CN210950427U - Pipeline inspection robot - Google Patents

Abstract

The utility model discloses a pipeline inspection robot, including the organism that is connected with the cable, establish camera device on the organism, establish the tire on the organism through drive arrangement through the lifting device, drive arrangement is including establishing driving motor in the organism, passing through the sprocket group of hub connection with driving motor, and the tire passes through the hub connection with sprocket group. The utility model discloses a pipeline inspection robot has increased the detection range to detecting in the pipeline, noise when having reduced the motion of pipeline inspection robot to and simplified control circuit, the utility model discloses a pipeline inspection robot still is equipped with the fender rod, has reduced the robot and has collided impaired probability in the pipeline.

Description

Pipeline inspection robot

Technical Field

The utility model relates to a pipeline detection ware field, in particular to pipeline inspection robot.

Background

The urban pipe network refers to a pipeline network formed by drainage and sewage pipes buried under various roads in the city. In today's society, there are already a certain proportion of existing urban pipelines that have varying degrees of blockage, damage and other conditions that affect the proper drainage of the pipeline, and therefore, these pipelines need to be cleaned or repaired. Before cleaning or repairing, the pipelines need to be detected so as to establish a cleaning or repairing scheme and realize the cleaning or repairing of the pipelines. The pipeline detection robot in the prior art has the following defects: firstly, omnibearing detection cannot be carried out in the pipeline; secondly, the noise is larger in the crawling process; thirdly, the control circuit of the robot is complex; and fourthly, a robot protection device is not arranged, and the robot is easy to damage due to collision in the motion of the pipeline.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to solve the not enough of prior art, provide a pipeline inspection robot.

The utility model provides a technical scheme that above-mentioned technical problem adopted is:

the utility model provides a pipeline inspection robot, includes the organism that is connected with the cable, establishes camera device on the organism through the lifting device, establishes the tire on the organism through drive arrangement, and drive arrangement is including establishing the driving motor in the organism, passing through the sprocket group of hub connection with driving motor, and the tire passes through the hub connection with sprocket group. Among the above technical scheme, the utility model discloses a pipeline inspection robot is equipped with two sets of chain wheel groups that drive the both sides tire respectively, two driving motor who corresponds respectively with two sets of chain wheel groups, and two driving motor drive two chain wheel group positive and negative rotations respectively to control the positive and negative rotation of robot both sides tire, thereby drive this pipeline inspection robot move ahead, retreat, turn left, turn right. The pipeline detection robot is communicated with the outside through a cable and the like. The lifting device enables the camera device to be located at different positions, so that the camera device can detect scenes in the pipeline in an all-round mode, and the defect that the pipeline detection robot in the prior art cannot detect the scenes in the pipeline in an all-round mode is overcome. The power transmission from the driving motor to the tire is realized through the chain wheel set, and compared with the gear transmission of the pipeline detection robot in the prior art, the chain wheel set of the utility model reduces the noise in the action process of the robot, reduces the abrasion among gears and increases the transmission effect; the chain wheel set can also control the number of the chain wheels through chain transmission, and the cost of the driving device is reduced.

Preferably, the chain wheel set comprises a first chain wheel connected with the driving motor and at least two second chain wheels connected with the first chain wheel through a chain, the at least two second chain wheels are positioned in a closed ring formed by the chain, the first chain wheel is positioned outside the closed ring formed by the chain, the closed ring formed by the chain is concave, and the tire is connected with the second chain wheels. Among the above technical scheme, first sprocket and second sprocket make the chain be in the state of tightening to sprocket drive's transmission efficiency has been promoted. The concave shape is corresponding to the convex shape, so that the space is saved, the whole volume of the pipeline detection robot is reduced, and the pipeline detection robot is more beneficial to crawling in a pipeline.

Preferably, the camera device comprises a base arranged on the lifting device and a rotating seat which can rotate on the base, and the rotating seat is provided with a camera. Among the above technical scheme, the lifting device changes the camera device position, and the roating seat drives the camera rotation again to make the camera possess the on-the-spot function in the all-round detection pipeline.

As preferred, install first motor on the base, the roating seat passes through the rotation axis and is connected with first motor, and first motor drives the roating seat and rotates to first motor drives the camera and rotates. Among the above technical scheme, first motor drives the camera and rotates to the shooting scope of camera has been increased.

Preferably, the rotating seat is provided with an illuminating lamp, and the illuminating lamp and the camera are positioned on the same side of the rotating seat. In the technical scheme, no light is generally arranged in the pipeline, and the lighting lamp illuminates the interior of the pipeline on site, so that the definition of a camera for shooting videos or pictures is increased; the illuminating lamp and the camera are positioned on the same side of the rotary seat, so that the definition of a video or a picture shot by the camera is further increased.

Preferably, the lifting device comprises a lifting motor arranged in the machine body, a reduction gearbox connected with the lifting motor through a shaft, an output shaft connected with the reduction gearbox, and a curved bar connected with the output shaft, wherein one end of the curved bar is connected with the output shaft, and the other end of the curved bar is connected with the base. Among the above technical scheme, thereby the lifting device is used for the camera that goes up and down to increase the shooting scope of camera. In order to guarantee the definition that the camera was shot, lifting process of lifting device will go on slowly, and the reducing gear box conveys the curved bar through the output shaft after slowing down with the rotation of lifting motor, and the curved bar drives the base and is elevating movement to elevating movement is to the camera, thereby has increased the shooting scope of camera. Organism and base are still through the rotatable connection of bent plate, and the stability of base has further been increased to bent plate cooperation curved bar, reduces the probability that the base breaks away from or rocks for clear useful video or photo are shot to the camera. The reduction box is a worm and gear reduction box, and the worm and gear reduction box improves the output torque while reducing the speed, reduces the inertia of the load and prolongs the service life of the output shaft.

Preferably, a limit switch for controlling the lifting motor to run or stop is further arranged in the reduction gearbox, the limit switch is arranged on one side of the connecting end of the output shaft and the reduction gearbox, and one end of the output shaft, which is connected with the reduction gearbox, is oval. Among the above technical scheme, when the base moved to extreme position, oval-shaped output shaft one end just contacted limit switch to limit switch control lifting motor stall to the motor continues the pivoted condition to take place when having prevented that the base from moving to extreme position, played spacing guard action to the lifting device.

Preferably, the machine body is also provided with a draw hook, and the cable is connected with the machine body through the draw hook; the machine body is also provided with a protection device, and the protection device comprises a protection rod arranged on the machine body; the body is also rotatably provided with a lifting handle. Among the above technical scheme, pipeline inspection robot keeps contact such as communication through the cable with the external world, and the drag hook has stabilized being connected of cable and pipeline inspection robot. The protection thick stick protects pipeline inspection robot, has reduced pipeline inspection robot and has taken place the striking and the probability of damaging when the pipeline motion. The lifting handle is convenient for workers to carry the pipeline detection robot, and when the pipeline detection robot crawls in a pipeline, the lifting handle keeps a state of being placed on the machine body.

Preferably, a control circuit for controlling the rotation of the driving motor is further provided in the body. In the technical scheme, the pipeline detection robot is moved forwards, backwards, leftwards and rightwards through the control circuit.

Preferably, the control circuit comprises a first relay K1, a second relay K2, a third relay K3 and a fourth relay K4 which respectively control the robot to move forward, move backward, turn left and turn right. In the above technical solution, the first relay K1, the second relay K2, the third relay K3, and the fourth relay K4 are respectively connected to a signal end of the driving motor and are used for controlling the change of the potential difference of the signal end of the driving motor, thereby controlling the forward and reverse rotation of the driving motor. The moving direction of the pipeline robot is controlled by the relay, so that a control circuit is greatly simplified and the moving direction of the pipeline robot can be conveniently controlled. This pipeline robot specifically is equipped with six tires, and both sides respectively are equipped with corresponding three tire, and the three tire of each side respectively through a driving motor control motion, and a driving motor is established the three tire motion in pipeline robot one side through the sprocket group control corresponding with this driving tire promptly, and the driving motor of control pipeline robot tire includes first driving motor and second driving motor. The control circuit controls the potential difference of the signal input end of the motor by using the relay so as to control the rotation of the first driving motor and the second driving motor and control the motion state of the pipeline detection robot. Two signal ends of the first driving motor are respectively 1E + and 1E-, two signal ends of the second driving motor are respectively 2E + and 2E-, a relay is used for respectively controlling potential switches of 1E + and 1E-, 2E + and 2E-, thereby controlling and realizing the change of potential difference of 1E + and 1E-, 2E + and 2E-, thereby respectively controlling the positive and negative rotation of the first driving motor and the second driving motor, and further controlling the forward movement, the backward movement, the left rotation and the right rotation of the pipeline detection robot. The control logic table of the control circuit is as follows:

	1E+	1E-	2E+	2E-
					stop	-	-	+	+
Go forward	+	-	-	+
					Retreat	-	+	+	-
Left turn	+	-	+	-
					Right turn	-	+	-	+

In the initial state, the 1E + and 1E-signal ends of the first driving motor are both at low level, the 2E + and 2E-signal ends of the second driving motor are both at high level, and at the moment, the first driving motor and the second driving motor both keep in a stop state. When the first relay K1 works, the first relay K1 adsorbs and controls the first switch S1 connected with the 1E + end and the second switch S2 connected with the 2E + end to be switched on respectively, so that the first driving motor and the second driving motor keep corresponding positive rotation, and the pipeline detection robot moves forwards; when the second relay K2 works, the second relay K2 adsorbs and controls the connection of a third switch S3 connected with the 1E-end and a third switch S4 connected with the 2E-end respectively, so that the first driving motor and the second driving motor keep corresponding reverse rotation, and the pipeline detection robot moves backwards; when the third relay K3 works, the third relay K3 adsorbs and controls the connection of a fifth switch S5 connected with the 1E + end and a sixth switch S6 connected with the 2E-end respectively, so that the first driving motor rotates forwards, the second driving motor rotates backwards, and the pipeline detection robot rotates leftwards; when the fourth relay K4 works, the fourth relay K4 respectively adsorbs and controls the communication of the seventh switch S7 connected with 1E & lt- & gt and the eighth switch S8 connected with 2E & lt + & gt, so that the first driving motor rotates reversely, the second driving motor rotates positively, and the pipeline detection robot rotates rightwards.

The utility model has the advantages that:

1. the pipeline detection robot of the utility model increases the detection range of the detection in the pipeline;

2. the pipeline detection robot of the utility model reduces the noise when the pipeline detection robot moves;

3. the utility model discloses a pipeline inspection robot has simplified control circuit;

4. the utility model discloses a pipeline inspection robot is equipped with the fender rod, has reduced the robot and has moved the impaired probability of collision in the pipeline.

Drawings

Fig. 1 is a schematic structural diagram of the pipeline inspection robot of the present invention;

fig. 2 is a rear view of the pipe inspection robot of the present invention;

FIG. 3 is a schematic view of the internal structure of the side of the pipeline inspection robot of the present invention;

figure 4 is a schematic structural view of the lifting motor, the reduction gearbox, the output shaft and the limit switch of the present invention;

fig. 5 is a circuit diagram of the control circuit of the present invention.

In the figure: 1. the lifting mechanism comprises a machine body, 100, a first seat body, 101, a second seat body, 2, a tire, 3, a driving motor, 4, a first chain wheel, 5, a second chain wheel, 6, a third chain wheel, 7, a chain, 8, a base, 9, a rotating seat, 10, a camera, 11, a first motor, 12, a rotating shaft, 13, a lighting lamp, 14, a lifting motor, 15, a reduction box, 16, an output shaft, 17, a curved bar, 18, a limit switch, 19, a curved plate, 20, a protective bar, 21, a lifting handle, 22, a cable, 23 and a drag hook.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

As shown in fig. 1-5, the utility model discloses a pipeline inspection robot, including being connected with cable 22 organism 1, establish camera device on organism 1 through the lifting device, establish tire 2 on organism 1 through drive arrangement, drive arrangement is including establishing driving motor 3 in organism 1, the sprocket group through the hub connection with driving motor 3, and tire 2 passes through the hub connection with the sprocket group. Organism 1 includes first pedestal 100, establishes the second pedestal 101 in first pedestal 100 top, and camera device passes through the lifting device and establishes on second pedestal 101, and drive arrangement establishes on first pedestal 100, and second pedestal 101 volume is less than first pedestal 100 volume, and second pedestal 101 is established in first pedestal 100 rear end, and camera device establishes on second pedestal 101 and extends to the place ahead, thereby has promoted the utility model discloses a pipeline inspection robot's equilibrium to the information in the pipeline is obtained better in the motion in the pipeline and better.

In this embodiment, the sprocket set includes a first sprocket 4 connected to the driving motor 3, and at least two second sprockets 5 connected to the first sprocket 4 through a chain 7, where the at least two second sprockets 5 are located in a closed loop formed by the chain 7, the first sprocket 4 is located outside the closed loop formed by the chain 7, the closed loop formed by the chain 7 is concave and in a tightened state, and the tire 2 is connected to the second sprockets 5. The chain wheel set further comprises a third chain wheel 6, the third chain wheel 6 is connected with the first chain wheel 4 and the second chain wheel 5 through a chain 7 respectively, the third chain wheel 6 further enables the chain 7 to be in a tightening state, and the transmission efficiency of chain wheel transmission is further improved.

In this embodiment, the image capturing device includes a base 8 disposed on the lifting device, and a rotating base 9 rotatably disposed on the base 8, and the rotating base 9 is provided with a camera 10.

In this embodiment, install first motor 11 on the base 8, roating seat 9 passes through rotation axis 12 and is connected with first motor 11, and first motor 11 drives roating seat 9 and rotates to first motor 11 drives camera 10 and rotates.

In this embodiment, the rotary base 9 is provided with an illuminating lamp 13, and the illuminating lamp 13 and the camera 10 are located on the same side of the rotary base 9.

In this embodiment, the lifting device includes a lifting motor 14 disposed in the body 1, a reduction gearbox 15 connected to the lifting motor 14 through a shaft, an output shaft 16 connected to the reduction gearbox 15, and a curved bar 17 connected to the output shaft 16, where one end of the curved bar 17 is connected to the output shaft 16, and the other end of the curved bar 17 is connected to the base 8.

In this embodiment, a limit switch 18 for controlling the operation or stop of the lifting motor 14 is further disposed in the reduction gearbox 15, the limit switch is disposed on one side of a connection end of the output shaft 16 and the reduction gearbox 15, and one end of the output shaft 16 connected with the reduction gearbox 15 is oval.

In this embodiment, the body 1 is further provided with a draw hook 23, and the cable 22 is connected with the body 1 through the draw hook 23; the machine body 1 is also provided with a protection device, and the protection device comprises a protection rod 20 arranged on the machine body 1; the body 1 is also rotatably provided with a lifting handle 21.

In this embodiment, a control circuit for controlling the rotation of the driving motor 3 is further disposed in the machine body 1. As shown in fig. 5.

In the embodiment, the control circuit comprises a first relay K1, a second relay K2, a third relay K3 and a fourth relay K4 which are used for respectively controlling the robot to move forwards, backwards, turn left and turn right. The driving motor for controlling the tire of the pipeline robot comprises a first driving motor for driving the tire on one side of the pipeline robot and a second driving motor for driving the tire on the other side of the pipeline robot, two signal ends of the first driving motor are respectively 1E + and 1E-, two signal ends of the second driving motor are respectively 2E + and 2E-, a potential switch of 1E + and 1E-, 2E + and 2E-is respectively controlled by a relay to realize the change of the potential difference of 1E + and 1E-, 2E + and 2E-, thereby respectively controlling the positive and negative rotation of the first driving motor and the second driving motor, and further controlling the forward movement, the backward movement, the left rotation and the right rotation of the pipeline detection robot. In the initial state, the 1E + and 1E-signal ends of the first driving motor are both at low level, the 2E + and 2E-signal ends of the second driving motor are both at high level, and at the moment, the first driving motor and the second driving motor both keep in a stop state. When the first relay K1 works, the first relay K1 adsorbs and controls the first switch S1 connected with the 1E + end and the second switch S2 connected with the 2E + end to be switched on respectively, so that the first driving motor and the second driving motor keep corresponding positive rotation, and the pipeline detection robot moves forwards; when the second relay K2 works, the second relay K2 adsorbs and controls the connection of a third switch S3 connected with the 1E-end and a third switch S4 connected with the 2E-end respectively, so that the first driving motor and the second driving motor keep corresponding reverse rotation, and the pipeline detection robot moves backwards; when the third relay K3 works, the third relay K3 adsorbs and controls the connection of a fifth switch S5 connected with the 1E + end and a sixth switch S6 connected with the 2E-end respectively, so that the first driving motor rotates forwards, the second driving motor rotates backwards, and the pipeline detection robot rotates leftwards; when the fourth relay K4 works, the fourth relay K4 respectively adsorbs and controls the communication of the seventh switch S7 connected with 1E & lt- & gt and the eighth switch S8 connected with 2E & lt + & gt, so that the first driving motor rotates reversely, the second driving motor rotates positively, and the pipeline detection robot rotates rightwards.

In the description of the present invention, it should be noted that, as the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the indicated orientation or positional relationship thereof is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" as appearing herein are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The same creation is considered to be simply replaced without changing the creation content of the present invention. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A pipeline inspection robot, its characterized in that: including organism (1) that is connected with cable (22), establish camera device on organism (1) through the lifting device, establish tire (2) on organism (1) through drive arrangement, drive arrangement is including establishing driving motor (3) in organism (1), with driving motor (3) through the sprocket group of hub connection, tire (2) and sprocket group are through the hub connection.

2. The pipeline inspection robot of claim 1, wherein: the chain wheel set comprises a first chain wheel (4) connected with the driving motor (3), at least two second chain wheels (5) connected with the first chain wheel (4) through a chain (7), the at least two second chain wheels (5) are located in a closed ring formed by the chain (7), the first chain wheel (4) is located outside the closed ring formed by the chain (7), the closed ring formed by the chain (7) is concave and is in a tightening state, and the tire (2) is connected with the second chain wheels (5).

3. The pipeline inspection robot according to claim 1 or 2, wherein: the camera device comprises a base (8) arranged on the lifting device and a rotating seat (9) which can be rotated on the base (8), and a camera (10) is arranged on the rotating seat (9).

4. The pipeline inspection robot of claim 3, wherein: install first motor (11) on base (8), roating seat (9) are connected with first motor (11) through rotation axis (12), and first motor (11) drive roating seat (9) and rotate to first motor (11) drive camera (10) and rotate.

5. The pipeline inspection robot of claim 4, wherein: the rotary seat (9) is provided with an illuminating lamp (13), and the illuminating lamp (13) and the camera (10) are positioned on the same side of the rotary seat (9).

6. The pipeline inspection robot of claim 1, 2, 4 or 5, wherein: the lifting device comprises a lifting motor (14) arranged in the machine body (1), a reduction gearbox (15) connected with the lifting motor (14) through a shaft, an output shaft (16) connected with the reduction gearbox (15), and a curved bar (17) connected with the output shaft (16), wherein one end of the curved bar (17) is connected with the output shaft (16), and the other end of the curved bar (17) is connected with the base (8).

7. The pipeline inspection robot of claim 6, wherein: a limit switch (18) for controlling the lifting motor (14) to run or stop is further arranged in the reduction gearbox (15), the limit switch (18) is arranged on one side of the connecting end of the output shaft (16) and the reduction gearbox (15), and one end, connected with the reduction gearbox (15), of the output shaft (16) is oval.

8. The pipeline inspection robot of claim 1, 2, 4, 5, or 7, wherein: a draw hook (23) is also arranged on the machine body (1), and the cable (22) is connected with the machine body (1) through the draw hook (23); the machine body (1) is also provided with a protection device, and the protection device comprises a protection rod (20) arranged on the machine body (1); the body (1) is also provided with a lifting handle (21) in a rotatable way.

9. The pipeline inspection robot of claim 8, wherein: the machine body (1) is also internally provided with a control circuit for controlling the rotation of the driving motor (3).

10. The pipeline inspection robot of claim 9, wherein: the control circuit comprises a first relay (K1), a second relay (K2), a third relay (K3) and a fourth relay (K4) which respectively control the robot to move forward, move backward, turn left and turn right.

Images