CN211574522U - Pipeline detection robot - Google Patents
Pipeline detection robot Download PDFInfo
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- CN211574522U CN211574522U CN201922338657.XU CN201922338657U CN211574522U CN 211574522 U CN211574522 U CN 211574522U CN 201922338657 U CN201922338657 U CN 201922338657U CN 211574522 U CN211574522 U CN 211574522U
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Abstract
A pipeline inspection robot comprising: the robot comprises a robot body, a front mounting plate, a rear mounting plate, a front cylinder and a rear cylinder, wherein the front cylinder and the rear cylinder are arranged between the front mounting plate and the rear mounting plate; the two pairs of walking mechanisms are respectively connected with the piston rod of the forward cylinder and the piston rod of the backward cylinder and are used for realizing the forward movement or the backward movement of the robot body; and the pair of detection mechanisms are respectively connected to the piston rod of the forward cylinder and the piston rod of the backward cylinder. The piston rod can stretch and retract to drive the traveling mechanism and the detection mechanism to contract and extend to support the wall, the robot body can move forwards or backwards through the two pairs of traveling mechanisms, and the front and rear detection mechanisms can detect the wall surface of the sewage pipeline and the front and rear states of the pipeline.
Description
Technical Field
The utility model relates to a pipeline inspection equipment field, in particular to pipeline inspection robot.
Background
After a long period of use of the drainage pipeline, sludge and various kinds of garbage may be accumulated, and the pipe wall may be damaged. The pipeline detection robot is used for detecting the internal condition of the drainage pipeline, so that the working efficiency can be improved, and operators can be prevented from submerging. The existing pipeline detection robot can only detect the wall surface of a sewage pipeline and cannot know the front and back states of the pipeline. When a pipeline collapse accident occurs, people need to be sent to dive into a drainage pipeline in order to master the collapse place and the collapse condition, and the accident point is touched, so that the problem of low credibility exists.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a nimble pipeline inspection robot that just can detect front and back side pipeline homoenergetic.
The utility model adopts the following solution:
a pipeline inspection robot comprising:
the robot comprises a robot body, wherein the robot body comprises a front mounting plate, a rear mounting plate, a forward cylinder and a backward cylinder, the forward cylinder and the backward cylinder are arranged between the front mounting plate and the rear mounting plate, the cylinder body of the forward cylinder is connected to the front mounting plate, the piston rod of the forward cylinder penetrates through the front mounting plate, the cylinder body of the backward cylinder is connected to the rear mounting plate, and the piston rod of the backward cylinder penetrates through the rear mounting plate;
the two pairs of travelling mechanisms are respectively connected to the piston rod of the forward cylinder and the piston rod of the backward cylinder and are used for realizing the forward movement or the backward movement of the robot body;
and the pair of detection mechanisms are respectively connected to the piston rod of the forward cylinder and the piston rod of the backward cylinder.
Preferably, the pipeline inspection robot further comprises a pair of movable hinged supports, each movable hinged support is a triangular prism, and the pair of movable hinged supports are respectively mounted on the piston rod of the forward cylinder and the piston rod of the backward cylinder in a side-aligning manner.
Preferably, a pair of walking mechanisms and a detection mechanism are respectively connected to three sides of the movable hinged support.
Preferably, the traveling mechanism includes:
a wall-supporting rod;
the cushion block is connected to the first end part of the supporting wall rod;
the pair of clamping plates are connected to two sides of the cushion block;
the motor is arranged on the supporting wall rod through a motor mounting plate;
the first bevel gear is connected to an output shaft of the motor;
the second bevel gear is meshed with the first bevel gear and is connected between the pair of clamping plates through a gear shaft;
the bidirectional wheel is sleeved on the gear shaft and fixedly connected with the second bevel gear.
Preferably, the detection mechanism comprises:
a wall-supporting rod;
the cushion block is connected to the first end part of the supporting wall rod;
the pair of clamping plates are connected to two sides of the cushion block;
the bidirectional wheel is rotatably arranged between the pair of clamping plates;
one end of the parallel rod is hinged to the movable hinged support through a universal hinge;
one end of the mounting cushion block is hinged to the middle part of the supporting wall rod;
one surface of the mounting plate is fixedly connected to the other end of the mounting cushion block and is hinged to the other end of the parallel rod;
a lamp mounted to the other surface of the mounting plate;
the camera is arranged at the first end part of the supporting wall rod, and an image acquisition area of the camera is at least partially overlapped with an illumination area of the lamp.
Preferably, the second end of the supporting wall rod is hinged to a U-shaped seat through a supporting wall rod hinge pin, the U-shaped seat is arranged on the side face of the movable hinged support, the supporting wall rod hinge pin is perpendicular to the axial direction of the movable hinged support, the middle of the supporting wall rod is hinged to one end of a connecting rod, and the other end of the connecting rod is hinged to the front mounting plate or the rear mounting plate.
Preferably, the front mounting plate and the rear mounting plate are triangular, a fixing seat is arranged at each vertex of the triangle, the other end of the connecting rod is hinged to the fixing seat through a connecting rod hinge pin, and the connecting rod hinge pin is perpendicular to the axial direction of the movable hinge seat.
Preferably, the pipeline inspection robot still includes a plurality of guard plates, every the guard plate respectively with preceding mounting panel with the back mounting panel is connected, a plurality of guard plates enclose to be located to the preceding cylinder with the outside of cylinder after.
Preferably, the pipeline inspection robot further comprises a monitoring screen, wherein the monitoring screen is in communication connection with the camera and is used for displaying the pipeline image collected by the camera.
Preferably, the pipeline detection robot further comprises a control unit, and the control unit is used for controlling starting, stopping and steering of the motor so as to enable the robot body to move forwards or backwards.
The beneficial effects of the utility model reside in that: the pipeline inspection robot is symmetrical around the structure, and preceding respectively is equipped with a pair of running gear and a detection mechanism to the piston rod of cylinder and backward cylinder, can drive running gear and detection mechanism shrink and extend through the flexible of piston rod and prop the wall, can realize advancing or retreating of robot body through two pairs of running gear, and preceding detection mechanism can not only detect the sewage pipeline wall, can also detect pipeline front and back state. Two pairs of running mechanisms and a pair of detection mechanisms realize six-point flexible wall supporting in the pipeline.
The present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments of the present invention with reference to the attached drawings, in which like reference numerals generally represent like parts in exemplary embodiments of the present invention.
Fig. 1 is a schematic view of an overall structure of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 2 is a contracted state diagram of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 3 is a development state diagram of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 4 is a partial schematic view of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 5 is a schematic view of a pipeline inspection robot walking in a pipeline according to an exemplary embodiment of the present invention;
fig. 6 is a partial cross-sectional view of a traveling mechanism of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 7 is a schematic structural diagram of a detection mechanism of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 8 is a partial schematic view of a detection mechanism of a pipeline inspection robot according to an exemplary embodiment of the present invention;
fig. 9 is a schematic diagram of a control system of a pipeline inspection robot according to an exemplary embodiment of the present invention.
Description of reference numerals:
the automatic control device comprises a bidirectional wheel 1, a clamping plate 2, a cushion block 3, a wall supporting rod 4, a connecting rod 5, a fixing seat 6, a mounting plate before 7, a cylinder before 8, a cylinder after 9, a protection plate 10, a sleeve 11, a first bevel gear 12, a second bevel gear 13, a U-shaped seat 14, a movable hinged seat 15, a motor 16, a motor mounting plate 17, a universal hinge 18, a parallel rod 19, a hinge 20, a mounting plate 21, a lamp 22, a mounting block 23, a camera 24, a network cable 25, a monitoring screen 26, a control unit 27, a rear mounting plate 28, a pneumatic master switch 29, an extension control switch 30 and a contraction control switch 31.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, it is to be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the description of the invention, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the invention.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the utility model can be understood according to specific situations by those skilled in the art.
An embodiment of the utility model provides a pipeline inspection robot, include:
the robot comprises a robot body, wherein the robot body comprises a front mounting plate, a rear mounting plate, a forward cylinder and a backward cylinder, the forward cylinder and the backward cylinder are arranged between the front mounting plate and the rear mounting plate, the cylinder body of the forward cylinder is connected with the front mounting plate, the piston rod of the forward cylinder penetrates through the front mounting plate, the cylinder body of the backward cylinder is connected with the rear mounting plate, and the piston rod of the backward cylinder penetrates through the rear mounting plate;
the two pairs of travelling mechanisms are respectively connected to the piston rod of the forward cylinder and the piston rod of the backward cylinder and are used for realizing the forward movement or the backward movement of the robot body;
and the pair of detection mechanisms are respectively connected to the piston rod of the forward cylinder and the piston rod of the backward cylinder.
The pipeline inspection robot is symmetrical around the structure, and preceding respectively is equipped with a pair of running gear and a detection mechanism to the piston rod of cylinder and backward cylinder, can drive running gear and detection mechanism shrink and extend through the flexible of piston rod and prop the wall, can realize advancing or retreating of robot body through two pairs of running gear, and preceding detection mechanism can not only detect the sewage pipeline wall, can also detect pipeline front and back state.
Fig. 1 is according to the utility model discloses exemplary embodiment's overall structure schematic diagram, fig. 2 and fig. 3 are pipeline inspection robot's contraction state diagram and expansion state diagram respectively, fig. 4 is pipeline inspection robot's local schematic diagram, fig. 5 is pipeline inspection robot walking schematic diagram in the pipeline, fig. 6 is pipeline inspection robot's running gear's local cross-sectional view, fig. 7 is pipeline inspection robot's detection mechanism's structural schematic diagram, fig. 8 is pipeline inspection robot's detection mechanism's local schematic diagram.
Referring to fig. 1 to 8, the pipe inspecting robot includes:
the robot comprises a robot body, wherein the robot body comprises a front mounting plate 7, a rear mounting plate 28, a forward cylinder 8 and a backward cylinder 9, the forward cylinder 8 and the backward cylinder 9 are arranged between the front mounting plate 7 and the rear mounting plate 28, the cylinder body of the forward cylinder 8 is connected to the front mounting plate 7, the piston rod of the forward cylinder passes through the front mounting plate 7, the cylinder body of the backward cylinder 9 is connected to the rear mounting plate 28, and the piston rod of the backward cylinder passes through the rear mounting plate 28;
the two pairs of travelling mechanisms are respectively connected to a piston rod of the forward cylinder 8 and a piston rod of the backward cylinder 9 and are used for realizing the forward movement or the backward movement of the robot body;
and the pair of detection mechanisms are respectively connected to the piston rod of the forward cylinder 8 and the piston rod of the backward cylinder 9.
The pipeline inspection robot further comprises a pair of movable hinged supports 15, the movable hinged supports 15 are triangular prisms, and the pair of movable hinged supports 15 are respectively installed on a piston rod of the forward cylinder 8 and a piston rod of the backward cylinder 9 in a side alignment mode. Three side surfaces of the movable hinged support 15 are respectively provided with four threaded holes, the end surface is provided with a through hole, and the through hole is connected with a piston rod of the forward cylinder 8 or the backward cylinder 9 through a screw.
In practical application, the pipeline detection robot walks in a pipeline, the axes of the forward cylinder 8 and the backward cylinder 9 are basically kept horizontal, the axes of the pair of movable hinged supports 15 are overlapped with the axes of the forward cylinder 8 and the backward cylinder 9, and the sides of the pair of movable hinged supports 15 are aligned. Three sides of the movable hinged support 15 are respectively connected with a pair of travelling mechanisms and a detection mechanism, namely, the first side is connected with one travelling mechanism, the second side is connected with the other travelling mechanism, and the third side is connected with the detection mechanism. When the pipeline detection robot travels substantially horizontally in the pipeline, the detection mechanism is positioned above the pair of traveling mechanisms.
Wherein, running gear includes:
a spacer bar 4;
the cushion block 3 is connected to the first end part of the wall supporting rod 4;
the pair of clamping plates 2 are connected to two sides of the cushion block 3;
the motor 16 is arranged on the supporting wall rod 4 through a motor mounting plate 17;
a first bevel gear 12, the first bevel gear 12 being connected to an output shaft of the motor 16;
the second bevel gear 13 is meshed with the first bevel gear 12 and is connected between the pair of clamping plates 2 through a gear shaft;
the bidirectional wheel 1 is sleeved on the gear shaft and fixedly connected with the second bevel gear 13, and the bidirectional wheel 1 is sleeved on the gear shaft.
One end of each clamping plate 2 is semicircular, a through hole is formed in the circle center, and the pair of clamping plates 2 are connected to the two sides of the bidirectional wheel 1 through bolts. The other end of the clamping plate 2 is rectangular and is provided with four holes, the corresponding positions of the cushion block 3 and the wall supporting rod 4 are also provided with four holes, and the clamping plate 2, the cushion block 3 and the wall supporting rod 4 are fixedly connected through screws.
The bidirectional wheel 1 is disc-shaped, a hole is formed in the center of the bidirectional wheel, threaded holes are symmetrically formed in the two sides of the bidirectional wheel, and the bidirectional wheel is fixedly connected with the second bevel gear 13 through screws. The bidirectional wheels 1 are a pair and comprise a first side wheel and a second side wheel, and the gear shaft sequentially penetrates through the first side wheel, the second bevel gear 13, the sleeve 11 and the second side wheel and is fixed on the outer side of the second side wheel through nuts.
The center of the output shaft of the motor 16 is provided with a threaded hole, and the bottom surface of the first bevel gear 12 is provided with a hole which is in clearance fit with the output shaft of the motor 16. The first bevel gear 12 is provided at a side thereof with a hole through which an output shaft of the motor 16 is connected by a screw. The motor 16 is connected to the motor mounting plate 17 through screws, and the motor mounting plate 17 is provided with four threaded holes and is connected with the wall supporting rod 4 through screws.
When the motor 16 is electrified to rotate, the first bevel gear 12 is connected with an output shaft of the motor 16 and rotates along with the output shaft, so that the second bevel gear 13 meshed with the first bevel gear is driven to rotate, the bidirectional wheel 1 rotates, and a driving wheel is formed.
Wherein, detection mechanism includes:
a spacer bar 4;
the cushion block 3 is connected to the first end part of the wall supporting rod 4;
the pair of clamping plates 2 are connected to two sides of the cushion block 3;
the bidirectional wheel 1, the bidirectional wheel 1 is rotatably arranged between a pair of clamping plates 2;
one end of the parallel rod 19 is hinged with the movable hinged support 15 through a universal hinge 18;
one end of the mounting cushion block 23 is hinged to the middle part of the supporting wall rod 4;
one surface of the mounting plate 21 is fixedly connected to the other end of the mounting cushion block and is hinged to the other end of the parallel rod 19;
a lamp 22, the lamp 22 being mounted to the other surface of the mounting plate 21;
the camera 24 is arranged at the first end part of the supporting wall rod 4, and the image acquisition area of the camera 24 is at least partially overlapped with the illumination area of the lamp 22.
Wherein, the universal hinge 18 is a fisheye-shaped ball head universal hinge, one end is provided with a thread, the movable hinged support 15 is provided with a threaded hole, and the universal hinge 18 is in threaded connection with the movable hinged support 15. The two ends of the parallel rod 19 are semicircular, a hole is formed in the circle center, one end of the parallel rod 19 is hinged with the fisheye of the universal hinge 18 through a bolt, and the other end of the parallel rod is hinged with the mounting plate 21 through the universal hinge.
The lamps 22 are a pair, the end parts of the lamps 22 are provided with threads, the mounting plate 21 is provided with two through holes, and the lamps 22 penetrate through the through holes in the mounting plate 21 and are fixedly connected with nuts. The mounting cushion block 23 is hinged to the middle of the supporting wall rod 4 through a hinge.
The second end of the wall supporting rod 4 is hinged to the U-shaped seat 14 through a wall supporting rod hinge pin, the U-shaped seat 14 is arranged on the side face of the movable hinged seat 15, the wall supporting rod hinge pin is perpendicular to the axial direction of the movable hinged seat 15, the middle of the wall supporting rod 4 is hinged to one end of the connecting rod 5, and the other end of the connecting rod 5 is hinged to the front mounting plate 7 or the rear mounting plate 28. The two ends of the connecting rod 5 can be semicircular, and the center of the circle is provided with a hole. A pair of opposite side plates of the U-shaped seat 14 is provided with a through hole, and a spacer rod hinge pin is inserted into the through hole.
The front mounting plate 7 and the rear mounting plate 28 are both triangular, a fixed seat 6 is arranged at each vertex of the triangle, the other end of the connecting rod 5 is hinged to the fixed seat 6 through a connecting rod hinge pin, and the connecting rod hinge pin is perpendicular to the axial direction of the movable hinge seat 15. The center of preceding mounting panel 7 and rear mounting panel 28 is equipped with the through-hole, and the piston rod of preceding cylinder 8 passes the center through-hole of preceding mounting panel 7, and the piston rod of back cylinder 9 passes the center through-hole of rear mounting panel 28, connects gradually preceding mounting panel 7, preceding cylinder 8, back cylinder 9, rear mounting panel 28 through four bolts to pass through every bolt of nut fixation on rear mounting panel 28. Every summit department of preceding mounting panel 7 and rear mounting panel 28 is equipped with two through-holes, and fixing base 6 is the cuboid, and the bottom is equipped with two screw holes, through the screw with fixing base 6 fixed connection in preceding mounting panel 7 or rear mounting panel 28.
Pipeline inspection robot still includes three guard plate 10, and every guard plate 10 is connected with preceding mounting panel 7 and back mounting panel 28 respectively, and three guard plate 10 encloses to locate to the outside of cylinder 8 and backward cylinder 9. The whole protection plate 10 is U-shaped, and a pair of opposite side plates are provided with openings corresponding to threaded holes in each side edge of the front mounting plate 7 and the rear mounting plate 28, so that the protection plate 10 can be fixedly connected to the front mounting plate 7 and the rear mounting plate 28 through screws.
Referring to fig. 9, the pipeline inspection robot further includes a monitor screen 26, and the monitor screen 26 is in communication connection with the camera 24 and is used for displaying the pipeline image collected by the camera 24.
The pipeline inspection robot further comprises a control unit 27, and the control unit 27 is used for controlling the starting, stopping and steering of the motor 16 so as to enable the robot body to move forwards or backwards. The control unit 27 may also control the switching on of the lamp 22. The camera 24 is connected to a control unit 27 via a network cable 25, which network cable 25 can be up to tens of meters in length. The control unit 27 is in signal connection with the monitor screen 26.
The pipeline detection robot further comprises a gas pipeline connected with each motor 16, the forward cylinder 8 and the backward cylinder 9, and a pneumatic main switch 29, an extension control switch 30 and a contraction control switch 31. Pressing the pneumatic main switch 29, starting the pneumatic control system, pressing the extension control switch 30, controlling the piston rods to extend out of the front cylinder 8 and the rear cylinder 9, extending the walking mechanism and the detection mechanism, pressing the contraction control switch 31, controlling the piston rods to retract into the front cylinder 8 and the rear cylinder 9, and contracting the walking mechanism and the detection mechanism.
The following describes the working process of the pipeline inspection robot according to the exemplary embodiment of the present invention:
before entering the wellhead of the drainage pipeline, the contraction control switch 31 is pressed to control the forward cylinder 8 and the backward cylinder 9 to retract the piston rod, so that each walking mechanism and each detection mechanism are driven to contract towards the center, and the well is conveniently lowered.
After entering the drainage pipeline, the extension control switch 30 is pressed to control the front cylinder 8 and the rear cylinder 9 to extend out of the piston rods, so as to drive each walking mechanism and each detection mechanism to extend, support the pipe wall, and simultaneously, the control lamp 22 is lightened to illuminate the inside of the pipeline.
When the pipeline detection robot needs to advance, the advance button of the control unit 27 is pressed, the motors of the two pairs of travelling mechanisms rotate forwards to drive the first bevel gear 12 and the second bevel gear 13 to rotate forwards, the bidirectional wheel 1 rotates forwards, the pipeline detection robot moves forwards, and the bidirectional wheels 1 of the pair of detection mechanisms are used as driven wheels and also rotate forwards. When the pipeline detection robot needs to retreat, a retreat button of the control unit 27 is pressed, motors of the two pairs of travelling mechanisms rotate reversely to drive the first bevel gear 12 and the second bevel gear 13 to rotate reversely, the bidirectional wheel 1 rotates backwards, the pipeline detection robot moves backwards, and the bidirectional wheels 1 of the pair of detection mechanisms are used as driven wheels and also rotate backwards. Meanwhile, the monitoring screen 26 displays images in the pipelines at the front side and the rear side in real time, and the holder in the camera 24 can be controlled through the monitoring screen 26, so that the detection of a plurality of angles in the pipeline is realized.
After the drainage pipeline is withdrawn, the contraction control switch 31 is pressed to control the front cylinder 8 and the rear cylinder 9 to retract the piston rods, and the pipeline detection robot contracts.
While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A pipeline inspection robot, comprising:
the robot comprises a robot body, wherein the robot body comprises a front mounting plate (7), a rear mounting plate (28), a front cylinder (8) and a rear cylinder (9), the front cylinder (8) and the rear cylinder (9) are arranged between the front mounting plate (7) and the rear mounting plate (28), the cylinder body of the front cylinder (8) is connected to the front mounting plate (7) and the piston rod of the front cylinder (8) penetrates through the front mounting plate (7), the cylinder body of the rear cylinder (9) is connected to the rear mounting plate (28) and the piston rod of the rear cylinder (9) penetrates through the rear mounting plate (28);
the two pairs of travelling mechanisms are respectively connected to a piston rod of the forward cylinder (8) and a piston rod of the backward cylinder (9) and are used for realizing the forward movement or the backward movement of the robot body;
and the pair of detection mechanisms are respectively connected to the piston rod of the forward cylinder (8) and the piston rod of the backward cylinder (9).
2. The pipe inspecting robot according to claim 1, further comprising a pair of moving anchors (15), the moving anchors (15) being triangular prisms, the pair of moving anchors (15) being respectively mounted to the piston rod of the forward cylinder (8) and the piston rod of the backward cylinder (9) in a side-aligned manner.
3. The pipeline inspection robot according to claim 2, wherein a pair of the traveling mechanism and one of the detecting mechanism are connected to three sides of the movable hinge base (15), respectively.
4. The pipe inspection robot of claim 3, wherein the walking mechanism comprises:
a spacer bar (4);
the cushion block (3), the cushion block (3) is connected to the first end part of the supporting wall rod (4);
the pair of clamping plates (2) are connected to two sides of the cushion block (3);
the motor (16), the said motor (16) is mounted to the said spacer bar (4) through the mounting panel of the motor (17);
a first bevel gear (12), the first bevel gear (12) being connected to an output shaft of the motor (16);
a second bevel gear (13), wherein the second bevel gear (13) is meshed with the first bevel gear (12) and is connected between the pair of clamping plates (2) through a gear shaft;
the bidirectional wheel (1), the bidirectional wheel (1) cover is located the gear shaft and with second bevel gear (13) fixed connection.
5. The pipeline inspection robot of claim 3, wherein the detection mechanism comprises:
a spacer bar (4);
the cushion block (3), the cushion block (3) is connected to the first end part of the supporting wall rod (4);
the pair of clamping plates (2) are connected to two sides of the cushion block (3);
the bidirectional wheel (1), the said bidirectional wheel (1) is set up between the said pair of grip blocks (2) rotatably;
a parallel rod (19), one end of the parallel rod (19) is hinged to the movable hinged support (15) through a universal hinge (18);
one end of the mounting cushion block (23) is hinged to the middle of the supporting wall rod (4);
the mounting plate (21), one surface of the mounting plate (21) is fixedly connected to the other end of the mounting cushion block (23), and is hinged to the other end of the parallel rod (19);
a lamp (22), the lamp (22) being mounted to the other surface of the mounting plate (21);
a camera (24), the camera (24) being provided at the first end of the spacer bar (4), an image capture area of the camera (24) at least partially coinciding with an illumination area of the lamp (22).
6. The pipeline inspection robot according to claim 4 or 5, wherein the second end of the supporting wall rod (4) is hinged to a U-shaped seat (14) through a supporting wall rod hinge pin, the U-shaped seat (14) is arranged on the side surface of the movable hinged seat (15), the supporting wall rod hinge pin is perpendicular to the axial direction of the movable hinged seat (15), the middle of the supporting wall rod (4) is hinged to one end of a connecting rod (5), and the other end of the connecting rod (5) is hinged to the front mounting plate (7) or the rear mounting plate (28).
7. The pipeline inspection robot according to claim 6, wherein the front mounting plate (7) and the rear mounting plate (28) are both triangular, a fixing seat (6) is provided at each vertex of the triangle, the other end of the connecting rod (5) is hinged to the fixing seat (6) by a connecting rod hinge pin, and the connecting rod hinge pin is perpendicular to the axial direction of the movable hinge seat (15).
8. The duct inspection robot according to claim 1, further comprising a plurality of protection plates (10), each protection plate (10) being connected to the front mounting plate (7) and the rear mounting plate (28), respectively, the plurality of protection plates (10) being enclosed outside the forward cylinder (8) and the rearward cylinder (9).
9. The pipeline inspection robot according to claim 5, further comprising a monitor screen (26), wherein the monitor screen (26) is in communication with the camera (24) for displaying the pipeline image captured by the camera (24).
10. The pipeline inspection robot according to claim 4, further comprising a control unit (27), wherein the control unit (27) is configured to control start and stop and steering of the motor (16) to advance or retreat the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922338657.XU CN211574522U (en) | 2019-12-24 | 2019-12-24 | Pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922338657.XU CN211574522U (en) | 2019-12-24 | 2019-12-24 | Pipeline detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211574522U true CN211574522U (en) | 2020-09-25 |
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ID=72550256
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922338657.XU Active CN211574522U (en) | 2019-12-24 | 2019-12-24 | Pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211574522U (en) |
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2019
- 2019-12-24 CN CN201922338657.XU patent/CN211574522U/en active Active
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