installed on the end surface of the camera 36, which is far away from the holder 1; the bridge 39 has one end inserted in the middle of the plate 38 and the other end inserted in the middle of the lug 431.

Referring to fig. 5 and 6, it can be seen that side wall plates 361 connected with the port frame 41 are symmetrically distributed on the end surface of the camera 36 near the pan-tilt 1, middle ear seats 362 are symmetrically arranged on the middle position of the end surface of the camera 36 far away from the pan-tilt 1, water pipes 363 are inserted between the two middle ear seats 362, and pipe joints 364 are installed on the outer walls of the water pipes 363 in a clamping manner.

The specific working procedure of the adjusting unit 3 (for the adjustment of the position and angle of the camera 36):

the auxiliary bevel gears 35 are controlled by the vertical rods 34 to simultaneously generate meshing motion with the two main bevel gears 33, and in specific implementation, the vertical rods 34 can be driven by an external motor to rotate, and simultaneously, the two center shafts 32 are driven by the main bevel gears 33 to synchronously drive the two cameras 36 which are in positive relative distribution to deflect at opposite angles (the specific reference can be made to the position layout between the auxiliary bevel gears 35 and the two main bevel gears 33 in fig. 7) (the swinging angle can be controlled by an external calculation program);

the telescoping process of the camera 36 (which may be performed in synchronization with the rotation of the camera 36, when implemented):

when the camera 36 needs to be moved away from the track 272 (more clearly for image acquisition at a remote location perpendicular to the track 272): in specific implementation, the telescopic function of the telescopic air pressure rod 21 (the telescopic air pressure rod 21 can realize telescopic action through an external air pump driving device) can drive the cradle head 1 to move in a direction far away from or close to the track 272 until the cradle head moves to a designated area;

in addition, the telescopic air pressure rod 21 and the central control cabin 22 are mounted in a rotating fit manner through the mounting disc, so that in actual use, the mounting disc can be driven by the built-in motor to drive the telescopic air pressure rod 21 to rotate, and the pan-tilt 1 can drive the camera 36 to integrally rotate (compared with the circumferential direction of the telescopic air pressure rod 21);

end plate 31: providing a corresponding external protection for the camera 36, improving the service life of the camera 36, and reducing the damage rate thereof;

side wall plate 361: acting as a connecting bridge between the port frame 41 (maintenance unit 4 internal member) and the lens 37 while rationalizing the port frame 41 installation position;

sheet 38, bridge 39: a stable triangular structure is formed between the opening frame 41 and the opening frame 41, so that the connection firmness between the opening frame 41 and the camera 36 is further improved;

water pipe 363, pipe joint 364: the water pipe 363 is used as a medium storage station of cleaning liquid, so that the cleaning period and the cleaning efficiency of the maintenance unit 4 are improved; at the same time, the pipe joint 364 provides a channel for supplying cleaning fluid to the outside, so that the flow direction diversity of the cleaning fluid is improved (when the cleaning fluid is implemented, the pipe joint 364 and the other requirement end can be connected through an external hose).

Referring to fig. 1, 8, 9, 10 and 11, the maintenance unit 4 includes: port frames 41, the number of which is two, are symmetrically arranged on the end surfaces of two sides of the cradle head 1; the two bottom plates 42 are in a group and are symmetrically arranged at the middle position of the horizontal section of the port frame 41 in a sliding and clamping manner; the return cavity 43 is rotatably arranged at the middle position of the two opposite bottom plates 42 through a rotating shaft; straight slot 44 is symmetrically arranged on two side end surfaces of the back-mouth cabin; the inner joint rod 45 is arranged in the straight slot 44 near one end of the cradle head 1 in a sliding clamping manner;

the built-in cabin 46 is installed in the middle of the outer wall of the inner joint rod 45 in a sliding clamping manner; the angle shovel 47 is arranged on one side end surface of the built-in cabin 46 close to the middle position of the return cavity 43 in a clamping manner, and one end of the angle shovel 47 far away from the built-in cabin 46 is subjected to right-angle chamfering; the rubber plate 48 is clamped and installed on one side end surface of the built-in cabin 46, which is far away from the middle position of the return cavity 43, through a mounting plate; the spray head 49 is arranged on one side end surface of the built-in cabin 46 far away from the middle position of the return cavity 43 in a clamping manner, and the cross section of the spray head 49 is isosceles right trapezoid;

referring to fig. 8, 9 and 10, a lug seat 431 is installed at a middle position of a horizontal section of the port frame 41 near the holder 1, a micro motor 432 is installed at a middle position of a bottom surface of the bottom plate 42 far away from the inspection unit 2, a vertical plate 433 is installed in the cavity 43 far away from one end of the holder 1 in a clamping manner, an inclined plate 434 is installed in the cavity 43 near one end of the holder 1 in a clamping manner, and a vertical distance between the inclined plate 434 and the vertical plate 433 is five centimeters;

referring to fig. 10, 12 and 13, an outer engaging rod 441 is slidably engaged with an inner portion of a straight slot 44 at one end far from the pan-tilt 1, an outer cabin 442 is fixedly mounted at a middle position of an outer wall of the outer engaging rod 441, rotating rollers 443 rotatably engaged with the outer wall of the outer cabin 442 are symmetrically arranged on side walls of the outer cabin 442, a chain belt 444 is jointly engaged with outer walls of the two rotating rollers 443, the chain belt 444 is made of metal, a bracket 445 is uniformly engaged with an outer end surface of the chain belt 444, a telescopic part 446 is slidably mounted at a middle position of the bracket 445, and a decorative plate 447 is engaged with one end of the telescopic part 446 at a middle position far from the chain belt 444;

referring to fig. 10 and 11, it can be seen that the top end surface of the inner cabin 46 is provided with switching valves 451 which are communicated with the spray heads 49 in an array manner, the end surface of one side of the inner cabin 46, which is close to the pan-tilt head 1, is symmetrically clamped and provided with a water board 452, the glue board 48 and the spray heads 49 are positioned between the two water boards 452, the middle position inside the inner cabin 46 is clamped and provided with a middle board 453, the number of the middle position inside the inner cabin 46 is two, the middle position of the outer wall of the inner closing rod 45 is provided with penetrating rods 454 which are installed in a sliding fit with the middle board 453, the outer wall of the penetrating rods 454 is symmetrically sleeved with return springs 455, and the return springs 455 are positioned at the outer end surfaces of the middle boards 453 at the corresponding positions;

referring to fig. 10 and 12, it can be seen that a panel 4421 is mounted on a side end surface of the external cabin 442, which is close to the internal cabin 46, a dust removing plate 4422 is mounted on a side end surface of the panel 4421, which is far from the internal cabin 46, a heat sealing pipe 4423 is disposed on a side end surface of the panel 4421, which is far from the internal cabin 46, through a mounting seat, the heat sealing pipe 4423 and the dust removing plate 4422 are symmetrically distributed, a dehumidifier 4424 is disposed on a top end surface of the external cabin 442 through the mounting seat, one end of the top of the external cabin 442, which is far from the middle position of the return cavity 43, is distributed in an array by a fan 4425, and a vertical distance between the fan 4425 and the middle position of the return cavity 43 is greater than a vertical distance between the dehumidifier 4424 and the middle position of the return cavity 43, and a discharge port 4426 is disposed on one end of the bottom wall of the external cabin 442, which is close to the dust removing plate 4422.

This is described in the following: the center position in the middle of the lens 37 is an image acquisition area (refer to fig. 2 specifically), and the inner space of the return cavity 43 can completely cover the center area of the lens 37, so as to ensure the cleaning effectiveness and the integrity of the cleaning end in the return cavity 43;

curing unit 4 curing operation preamble (moving process of curing unit 4):

the initial position (or standby position) of the return cavity 43 is located at one end of the port frame 41 horizontal segment far away from the cradle head 1:

when the first step (scraping and washing of the end face of the lens 37) maintenance processing is required for the lens 37:

firstly, the return cavity 43 moves towards the direction of the holder 1 under the control of the bottom plate 42 until the bottom plate 42 is abutted against the inner wall of the vertical section of the port frame 41 (at the moment, the center of the return cavity 43 just overlaps with the axis of the lens 37), and the bottom plate 42 can be driven to move by an electric slide block during specific implementation;

then, the inner joint rod 45 drives the inner joint rod 45 to reciprocate under the limiting action of the straight slot 44, and in specific work, the inner joint rod 45 can be driven to move through the electric sliding block, meanwhile, the inner joint rod 46 synchronously drives the rubber plate 48 and the spray head 49 to move towards the lens 37 under the interaction of the angle shovel 47 and the inclined plate (refer to the cross-section layout of the inclined plate in the area-c in fig. 10 in particular), until the rubber plate 48 contacts with the end face of the lens 37, and then the scraping and washing of the end face of the lens 37 are finished (in specific implementation, the connecting allowance of the adapter valve 451 and the pipe joint 364 can be increased in the rotating process of the camera 36 through an external hose, so that the cleaning liquid is prevented from leaking, the electric accident is avoided), the adapter valve 451 and the pipe joint 364 are simultaneously connected, and then the cleaning liquid stored in the water pipe 363 is pumped into the spray head 49 in order through the external water pump to ensure the long-term validity of the definition of the end face of the lens 37;

the specific working process of the internal cabin 46 moving towards the lens 37 is as follows:

during the movement process, the angle shovel 47 is gradually extruded with the inclined plate 434, and then the built-in cabin 46 stably drives the rubber plate 48 and the spray head 49 to move towards the lens 37 under the combined action of the mutual matching between the penetrating and closing rod 454 and the middle plate 453 under the guiding of the external closing rod 441 (refer to fig. 11 in detail); and when the inner joint lever 45 is moved again to the initial position, the return spring 455 reversely presses the center plate 453, thereby urging the inner compartment 46 to return to the initial position;

finally, the inclined plate 434 is used for guiding the sewage flowing to the area of the return cavity 43, so that the sputtering range of the sewage is reduced, the neatness of equipment parts is improved, and meanwhile, through reserving enough space between the port frame 41 and the lens 37 and the central control design (particularly referring to the area a in fig. 6 and 9) of the return cavity 43 near the bottom wall of one end of the holder 1, the sewage is prevented from being deposited at the bottom of the return cavity 43, and the probability of cross contamination between the return cavity 43 and the lens 37 is further reduced;

corner spade 47: the self-cleaning type processing can be carried out on the end face of the inclined panel 4421, which is close to the holder 1, so that the neatness of the inclined panel 4421 is fully ensured; right angle chamfering purpose: enhancing the scraping effect of the angle shovel 47 on the inclined panel 4421;

the water board 452: the cross section area of the cleaning liquid flowing to the end face of the lens 37 of the spray nozzle 49 is controlled and pulled through the water spraying plate 452, so that the sewage sputtering range is further reduced;

glue plate 48: on one hand, the problem of direct contact between the rigid material and the end face of the lens 37 is avoided, the service life of the lens 37 is prolonged, meanwhile, the damage rate of the lens 37 is reduced, on the other hand, the cleaning liquid flowing to the area of the lens 37 from the spray head 49 is subjected to barrier treatment, and the friction force between the cleaning liquid and the end face of the lens 37 is increased, so that the cleaning capability of the cleaning liquid is improved;

and (3) performing a second maintenance processing on the lens 37:

the back cavity 43 is driven to move to one end of the port frame 41 far away from the holder 1 through the bottom plate 42, the back cavity 43 is driven to rotate by one hundred eighty degrees through the micro motor, the positions of the external cabin 442 and the internal cabin 46 are alternated, and finally the back cavity 43 is driven to move to one end of the port frame 41 vertical section through the bottom plate 42;

similarly (by referring to the movement process of the inner closing rod 45), the external cabin 442 reciprocates between the hanging plate 433 and the lens 37 under the control of the outer closing rod 441, and particularly, the outer closing rod 441 can be driven to move by the electric sliding block, in the process, the interaction force between the decorative plate 447 and the lens 37 is improved through the self-retractility of the telescopic component 446, so that the cleaning capability of the decorative plate 447 on the end face of the lens 37 is improved;

in addition, the decorative plate 447 can be driven by the chain belt 444 (the chain belt 444 synchronously drives the support 445, the telescopic part 446 and the decorative plate 447 to move under the control of the rotary rod, and in the specific implementation, the rotary roller 443 can be driven by the external micro motor 432 to rotate), so that the position change adjustment is realized, namely, after the decorative plate 447 is used for a set time, the position of the old decorative plate 447 (the clamping attribute between the decorative plate 447 and the telescopic part 446 is convenient for later personnel to replace the decorative plate 447) can be controlled by the rotation of the chain belt 444, so that the long-term operation effectiveness of the decorative plate 447 on the lens 37 is ensured, and the maintenance difficulty and period are reduced;

chain belt 444: the rigid material aims to provide a powerful support for the support 445 and prevent the telescopic component 446 from being folded towards the center position of the chain belt 444, so that the acting force between the telescopic component 446 and the lens 37 is reduced, namely the mutual extrusion effect between the decorative plate 447 and the lens 37 is ensured;

through the separated layout between the dehumidifier 4424 and the lens 37, the damage of the lens 37 caused by the attached type drying is avoided, and meanwhile, through the blowing effect of the fan 4425, the interactivity between the overflow heat of the dehumidifier 4424 and the lens 37 is increased, namely, through the mutual matching of air cooling and the hot drying of the dehumidifier 4424, the rapid drying treatment with low relative influence on the end face of the lens 37 is realized;

meanwhile, the relative scraping of pollutants on the end face of the decorative plate 447 by the dust removing plate 4422 (and discharging to the outside through the discharge port 4426) is realized by the relative movement between the dust removing plate 4422 and the decorative plate 447, so that the service life of the decorative plate 447 is prolonged, and the decorative plate 447 (used decorative plate 447) is dried by the thermal effect of the heat sealing pipe 4423, so that the contact dryness of the decorative plate 447 and the lens 37 is fully ensured;

side ear seat 431: providing a stable installation environment for the bridge frame 39 in the adjusting unit 3, and further consolidating the stability between the port frame 41 and the lens 37;

this is described in the following: after the two maintenance of the lens 37 is completed, the bottom plate 42 drives the cavity 43 to move to the initial position again (i.e. the end of the frame 41 away from the holder 1).

The invention provides a full-view pipe gallery inspection robot, which has the following working principle: the first step: firstly, through the mutual matching between the guide wheels 271 and the tracks 272, the angle bracket 27 is controlled to drive the embedded plate 26 and the central control cabin 22 to move, and then the central control cabin 22 is realized to drive the adjusting unit 3 and the curing unit 4 to the appointed position;

and a second step of: then the built-in cabin 46 drives the rubber plate 48 and the spray nozzle 49 to move relatively with the lens 37, so that scraping and washing processing of the end face of the lens 37 is realized, and the direction of the cleaning liquid is guided through the inclined panel 4421, the hydration plate 452 and the rubber plate 48, so that the overall cleanliness of the equipment is improved;

and a third step of: finally, the micro motor 432 controls the return cavity 43 to turn over by one hundred eighty degrees, so that the positions of the external cabin 442 and the internal cabin 46 are alternated, and after that, the external cabin 442 synchronously drives the decorative plate 447 and the lens 37 to do relative movement until the decorative plate 447 wipes the end face of the lens 37 clean.

The circuits and control involved in the present invention are all of the prior art, and are not described in detail herein.

The foregoing is only illustrative of the present invention and is not to be construed as limiting the scope of the invention, and all equivalent structures or equivalent flow modifications which may be made by the teachings of the present invention and the accompanying drawings or which may be directly or indirectly employed in other related art are within the scope of the invention.

Claims (9)

1. The utility model provides a robot is patrolled and examined to full visual angle piping lane, includes cloud platform (1), and the inside hollow structure that is of cloud platform (1), its characterized in that: a patrol unit (2) is arranged in a space at one side of the cradle head (1), an adjusting unit (3) is arranged on the cradle head (1), and a maintenance unit (4) is arranged on the adjusting unit (3);

the maintenance unit (4) comprises:

port frames (41) which are symmetrically arranged on the end surfaces of two sides of the cradle head (1);

the two bottom plates (42) are in a group and are symmetrically and slidably clamped and installed at the middle position of the horizontal section of the port frame (41);

the return cavity (43) is rotatably arranged at the middle position of the two opposite bottom plates (42) through a rotating shaft;

straight slot (44) symmetrically arranged on two side end surfaces of the back-mouth cabin;

the inner joint rod (45) is slidably clamped and installed in the straight slot (44) near one end of the cradle head (1);

the built-in cabin (46) is installed in the middle of the outer wall of the inner joint rod (45) in a sliding clamping way;

the corner shovel (47) is clamped and installed on one side end face of the built-in cabin (46) close to the middle position of the return cavity (43), and one end of the corner shovel (47) far away from the built-in cabin (46) is subjected to right-angle chamfering;

the rubber plate (48) is clamped and installed on one side end surface of the inner cabin (46) far away from the middle position of the return cavity (43) through the mounting plate;

the spray head (49) is arranged on one side end surface of the built-in cabin (46) far away from the middle position of the return cavity (43) in a clamping way, and the cross section of the spray head (49) is isosceles right trapezoid.

2. The all-visual-angle pipe gallery inspection robot of claim 1, wherein: the utility model discloses a portable electronic device, including base plate (42) and perpendicular distance between perpendicular board (433), mouth frame (41) horizontal segment is close to cloud platform (1) one side intermediate position and installs limit ear seat (431), keeps away from inspection unit (2) one side bottom surface intermediate position of bottom plate (42) installs micro motor (432), returns inside perpendicular board (433) of being away from cloud platform (1) one end joint of oral cavity (43), returns inside perpendicular board (434) of being close to cloud platform (1) one end joint of oral cavity (43) and installs, perpendicular distance between perpendicular board (434) and perpendicular board (433) is five centimetres.

3. The all-visual-angle pipe gallery inspection robot of claim 2, wherein: keep away from outside joint of straight mouth groove (44) inside slip of cloud platform (1) one end is installed and is closed pole (441), and outside joint pole (441) outer wall intermediate position fixed mounting has external cabin (442), and external cabin (442) lateral wall is the symmetry form and is provided with its commentaries on classics roller (443) of normal running fit installation, two the outer wall joint of commentaries on classics roller (443) is installed chain belt (444), and chain belt (444) material is the metal material, and even joint of chain belt (444) outer terminal surface distributes has support (445), and support (445) intermediate position slidable mounting has telescopic part (446), and telescopic part (446) are kept away from chain belt (444) intermediate position one end joint and are installed plaque (447).

4. A full view pipe gallery inspection robot as claimed in claim 3, wherein: the utility model discloses a shower nozzle, including built-in cabin (46), shower nozzle (49) are linked together, and built-in cabin (46) are arranged in array distribution has switching valve (451) that are linked together with shower nozzle (49), and built-in cabin (46) are close to cloud platform (1) one side terminal surface and are symmetrical form joint and install water slab (452), and glue slab (48) and shower nozzle (49) are in two between water slab (452), put board (453) are installed to built-in cabin (46) inside intermediate position joint, and quantity is two, and put pole (45) outer wall intermediate position and be the wearing to close pole (454) that are installed with put board (453) sliding fit installation in the through, wear to close pole (454) outer wall to be symmetrical form cover and be equipped with reset spring (455), and reset spring (455) all are in corresponding position put board (453) outside terminal surface.

5. The full view pipe gallery inspection robot of claim 4, wherein: the utility model discloses a dust collecting device for the dust collecting device, including external cabin (442), built-in cabin (46) one side terminal surface joint is installed to external cabin (442) inside, panel (4421) is kept away from built-in cabin (46) one side terminal surface joint and is installed dust collecting plate (4422), panel (4421) is kept away from built-in cabin (46) one side terminal surface and is provided with heat seal pipe (4423) through the mount pad, and be symmetrical form distribution between heat seal pipe (4423) and dust collecting plate (4422), external cabin (442) top terminal surface is provided with dehumidifier (4424) through the mount pad, external cabin (442) top is kept away from back oral cavity (43) intermediate position one end and is array distribution by fan (4425), and the perpendicular distance between fan (4425) and back oral cavity (43) intermediate position is greater than the perpendicular distance between dehumidifier (4424) and the back oral cavity (43) intermediate position, discharge gate (4426) have been seted up to external cabin (442) diapire near dust collecting plate (4422) one end.

6. The full view pipe gallery inspection robot of claim 5, wherein: the inspection unit (2) comprises:

the telescopic air pressure rod (21) is clamped and installed in the middle of the cradle head (1);

the central control cabin (22) is arranged at one end of the telescopic air pressure rod (21) far away from the cradle head (1) in a rotating fit manner through the mounting disc, and the cross section of the central control cabin (22) is isosceles trapezoid;

the number of the side plates (23) is two, and the side plates are symmetrically distributed on the outer walls of the two ends of the central control cabin (22) and are detachably arranged between the side plates and the central control cabin (22) through bolts;

the warning lamps (24) are arranged on the end surfaces of the two sides of the central control cabin (22) in a clamping manner, and are vertically distributed between the two same side plates (23);

the infrared sensors (25) are embedded in the middle positions of the end surfaces of the two sides of the central control cabin (22) and are in one-to-one correspondence with the warning lamps (24);

the embedded plate (26) is clamped and installed in the middle position of one end of the central control cabin (22) far away from the cradle head (1);

the corner brackets (27) are arranged at four corners of the embedded plate (26) in a clamping manner in a rectangular shape, and the cross section of the corner brackets is L-shaped;

the number of the side holding plates (28) is two, and the side holding plates are symmetrically arranged at two ends of the embedded plate (26) and are detachably arranged with the pin shafts between the corner brackets (27);

and the convex joint rail (29) is clamped and installed between the two opposite side holding plates (28).

7. The full view pipe gallery inspection robot of claim 6, wherein: the angle frame (27) is kept away from embedded plate (26) one end and is rotated through the pivot and install guide pulley (271), and embedded plate (26) is kept away from cloud platform (1) one end and is provided with track (272) with guide pulley (271) slip joint cooperation installation, and track (272) are close to cloud platform (1) one side terminal surface and are the symmetry form and install opening board (273), and protruding close rail (29) are close to track (272) one side terminal surface and are the symmetry form and distribute slat (274) with opening board (273) slip joint cooperation installation.

8. The all-visual-angle pipe gallery inspection robot of claim 2, wherein: the adjusting unit (3) comprises:

the number of the end plates (31) is two, the end plates are symmetrically arranged on the outer walls of the two ends of the cradle head (1), and the cross section of the end plates is L-shaped;

the center shafts (32) are symmetrically arranged at the middle positions of the end surfaces of the two sides of the cradle head (1) in a rotating fit manner, and the vertical distance between the two opposite center shafts (32) is five centimeters;

the main bevel gear (33) is fixedly arranged on the outer wall of one end of the middle shaft (32) close to the middle position of the cradle head (1);

the upright rods (34) are arranged in the middle of the bottom wall of the cradle head (1) in a penetrating type rotating fit manner, and the upright rods (34) are distributed in a vertical position between the same center shafts (32);

the auxiliary bevel gear (35) is fixedly arranged on the outer wall of one end of the vertical rod (34) close to the main bevel gear (33) and meshed with the main bevel gear (33);

the camera (36) is fixedly arranged on the outer wall of one end of the middle shaft (32) far away from the middle position of the cradle head (1), and the camera (36) is fixedly connected with the end plate (31);

the lens (37) is clamped and mounted at one end of the camera (36) close to the port frame (41);

the sheet plate (38) is symmetrically clamped and installed on the end surface of one side of the camera (36) far away from the cradle head (1);

and one end of the bridging frame (39) is inserted and arranged in the middle of the sheet (38), and the other end of the bridging frame is inserted and arranged in the middle of the lug seat (431).

9. The full view pipe gallery inspection robot of claim 8, wherein: the camera (36) is close to a side wall plate (361) which is connected with a opening frame (41) and symmetrically distributed on one side end surface of the holder (1), middle ear seats (362) are symmetrically arranged at the middle position of the side end surface of the camera (36) far away from the holder (1), water pipes (363) are inserted between the two middle ear seats (362), and pipe joints (364) are installed on the outer wall joint of the water pipes (363).