CN118066414B - Pipeline detection robot - Google Patents

Abstract

The invention relates to the technical field of pipelines, in particular to a pipeline detection robot which comprises a scraping mechanism arranged on the front surface of a vehicle body and used for scraping impurities accumulated in a pipeline and a drainage mechanism arranged on the inner side of the scraping mechanism and used for cleaning sewage in a scraping area.

Description

Pipeline detection robot

Technical Field

The invention relates to the technical field of pipelines, in particular to a pipeline detection robot.

Background

With the development of society and the rapid development of economy, the application of pipelines in social production and life is more and more widespread, and the safety and reliability of the pipelines are important for the stable operation of production and life. The pipeline may be affected by various factors such as oxidation corrosion, mechanical damage, corrosion, earthquake, etc. during long-term use, and these factors may cause problems of potential safety hazard or environmental pollution of the pipeline. Thus, for pipelines that are already installed for use, periodic detection and monitoring is required, avoiding potential hazards and risks.

The patent application with publication number CN117072793B discloses a pipeline detection robot, and the problems in the background technology are that; among the prior art, at pipeline robot in-process that detects to pipeline inside, pipeline inside part position can exist certain deposit, the deposit can cover the inner wall downside position of pipeline, the position of pipeline inner wall downside can't be shot and detect this moment, and influence the progress of robot, it drives horizontal migration subassembly and shovel board through control upset subassembly and overturns to the automobile body front side, then horizontal migration subassembly drives shovel board horizontal migration and scoops up the deposit, and drive through the upset subassembly again, drive the shovel board and move to the temporary storage case top, empty the deposit wherein, synthesize prior art, it has following problems:

The method comprises the steps that sundries stacked in a pipeline are shoveled up in a shoveling mode and collected so as to be detected, but because the pipeline is usually round, when the round pipeline is shoveled, the shoveling action cannot be well attached to the inner wall of the pipeline, so that the cleaning effect of the sundries is affected, the anti-corrosion, rust-proof and other coatings on the surface of the pipeline are damaged easily, and the size of a robot entering the pipeline for detection is limited due to the limited size of the pipeline, so that the sundries need to exit the pipeline after being fully collected, the sundries in a temporary storage box are emptied, enter the pipeline again and are detected, and the detection efficiency is affected;

It adsorbs the water that remains in the pipeline through the sponge that absorbs water, makes the pipe wall expose to in-service detection, but because water has mobility, leads to water to flow to the sponge adsorption site that absorbs water, and it is great to absorb water the defect through the sponge, influences actual detection and uses, for solving above-mentioned problem, proposes a pipeline inspection robot.

Disclosure of Invention

In order to overcome the defects in the prior art, the invention provides the pipeline detection robot which can be well attached to the inner wall of a pipeline to clean sundries in the pipeline, and is convenient for evacuating accumulated water at a cleaning position to expose the pipe wall so as to facilitate practical detection.

In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a pipeline detection robot, is used for detecting the camera of pipeline including the automobile body that is used for driving in the pipeline and rotates the setting at the automobile body top, still including setting up and be used for scraping the clear mechanism of scraping and setting up and be used for cleaning the drainage mechanism of scraping regional sewage in clear mechanism inboard of scraping to piling up the impurity in the pipeline openly at the automobile body, clear mechanism of scraping includes:

lifting unit sets up in the front of automobile body, and lifting unit's front is provided with the upset subassembly, and the outside of upset subassembly is provided with auxiliary assembly, and the upset subassembly includes:

The mounting bracket, sliding arrangement is in lifting unit's front, the inboard of mounting bracket is fixed and is equipped with first servo motor, first servo motor's output shaft is fixed through the shaft coupling to be equipped with and extends to the positive first pivot of mounting bracket, first pivot transmission is connected with the connecting plate that is mirror symmetry with the central point of mounting bracket for drive the connecting plate upset through first servo motor, with drive auxiliary assembly laminating pipeline inner wall through the connecting plate and clear scraping impurity, the connecting plate is L shape design, lifting unit is used for adjusting the height of connecting plate, auxiliary assembly includes:

The connecting seat is sleeved on the outer side of the connecting plate, the top of the connecting seat is of an inward concave design, a scraping plate is fixedly arranged at the bottom of the connecting seat, and the bottom of the scraping plate is of an arc-shaped design.

Further, the flipping assembly further comprises:

the second rotating shaft is rotationally arranged on the front surface of the mounting frame, the front surface of the mounting frame is rotationally provided with a third rotating shaft and a fourth rotating shaft, the side walls of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are fixedly sleeved with gears meshed with each other, and the first rotating shaft is rotationally connected with the mounting frame;

The U-shaped fixing piece is fixedly arranged at the upper end of the side wall of the connecting plate, and the inner sides of the U-shaped fixing piece are fixedly sleeved on the side walls of the second rotating shaft and the fourth rotating shaft respectively and are used for enabling the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth gear to drive the connecting plate to reversely rotate through gear engagement.

Further, the flipping assembly further comprises:

the sliding seat is fixedly arranged on the front surface of the mounting frame and is in mirror symmetry with the center point of the mounting frame, an annular sliding groove consistent with the rotation track of the connecting plate is formed in the front surface of the sliding seat, a sliding block is arranged in the annular sliding groove, a connecting shaft is fixedly arranged on the front surface of the sliding block, one end of the connecting shaft, which is far away from the sliding block, is fixedly connected with the back surface of the U-shaped fixing piece, and the connecting shaft and the sliding block are driven to slide along the annular sliding groove when the connecting plate rotates so as to limit the rotation of the connecting plate;

The support plate is fixedly arranged on the inner side of the connecting plate and used for forming a triangular stable structure with the connecting plate, and the top of the support plate is provided with a guide through hole.

Further, the auxiliary assembly further comprises:

The first guide rod is fixedly arranged at the bottom of the inner wall of the connecting seat and horizontally distributed, the top of the first guide rod penetrates through the connecting plate and extends to the top of the connecting plate, a guide block is fixedly arranged at one end of the first guide rod, which is positioned at the top of the connecting plate, and used for limiting the connection between the first guide rod and the connecting plate, a first spring is sleeved on one end side wall of the bottom of the connecting plate, the connecting plate moves in the connecting seat along the first guide rod, the diameter of the side wall of the guide block is smaller than that of the inner wall of the guide through hole, and the guide through hole is positioned at the top of the guide block.

Further, the lifting assembly includes:

The mounting seat is fixedly arranged on the front surface of the vehicle body, a first sliding groove is formed in the front surface of the mounting seat, a first sliding block is arranged in the first sliding groove, and the front surface of the first sliding block is fixedly connected with the back surface of the mounting frame;

The second servo motor is fixedly arranged at the top of the vehicle body, an output shaft of the second servo motor is connected with a threaded rod extending into the first sliding groove in a transmission mode, the threaded rod is connected with the inner wall of the first sliding groove in a rotating mode, and the side wall of the threaded rod is connected with the first sliding block in a threaded mode.

Further, drainage mechanism is including setting up at the inboard both ends of connecting seat be used for carrying out the shutoff subassembly of shutoff to the inboard region of connecting seat, set up at the connecting seat tip be used for carrying out the shutoff to the connecting seat tip with the cooperation of shutoff subassembly the shutoff subassembly, and the shutoff subassembly includes:

The hinge bracket is fixedly arranged at two ends of the inner side of the connecting seat, the inner sides of the hinge brackets are hinged with top plates which are positioned at the same end of the connecting seat, the sides of the top plates, which are far away from the hinge bracket, are hinged with each other, the inner sides of the top plates are fixedly provided with mounting plates, one sides of the mounting plates, which are close to the hinge bracket, are of a bending design, the inner sides of the mounting plates are fixedly provided with main air bags which are attached to the mounting plates, the back surfaces of the connecting seat are provided with inflatable components which are used for inflating the main air bags so as to bulge the main air bags, the areas on the inner sides of the connecting seat are blocked, the back surfaces of the connecting seat are provided with pumping components which are used for absorbing water to the main air bags and the blocking areas of the connecting seat, so that the water in the areas is discharged, the pipe walls are exposed, and one side, which is close to the hinge bracket, of the main air bags outwards extends to form auxiliary air bags which are communicated with the main air bags;

the first air duct is fixedly arranged on one side of the main air bag, which is close to each other, and is positioned on one side of the main air bag, which is far away from the hinge bracket, and is used for communicating the main air bag, and the first air duct adopts a hose design;

The rubber plate is fixedly arranged on one side, close to the mounting plate, of the top plate and is used for extruding the rubber plate in the process that the top plate rotates through the hinge bracket so as to shield a gap of the hinge bracket.

Further, the inflation assembly includes:

The compressor is fixedly arranged on the back of the connecting seat, the exhaust end of the compressor is fixedly provided with a second air guide pipe, the exhaust end of the second air guide pipe is fixedly provided with a third air guide pipe connected with the main air bag through a multi-way pipe, the outer wall of the second air guide pipe is provided with a pressure relief valve, the inner side of the connecting seat is provided with a pipe groove for installing the second air guide pipe, and the third air guide pipe adopts a hose design.

Further, the pumping assembly includes:

The water pump is fixedly arranged on the back of the connecting seat, a first water guide pipe is fixedly arranged at the water inlet end of the water pump, a second water guide pipe is fixedly arranged at the water inlet end of the first water guide pipe, a supporting component for elastically supporting the second water guide pipe is arranged on the outer wall of the second water guide pipe, a hose design is adopted for the first water guide pipe, a water discharge pipe is fixedly arranged at the water discharge end of the water pump, a valve body is arranged on the outer wall of the first water guide pipe, and water guide grooves distributed in an annular array are formed in the side wall of the bottom of the second water guide pipe.

Further, the support assembly includes:

The limiting seat is fixedly arranged on the inner side of the top plate and is perpendicular to the top plate;

the limiting sleeve ring is fixedly sleeved on the outer wall of the second water guide pipe and sleeved in the limiting seat, the limiting sleeve ring is limited by movement of the limiting seat, and a second spring is sleeved on the outer wall of the second water guide pipe and positioned in the limiting seat.

Further, the blocking assembly includes:

The mounting groove is formed in the front face of the end part and the back face of the end part of the connecting seat, the mounting piece is fixedly arranged on the inner wall of the mounting groove, a second sliding groove is formed in one side, far away from the mounting groove, of the mounting piece, a second sliding block is placed in the second sliding groove, a connecting piece is fixedly arranged on one side, far away from the second sliding groove, of the second sliding block, the connecting piece is of a bent design, and a T-shaped sealing plate is fixedly arranged on the inner side of the connecting piece;

The second guide rod is fixedly arranged in the second chute and sleeved in the second sliding block, the second sliding block moves in the second chute along the side wall of the second guide rod, and a third spring is sleeved in the side wall of the second guide rod and positioned in the second chute.

The invention provides a pipeline detection robot. Compared with the prior art, the method has the following beneficial effects:

1. According to the invention, the scraping plate is attached to the inner wall of the pipeline through the scraping mechanism to scrape impurities such as sludge accumulated in the pipeline and push away, compared with a traditional shovel mode, the cleaning effect is better, the coating on the inner wall of the pipeline is not easy to damage, the practical detection and use are facilitated, the sludge is not required to be collected, so that the sludge is not required to be poured into and out of the pipeline repeatedly, the detection efficiency is improved, the scraping area is blocked through the water draining mechanism while the sludge is scraped, the water draining effect is not influenced due to the flowability of water, the pipe wall is exposed, and the residual sewage is prevented from influencing the detection.

2. According to the invention, the heights of the overturning assembly and the auxiliary assembly are adjusted through the lifting assembly of the scraping mechanism, and the auxiliary assembly is matched with the lifting assembly, so that the bottom of the scraping plate is always abutted against the inner wall of the pipeline, the abutted degree is ensured, the effect of scraping impurities such as pushing away sludge is ensured, the coating on the inner wall of the pipeline is not easy to damage, and the use effect is good.

3. According to the invention, impurities such as sludge in the pipeline are pushed away by the cooperation of the overturning assembly and the auxiliary assembly, so that the impurities such as the sludge are separated from the original position, the pipeline is conveniently detected by the camera, the auxiliary assembly is mutually close to or far away from each other in the rotating process of the overturning assembly, the impurities such as the sludge are conveniently and practically scraped and pushed away, the connecting plate is limited by the sliding seat and the like, the rotating stability of the connecting plate is ensured, and the scraping stability is ensured.

4. According to the invention, the plugging component is arranged on the inner side of the connecting seat, so that the plugging component is driven to be unfolded in the unfolding process of the connecting seat, and the plugging component is matched with the blocking component, so that water seepage to the cleaning and scraping area at the end corners of the connecting seat and the scraping plate is avoided, the main air bag and the auxiliary air bag plug the cleaning and scraping area after being inflated, and water in the area is discharged through the water pumping component, so that the pipe wall is exposed, the situation that water is difficult or impossible to drain due to the flowability of the water is avoided, and the practical detection and use are facilitated.

5. The invention seals the scraped area in a manner of inflating the air bag, can better fit the inner wall of the pipeline, ensures the sealing effect, has stronger applicability, ensures that the bottom of the second water guide pipe is contacted with the pipe wall in the process of expanding the top plate through the supporting component, ensures that the second water guide pipe stretches into water, and is convenient for pumping water.

Drawings

FIG. 1 is a schematic view of an overall structure of a pipeline inspection robot according to the present invention;

FIG. 2 is a schematic cross-sectional view of the vehicle body of the present invention;

FIG. 3 is a schematic view of the structure of the lifting assembly, the tilting assembly and the auxiliary assembly of the present invention;

FIG. 4 is a schematic view of an explosive structure of a lifting assembly according to the present invention;

FIG. 5 is a schematic diagram of a flip assembly according to the present invention;

FIG. 6 is a schematic view of the structure of the connecting shaft, the sliding seat and the U-shaped fixing member of the present invention;

FIG. 7 is a schematic cross-sectional view of the connecting base and scraper of the present invention;

FIG. 8 is a schematic view of the auxiliary assembly structure of the present invention;

FIG. 9 is a schematic view of a barrier assembly according to the present invention;

FIG. 10 is an enlarged schematic view of the structure of FIG. 9A according to the present invention;

FIG. 11 is a schematic illustration of the structure of the plugging, pumping and inflation assemblies of the present invention;

FIG. 12 is a schematic view of the pump assembly, support assembly and inflatable assembly of the present invention;

FIG. 13 is a schematic view of the pump assembly and inflation assembly of the present invention;

FIG. 14 is a schematic view of the structure of the support assembly, the second conduit and the water guiding trough of the present invention;

FIG. 15 is a schematic view of a closure assembly according to the present invention;

FIG. 16 is a schematic view of the construction of a portion of the rubber sheet, main bladder, mounting plate and top plate of the present invention;

fig. 17 is a schematic view of the first airway tube, primary airbag, secondary airbag, top plate and mounting plate of the present invention.

Reference numerals referred to in the above figures: 1. a vehicle body; 2. a camera; 3. a scraping mechanism; 4. a drainage mechanism;

31. a lifting assembly; 32. a flip assembly; 33. an auxiliary component;

311. a second servo motor; 312. a threaded rod; 313. a mounting base;

321. a mounting frame; 322. a first servo motor; 323. a U-shaped fixing member; 324. a connecting plate; 325. a support plate; 326. a second rotating shaft; 327. a first rotating shaft; 328. a third rotating shaft; 329. a fourth rotating shaft; 3291. a sliding seat; 3292. a connecting shaft;

331. a connecting seat; 332. a scraper; 333. a guide block; 334. a first guide bar;

41. A plugging assembly; 42. a blocking assembly; 43. an inflation assembly; 44. a water pumping assembly;

411. a hinge bracket; 412. a mounting plate; 413. a top plate; 414. a first air duct; 415. a main air bag; 416. a rubber plate; 417. an auxiliary air bag;

421. A mounting groove; 422. a second guide bar; 423. t-shaped sealing plates; 424. a connecting piece; 425. a mounting member;

431. a compressor; 432. a second air duct; 433. a third air duct;

441. A support assembly; 4411. a limit seat; 4412. a limit collar;

442. a water pump; 443. a first water conduit; 444. a second water conduit; 445. a water guiding groove.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Embodiment one: referring to fig. 1 and 2, a pipeline inspection robot includes a vehicle body 1 for traveling in a pipeline, and a camera 2 rotatably disposed at the top of the vehicle body 1 for inspecting the pipeline, and is characterized by further including a scraping mechanism 3 disposed on the front surface of the vehicle body 1 for scraping impurities accumulated in the pipeline, and a drainage mechanism 4 disposed inside the scraping mechanism 3 for cleaning sewage in a scraping area.

Referring to fig. 3 and 4, the scraping mechanism 3 includes:

Lifting assembly 31 sets up in the front of automobile body 1, and lifting assembly 31's front is provided with upset subassembly 32, and upset subassembly 32's outside is provided with auxiliary assembly 33, and lifting assembly 31 includes:

The mounting seat 313 is fixedly arranged on the front surface of the vehicle body 1, a first sliding groove is formed in the front surface of the mounting seat 313, a first sliding block is arranged in the first sliding groove, and the front surface of the first sliding block is fixedly connected with the back surface of the mounting frame 321;

the second servo motor 311 is fixedly arranged at the top of the vehicle body 1, the output shaft of the second servo motor 311 is connected with a threaded rod 312 extending into the first sliding groove in a transmission manner, the threaded rod 312 is rotationally connected with the inner wall of the first sliding groove, and the side wall of the threaded rod 312 is in threaded connection with the first sliding block.

The top of threaded rod 312 is fixed and is equipped with first drive gear, and the output shaft of second servo motor 311 is equipped with the second drive gear with first drive gear engagement through the shaft coupling is fixed, the second drive gear rotates with the top of mount pad 313 and is connected, make second servo motor 311 be located the top of automobile body 1, avoid when lifting assembly 31 drives mounting bracket 321 and goes up and down, the motion trail with mounting bracket 321 takes place to hinder, the in-service use of being convenient for, and can adopt transmission modes such as gear and chain to carry out the transmission to second servo motor 311 and threaded rod 312, it can to satisfy the transmission demand, do not limit here.

During implementation, the second servo motor 311 is started, the output shaft of the second servo motor 311 drives the threaded rod 312 to rotate through the coupler, the first transmission gear and the second transmission gear, the threaded rod 312 drives the first sliding block to move along the first sliding groove in the rotating process, so as to drive the mounting frame 321 to lift, drive the turnover assembly 32 to lift, be convenient for adjust the heights of the connecting seat 331 and the scraping plate 332, and cooperate with the auxiliary assembly 33, ensure that the bottom of the scraping plate 332 is attached to the inner wall of the pipeline, and be convenient for actually pushing impurities such as silt to use

Referring to fig. 5, 6 and 7, the flipping assembly 32 comprises:

The mounting bracket 321, slide and set up in the front of lifting unit 31, the inboard of mounting bracket 321 is fixed and is equipped with first servo motor 322, the output shaft of first servo motor 322 is fixed through the shaft coupling to be equipped with and extends to the positive first pivot 327 of mounting bracket 321, first pivot 327 transmission is connected with the connecting plate 324 that is mirror symmetry with the central point of mounting bracket 321, be used for driving the connecting plate 324 upset through first servo motor 322, with drive auxiliary assembly 33 laminating pipeline inner wall through connecting plate 324 and clear the scraping impurity, connecting plate 324 is L shape design, lifting unit 31 is used for adjusting the height of connecting plate 324, auxiliary assembly 33 includes:

The connecting seat 331 is sleeved on the outer side of the connecting plate 324, the top is of an inward concave design, the bottom of the connecting seat 331 is fixedly provided with a scraping plate 332, and the bottom of the scraping plate 332 is of an arc-shaped design.

The flipping assembly 32 further comprises:

The second rotating shaft 326 is rotatably arranged on the front surface of the mounting frame 321, the front surface of the mounting frame 321 is rotatably provided with a third rotating shaft 328 and a fourth rotating shaft 329, the side walls of the first rotating shaft 327, the second rotating shaft 326, the third rotating shaft 328 and the fourth rotating shaft 329 are fixedly sleeved with gears meshed with each other, and the first rotating shaft 327 is rotatably connected with the mounting frame 321;

the U-shaped fixing piece 323 is fixedly arranged at the upper end of the side wall of the connecting plate 324, and the inner sides of the U-shaped fixing piece 323 are fixedly sleeved on the side walls of the second rotating shaft 326 and the fourth rotating shaft 329 respectively and are used for enabling the first rotating shaft 327, the second rotating shaft 326, the third rotating shaft 328 and the fourth gear to drive the connecting plate 324 to reversely rotate through gear engagement.

The flipping assembly 32 further comprises:

The sliding seat 3291 is fixedly arranged on the front surface of the mounting frame 321, the center point of the mounting frame 321 is in mirror symmetry, an annular sliding groove consistent with the rotation track of the connecting plate 324 is formed in the front surface of the sliding seat 3291, a sliding block is arranged in the annular sliding groove, a connecting shaft 3292 is fixedly arranged on the front surface of the sliding block, one end of the connecting shaft 3292, which is far away from the sliding block, is fixedly connected with the back surface of the U-shaped fixing piece 323, and when the connecting plate 324 rotates, the connecting shaft 3292 and the sliding block are driven to slide along the annular sliding groove so as to limit the rotation of the connecting plate 324;

the support plate 325 is fixedly arranged on the inner side of the connecting plate 324 and is used for forming a triangle stable structure with the connecting plate 324, and a guide through hole is formed in the top of the support plate 325.

Referring to fig. 7 and 8, the auxiliary assembly 33 further includes:

The first guide rod 334 is fixedly arranged at the bottom of the inner wall of the connecting seat 331 and horizontally distributed, the top of the first guide rod 334 penetrates through the connecting plate 324 and extends to the top of the connecting plate, one end of the first guide rod 334, which is positioned at the top of the connecting plate 324, is fixedly provided with a guide block 333 for limiting the connection between the first guide rod 334 and the connecting plate 324, one end side wall of the first guide rod 334, which is positioned at the bottom of the connecting plate 324, is sleeved with a first spring, the connecting plate 324 moves in the connecting seat 331 along the first guide rod 334, the diameter of the side wall of the guide block 333 is smaller than the diameter of the inner wall of the guide through hole, and the guide through hole is positioned at the top of the guide block 333.

In a specific implementation, the second servo motor 311 is started, the output shaft of the second servo motor 311 drives the first rotating shaft 327 to rotate through the coupler, the first rotating shaft 327 drives the second rotating shaft 326, the third rotating shaft 328 and the fourth rotating shaft 329 to rotate through gears, and the first rotating shaft 327 is used for driving and transmitting, so that the second rotating shaft 326 and the fourth rotating shaft 329 reversely rotate, the connecting plates 324 are mutually close to or mutually far away in the rotating process of the connecting plates 324, the second rotating shaft 326 and the fourth rotating shaft 329 drive the symmetrically designed connecting plates 324 to rotate through the U-shaped fixing piece 323, so that the connecting seat 331 and the scraping plate 332 are driven to rotate, so that the pipe wall of the initial pile with the impurity position such as the sludge is exposed to the two sides for facilitating actual detection and use, the bottom of the scraping plate 332 is enabled to be always in contact with the pipe wall through the first spring, the height of the lifting assembly 31 is adjusted, the compression degree of the first spring is guaranteed, the poor fitting condition between the scraping plate 332 and the pipe wall is avoided in the pushing process of the impurity is avoided, and the poor fitting condition of the sludge is guaranteed.

In the process of pushing the sludge to be scraped by the overturning assembly 32 and the auxiliary assembly 33, the angle and the position of the connecting seat 331 and the scraping plate 332 can be flexibly controlled by adjusting the angle of the vehicle body 1 and the like, so that the sludge can be practically scraped.

Through setting up slide bracket 3291, the front of slide bracket 3291 has offered the annular spout unanimous with connecting plate 324 rotation track, when making connecting plate 324 rotate, drive connecting axle 3292 and slider along annular spout slip, thereby it is spacing to the rotation of connecting plate 324, thereby improve connecting plate 324, connecting bracket 331 and scraper blade 332 pivoted stability, support connecting plate 324 through setting up backup pad 325, further improve the stability of connecting plate 324, and set up the direction through-hole at the top of backup pad 325, when scraper blade 332 and connecting bracket 331 receive the pipe wall extrusion to drive first guide arm 334 and guide block 333 upwards move, make guide block 333 pass the direction through-hole, avoid appearing the motion to hinder and influence the use.

By making the top of the connecting seat 331 concave, the pushing away of the scraped sludge is facilitated by the outer wall of the connecting seat 331, so that more sludge is pushed away for scraping.

Embodiment two: referring to fig. 9, 11 and 12, the difference technical scheme of the present embodiment compared with the first embodiment is that the drainage mechanism 4 includes a blocking component 41 disposed at two ends of the inner side of the connecting seat 331 for blocking the inner area of the connecting seat 331, and a blocking component 42 disposed at the end of the connecting seat 331 for blocking the end of the connecting seat 331 in cooperation with the blocking component 41.

Referring to fig. 13, 15, 16 and 17, the occlusion assembly 41 comprises:

The hinge bracket 411 is fixedly arranged at two ends of the inner side of the connecting seat 331, the inner sides of the hinge brackets 411 are hinged with top plates 413 which are positioned at the same end of the connecting seat 331, the sides of the top plates 413, which are far away from the hinge bracket 411, are hinged with each other, the inner sides of the top plates 413 are fixedly provided with mounting plates 412, one side of each mounting plate 412, which is close to the hinge bracket 411, is of a bent design, the inner sides of the mounting plates 412 are fixedly provided with main air bags 415 which are attached to the mounting plates 412, the back of the connecting seat 331 is provided with an inflating component 43 for inflating the main air bags 415 so as to enable the main air bags 415 to bulge, the area inside the connecting seat 331 is blocked, the back of the connecting seat 331 is provided with a water pumping component 44 for absorbing water to the main air bags 415 and the blocking area of the connecting seat 331, so that the pipe wall is exposed, and one side, which is close to the hinge bracket 411, extends outwards to form a sub air bag 417 communicated with the main air bags 415;

The first air duct 414 is fixedly arranged on one side of the main air bag 415, which is close to each other, and is positioned on one side of the main air bag 415, which is far away from the hinge bracket 411, and is used for communicating the main air bag 415, and the first air duct 414 adopts a hose design;

And a rubber plate 416 fixedly provided on one side of the top plate 413 and the mounting plate 412, which is close to each other, for pressing the rubber plate 416 during rotation of the top plate 413 through the hinge frame 411 to block a gap of the hinge frame 411.

Referring to fig. 13, the inflation assembly 43 includes:

The compressor 431 is fixedly arranged on the back of the connecting seat 331, a second air duct 432 is fixedly arranged at the exhaust end of the compressor 431, a third air duct 433 connected with the main air bag 415 is fixedly arranged at the exhaust end of the second air duct 432 through a multi-way pipe, a pressure release valve is arranged on the outer wall of the second air duct 432, a duct for installing the second air duct 432 is formed in the inner side of the connecting seat 331, and the third air duct 433 is designed in a hose mode.

Referring to fig. 12 and 13, the pumping assembly 44 includes:

the water pump 442 is fixedly arranged on the back of the connecting seat 331, a first water guide pipe 443 is fixedly arranged at the water inlet end of the water pump 442, a second water guide pipe 444 is fixedly arranged at the water inlet end of the first water guide pipe 443, a supporting component 441 for elastically supporting the second water guide pipe 444 is arranged on the outer wall of the second water guide pipe 444, the first water guide pipe 443 adopts a hose design, a drain pipe is fixedly arranged at the water outlet end of the water pump 442, a valve body is arranged on the outer wall of the first water guide pipe 443, and a water guide groove 445 distributed in an annular array is formed in the side wall of the bottom of the second water guide pipe 444.

In a specific implementation, when the connecting seat 331 is turned open, the top plate 413 is turned through the hinge frame 411, and since the side of the top plate 413 away from the hinge frame 411 is hinged to each other, the top plate 413 is unfolded, so that the mounting plate 412, the main air bag 415 and the auxiliary air bag 417 are unfolded, in the unfolding process, the supporting component 441 drives the second water guide tube 444 to rotate along with the top plate 413, since the top plate 413 is vertically arranged with the limiting seat 4411 of the supporting component 441, the bottoms of the limiting seat 4411 and the second water guide tube 444 are in contact with the pipe wall, then, the compressor 431 of the inflating component 43 works, high-pressure gas is conveyed into the main air bag 415 and the auxiliary air bag 417 through the second air guide tube 432 and the third air guide tube 433, and since the side of the main air bag 415 close to each other is communicated through the first air guide tube 414, so that the bottoms of the main air bag 415 and the auxiliary air bag 417 are inflated, sewage is blocked from entering the blocking area, and then, the sewage in the blocking area is discharged through the water pump 442 of the first water guide tube 443 and the second water guide tube 444, so that the pipe wall can be exposed for practical detection.

Because the side of roof 413 that keeps away from articulated frame 411 articulates each other, and makes roof 413 and connecting seat 331 articulated through articulated frame 411, do not influence connecting seat 331 and be close to each other in the rotation in-process, be convenient for in-service use.

Because the roof 413 is articulated each other, lead to one of them roof 413 to be located another roof 413 and keep away from one side of blocking assembly 42, lead to leaving the space between this roof 413 and the T shape shrouding 423 of blocking assembly 42, for this reason, through setting up ballonet 417, shutoff to this space guarantees the shutoff effect to this shutoff region, seals the position of articulated frame 411 through setting up rubber sheet 416, further improves the shutoff effect.

By making the third air duct 433, the first air duct 414 and the first air duct 443 all have a hose design, the obstruction to the actions such as rotation and expansion is avoided, and in actual design, the length extending along with the actions such as rotation and expansion needs to be reserved for practical use.

Referring to fig. 14, the support assembly 441 includes:

the limiting seat 4411 is fixedly arranged on the inner side of the top plate 413 and is perpendicular to the top plate 413;

The limiting sleeve ring 4412 is fixedly sleeved on the outer wall of the second water guide pipe 444 and sleeved in the limiting seat 4411, the limiting sleeve ring 4412 is limited by the limiting seat 4411 in a moving mode, and a second spring is sleeved on the outer wall of the second water guide pipe 444 and located in the limiting seat 4411.

In the concrete implementation, in the process of rotating and unfolding the top plate 413, the limiting seat 4411, the limiting collar 4412 and the second water guide pipe 444 are driven to rotate, and as the limiting seat 4411 is vertically arranged with the top plate 413, the bottom of the second water guide pipe 444 is fully contacted with the pipe wall after the top plate 413 is unfolded, so that the follow-up water pumping and use are facilitated, the limiting collar 4412 and the second water guide pipe 444 are elastically supported through the second spring, the contact degree of the second water guide pipe 444 and the pipe wall is guaranteed, and the sewage is convenient to enter the second water guide pipe 444 through the water guide groove 445, so that the influence on water drainage is avoided.

Referring to fig. 9 and 10, the blocking assembly 42 includes:

The mounting groove 421 is formed in the front surface and the back surface of the end part of the connecting seat 331, a mounting piece 425 is fixedly arranged on the inner wall of the mounting groove 421, a second sliding groove is formed in one side, far away from the mounting groove 421, of the mounting piece 425, a second sliding block is placed in the second sliding groove, a connecting piece 424 is fixedly arranged on one side, far away from the second sliding groove, of the second sliding block, the connecting piece 424 is in a bent design, and a T-shaped sealing plate 423 is fixedly arranged on the inner side of the connecting piece 424;

The second guide rod 422 is fixedly arranged in the second chute and sleeved in the second slider, the second slider moves in the second chute along the side wall of the second guide rod 422, and a third spring is sleeved on the side wall of the second guide rod 422 and positioned in the second chute.

During the concrete implementation, shelter from connecting seat 331 and the terminal angle department of scraper blade 332 through T shape shrouding 423, and press against tightly with T shape shrouding 423 laminating after inflating the bulge through main gasbag 415 and ballonet 417, thereby avoid sewage to get into the shutoff region from the terminal angle department, guarantee the shutoff effect, thereby avoid follow-up influence to detect, and when connecting seat 331 is close to each other, connecting piece 424 and T shape scraper blade 332 contact and support tightly, receive the extrusion force, make connecting piece 424 drive second slider extrusion third spring and remove along second guide arm 422 and second spout, thereby make connecting seat 331 be close to the laminating, avoid influencing the clear scraping and push away the silt use, under the effect of third spring, T shape shrouding 423 resets when connecting seat 331 is kept away from each other, carry out the shutoff with shutoff subassembly 41 cooperation.

In the implementation of the invention, the inside of the vehicle body 1 is hollow, the top is provided with a cover plate, a power supply for the operation of electronic devices such as the camera 2 and the first servo motor 322 and a controller for controlling the electronic devices are arranged at the top, the controller is connected with an external controller of a pipeline and a display screen through wires and the like, the controller is used for controlling the electronic devices such as the camera 2 in real time and grasping detection information of the camera 2, the camera 2 is arranged at the top of the vehicle body 1 through a rotating structure so as to facilitate the rotation of the camera 2, the pipeline is detected from multiple directions, and the vehicle body 1 is controlled to run into the pipeline through a driving wheel at the bottom of the vehicle body 1 during the detection, which is the prior art and is not repeated herein.

When impurities such as silt are accumulated in the pipeline to influence detection, the lifting assembly 31 is used for adjusting the heights of the overturning assembly 32 and the auxiliary assembly 33, the scraping plate 332 of the auxiliary assembly 33 is attached to the inner wall of the pipeline, then the overturning assembly 32 is used for driving the auxiliary assembly 33 to rotate, so that the scraping plate 332 and the connecting seat 331 push the impurities accumulated in the pipeline to two sides, in the pushing process, the first servo motor 322 can be controlled to rotate forwards or reversely, the scraping plate 332 is firstly made to be close to and attached to each other and then are far away from each other, residues of impurities at the bottom of the inner wall of the pipeline are reduced, the scraping plate 332 is always attached to the inner wall of the pipeline through the cooperation of the auxiliary assembly 33 and the lifting assembly 31, the scraping effect is improved, the accumulated impurities in the pipeline are cleaned by scraping, and the damage to the coating and the like on the inner wall of the pipeline is small.

When impurities such as silt push aside, the pipeline in the area is exposed, the pipeline can be detected through the camera 2, if sewage exists in the pipeline, when the silt is pushed away, the sewage flows to the area, at the moment, the plugging assembly 41 is driven to be unfolded along with the rotation of the scraping plate 332, so that the main air bag 415 and the auxiliary air bag 417 are transversely arranged on the inner side of the connecting seat 331, at the moment, the main air bag 415 and the auxiliary air bag 417 are inflated through the inflation assembly 43, the main air bag 415 and the auxiliary air bag 417 are inflated, the area is plugged, the sewage is prevented from entering the area, the sewage in the area is immediately discharged through the water pumping assembly 44, the pipeline wall is exposed, the detection can be carried out through the camera 2, the sealing performance of the connecting seat 331 and the end corner of the scraping plate 332 is guaranteed through the matching of the blocking assembly 42, and the detection is prevented from being influenced by seepage.

And when only impurities such as silt or sewage exist, the impurities can be treated through the targeted steps, so that the method is suitable for actual detection requirements and is convenient for actual detection and use.

And all that is not described in detail in this specification is well known to those skilled in the art.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (5)

1. The utility model provides a pipeline detection robot, including the automobile body that is used for driving in the pipeline with rotate the camera that sets up and be used for detecting the pipeline at the automobile body top, its characterized in that still including setting up and being used for clear mechanism of scraping and setting up and be used for carrying out the drainage mechanism of clearance to clear sewage of scraping the region in clear mechanism inboard of scraping in the front of the automobile body is piled up in the pipeline, clear mechanism of scraping includes:

lifting unit sets up in the front of automobile body, and lifting unit's front is provided with the upset subassembly, and the outside of upset subassembly is provided with auxiliary assembly, and the upset subassembly includes:

The mounting bracket, sliding arrangement is in lifting unit's front, the inboard of mounting bracket is fixed and is equipped with first servo motor, first servo motor's output shaft is fixed through the shaft coupling to be equipped with and extends to the positive first pivot of mounting bracket, first pivot transmission is connected with the connecting plate that is mirror symmetry with the central point of mounting bracket for drive the connecting plate upset through first servo motor, with drive auxiliary assembly laminating pipeline inner wall through the connecting plate and clear scraping impurity, the connecting plate is L shape design, lifting unit is used for adjusting the height of connecting plate, auxiliary assembly includes:

the connecting seat is sleeved on the outer side of the connecting plate, the top of the connecting seat is of an inward concave design, the bottom of the connecting seat is fixedly provided with a scraping plate, and the bottom of the scraping plate is of an arc-shaped design;

the drainage mechanism is including setting up at the inboard both ends of connecting seat be used for carrying out the shutoff subassembly of shutoff to the inboard region of connecting seat, set up at the connecting seat tip be used for carrying out the shutoff to the connecting seat tip with the cooperation of shutoff subassembly the shutoff subassembly, the shutoff subassembly includes:

The hinge bracket is fixedly arranged at two ends of the inner side of the connecting seat, the inner sides of the hinge brackets are hinged with top plates which are positioned at the same end of the connecting seat, the sides of the top plates, which are far away from the hinge bracket, are hinged with each other, the inner sides of the top plates are fixedly provided with mounting plates, one sides of the mounting plates, which are close to the hinge bracket, are of a bending design, the inner sides of the mounting plates are fixedly provided with main air bags which are attached to the mounting plates, the back surfaces of the connecting seat are provided with inflatable components which are used for inflating the main air bags so as to bulge the main air bags, the areas on the inner sides of the connecting seat are blocked, the back surfaces of the connecting seat are provided with pumping components which are used for absorbing water to the main air bags and the blocking areas of the connecting seat, so that the water in the areas is discharged, the pipe walls are exposed, and one side, which is close to the hinge bracket, of the main air bags outwards extends to form auxiliary air bags which are communicated with the main air bags;

the first air duct is fixedly arranged on one side of the main air bag, which is close to each other, and is positioned on one side of the main air bag, which is far away from the hinge bracket, and is used for communicating the main air bag, and the first air duct adopts a hose design;

The rubber plate is fixedly arranged on one side, close to the mounting plate, of the top plate and is used for extruding the rubber plate in the process that the top plate rotates through the hinge frame so as to shield a gap of the hinge frame;

The inflation assembly includes:

the compressor is fixedly arranged on the back of the connecting seat, the exhaust end of the compressor is fixedly provided with a second air duct, the exhaust end of the second air duct is fixedly provided with a third air duct connected with the main air bag through a multi-way pipe, the outer wall of the second air duct is provided with a pressure relief valve, the inner side of the connecting seat is provided with a duct groove for installing the second air duct, and the third air duct adopts a hose design;

the pumping assembly includes:

The water pump is fixedly arranged on the back of the connecting seat, a first water guide pipe is fixedly arranged at the water inlet end of the water pump, a second water guide pipe is fixedly arranged at the water inlet end of the first water guide pipe, a supporting component for elastically supporting the second water guide pipe is arranged on the outer wall of the second water guide pipe, the first water guide pipe is designed by adopting a hose, a water discharge pipe is fixedly arranged at the water discharge end of the water pump, a valve body is arranged on the outer wall of the first water guide pipe, and water guide grooves distributed in an annular array are formed in the side wall of the bottom of the second water guide pipe;

the support assembly includes:

The limiting seat is fixedly arranged on the inner side of the top plate and is perpendicular to the top plate;

The limiting sleeve ring is fixedly sleeved on the outer wall of the second water guide pipe and sleeved in the limiting seat, the limiting sleeve ring is limited by the movement of the limiting seat, and a second spring is sleeved on the outer wall of the second water guide pipe and positioned in the limiting seat;

The blocking assembly includes:

The mounting groove is formed in the front face of the end part and the back face of the end part of the connecting seat, the mounting piece is fixedly arranged on the inner wall of the mounting groove, a second sliding groove is formed in one side, far away from the mounting groove, of the mounting piece, a second sliding block is placed in the second sliding groove, a connecting piece is fixedly arranged on one side, far away from the second sliding groove, of the second sliding block, the connecting piece is of a bent design, and a T-shaped sealing plate is fixedly arranged on the inner side of the connecting piece;

The second guide rod is fixedly arranged in the second chute and sleeved in the second sliding block, the second sliding block moves in the second chute along the side wall of the second guide rod, and a third spring is sleeved in the side wall of the second guide rod and positioned in the second chute.

2. The pipeline inspection robot of claim 1, wherein the flip assembly further comprises:

the second rotating shaft is rotationally arranged on the front surface of the mounting frame, the front surface of the mounting frame is rotationally provided with a third rotating shaft and a fourth rotating shaft, the side walls of the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth rotating shaft are fixedly sleeved with gears meshed with each other, and the first rotating shaft is rotationally connected with the mounting frame;

The U-shaped fixing piece is fixedly arranged at the upper end of the side wall of the connecting plate, and the inner sides of the U-shaped fixing piece are fixedly sleeved on the side walls of the second rotating shaft and the fourth rotating shaft respectively and are used for enabling the first rotating shaft, the second rotating shaft, the third rotating shaft and the fourth gear to drive the connecting plate to reversely rotate through gear engagement.

3. The pipeline inspection robot of claim 2, wherein the flip assembly further comprises:

the sliding seat is fixedly arranged on the front surface of the mounting frame and is in mirror symmetry with the center point of the mounting frame, an annular sliding groove consistent with the rotation track of the connecting plate is formed in the front surface of the sliding seat, a sliding block is arranged in the annular sliding groove, a connecting shaft is fixedly arranged on the front surface of the sliding block, one end of the connecting shaft, which is far away from the sliding block, is fixedly connected with the back surface of the U-shaped fixing piece, and the connecting shaft and the sliding block are driven to slide along the annular sliding groove when the connecting plate rotates so as to limit the rotation of the connecting plate;

The support plate is fixedly arranged on the inner side of the connecting plate and used for forming a triangular stable structure with the connecting plate, and the top of the support plate is provided with a guide through hole.

4. A pipeline inspection robot in accordance with claim 3, wherein said auxiliary assembly further comprises:

The first guide rod is fixedly arranged at the bottom of the inner wall of the connecting seat and horizontally distributed, the top of the first guide rod penetrates through the connecting plate and extends to the top of the connecting plate, a guide block is fixedly arranged at one end of the first guide rod, which is positioned at the top of the connecting plate, and used for limiting the connection between the first guide rod and the connecting plate, a first spring is sleeved on one end side wall of the bottom of the connecting plate, the connecting plate moves in the connecting seat along the first guide rod, the diameter of the side wall of the guide block is smaller than that of the inner wall of the guide through hole, and the guide through hole is positioned at the top of the guide block.

5. The pipeline inspection robot of claim 1, wherein the lifting assembly comprises:

The mounting seat is fixedly arranged on the front surface of the vehicle body, a first sliding groove is formed in the front surface of the mounting seat, a first sliding block is arranged in the first sliding groove, and the front surface of the first sliding block is fixedly connected with the back surface of the mounting frame;

The second servo motor is fixedly arranged at the top of the vehicle body, an output shaft of the second servo motor is connected with a threaded rod extending into the first sliding groove in a transmission mode, the threaded rod is connected with the inner wall of the first sliding groove in a rotating mode, and the side wall of the threaded rod is connected with the first sliding block in a threaded mode.