CN214662936U - Non-excavation pipeline internal detection robot - Google Patents
Non-excavation pipeline internal detection robot Download PDFInfo
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- CN214662936U CN214662936U CN202120638991.1U CN202120638991U CN214662936U CN 214662936 U CN214662936 U CN 214662936U CN 202120638991 U CN202120638991 U CN 202120638991U CN 214662936 U CN214662936 U CN 214662936U
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Abstract
The utility model relates to an inside inspection robot of non-excavation pipeline belongs to municipal pipeline maintenance and repair technical field. The robot for detecting the interior of the trenchless pipeline comprises a frame, a camera and two walking assemblies, wherein the frame comprises two hinged frame bodies and a reset assembly used for controlling the reset of the two frame bodies, the reset assembly comprises a plurality of reset springs, the plurality of reset springs are distributed along the circumferential direction of the frame and located around the hinged positions of the two frame bodies, the two ends of each reset spring are fixed with the two frame bodies respectively, the camera is fixed on the frame, and the two walking assemblies are arranged in a mirror image mode and correspond to the two frame bodies one to one respectively. The frame plays the supporting role, and the camera is used for making a video recording, detects, and two support bodies are articulated, can buckle relatively, and the walking subassembly butt forms the support and the whole marching of drive in pipeline inner wall, and reset assembly ensures that two support bodies keep original state and allow two support bodies to buckle when turning to make the inside inspection robot of non-excavation pipeline can cross the bend.
Description
Technical Field
The utility model belongs to the technical field of the municipal administration pipeline is maintained and is restoreed, concretely relates to inside inspection robot of non-excavation pipeline.
Background
Municipal administration blowdown drainage pipe is an indispensable ring in the urban construction. In the use process of the pipeline, hidden dangers such as blockage or damage and the like are easy to occur due to the influence of various factors, so that the pipeline needs to be detected and maintained regularly, and the hidden dangers are eliminated timely.
Because the pipeline is located traffic main road or building below usually, inconvenient excavation construction, consequently, use pipeline inspection robot to detect usually, current pipeline inspection robot can only advance in straight pipeline usually, is difficult to pass through the return bend of return bend, especially vertical pipeline department.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides an aim at provides an inside inspection robot of non-excavation pipeline, the frame plays supporting role, and the camera is used for making a video recording, detects, and two support bodies are articulated, can buckle relatively, and reset assembly ensures that two support bodies keep original state and allow two support bodies to buckle when turning to make the inside inspection robot of non-excavation pipeline can cross the curve.
The embodiment of the utility model is realized like this:
the embodiment of the utility model provides an inside inspection robot of non-excavation pipeline, the inside inspection robot of non-excavation pipeline includes frame, camera and two running gear, the frame includes two articulated support bodies and is used for controlling two the reset assembly that the support body resets, reset assembly includes a plurality of reset spring, a plurality of reset spring are followed the circumference of frame distributes and is located two around the articulated department of support body, reset spring's both ends respectively with two the support body is fixed, the camera is fixed in the frame, two the running gear mirror image sets up and respectively with two the support body one-to-one.
As an alternative of the above embodiment, the reset assembly further includes two reset plates and a plurality of limit rings, the two reset plates are coaxially fixed to the two frame bodies respectively, two ends of the reset spring are fixed to the two reset plates respectively, the reset spring and the limit rings are in one-to-one correspondence, the limit rings are fixed to one of the end portions of the frame and adjacent to the hinged portion of the two frame bodies, and the reset spring penetrates through the limit rings.
As an alternative to the above embodiment, the inner diameter of the stop collar increases from the middle to the ends.
As an alternative to the above embodiment, the generatrix of the inner surface of the stop collar is in the shape of a circular arc.
As an alternative to the above embodiment, the frame further includes a protection ring coaxially fixed to one of the frame bodies and adjacent to the hinge joint of the two frame bodies, and a plurality of protection wheels uniformly distributed along a circumferential direction of the protection ring.
As an alternative of the above embodiment, the rack further includes a ball screw pair and a deployment motor, the ball screw pair includes a screw and a ball nut, the screw is rotatably supported on the rack around its central line and is driven by the deployment motor, and the ball nut is sleeved on the screw; the walking assembly comprises at least three walking units, the at least three walking units are distributed along the circumferential direction of the support body, each walking unit comprises a supporting leg, a support and a walking wheel, one end of each supporting leg is hinged to the support body, one end of each support is hinged to the middle of each supporting leg, the other end of each support is hinged to the middle of each supporting leg, and the walking wheels are rotatably arranged at the end parts of the supporting legs and at least one walking wheel is driven by a walking motor.
As an alternative of the above embodiment, the walking unit further includes an adjusting member, the adjusting member includes a slide rail, a slide block and an adjusting spring, the slide rail is rod-shaped and fixed to the ball nut, the slide block is slidably sleeved on the slide rail, the adjusting spring is sleeved on the slide rail and abuts against the slide block, and the support leg is hinged to the slide block.
As an alternative to the above embodiment, the adjusting member further includes an adjusting nut, one end of the slide rail is provided with a threaded section, the adjusting nut is engaged with the threaded section, and one end of the adjusting spring abuts against the slider and the other end abuts against the adjusting nut.
As an alternative to the above embodiment, the traveling wheel of one of the traveling assemblies includes a wheel carrier and three rollers, the wheel carrier is rotatably disposed at the end of the supporting leg and has three supporting arms, and the rollers are rotatably supported at the end of the supporting arms.
As an alternative to the above embodiment, the two frames are hinged by a universal joint.
The utility model has the advantages that:
the utility model provides an inside inspection robot of non-excavation pipeline, the frame plays the supporting role, and the camera is used for making a video recording, detects, and two support bodies are articulated, can buckle relatively, and the walking subassembly butt forms in the pipeline inner wall to support and the drive is whole to be advanced, and reset assembly ensures that two support bodies keep original state and allow two support bodies to buckle when turning to make the inside inspection robot of non-excavation pipeline can cross curved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts. The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 shows a schematic structural diagram of a trenchless pipeline internal inspection robot provided by a first embodiment of the present invention;
FIG. 2 shows a partially enlarged schematic view of FIG. 1;
FIG. 3 is a schematic view showing a connection relationship between two frame bodies;
fig. 4 is a schematic structural diagram of the trenchless pipeline internal inspection robot in fig. 1 with a part of the structure omitted;
FIG. 5 is a schematic view showing the fitting relationship between the frame body and the walking assembly;
FIG. 6 shows a cross-sectional view of the stop collar;
FIG. 7 shows a schematic view of the protective ring and protective wheel;
fig. 8 is a schematic view showing a matching relationship between a walking assembly and a ball screw pair of a trenchless pipeline internal inspection robot according to a second embodiment of the present invention;
fig. 9 shows a structural schematic diagram of the road wheel.
Icon:
10-a detection robot inside the trenchless pipeline;
11-a frame; 13-a camera; 14-a walking assembly;
110-a frame body; 111-a reset component; 112-a universal joint; 113-ball screw pair; 114-a deployment motor; 115-lead screw; 116-a ball nut; 120-a return spring; 121-a reset plate; 122-a stop collar; 123-a guard ring; 124-a protective wheel; 140-a walking monomer; 141-legs; 142-a scaffold; 143-road wheels; 144-a walking motor; 150-an adjustment member; 151-a slide rail; 152-a slide block; 153-adjusting spring; 154-an adjusting nut; 160-a wheel frame; 161-roller.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
First embodiment
Referring to fig. 1, a first embodiment of the present invention provides an trenchless pipeline inspection robot 10, wherein the trenchless pipeline inspection robot 10 is adapted to inspect municipal sewage and drainage pipelines in a trenchless state.
The trenchless pipeline internal detection robot 10 comprises a frame 11, a camera 13 and two walking assemblies 14.
Specifically, the camera 13 is fixed to one end of the frame 11 for performing imaging detection on the inside of the pipeline.
The two walking assemblies 14 are arranged in a mirror image manner and respectively correspond to the two frame bodies 110 one by one.
Referring to fig. 2, the specific structure of the rack 11 is: the frame 11 includes a frame body 110, a reset component 111, a protection ring 123, a protection wheel 124, a ball screw 115 pair 113, and a deployment motor 114 (see fig. 5 for a part of the structure).
The number of the frame bodies 110 is two, the structure of the frame bodies 110 may adopt the prior art, in this embodiment, the frame bodies 110 adopt a frame structure, and the two frame bodies 110 are hinged and coaxially arranged, as shown in fig. 3, specifically, the two frame bodies 110 are hinged through the universal joint 112.
The initial state of the frame bodies 110 is coaxial, the reset assembly 111 is used for controlling the reset of the two frame bodies 110, and when the two frame bodies 110 are bent, the reset assembly 111 enables the two frame bodies 110 to have the tendency of returning to be coaxial.
As shown in fig. 2 and 4, the reset assembly 111 includes two reset plates 121, a plurality of reset springs 120 and a plurality of retainer rings 122.
Two reset plates 121 are respectively and coaxially fixed on two frame bodies 110, the two reset plates 121 are oppositely arranged, and the hinged positions of the reset plates 121 and the two frame bodies 110 are adjacent.
The plurality of return springs 120 are distributed along the circumferential direction of the rack 11 and located around the hinge of the two rack bodies 110, and two ends of the return springs 120 are fixed to the two return plates 121 respectively.
The return springs 120 correspond to the limiting rings 122 one to one, the limiting rings 122 are fixed at the end of one of the racks 11 and adjacent to the hinged position of the two rack bodies 110, and the return springs 120 penetrate through the limiting rings 122.
In this embodiment, the inner diameter of the limiting ring 122 gradually increases from the middle to the two ends, and further, the generatrix of the inner surface of the limiting ring 122 is arc-shaped.
The position of the return spring 120 near the middle portion can be ensured by the limiting ring 122, so that the return spring 120 is bent during the stretching process, and the return spring 120 is not dislocated when returning (the two frame bodies 110 may be continuously bent due to abnormal return of the return spring 120).
The specific structure of the guard ring 123 is: the protection ring 123 is coaxially fixed on one of the frame bodies 110, the protection ring 123 is adjacent to the hinge joint of the two frame bodies 110, and the plurality of protection wheels 124 are uniformly distributed along the circumference of the protection ring 123.
In this embodiment, the number of the protection wheels 124 may be four, which are respectively in the up, down, left and right directions (based on the horizontal pipe direction).
The protection wheel 124 can ensure that the middle part of the frame 11 does not touch the bent pipe part, thereby not only preventing the frame 11 from damaging the bent pipe, but also ensuring the steering to be smoother.
The ball screw 115 pair 113 is used for driving the walking assembly 14 to unfold and fold, and the ball screw 115 pair 113 comprises a screw 115 and a ball nut 116.
The lead screw 115 is rotatably supported on the frame 110 around its central line and driven by the unfolding motor 114, and the ball nut 116 is sleeved on the lead screw 115.
The specific structure of the walking assembly 14 is as follows: the walking assembly 14 includes at least three walking units 140, and in the present embodiment, the number of the walking units 140 is three.
The three walking units 140 are uniformly distributed along the circumferential direction of the frame body 110, the three walking units 140 are distributed in a regular triangular frustum shape, and the three walking units 140 can be abutted against the inner wall of the pipeline.
The walking unit 140 includes a leg 141, a bracket 142, and a walking wheel 143.
One end of the supporting leg 141 is hinged to the frame body 110, one end of the bracket 142 is hinged to the ball nut 116, the other end of the bracket is hinged to the middle of the supporting leg 141, the walking wheels 143 are rotatably arranged at the end of the supporting leg 141, and at least one walking wheel 143 is driven by a walking motor 144.
The bracket 142 moves under the driving of the ball nut 116, and drives the leg 141 to turn, so that the walking unit 140 can be unfolded or folded.
The working mode of the trenchless pipeline internal inspection robot 10 in this embodiment is as follows:
placing a non-excavation pipeline internal detection robot 10 in a pipeline;
controlling the unfolding motor 114 to drive the screw 115 to rotate, and enabling the ball nut 116 to move along the central line of the screw 115, so that one end of the support 142 moves, and the support 142 drives the support leg 141 to rotate until all the travelling wheels 143 abut against the inner wall of the pipeline;
enabling the walking motor 144 to work, enabling the walking wheel 143 to rotate, and enabling the trenchless pipeline internal detection robot 10 to advance;
when a corner is encountered, firstly, one of the frame bodies 110 and the walking unit 140 pass through a bent pipe;
under the action of the two intersecting pipelines, the two frame bodies 110 are bent;
the protection wheel 124 contacts the bent pipe to ensure that the frame body 110 and the like do not contact the bent pipe, and at the moment, part of the return spring 120 is compressed and part of the return spring 120 is stretched;
the trenchless pipeline internal detection robot 10 continues to advance, the other frame body 110 and the walking unit 140 also pass through the elbow, in the process, the two frame bodies 110 gradually return to the original positions under the multiple acting force of the return spring 120, and the protection wheel 124 gradually breaks away from the inner wall of the pipeline.
The above steps can be deleted, added, adjusted in sequence, etc. according to the actual structure and requirements.
Second embodiment
The second embodiment of the utility model also provides an inside inspection robot 10 of non-excavation pipeline, compares with first embodiment, and the improvement point lies in the connected mode of support 142 and ball nut 116 to and walking wheel 143's structure, other do not mention the part, please refer to first embodiment.
Specifically, referring to fig. 8, the walking unit 140 further includes an adjusting member 150.
The adjusting member 150 includes a slide rail 151, a slider 152, an adjusting spring 153, and an adjusting nut 154.
The slide rail 151 is rod-shaped and fixed to the ball nut 116, a threaded section is provided at one end of the slide rail 151, the adjusting nut 154 is engaged with the threaded section,
the sliding block 152 is slidably sleeved on the sliding rail 151, the adjusting spring 153 is sleeved on the sliding rail 151 and abuts against the sliding block 152, and the supporting leg 141 is hinged to the sliding block 152.
One end of the adjusting spring 153 abuts against the slider 152 and the other end abuts against the adjusting nut 154.
Referring to fig. 9, the walking wheel 143 of one walking assembly 14 includes a wheel frame 160 and three rollers 161, wherein the walking assembly 14 is a set near the camera 13.
The wheel frame 160 is rotatably disposed at an end of the leg 141 and has three arms, and the roller 161 is rotatably supported at an end of the arm.
Because there may be obstacles in the pipeline or the diameters of the joints are different, the single walking wheel 143 may not pass through, and the three rollers 161 are adopted, so that the walking wheel 143 has the ability of crossing obstacles through the rotation of the wheel carrier 160, and the application range is wider.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an inside inspection robot of non-excavation pipeline, a serial communication port, the inside inspection robot of non-excavation pipeline includes frame, camera and two running gear, the frame includes two articulated support bodies and is used for controlling two the reset assembly that the support body resets, reset assembly includes a plurality of reset spring, a plurality of reset spring follow the circumference of frame distributes and is located two around the articulated department of support body, reset spring's both ends respectively with two the support body is fixed, the camera is fixed in the frame, two the running gear mirror image sets up and respectively with two the support body one-to-one.
2. The trenchless pipeline internal inspection robot of claim 1, wherein the reset assembly further comprises two reset plates and a plurality of limit rings, the two reset plates are coaxially fixed on the two frame bodies respectively, two ends of the reset spring are fixed with the two reset plates respectively, the reset spring and the limit rings are in one-to-one correspondence, the limit rings are fixed on the end portion of one of the frames and adjacent to the hinged portion of the two frame bodies, and the reset spring is arranged in the limit rings in a penetrating manner.
3. The trenchless pipeline internal inspection robot of claim 2, wherein an inner diameter of the retainer ring is gradually increased from a middle portion to both ends.
4. The trenchless pipeline internal inspection robot of claim 3, wherein a generatrix of the inner surface of the stop collar is in the shape of a circular arc.
5. The trenchless pipeline internal inspection robot of claim 1, wherein the frame further comprises a protection ring coaxially fixed to one of the frame bodies adjacent to the hinge of the two frame bodies and a plurality of protection wheels uniformly distributed along a circumferential direction of the protection ring.
6. The trenchless pipeline internal inspection robot of any of claims 1-5, wherein the frame further comprises a ball screw assembly and a deployment motor, the ball screw assembly comprises a screw and a ball nut, the screw is rotatably supported on the frame body around a center line of the screw and is driven by the deployment motor, and the ball nut is sleeved on the screw; the walking assembly comprises at least three walking units, the at least three walking units are distributed along the circumferential direction of the support body, each walking unit comprises a supporting leg, a support and a walking wheel, one end of each supporting leg is hinged to the support body, one end of each support is hinged to the middle of each supporting leg, the other end of each support is hinged to the middle of each supporting leg, and the walking wheels are rotatably arranged at the end parts of the supporting legs and at least one walking wheel is driven by a walking motor.
7. The trenchless pipeline internal inspection robot of claim 6, wherein the walking unit further comprises an adjusting member, the adjusting member comprises a slide rail, a slide block and an adjusting spring, the slide rail is rod-shaped and fixed on the ball nut, the slide block is slidably sleeved on the slide rail, the adjusting spring is sleeved on the slide rail and abutted against the slide block, and the supporting leg is hinged to the slide block.
8. The trenchless pipeline internal inspection robot of claim 7, wherein the adjusting member further comprises an adjusting nut, one end of the slide rail is provided with a threaded section, the adjusting nut is engaged with the threaded section, one end of the adjusting spring abuts against the slider and the other end abuts against the adjusting nut.
9. The trenchless pipeline internal inspection robot of claim 6, wherein the traveling wheel of one of the traveling assemblies comprises a wheel carrier and three rollers, the wheel carrier is rotatably disposed at an end of the support leg and has three support arms, and the rollers are rotatably supported at ends of the support arms.
10. The trenchless pipeline internal inspection robot of any of claims 1-5, wherein the two frame bodies are hinged by a universal joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120638991.1U CN214662936U (en) | 2021-03-29 | 2021-03-29 | Non-excavation pipeline internal detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120638991.1U CN214662936U (en) | 2021-03-29 | 2021-03-29 | Non-excavation pipeline internal detection robot |
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| Publication Number | Publication Date |
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| CN214662936U true CN214662936U (en) | 2021-11-09 |
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| CN202120638991.1U Active CN214662936U (en) | 2021-03-29 | 2021-03-29 | Non-excavation pipeline internal detection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894117A (en) * | 2021-11-24 | 2022-01-07 | 中北大学 | Mechanical structure of pipeline dredging robot |
| CN114110301A (en) * | 2021-12-24 | 2022-03-01 | 中国原子能科学研究院 | Pipeline exploration robot |
-
2021
- 2021-03-29 CN CN202120638991.1U patent/CN214662936U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113894117A (en) * | 2021-11-24 | 2022-01-07 | 中北大学 | Mechanical structure of pipeline dredging robot |
| CN114110301A (en) * | 2021-12-24 | 2022-03-01 | 中国原子能科学研究院 | Pipeline exploration robot |
| CN114110301B (en) * | 2021-12-24 | 2022-10-28 | 中国原子能科学研究院 | Pipeline exploration robot |
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