CN118654194A - A self-propelled in-pipe radar ranging robot - Google Patents

Abstract

The present invention relates to the technical field of in-pipe radar ranging robots, and specifically to a self-propelled in-pipe radar ranging robot, comprising an outer shell, the upper part of which is connected to a support plate through a support frame; a protective outer frame is installed on the right side of the support plate, and a mounting frame with a "U"-shaped structure is slidably connected inside the protective outer frame; a radar ranging sensor mechanism is installed on the inner wall of the bottom surface of the mounting frame, and a camera mechanism and a fill light are installed on the inner wall of the top surface of the mounting frame. The self-propelled in-pipe radar ranging robot can well protect the radar ranging sensor mechanism and the camera mechanism, facilitate the radar ranging sensor mechanism to well perform ranging work in the pipe through radio waves, and reduce the contact area between the power line and the inner wall of the bottom surface of the pipeline, thereby reducing the friction force of the in-pipe radar ranging robot dragging the power line when it automatically walks in the pipe.

Description

A self-propelled in-pipe radar ranging robot

Technical Field

The invention relates to the technical field of in-pipe radar ranging robots, in particular to a self-propelled in-pipe radar ranging robot.

Background Art

The in-pipe radar ranging robot automatically walks inside the pipeline, and then uses radar technology to measure the distance of the physical quantity sensed and measured by the radar in the pipeline from the target. Therefore, the in-pipe radar ranging robot can perform pipeline inspection and measurement work well, reduce the workload of the staff, and solve the problem of in-pipe ranging.

The patent name disclosed in the prior art with application number "CN202011345074.0" is "A geological radar robot in a pipe and a geological detection system in a pipe", which discloses that the geological radar is installed on the geological radar installation assembly; the geological radar installation assembly is connected to the carrying platform, and the two ends of the carrying platform are connected with a first driving mechanism and a second driving mechanism; the first driving mechanism and the second driving mechanism move axially along the inner wall of the pipe, and the geological radar detects underground cavities in the underground pipe, which can solve the problem of not being able to take into account both the detection depth and the detection resolution at the same time. Problem: When a low-frequency antenna is selected, cavities of greater depth can be detected, and cavities of smaller size can be distinguished; when a medium- and high-frequency antenna is selected, cavities of smaller size can be distinguished, and cavities of greater depth can be detected while walking in the pipeline. Moving the geological radar into the pipeline can make the geological radar closer to the diseased body (loose soil/empty soil/cavity around the pipeline), and then a high-frequency antenna can be selected for detection, which can not only improve the resolution of the detection results, but also detect and distinguish diseased bodies of smaller size, and then find the diseased body in the "germination" state, which has the effect of early prevention;

In the prior art, the patent name disclosed by the application number "CN202110704223.6" is "A Distance Measuring Device, Laser Radar and Mobile Robot", which discloses that the laser emitting unit is used to emit pulsed laser to the target object to be measured. The laser emitting unit can be configured as a laser diode, which can emit laser pulses for ranging. The pulsed laser emitted by the laser emitting unit can be a high-frequency pulsed laser, for example, a pulsed laser of more than 1kHz. For example, the laser emitting unit of the laser diode can be mounted on the circuit board by welding, or integrated on the circuit board. The optical axis X3 of the laser emitting unit can be arranged to be perpendicular to the circuit board. A control device for controlling the laser emitting unit to emit laser pulses can be installed on the circuit board, and this control device can be integrated in the computing unit, so that the computing unit becomes a master control device. It can be understood that in other embodiments, other devices capable of emitting lasers can also be used as laser emitting units.

The first receiving unit is used to receive the pulsed laser reflected from the target object and generate a corresponding first signal; the first signal is used to calculate and determine the distance according to the principle of triangulation, that is, the first signal is used to be transmitted to the calculation unit, so that the calculation unit can calculate and determine the distance based on the first signal and according to the principle of triangulation. The first receiving unit can be mounted on the circuit board by welding, or be integrated on the circuit board. The optical axis X2 of the first receiving unit can be set to be perpendicular to the circuit board. When sensing the laser pulse reflected back by the target object, the first receiving unit can generate a corresponding photoelectric signal and transmit it to the calculation unit through the line on the circuit board. The calculation unit can analyze and calculate the photoelectric signal according to the principle of triangulation to obtain the distance between the target object and the ranging device;

1. When the above-mentioned in-pipe radar ranging robot is not in use, its main ranging components and components such as cameras are exposed to the outside world. Therefore, they may be hit by the outside world during transportation or movement, which may cause certain damage to these components, thereby affecting the radar ranging sensor's ranging work inside the pipe through radio waves;

2. When the above-mentioned in-pipe radar ranging robot enters the pipeline for ranging, it will drag the wires because it moves automatically, causing the longer wires to contact the inner wall of the bottom of the pipeline, thereby generating greater friction, which can easily cause the surface of the wires to be damaged, thereby affecting the use of the entire in-pipe radar ranging robot;

So we proposed a self-propelled in-tube radar ranging robot to solve the above problems.

Summary of the invention

The purpose of the present invention is to provide a self-propelled in-pipe radar ranging robot to solve the problem raised in the above background technology that the main ranging components and components such as cameras of the in-pipe radar ranging robots currently on the market are exposed to the outside world, so they may be hit by the outside world during transportation or movement, thereby affecting the radar ranging sensor to measure the distance inside the pipe through radio waves, and the longer wires contact the inner wall of the bottom surface of the pipe, thereby generating a larger friction force, which easily leads to the problem of wire surface damage.

To achieve the above object, the present invention provides the following technical solution: a self-propelled in-pipe radar ranging robot, comprising an outer shell, and crawling self-propelled wheels installed on the front and rear sides of the outer shell for driving the radar ranging robot to automatically walk in the pipe;

The upper part of the outer shell is connected to the support plate through a support frame;

A protective outer frame is installed on the right side of the support plate, and a mounting frame with a "U"-shaped structure is slidably connected inside the protective outer frame;

The inner wall of the bottom surface of the mounting frame is installed with a radar ranging sensor mechanism, the inner wall of the top surface of the mounting frame is installed with a camera mechanism and a fill light, and the front and rear sides of the camera mechanism are both provided with fill lights;

An electric telescopic rod is installed inside the upper surface of the outer shell, and a support plate is installed at the output end of the electric telescopic rod;

An anti-collision beam is slidably connected inside the right side of the outer shell, and a second sliding control assembly is installed inside the outer shell on the left side of the anti-collision beam;

A first sliding control assembly is installed in the protective outer frame on the left side of the mounting frame;

A power cord is installed on the left side of the outer shell, and a clamping mechanism is arranged on the outer side of the power cord;

The left inner groove of the outer shell is connected with a stirring plate, and a clamping mechanism is installed on the upper left side of the stirring plate.

Preferably, the bottom surface of the support plate is staggered and rotatably connected with a support frame, the two support frames are arranged in an "X" shape, and a sliding column is rotatably connected to the bottom surface of the support frame;

The front and rear inner side walls of the outer shell are staggered with grooves to install limit rods, and the outer side of the limit rods is penetrated by a sliding column for sliding connection.

Preferably, first sliders are installed on both upper and lower sides of the mounting frame, and the first sliders are slidably connected to the grooves provided on the inner wall of the protective outer frame, a first connecting spring is installed in the grooves provided on the inner wall of the protective outer frame, and one end of the first connecting spring is connected to the first slider;

The first sliding control assembly includes a first control rod installed through the left side of the protective outer frame, a vertically arranged first push rod is installed on the outer side of the first control rod, and a mounting frame is arranged on the right side of the first push rod. The mounting frame forms a sliding structure with the interior of the protective outer frame through the first push rod.

Preferably, the first sliding control assembly further comprises a first connecting rope wound around the outside of the front end of the first control rod, the lower end of the first connecting rope is connected to the upper surface of the outer shell, and the height of the first connecting rope not wound around the outside of the first control rod is greater than the shortest distance from the first control rod to the upper surface of the outer shell;

A first torsion spring is sleeved on the outer side of the front end of the first control rod, and the rear end of the first torsion spring is connected to the front side surface of the protective outer frame.

Preferably, a second slider is installed on both the front and rear sides of the left side of the anti-collision beam, the second slider is slidably connected to the groove opened in the right side of the outer shell, a second connecting spring is connected to the groove opened in the right side of the outer shell, and one end of the second connecting spring is connected to the second slider.

Preferably, the second sliding control assembly includes a second control rod installed through the upper surface of the right side of the outer shell, a second push rod is fixed through the lower outer side of the second control rod, an anti-collision beam is arranged on the right side of the second push rod, and the anti-collision beam forms a sliding structure with the outer shell through the second push rod;

The second sliding control assembly also includes a second connecting rope wound around the upper outer side of the second control rod, the upper end of the second connecting rope is connected to the bottom surface of the support plate after being guided by a guide wheel, and a second torsion spring is nested and connected to the lower outer side of the second control rod.

Preferably, three groups of rotating rods are rotatably connected through the bottom surface of the outer shell, and crawling self-propelled wheels are installed at both the front and rear ends of the rotating rods. The outer sides of the three groups of rotating rods form a synchronous rotating structure through a sprocket assembly;

The outer key of the leftmost rotating rod is connected to the first gear, the left side of the first gear is meshed with the transmission gear, the inside of the transmission gear is fixed with a regulating rod, and the two ends of the regulating rod are rotatably connected to the inside of the outer shell;

The rear end outer key of the regulating rod is connected to a fan-shaped gear, the left key of the fan-shaped gear is connected to a second gear, a cross bar is fixed through the inside of the second gear, the cross bar is installed on the left inner side of the outer shell, a stirring plate is fixed on the outside of the cross bar, and the front end outer side of the cross bar is connected to a third torsion spring.

Preferably, a bidirectional screw is installed in the internal groove of the left end of the stirring plate, and a clamping mechanism is symmetrically threaded on the outer side of the bidirectional screw. One side of the two clamping mechanisms is concavely matched with the power cord, and the stirring plate forms a reciprocating rotating structure with the outer shell through a cross bar.

Preferably, two second through holes are provided on the surface of the radar ranging sensor mechanism;

An outer protective sleeve is rotatably connected to the outer side of the radar ranging sensor mechanism, a gear ring is installed on the outer side of the outer protective sleeve, and two first through holes are symmetrically provided on the surface of the outer protective sleeve;

The first through hole and the second through hole are arranged correspondingly.

Preferably, a rack is installed on the inner wall of the rear side of the protective outer frame, and a gear ring is meshed on the front side of the rack. The outer protective sleeve forms a rotating structure with the radar ranging sensor mechanism through the gear ring, and a control mechanism is installed on the left upper surface of the outer shell.

Compared with the prior art, the beneficial effects of the present invention are as follows: the self-propelled in-pipe radar ranging robot can well protect the radar ranging sensor mechanism and the camera mechanism, so that the radar ranging sensor mechanism can well perform ranging work in the pipe through radio waves, and the three rotating rods drive the crawling self-propelled wheels to rotate synchronously, so that the crawling self-propelled wheels can drive the in-pipe radar ranging robot to walk automatically, which can reduce the contact area between the power line and the inner wall of the bottom surface of the pipeline, thereby reducing the friction force of the in-pipe radar ranging robot dragging the power line when it walks automatically in the pipe. The specific contents are as follows:

(1) The mounting frame is automatically controlled to slide into the protective outer frame through the first sliding control component, so that the mounting frame can drive the radar ranging sensor mechanism and the camera mechanism to enter the protective outer frame for protection when not in use, thereby preventing the entire in-pipe radar ranging robot from causing collision damage to the radar ranging sensor mechanism and the camera mechanism when the in-pipe radar ranging robot is transported and moved when not in use. Therefore, the radar ranging sensor mechanism and the camera mechanism can be well protected, which facilitates the radar ranging sensor mechanism to perform ranging work inside the pipe through radio waves, and facilitates the camera mechanism to monitor the situation inside the pipe;

Furthermore, when the support plate rises, the first connecting rope in the first sliding control assembly can provide a power source for the rotation of the first control rod, without using an additional power source, thus saving energy and production costs;

The motor inside the outer shell drives one of the rotating rods to rotate, so that one of the rotating rods cooperates with the sprocket assembly to drive the other two rotating rods to rotate, thereby making the three rotating rods drive the crawling self-propelled wheels to rotate synchronously, so that the crawling self-propelled wheels drive the radar ranging robot in the tube to automatically walk;

The stirring plate is rotated back and forth at a certain angle with the center of the horizontal bar as the center, so that the stirring plate can be used in conjunction with the clamping mechanism to reciprocate and throw the power cord upward, so that one end of the power cord moves up and down in a wave-like manner. This operation is repeated, so that when the in-pipe radar ranging robot automatically walks in the pipe, the contact area between the power cord and the inner wall of the bottom surface of the pipeline can be reduced, thereby reducing the friction force of the in-pipe radar ranging robot dragging the power cord when automatically walking in the pipe, and then the power cord can be protected, so that the entire in-pipe radar ranging robot can be used for ranging well;

(2) When the support plate rises, the second push rod in the second sliding control assembly automatically pushes the anti-collision beam outward, so that the anti-collision beam slides out of the outer shell for use. When the entire in-tube radar ranging robot is not in use, the anti-collision beam can automatically slide into the outer shell for storage, thereby reducing the overall length and occupied area of the in-tube radar ranging robot, making it easier to move and carry the in-tube radar ranging robot in the future;

The second connecting rope in the second sliding control assembly can provide a power source for the rotation of the second control rod, without the need for an additional power source, thus saving energy;

(3) Through the intermittent meshing connection between the sector gear and the second gear, the crossbar can be driven to rotate back and forth at a certain angle, so that the crossbar drives the support plate to rotate back and forth at a certain angle. At the same time, when the rotating rod rotates, the meshing connection between the first gear and the transmission gear can drive the control rod to rotate, so that when the in-pipe radar ranging robot is walking automatically, the stirring plate can rotate and swing back and forth synchronously;

When the mounting bracket enters the protective outer frame, the rack automatically drives the gear ring to rotate, so that the gear ring drives the outer protective cover to rotate on the outside of the radar ranging sensor mechanism, so that the first through hole and the second through hole are staggered, and then the outer protective cover blocks the second through hole, so that when the radar ranging sensor mechanism is not in use, foreign matter is prevented from entering the radar ranging sensor mechanism through the second through hole, thereby further protecting the radar ranging sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of a three-dimensional structure of the present invention;

FIG2 is a schematic diagram of the three-dimensional structure of the power cord of the present invention;

FIG3 is a schematic diagram of the structure of the support plate after it is raised according to the present invention;

FIG4 is a schematic diagram of a cross-sectional structure of a protective outer frame of the present invention;

FIG5 is a schematic diagram of the structure of the mounting frame after movement of the present invention;

FIG6 is a schematic diagram of the separation structure of the outer protective cover and the radar ranging sensor mechanism of the present invention;

FIG7 is a schematic cross-sectional view of the connection between the outer shell and the anti-collision beam of the present invention;

FIG8 is a schematic diagram of the structure of the anti-collision beam after sliding of the present invention;

FIG9 is a schematic cross-sectional view of the connection between the outer shell and the crawling self-propelled wheel of the present invention;

FIG10 is a schematic diagram of the three-dimensional structure of the control rod of the present invention;

FIG11 is a schematic diagram of the three-dimensional structure of the sector gear of the present invention;

FIG. 12 is a schematic diagram of the three-dimensional structure of the clamping mechanism of the present invention.

In the figure: 1, outer shell; 2, support frame; 201, sliding column; 202, limit rod; 3, support plate; 4, electric telescopic rod; 5, protective outer frame; 51, rack; 6, mounting frame; 61, first slider; 62, first connecting spring; 7, fill light; 8, radar ranging sensor mechanism; 81, outer protective cover; 82, gear ring; 83, first through hole; 84, second through hole; 9, anti-collision beam; 91, second slider; 92, second connecting spring; 10, control mechanism; 11, power cord; 12, crawling self-propelled wheel; 121, Rotating rod; 122, sprocket assembly; 123, first gear; 13, stirring plate; 14, clamping mechanism; 141, bidirectional screw rod; 15, camera mechanism; 16, first connecting rope; 17, first control rod; 171, first push rod; 172, first torsion spring; 18, second control rod; 181, second torsion spring; 182, second push rod; 19, regulating rod; 191, fan gear; 192, transmission gear; 20, cross bar; 21, third torsion spring; 22, second gear; 23, second connecting rope.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Please refer to Figures 1 to 12, the present invention provides the following technical solutions:

Embodiment 1: The self-propelled in-pipe radar ranging robot in this embodiment can protect the radar ranging sensor mechanism 8, so that the entire self-propelled in-pipe radar ranging robot can well perform ranging work in the pipe through radio waves, specifically referring to Figures 1-2 and Figure 4, and the crawling self-propelled wheels 12 installed on the front and rear sides of the outer shell 1 for driving the radar ranging robot to automatically walk in the pipe; the upper side of the outer shell 1 is connected to the support plate 3 through the support frame 2; the right side of the support plate 3 is installed with a protective outer frame 5, and the inner sliding connection of the protective outer frame 5 is in the shape of a "U " " shaped structure mounting frame 6; the bottom inner wall of the mounting frame 6 is installed with a radar ranging sensor mechanism 8, the top inner wall of the mounting frame 6 is installed with a camera mechanism 15 and a fill light 7, and the front and rear sides of the camera mechanism 15 are both provided with fill lights 7; the upper surface of the outer shell 1 is internally installed with an electric telescopic rod 4, and the output end of the electric telescopic rod 4 is installed with a support plate 3; the right side of the outer shell 1 is slidably connected with an anti-collision beam 9, and the outer shell 1 on the left side of the anti-collision beam 9 is installed with a second sliding control component; the protective outer frame 5 on the left side of the mounting frame 6 is installed with a first sliding control component;

A power cord 11 is installed on the left side of the outer shell 1, and a clamping mechanism 14 is arranged on the outer side of the power cord 11; a stirring plate 13 is connected to the inner groove on the left side of the outer shell 1, and a clamping mechanism 14 is installed on the upper left side of the stirring plate 13. The bottom surface of the support plate 3 is staggered and rotatably connected to the support frame 2, and the two support frames 2 form an "X"-shaped structure, and a sliding column 201 is rotatably connected to the bottom surface of the support frame 2; the front and rear inner side walls of the outer shell 1 are staggered and slotted to install limit rods 202, and the outer side of the limit rod 202 is slidably connected to the sliding column 201, and the upper and lower side surfaces of the mounting frame 6 are installed with a first slider 61, and the first slider 61 is slidably connected to the groove opened on the inner wall of the protective outer frame 5, and a first connecting spring 62 is installed in the groove opened on the inner wall of the protective outer frame 5, and one end of the first connecting spring 62 is connected to the first slider 61;

The first sliding control assembly includes a first control rod 17 installed through the left side of the protective outer frame 5, a vertically arranged first push rod 171 is installed on the outer side of the first control rod 17, a mounting frame 6 is arranged on the right side of the first push rod 171, and the mounting frame 6 forms a sliding structure with the inside of the protective outer frame 5 through the first push rod 171. The first sliding control assembly also includes a first connecting rope 16 wound around the outer side of the front end of the first control rod 17, the lower end of the first connecting rope 16 is connected to the upper surface of the outer shell 1, and the height of the first connecting rope 16 not wound around the outer side of the first control rod 17 is greater than the shortest distance from the first control rod 17 to the upper surface of the outer shell 1; a first torsion spring 172 is sleeved on the outer side of the front end of the first control rod 17, and the rear end of the first torsion spring 172 is connected to the front side of the protective outer frame 5.

A second slider 91 is installed on both the front and rear side surfaces on the left side of the anti-collision beam 9. The second slider 91 is slidably connected to the groove opened in the right side of the outer shell 1. A second connecting spring 92 is connected to the groove opened in the right side of the outer shell 1. One end of the second connecting spring 92 is connected to the second slider 91. The second sliding control component includes a second control rod 18 installed through the upper surface of the right side of the outer shell 1. A second push rod 182 is fixed through the lower outer side of the second control rod 18. The anti-collision beam 9 is arranged on the right side of the second push rod 182. The anti-collision beam 9 forms a sliding structure with the outer shell 1 through the second push rod 182; the second sliding control component also includes a second connecting rope 23 wound around and connected to the upper outer side of the second control rod 18. The upper end of the second connecting rope 23 is connected to the bottom surface of the support plate 3 after being guided by a guide wheel. A second torsion spring 181 is nested and connected to the lower outer side of the second control rod 18;

When the entire self-propelled in-pipe radar ranging robot is not in use, the mounting frame 6 drives the radar ranging sensor mechanism 8 and the camera mechanism 15 to enter the protective outer frame 5, so that the outer sides of the radar ranging sensor mechanism 8 and the camera mechanism 15 can be protected by the protective outer frame 5 to prevent the radar ranging sensor mechanism 8 and the camera mechanism 15 from being damaged by external impact, so that the radar ranging sensor mechanism 8 can be used well;

Then the entire in-pipe radar ranging robot is moved into the working area. After reaching the working area, the right end of the in-pipe radar ranging robot is inserted into the pipeline. At this time, the crawling self-propelled wheels 12 on both sides of the in-pipe radar ranging robot contact the inner wall of the pipeline, so that the in-pipe radar ranging robot remains stable in the pipeline. Then the electric telescopic rod 4 is started. At this time, the output end of the electric telescopic rod 4 drives the support plate 3 to move upward. At this time, the support plate 3 drives the protective outer frame 5 to move upward. At this time, the support frame 2 connected to the bottom of the support plate 3 rotates, so that the sliding column 201 under the support frame 2 slides on the outside of the limit rod 202. Since the limit rod 202 is installed in the groove in the outer shell 1, the support frame 2 stably assists the support plate 3 to prop up, thereby ensuring the stability of the support plate 3 rising. Then, after the support plate 3 rises to a certain height, the work of the electric telescopic rod 4 is stopped.

As shown in Figures 1 and 7-8, as well as Figures 1 and 4-5, at the same time, when the support plate 3 drives the protective outer frame 5 to move upward, the support plate 3 will pull the second connecting rope 23 with a reserved length, and the protective outer frame 5 will pull the first connecting rope 16 with a reserved length. When the reserved length of the second connecting rope 23 is straightened, the support plate 3 continues to pull the second connecting rope 23, so that the second connecting rope 23 drives the second control rod 18 to rotate. At this time, the second control rod 18 drives the second torsion spring 181 to store force, and at the same time, the second control rod 18 drives the second push rod 182 to rotate, so that the second push rod 182 pushes the anti-collision beam 9 to move outward. At this time, the second slider 91 outside the side of the anti-collision beam 9 slides in the groove in the outer shell 1, and the second connecting spring 92 is squeezed and stored, so that the anti-collision beam 9 can be well slid out for use;

At the same time, after the protective outer frame 5 straightens a certain length reserved for the first connecting rope 16, the protective outer frame 5 continues to pull the first connecting rope 16, and the first connecting rope 16 drives the first control rod 17 to rotate, and then the first torsion spring 172 accumulates force, and the first control rod 17 drives the first push rod 171 to rotate together, and the first push rod 171 pushes the mounting frame 6 to the right, and the first sliders 61 on the upper and lower sides of the mounting frame 6 slide in the grooves in the protective outer frame 5 to squeeze and accumulate force on the first connecting spring 62, so that the mounting frame 6 drives the fill light 7, the radar ranging sensor mechanism 8 and the camera mechanism 15 to slide out of the protective outer frame 5 well, which is convenient for the use of the fill light 7, the radar ranging sensor mechanism 8 and the camera mechanism 15;

Then, the motor in the outer shell 1 is started, and the motor drives one of the rotating rods 121 to rotate. At this time, one of the rotating rods 121 drives the other two rotating rods 121 to rotate through the sprocket assembly 122, so that the three rotating rods 121 simultaneously drive the three sets of crawling self-propelled wheels 12 to rotate, so that the crawling self-propelled wheels 12 drive the radar ranging robot in the pipe to automatically move in the pipe. At this time, the anti-collision beam 9 detects the front side to prevent objects from hitting the radar ranging sensor mechanism 8 on the front side, and then the fill light 7 fills the light around the camera mechanism 15, so that the camera mechanism 15 can well record and shoot the surrounding area to monitor the situation in the pipe. At the same time, the transmitter, transmitting antenna, receiver and receiving antenna and other components in the radar ranging sensor mechanism 8 cooperate with each other and cooperate with the second through hole 84 to perform good ranging work in the pipe through radio waves (since this part is a prior art, it will not be introduced in detail here);

Embodiment 2: Based on Embodiment 1, the in-pipe radar ranging robot can reduce the friction between the power cord 11 and the inner wall of the pipe. Specifically referring to Figures 1 to 3, and Figures 9 to 12, the bottom surface of the outer shell 1 is rotatably connected with three groups of rotating rods 121, and the front and rear ends of the rotating rods 121 are both equipped with crawling self-propelled wheels 12. The outer sides of the three groups of rotating rods 121 form a synchronous rotation structure through a sprocket assembly 122; the outer side key of the leftmost rotating rod 121 is connected with a first gear 123, and the first gear 123 The left side of the outer shell 1 is meshed with a transmission gear 192, and a regulating rod 19 is fixed inside the transmission gear 192. Both ends of the regulating rod 19 are rotatably connected to the inside of the outer shell 1; the rear end of the regulating rod 19 is keyed to a sector gear 191, and the left side of the sector gear 191 is keyed to a second gear 22. A cross bar 20 is fixed inside the second gear 22, and the cross bar 20 is installed inside the left side of the outer shell 1. A stirring plate 13 is fixed outside the cross bar 20, and a third torsion spring 21 is connected to the outside of the front end of the cross bar 20. A two-way screw rod 141 is slotted inside the left end of the stirring plate 13, and the outer side of the two-way screw rod 141 is symmetrically threadedly connected to the clamping mechanism 14. One side of the two clamping mechanisms 14 is concave-convexly matched with the power cord 11, and the stirring plate 13 forms a reciprocating rotating structure with the outer shell 1 through the cross bar 20;

Manually rotate the bidirectional screw rod 141, and the bidirectional screw rod 141 drives the two clamping mechanisms 14 to move inward at the same time. At this time, the cooperation of the two clamping mechanisms 14 clamps the power cord 11, and then the leftmost rotating rod 121 drives the first gear 123 on the outside to rotate together when rotating. At this time, the first gear 123 drives the transmission gear 192 meshing on the left to rotate, and the transmission gear 192 rotates to drive the internal regulating rod 19 to rotate. At this time, the regulating rod 19 drives the outer fan gear 191 to rotate. When the fan gear 191 rotates to mesh with the second gear 22, the fan gear 191 drives the second gear 22 to rotate. At this time, the second gear 22 drives the cross bar 20 to rotate clockwise at a certain angle, and then the third torsion spring 21 accumulates force, and the cross bar 20 drives The movable stirring plate 13 rotates clockwise at a certain angle with the center of the circle of the cross bar 20 as the center, so that the left end of the stirring plate 13 drives the power cord 11 to be thrown upward through the clamping mechanism 14. When the fan-shaped gear 191 rotates to be out of mesh with the second gear 22, the stored force of the third torsion spring 21 automatically drives the second gear 22 and the cross bar 20 to rotate counterclockwise at a certain angle to reset. When the stirring plate 13 repeatedly throws the power cord 11 upward, the power cord 11 moves upward in a wave shape and then falls downward in the later stage. This repetition can reduce the contact area between the power cord 11 and the inner wall of the pipeline, so that the radar ranging robot in the pipeline can automatically walk inside the pipeline and reduce the friction between the power cord 11 and the inner wall of the pipeline when dragging the power cord 11, thereby protecting the power cord 11 well.

Embodiment 3: The in-tube radar ranging robot in this embodiment can further protect the radar ranging sensor mechanism 8. Specifically, referring to Figures 4 to 6, two second through holes 84 are provided on the surface of the radar ranging sensor mechanism 8; an outer protective sleeve 81 is rotatably connected to the outer side of the radar ranging sensor mechanism 8, a gear ring 82 is installed on the outer side of the outer protective sleeve 81, and two first through holes 83 are symmetrically provided on the surface of the outer protective sleeve 81, and the first through holes 83 and the second through holes 84 are arranged correspondingly. A rack 51 is installed on the inner wall of the rear side surface of the protective outer frame 5, and a gear ring 82 is meshedly connected to the front side surface of the rack 51. The outer protective sleeve 81 forms a rotating structure with the radar ranging sensor mechanism 8 through the gear ring 82, and a control mechanism 10 is installed on the upper left surface of the outer shell 1;

When the mounting bracket 6 moves to the right, when the ring gear 82 moves to mesh with the rack 51, the fixed rack 51 will drive the ring gear 82 to rotate, so that the ring gear 82 drives the outer protective sleeve 81 to rotate. After the outer protective sleeve 81 rotates to a certain angle, the ring gear 82 moves to separate from the rack 51. Then, at this time, the first through hole 83 opened on the surface of the outer protective sleeve 81 coincides with the second through hole 84 opened on the surface of the radar ranging sensor mechanism 8, so that the radar ranging sensor mechanism 8 can perform ranging work. Conversely, when the mounting bracket 6 moves to the left, as shown above, At this time, the rack 51 drives the gear ring 82 and the outer protective cover 81 to rotate in the opposite direction. At this time, the first through hole 83 opened on the surface of the outer protective cover 81 and the second through hole 84 opened on the surface of the radar ranging sensor mechanism 8 are arranged alternately, so that the outer protective cover 81 can block the second through hole 84 opened on the surface of the radar ranging sensor mechanism 8, so as to prevent external dust and impurities from entering the radar ranging sensor mechanism 8 through the second through hole 84 when the radar ranging sensor mechanism 8 is not in use, thereby further protecting the radar ranging sensor mechanism 8, thereby completing a series of tasks.

Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A self-propelled in-pipe radar ranging robot, comprising an outer shell (1), and crawling self-propelled wheels (12) mounted on the front and rear sides of the outer shell (1) for driving the radar ranging robot to automatically walk in the pipe; The upper portion of the outer shell (1) is connected to a support plate (3) via a support frame (2); It is characterized by also including: A protective outer frame (5) is installed on the right side of the support plate (3), and a mounting frame (6) having a “U”-shaped structure is slidably connected inside the protective outer frame (5); A radar ranging sensor mechanism (8) is installed on the inner wall of the bottom surface of the mounting frame (6), a camera mechanism (15) and a fill light (7) are installed on the inner wall of the top surface of the mounting frame (6), and fill lights (7) are provided on both the front and rear side surfaces of the camera mechanism (15); An electric telescopic rod (4) is installed inside the upper surface of the outer shell (1), and a support plate (3) is installed at the output end of the electric telescopic rod (4); An anti-collision beam (9) is slidably connected to the inside of the right side surface of the outer shell (1), and a second sliding control component is installed in the outer shell (1) on the left side of the anti-collision beam (9); A first sliding control component is installed in the protective outer frame (5) on the left side of the mounting frame (6); A power cord (11) is installed on the left side of the outer shell (1), and a clamping mechanism (14) is provided on the outer side of the power cord (11); The left inner groove of the outer shell (1) is connected to a stirring plate (13), and a clamping mechanism (14) is installed on the upper left side of the stirring plate (13). 2. A self-propelled in-pipe radar ranging robot according to claim 1, characterized in that: the bottom surface of the support plate (3) is staggeredly rotatably connected to the support frame (2), the two support frames (2) form an "X"-shaped structure, and the bottom surface of the support frame (2) is penetrated and rotatably connected to a sliding column (201); The front and rear inner side walls of the outer shell (1) are both staggeredly grooved to mount limit rods (202), and a sliding column (201) is slidably connected to the outer side of the limit rod (202). 3. A self-propelled in-pipe radar ranging robot according to claim 1, characterized in that: first sliders (61) are installed on both upper and lower sides of the mounting frame (6), and the first slider (61) is slidably connected to a groove provided on the inner wall of the protective outer frame (5), a first connecting spring (62) is installed in the groove provided on the inner wall of the protective outer frame (5), and one end of the first connecting spring (62) is connected to the first slider (61); The first sliding control assembly comprises a first control rod (17) which is installed through the left side of the protective outer frame (5); a first vertically arranged push rod (171) is installed on the outer side of the first control rod (17); a mounting frame (6) is arranged on the right side of the first push rod (171); and the mounting frame (6) forms a sliding structure with the interior of the protective outer frame (5) through the first push rod (171). 4. A self-propelled in-pipe radar ranging robot according to claim 3, characterized in that: the first sliding control assembly further comprises a first connecting rope (16) wound around the outside of the front end of the first control rod (17), the lower end of the first connecting rope (16) is connected to the upper surface of the outer shell (1), and the height of the first connecting rope (16) not wound around the outside of the first control rod (17) is greater than the shortest distance from the first control rod (17) to the upper surface of the outer shell (1); A first torsion spring (172) is sleeved on the outer side of the front end of the first control rod (17), and the rear end of the first torsion spring (172) is connected to the front side of the protective outer frame (5). 5. A self-propelled in-pipe radar ranging robot according to claim 1, characterized in that: a second slider (91) is installed on both the front and rear sides of the left side of the anti-collision beam (9), the second slider (91) is slidably connected to a groove opened in the right side of the outer shell (1), a second connecting spring (92) is connected to the groove opened in the right side of the outer shell (1), and one end of the second connecting spring (92) is connected to the second slider (91). 6. A self-propelled in-pipe radar ranging robot according to claim 1, characterized in that: the second sliding control assembly comprises a second control rod (18) installed through the upper surface of the right side of the outer shell (1), a second push rod (182) is fixed through the lower outer side of the second control rod (18), an anti-collision beam (9) is arranged on the right side of the second push rod (182), and the anti-collision beam (9) forms a sliding structure with the outer shell (1) through the second push rod (182); The second sliding control assembly also includes a second connecting rope (23) wound around and connected to the upper outer side of the second control rod (18), the upper end of the second connecting rope (23) being connected to the bottom surface of the support plate (3) after being guided by a guide wheel, and a second torsion spring (181) is nested and connected to the lower outer side of the second control rod (18). 7. A self-propelled in-pipe radar ranging robot according to claim 1, characterized in that: three groups of rotating rods (121) are rotatably connected to the bottom surface of the outer shell (1), and crawling self-propelled wheels (12) are installed at the front and rear ends of the rotating rods (121), and the outer sides of the three groups of rotating rods (121) form a synchronous rotating structure through a sprocket assembly (122); The outer key of the leftmost rotating rod (121) is connected to the first gear (123), the left side of the first gear (123) is meshedly connected to the transmission gear (192), the interior of the transmission gear (192) is fixed with a regulating rod (19), and both ends of the regulating rod (19) are rotatably connected to the interior of the outer shell (1); The rear end outer key of the regulating rod (19) is connected to a sector gear (191), the left side key of the sector gear (191) is connected to a second gear (22), a cross bar (20) is fixedly passed through the interior of the second gear (22), the cross bar (20) is mounted inside the left side of the outer shell (1), a stirring plate (13) is fixedly disposed on the outer side of the cross bar (20), and a third torsion spring (21) is connected to the outer side of the front end of the cross bar (20). 8. A self-propelled in-pipe radar ranging robot according to claim 7, characterized in that: a two-way screw rod (141) is installed in a groove inside the left end of the stirring plate (13), and a clamping mechanism (14) is symmetrically threadedly connected to the outer side of the two-way screw rod (141), and one side of the two clamping mechanisms (14) is concave-convexly matched with the power line (11), and the stirring plate (13) forms a reciprocating rotating structure with the outer shell (1) through a cross bar (20). 9. The self-propelled in-pipe radar ranging robot according to claim 1, characterized in that: two second through holes (84) are provided on the surface of the radar ranging sensor mechanism (8); An outer side of the radar ranging sensor mechanism (8) is rotatably connected to an outer protective sleeve (81), a gear ring (82) is installed on the outer side of the outer protective sleeve (81), and two first through holes (83) are symmetrically provided on the surface of the outer protective sleeve (81); The first through hole (83) and the second through hole (84) are arranged correspondingly. 10. A self-propelled in-pipe radar ranging robot according to claim 9, characterized in that: a rack (51) is installed on the inner wall of the rear side of the protective outer frame (5), a gear ring (82) is meshed and connected to the front side of the rack (51), the outer protective sleeve (81) forms a rotating structure with the radar ranging sensor mechanism (8) through the gear ring (82), and a control mechanism (10) is installed on the left upper surface of the outer shell (1).