CN213871708U

CN213871708U - Novel pipeline maintenance robot

Info

Publication number: CN213871708U
Application number: CN202022145406.2U
Authority: CN
Inventors: 赵继成; 陆学兴; 田赓; 胡延坤
Original assignee: Beijing Drainage Construction Co ltd
Current assignee: Beijing Drainage Construction Co ltd
Priority date: 2020-09-26
Filing date: 2020-09-26
Publication date: 2021-08-03
Anticipated expiration: 2030-09-26

Abstract

The utility model relates to a novel pipeline overhauls robot, including last automobile body, camera and light filling ware, the light filling ware is installed go up on the automobile body, still including fixing go up the gyroscope stabilizer on the automobile body, the camera is installed on the gyroscope stabilizer, and the camera sets up all the time up. This application has the effect of carrying out comprehensive inspection to pipeline upper portion.

Description

Novel pipeline maintenance robot

Technical Field

The application relates to the field of robots, in particular to a novel pipeline maintenance robot.

Background

At present, along with the continuous construction of cities, more and more municipal pipelines such as drainage pipelines are buried underground. After the car that the subaerial process weight is great, can lead to the pipeline condition that damages to appear in the pipeline to burying the pipeline underground formation great pressure after long-time, consequently need carry out the periodic overhaul to the pipeline.

At present, when a pipeline is overhauled, a pipeline overhauling robot is used. The body of the robot is provided with a rotating frame and a camera arranged on the rotating frame. The swivel mount can be around its self axis rotation, can also drive the camera at swivel mount axis place plane internal rotation to drive the camera and carry out comprehensive inspection to pipeline inside.

In practice, the upper part of the pipe is more stressed and damaged than elsewhere in the pipe, since it is closer to the ground.

In view of the above-described related art, the inventors thought that there was a defect that the upper portion of the duct could not be inspected in a full scale by the camera mounted on the swivel frame.

SUMMERY OF THE UTILITY MODEL

In order to improve the defect that the inspection robot can not carry out the comprehensive inspection to the upper portion that the pipeline damaged easily, this application provides a novel pipeline inspection robot.

The application provides a pair of novel pipeline overhaul robot adopts following technical scheme:

the utility model provides a novel pipeline overhauls robot, includes automobile body, camera and light filling ware, the light filling ware is installed go up on the automobile body, still including fixing go up the gyroscope stabilizer on the automobile body, the camera is installed on the gyroscope stabilizer, and the camera sets up all the time up.

Through adopting above-mentioned technical scheme, walk the in-process when the maintenance robot in the pipeline, open light filling ware and gyroscope stabilizer, make the camera can carry out clear shooting inspection inside the pipeline, the gyroscope stabilizer can stably keep a state throughout in three-dimensional space, when the robot marchs the in-process and jolts and appear crooked to the camera production, the inside motor of gyroscope stabilizer can produce the opposite direction effort opposite with crooked to the camera, thereby keep the camera to set up, and the upper portion region that damages appears easily to the pipeline always stabilizes, comprehensive shooting inspection, improve the maintenance efficiency and the accuracy of robot to the pipeline.

Preferably, the camera adopts a panoramic camera.

Through adopting above-mentioned technical scheme, can shoot the inside wider region of pipeline, more do benefit to and carry out comprehensive inspection to the pipeline.

Preferably, still including the fixed plate of installation on last automobile body, install shock attenuation piece on the fixed plate and install the mounting panel of shock attenuation piece upper end, the gyroscope stabilizer sets up on the mounting panel.

Through adopting above-mentioned technical scheme, can install the gyroscope stabilizer on last automobile body through fixed plate, damper and mounting panel stably, reliably, connect fixed plate and mounting panel through damper, can cushion the jolt that the robot goes the in-process to protect gyroscope stabilizer and camera, prolong the life cycle of gyroscope stabilizer and camera.

Preferably, the damping member includes that rigid coupling shell, vertical wearing to establish on the fixed plate shock attenuation pole on the shell, set up in the shell and with the connecting plate of shock attenuation pole rigid coupling, be the compression state set up in the shell and be located the spring of connecting plate below, the both ends of spring butt respectively on the fixed plate and on the lower surface of connecting plate, the both ends of shock attenuation pole are located the below of fixed plate and the top of shell respectively, and the mounting panel rigid coupling is on the upper end of shock attenuation pole.

Through adopting above-mentioned technical scheme, when the condition of jolting appears in the maintenance robot walking in the pipeline, the action of gravity of gyroscope stabilizer and camera is on the shock-absorbing rod, and the shock-absorbing rod drives the connecting plate and compresses the spring, offsets the effort that produces when the robot jolts to play good shock attenuation effect to gyroscope stabilizer and camera on the mounting panel, bumper shock absorber simple structure, the shock attenuation effect is obvious.

Preferably, the upper part of the connecting plate is provided with a buffer sheet.

Through adopting above-mentioned technical scheme, when the spring had open trend after the spring was compressed, the spring upwards promoted the connecting plate, and the buffer chip that is located between connecting plate and the shell makes the connecting plate can not take place rigid contact with the shell, reduces both and contacts the back and pass to the stress on the gyroscope stabilizer through the mounting panel, further forms the protection to gyroscope stabilizer and camera.

Preferably, the damping member is provided in plurality, and the plurality of damping members are uniformly distributed on the fixing plate.

Through adopting above-mentioned technical scheme, evenly distributed's a plurality of damper can play the effect of shock attenuation, protection to gyroscope stabilizer and camera, can also provide stable installation basis to the mounting panel and gyroscope stabilizer and camera that are located the mounting panel.

Preferably, the lower part of the upper vehicle body is connected with a lifting assembly, the lower part of the lifting assembly is connected with a lower vehicle body, and at least two wheels are respectively installed on two opposite sides of the lower vehicle body.

Through adopting above-mentioned technical scheme, under automobile body self action of gravity down, the maintenance robot can walk in the pipeline is stable, through adjustment lifting unit, can promote the height of camera fast for the camera can correspond not pipeline of co-altitude and carry out the adaptability and rise, thereby can closely carry out the overhaul on pipeline upper portion.

Preferably, the lifting assembly comprises rails fixedly connected to the lower vehicle body and the upper vehicle body respectively, and a first support rod and a second support rod connected between the upper rail and the lower rail, the first support rod and the second support rod are respectively provided with two, and the first support rod and the second support rod on the same side are hinged;

the lower end of the first supporting rod is hinged to the lower rail, the upper end of the first supporting rod is connected to the upper rail in a sliding mode, and the upper end of the first supporting rod is locked with the rail through a locking piece;

the lower end of the second supporting rod is connected to the lower rail in a sliding mode, and the upper end of the second supporting rod is hinged to the upper rail.

Through adopting above-mentioned technical scheme, elevation structure is simple, when being convenient for highly adjusting the camera, can also carry out the outrigger to last automobile body and camera, and the reinforcing overhauls robot's use reliability.

Preferably, the retaining member includes the bolt of rigid coupling in first branch upper end and installs the nut on the bolt, the bolt slides and wears to establish on the track, the nut is located the one side that the top track deviates from first branch.

Through adopting above-mentioned technical scheme, screw up the nut and can stably be connected the upper end of second branch on the track, when the height of going up the automobile body was adjusted to needs, not hard up nut can adjust lifting unit, simple structure, and the staff of being convenient for operates.

In summary, the present application includes at least one of the following beneficial technical effects:

1. by arranging the gyroscope stabilizer, the gyroscope stabilizer can be always stably kept in a state in a three-dimensional space, so that the camera is kept upwards, and stable and comprehensive shooting and inspection are always carried out on an upper area of a pipeline which is easy to damage;

2. by arranging the panoramic camera, a wider area in the pipeline can be shot, and the pipeline can be comprehensively inspected;

3. through setting up the damper, the shock attenuation pole drives the connecting plate and compresses the spring, offsets the effort that produces when the robot jolts to play good shock attenuation effect to gyroscope stabilizer and camera on the mounting panel.

Drawings

FIG. 1 is a schematic structural diagram of a novel pipeline maintenance robot;

FIG. 2 is a schematic view highlighting the structure of the gyrostabiliser and the camera;

fig. 3 is a partially enlarged schematic view of a portion a in fig. 2.

Description of reference numerals: 1. a lower vehicle body; 11. a wheel; 12. a draw bar; 2. a lifting assembly; 21. a track; 22. a first support bar; 23. a second support bar; 24. a bolt; 25. a nut; 3. an upper vehicle body; 31. lifting a pull rod; 32. a clamping block; 4. a fixing plate; 41. a support bar; 5. a shock absorbing member; 51. a housing; 52. a shock-absorbing lever; 53. a connecting plate; 54. a buffer sheet; 55. a spring; 6. mounting a plate; 7. a gyroscope stabilizer; 8. a camera; 9. a light supplement device.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The utility model discloses a novel pipeline overhauls robot, refer to fig. 1, including lower automobile body 1, connect lifting unit 2 on 1 upper portion of automobile body under, connect at the last automobile body 3 on lifting unit 2 upper portion, the rigid coupling is at the fixed plate 4 of last automobile body 3 one end, set up damper 5 at 4 upper surfaces of fixed plate, connect at the mounting panel 6 on damper 5 upper portion, install gyroscope stabilizer 7 on mounting panel 6, install panoramic camera 8 on gyroscope stabilizer 7 and set up on mounting panel 6 and be located the light filling ware 9 of camera 8 below.

Through fixed plate 4, bumper 5 and mounting panel 6 for gyroscope stabilizer 7 and camera 8 are stably installed on the last car and are carried. When the maintenance robot jolts during walking, the damping piece 5 can play a role in damping and protecting the gyroscope stabilizer 7 and the camera 8. When the robot that needs to overhaul gets into and overhauls the work in the pipeline, open light filling ware 9 in advance, camera 8 is installed on gyroscope stabilizer 7, and gyroscope stabilizer 7 can remain stable state in three-dimensional space all the time to can remain camera 8 throughout and shoot up, form comprehensive, stable shooting maintenance work to pipeline upper portion.

Referring to fig. 1, two wheels 11 are respectively installed on opposite sides of a lower body 1, and a driving device such as a motor for driving the wheels 11 may be provided inside the lower body 1. The end part of the lower vehicle body 1 is provided with a traction rod 12, when the maintenance robot is used, an external traction device can be connected to the traction rod 12 to provide walking power for the maintenance robot.

The lifting device comprises two groups of rails 21, wherein the two groups of rails 21 are respectively arranged on the upper part of the lower vehicle body 1 and on two sides of the upper vehicle body 3, the rails 21 are made of metal plates, and horizontal waist-shaped holes are formed in sections, close to the same end, of the two groups of rails 21. The lifting assembly 2 further comprises two groups of supporting rods, each group of supporting rods consists of a first supporting rod 22 and a second supporting rod 23, and the central positions of the lengths of the first supporting rod 22 and the second supporting rod 23 are mutually connected in a rotating mode. The lower end of the first supporting rod 22 is hinged on the track 21 of the lower vehicle body 1, and the upper end of the first supporting rod is connected in the waist-shaped hole in a sliding manner; the lower end of the second supporting rod 23 is hinged to the rail 21 of the upper vehicle body 3, a locking piece consisting of a bolt 24 and a nut 25 is installed at the upper end of the second supporting rod 23, one end of the bolt 24 is fixedly connected to the upper end of the second supporting rod 23, the bolt 24 penetrates through the waist-shaped hole, the nut 25 is connected to the bolt 24, and the nut 25 is located on one side, away from the upper end of the second supporting rod 23, of the rail 21.

The height of the upper vehicle body 3 is adjusted through the lifting assembly 2, and the height of the camera 8 can be changed along with the height of the upper vehicle body 3. When the maintenance robot is inside the pipeline, can make camera 8 be closer to the upper portion of pipeline, and then make camera 8 carry out the stable shooting inspection to pipeline upper portion. Through first branch 22 and second branch 23, can conveniently adjust the height of camera 8, can also carry out the outrigger to last automobile body 3. Through the bolt 24 that is located waist type downthehole, can realize that second branch 23 slides and sets up on track 21, accomplish the regulation back to lifting unit 2, screw up nut 25 for track 21 is fastened between second branch 23 and nut 25, thereby makes lifting unit 2 stably set up.

Referring to fig. 1, the upper vehicle body 3 is provided with a lifting rod 31 convenient for moving the maintenance robot and a clamping block 32 fixed on the rail 21 for clamping the lifting rod 31, the lifting rod 31 is U-shaped, and two ends of the lifting rod 31 are respectively rotatably mounted on the rails 21 at two sides of the upper vehicle body 3. When the maintenance robot needs to be moved, the lifting rod 31 is rotated and the upper part of the lifting rod 31 is held, so that the maintenance robot can be conveniently carried. When the lifting rod 31 is not needed to be put into practice, the lifting rod 31 is horizontally placed and is overlapped on the clamping block 32, and the lifting rod 31 can be accommodated.

Referring to fig. 1 and 2, the fixing plate 4 is fixedly connected to one end of the upper body 3, the lower portion of the fixing plate 4 is connected to a support rod 41 disposed obliquely, and two ends of the support rod 41 are respectively fixedly connected to the lower surface of the fixing plate 4 and the end of the upper body 3, so as to stably and reliably support the fixing plate 4, the gyro stabilizer 7 and the camera 8 suspended outside the end of the upper body 3.

Referring to fig. 2 and 3, four damping members 5 are uniformly distributed on the fixing plate 4. The shock absorbing member 5 comprises a shell 51 fixedly connected to the upper plate surface of the fixing plate 4, a shock absorbing rod 52 vertically penetrating through the shell 51 and the fixing plate 4, a connecting plate 53 arranged inside the shell 51 and fixedly connected with the shock absorbing rod 52, a buffer sheet 54 arranged on the upper plate surface of the connecting plate 53, and a spring 55 arranged in the shell 51 and having an upper end abutting against the lower plate surface of the connecting plate 53, wherein the lower end of the shell 51 is an open end, the upper end of the shell is a closed end, and the buffer sheet 54 is made of flexible materials such as rubber and plastic, so that the shock absorbing member has a good buffering effect. The lower end of the spring 55 abuts on the fixing plate 4, so that the spring 55 can push the connecting plate 53 upward, and the connecting plate 53 drives the shock-absorbing rod 52 to support the mounting plate 6.

When the maintenance robot bumps, the mounting plate 6, the gyroscope stabilizer 7 and the camera 8 compress the spring 55 downwards through the damping rod 52, so that the spring 55 forms an upward elastic support for the mounting plate 6, and a damping effect is formed on the mounting plate 6. When the spring 55 pushes the connecting plate 53 upwards, the buffer sheet 54 is located between the connecting plate 53 and the closed end of the housing 51, so that hard contact can be avoided, and when the spring 55 pushes the mounting plate 6 upwards, shock absorption protection can be formed on the gyroscope stabilizer 7 and the camera 8 again.

Referring back to fig. 2, the gyro stabilizer 7 is formed by mutually hinging three sections of connecting walls, a motor is arranged between the connecting walls, the lower end of the gyro stabilizer 7 is rotatably installed on the installation plate 6, and the camera 8 is installed on the uppermost section of the connecting wall.

Jolt and rock appear walking the in-process when overhauing the robot in the pipeline, and when leading to camera 8 to produce crooked trend, the motor between the linking arm can provide the effort opposite with 8 slope trends of camera to guarantee to be located camera 8 on the gyroscope stabilizer 7 and stably keep setting up all the time.

Referring to fig. 2, the light supplement device 9 is integrally formed in a circular ring shape, and a plurality of light supplement lamps are uniformly installed on the upper portion of the light supplement device 9. Light filling 9 sets up on mounting panel 6, and the lower extreme setting of gyroscope stabilizer 7 is inside light filling 9, and a plurality of light filling lamps are located around the camera 8 below. When the maintenance robot enters the pipeline to be checked, the light supplement lamp is turned on and irradiates upwards, so that the camera 8 can check the upper part of the pipeline more clearly.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a novel pipeline overhauls robot, includes automobile body (3), camera (8) and light filling ware (9), light filling ware (9) are installed on last automobile body (3), its characterized in that: still including fixing gyroscope stabilizer (7) on last automobile body (3), install camera (8) on gyroscope stabilizer (7), and camera (8) set up all the time.

2. The novel pipeline overhauling robot as recited in claim 1, wherein: the camera (8) adopts a panoramic camera (8).

3. The novel pipeline overhauling robot as recited in claim 1, wherein: still including installing fixed plate (4) on last automobile body (3), installing damper (5) on fixed plate (4) and installing mounting panel (6) of damper (5) upper end, gyroscope stabilizer (7) set up on mounting panel (6).

4. The novel pipeline overhauling robot as recited in claim 3, wherein: damping member (5) include rigid coupling shell (51), vertical the wearing to establish on fixed plate (4) shock attenuation pole (52) on shell (51), set up in shell (51) and with connecting plate (53) of shock attenuation pole (52) rigid coupling, be the compression state set up in shell (51) and be located spring (55) of connecting plate (53) below, the both ends of spring (55) respectively the butt on fixed plate (4) and on the lower surface of connecting plate (53), the both ends of shock attenuation pole (52) are located the below of fixed plate (4) and the top of shell (51) respectively, and mounting panel (6) rigid coupling is on the upper end of shock attenuation pole (52).

5. The novel pipeline overhauling robot as recited in claim 4, wherein: the upper part of the connecting plate (53) is provided with a buffer sheet (54).

6. The novel pipeline overhauling robot as recited in claim 5, wherein: the damping pieces (5) are arranged in a plurality of numbers, and the damping pieces (5) are uniformly distributed on the fixing plate (4).

7. The novel pipeline overhauling robot as recited in claim 1, wherein: go up the sub-unit connection of automobile body (3) and have lifting unit (2), the sub-unit connection of lifting unit (2) has automobile body (1) down, install two wheels (11) respectively on the relative both sides of automobile body (1) down at least.

8. The novel pipeline overhauling robot as recited in claim 7, wherein: the lifting assembly (2) comprises rails (21) fixedly connected to the lower vehicle body (1) and the upper vehicle body (3) respectively, and a first supporting rod (22) and a second supporting rod (23) connected between the upper rail (21) and the lower rail (21), wherein the first supporting rod (22) and the second supporting rod (23) are respectively provided with two supporting rods, and the first supporting rod (22) and the second supporting rod (23) on the same side are hinged;

the lower end of the first supporting rod (22) is hinged on the lower track (21), the upper end of the first supporting rod is connected to the upper track (21) in a sliding mode, and the upper end of the first supporting rod (22) is locked with the track (21) through a locking piece;

the lower end of the second supporting rod (23) is connected on the lower track (21) in a sliding way, and the upper end of the second supporting rod is hinged on the upper track (21).

9. The novel pipeline overhauling robot as recited in claim 8, wherein: the retaining member includes bolt (24) of rigid coupling in first branch (22) upper end and installs nut (25) on bolt (24), bolt (24) slide and wear to establish on track (21), nut (25) are located one side that top track (21) deviate from first branch (22).