CN215149172U

CN215149172U - Culvert detection robot

Info

Publication number: CN215149172U
Application number: CN202121546754.9U
Authority: CN
Inventors: 郑志军; 黄春华; 黄艳宏; 黄书保; 黄鸿霖
Original assignee: Fujian Xunjie Flood Control And Drought Relief Service Co ltd
Current assignee: Fujian Xunjie Flood Control And Drought Relief Service Co ltd
Priority date: 2021-07-08
Filing date: 2021-07-08
Publication date: 2021-12-14
Anticipated expiration: 2031-07-08

Abstract

The utility model discloses a culvert detection robot, including the machine car, the drive wheel, the input, base and lower sliding frame, four group's drive wheels are installed to the bottom of machine car, and the outer wall mounting of machine car of drive wheel one side has the input, and the outer wall and the machine car fixed connection of input, the outside of machine car is equipped with the receiving machine, and the bottom of receiving machine installs two sets of walking wheels, and the top of walking wheel is connected with the receiving machine through the bearing, two sets of auxiliary wheels are installed to the receiving machine bottom of walking wheel one side, and install the output on the receiving machine outer wall of auxiliary wheel top, and the outer wall and the receiving machine fixed connection of output. The utility model discloses not only realized the regulation of the inside height of culvert detection robot for the speed of culvert detection robot debugging has made things convenient for moreover to carry out real-time transmission detection image to the inside circumstances such as jam, siltation, crack, seepage of culvert pipeline.

Description

Culvert detection robot

Technical Field

The utility model relates to a detection robot technical field specifically is a culvert detection robot.

Background

The visual inspection of the reservoir water discharge culvert is a part of the detection of the 'state of illness' of the reservoir, the reservoir compares well with the human body, the water discharge culvert compares well with the intestinal canal of a person, an enteroscope is required to be inspected on the intestinal canal, the internal visual inspection of the reservoir water discharge culvert is carried out by a culvert detection robot, so that the inside of the water discharge culvert which cannot be reached by people is observed, the internal condition of the prior water discharge culvert is known, whether the conditions such as blockage, sedimentation, cracks and leakage exist or not is known, the danger is found in time, the information is provided for solving the danger by an expert research scheme, the crawling robot carries a high-resolution color camera and timely transmits a system to enter the reservoir culvert for detection and inspection, and the existing culvert detection robot still has some defects to be improved when in use.

The detection robot on the market is various in types and can basically meet the use requirements of people, but certain problems still exist, and the specific problems include the following points:

(1) the existing detection robot is generally inconvenient to carry and move conveniently when in use, so that the convenience degree of the detection robot when in use is seriously influenced;

(2) the existing detection robot is not convenient to adjust the internal height when in use, thereby greatly influencing the safety of the detection robot when in use;

(3) the existing detection robot is not convenient and fast to brake when in use, thereby bringing great trouble to people.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a culvert detection robot to it removes to provide the convenient transport of detection robot not convenient for among the above-mentioned background art to solve, the regulation of inside height, the problem of convenient braking.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a culvert detection robot, includes machine car, drive wheel, input, base and lower slide frame, four groups drive wheels are installed to the bottom of machine car, and the outer wall mounting of machine car of drive wheel one side has the input to the outer wall and the machine car fixed connection of input, the outside of machine car is equipped with the receiving machine, and the bottom of receiving machine installs two sets of walking wheels to the top of walking wheel is connected with the receiving machine through the bearing, two sets of auxiliary wheels are installed to the receiving machine bottom of walking wheel one side, and install the output on the receiving machine outer wall of auxiliary wheel top, and the outer wall and the receiving machine fixed connection of output, be equipped with the cable on the outer wall of output, and the one end of cable extends to the inside of input.

Preferably, the top of machine car is equipped with the support frame, and is fixed with the camera on the outer wall of support frame to the alignment jig is installed to the bottom of support frame.

Preferably, the bottom of alignment jig is equipped with the upper sliding frame, and the inside base that is equipped with of machine car of upper sliding frame below to the lower sliding frame is installed on the top of base.

Preferably, the bottom of alignment jig is equipped with the main branch arm, and the bottom of main branch arm extends to the inside of lower slide frame to the supplementary support arm is installed on the top of base, and the top of assisting the support arm extends to the inside of supreme slide frame, installs the screw thread seat on the outer wall of alignment jig, and the inside of screw thread seat is equipped with the lead screw, and the one end of lead screw extends to on the outer wall of assisting the support arm.

Preferably, the receiving machine is internally provided with a limiting rod, the surface of the limiting rod is sleeved with a driving frame, and the bottom end of the driving frame is provided with a spring.

Preferably, the bottom end of the spring is fixed with a brake frame, a sliding frame is arranged inside the receiving machine on one side of the driving frame, a through hole is formed inside the receiving machine on one side of the sliding frame, and a locking pin is arranged inside the sliding frame on one side of the through hole.

Compared with the prior art, the beneficial effects of the utility model are that: the detection robot not only realizes the adjustment of the internal height of the culvert detection robot and accelerates the debugging speed of the culvert detection robot, but also facilitates the real-time transmission of detection images on the conditions of blockage, siltation, cracks, leakage and the like in culvert pipelines;

(1) the robot vehicle is placed inside a culvert, a camera transmits detection images in real time on the conditions of blockage, siltation, cracks, leakage and the like inside a culvert pipeline to check whether hidden dangers exist in the culvert pipeline and the like, four groups of driving wheels assist the robot vehicle to move, a receiving machine receives signals of the camera and processes the signals, an output end of the receiving machine is connected with an input end through a cable to realize data transmission, two groups of traveling wheels are installed together with the receiving machine, two groups of auxiliary wheels are installed together with the receiving machine to facilitate the movement of the receiving machine, the convenient carrying movement of the culvert detection robot is realized, and the detection images are transmitted in real time on the conditions of blockage, siltation, cracks, leakage and the like inside the culvert pipeline;

(2) the auxiliary support arm is driven to move by rotating the screw rod under the matching of the screw rod and the threaded seat, the top end of the auxiliary support arm slides in the upper sliding frame, the auxiliary support arm drives the main support arm to move under the support of the adjusting frame, the bottom end of the main support arm slides in the lower sliding frame, the lower sliding frame is supported by the base, the adjusting frame is driven to move upwards by the matching of the auxiliary support arm and the main support arm, so that the support frame and the camera are driven to move upwards by the adjusting frame to adjust the height of the camera, the adjustment of the internal height of the culvert detection robot is realized, and the debugging speed of the culvert detection robot is accelerated;

(3) install the bottom at the receiving machine through walking wheel and auxiliary wheel, make things convenient for the receiving machine to remove, when the machine is received in needs braking, the carriage that down slides, the carriage drives the carriage and down removes, the gag lever post carries on spacingly to the carriage, carriage drive spring and braking frame down remove, braking frame brakies the receiving machine with ground contact, insert the inside of carriage and through-hole with the fitting pin, come to fix carriage and receiving machine, the convenient braking of culvert detection robot has been realized, culvert detection robot's practicality has been increased.

Drawings

Fig. 1 is a schematic front view of a cross-sectional structure of the present invention;

FIG. 2 is a schematic view of a front cross-sectional structure of the robot vehicle of the present invention;

FIG. 3 is a schematic side view of a cross-sectional structure of a receiving machine according to the present invention;

fig. 4 is a schematic view of the front section structure of the traveling wheel of the present invention.

In the figure: 1. a machine vehicle; 2. a drive wheel; 3. an input end; 4. a cable; 5. an output end; 6. a receiving machine; 7. a traveling wheel; 8. an auxiliary wheel; 9. a camera; 10. a support frame; 11. an upper sliding frame; 12. an adjusting bracket; 13. a screw rod; 14. a main support arm; 15. a threaded seat; 16. an auxiliary support arm; 17. a base; 18. a lower slider frame; 19. a limiting rod; 20. a driving frame; 21. a spring; 22. a brake frame; 23. a locking pin; 24. a carriage; 25. and a through hole.

Detailed Description

The technical solution in 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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides an embodiment: a culvert detection robot comprises a machine vehicle 1, driving wheels 2, an input end 3, a base 17 and a lower sliding frame 18, wherein four groups of driving wheels 2 are mounted at the bottom end of the machine vehicle 1, the input end 3 is mounted on the outer wall of the machine vehicle 1 on one side of the driving wheels 2, the outer wall of the input end 3 is fixedly connected with the machine vehicle 1, a receiving machine 6 is arranged outside the machine vehicle 1, two groups of walking wheels 7 are mounted at the bottom end of the receiving machine 6, the top ends of the walking wheels 7 are connected with the receiving machine 6 through bearings, two groups of auxiliary wheels 8 are mounted at the bottom end of the receiving machine 6 on one side of the walking wheels 7, an output end 5 is mounted on the outer wall of the receiving machine 6 above the auxiliary wheels 8, the outer wall of the output end 5 is fixedly connected with the receiving machine 6, a cable 4 is arranged on the outer wall of the output end 5, and one end of the cable 4 extends to the inside of the input end 3;

when the robot is used, the robot car 1 is placed inside a culvert, a camera 9 transmits detection images in real time on the conditions of blockage, siltation, cracks, leakage and the like inside a culvert pipeline to check whether hidden dangers exist in the culvert pipeline and the like, four groups of driving wheels 2 assist the robot car 1 to move, a receiving machine 6 receives and processes signals of the camera 9, an output end 5 is connected with an input end 3 through a cable 4 to realize data transmission, two groups of traveling wheels 7 are installed together with the receiving machine 6, and two groups of auxiliary wheels 8 are installed together with the receiving machine 6 to facilitate the movement of the receiving machine 6, so that the convenient carrying and moving of the culvert detection robot are realized, and the real-time transmission detection images on the conditions of blockage, siltation, cracks, leakage and the like inside the culvert pipeline are facilitated;

the top end of the machine car 1 is provided with a support frame 10, a camera 9 is fixed on the outer wall of the support frame 10, the bottom end of the support frame 10 is provided with an adjusting frame 12, the bottom end of the adjusting frame 12 is provided with an upper sliding frame 11, a base 17 is arranged in the machine car 1 below the upper sliding frame 11, a lower sliding frame 18 is arranged at the top end of the base 17, the bottom end of the adjusting frame 12 is provided with a main support arm 14, the bottom end of the main support arm 14 extends to the inner part of the lower sliding frame 18, the top end of the base 17 is provided with an auxiliary support arm 16, the top end of the auxiliary support arm 16 extends to the inner part of the sliding frame 11, the outer wall of the adjusting frame 12 is provided with a screw seat 15, the inner part of the screw seat 15 is provided with a screw rod 13, and one end of the screw rod 13 extends to the outer wall of the auxiliary support arm 16;

when the culvert detection robot is used, the screw rod 13 is rotated, the screw rod 13 drives the auxiliary support arm 16 to move under the matching of the screw rod 13 and the threaded seat 15, the top end of the auxiliary support arm 16 slides in the upper sliding frame 11, the auxiliary support arm 16 drives the main support arm 14 to move under the supporting of the adjusting frame 12, the bottom end of the main support arm 14 slides in the lower sliding frame 18, the base 17 supports the lower sliding frame 18, the auxiliary support arm 16 and the main support arm 14 are matched to drive the adjusting frame 12 to move upwards, so that the adjusting frame 12 drives the support frame 10 and the camera 9 to move upwards to adjust the height of the camera 9, the adjustment of the internal height of the culvert detection robot is realized, and the debugging speed of the culvert detection robot is accelerated;

a limiting rod 19 is arranged inside the receiving machine 6, a driving frame 20 is sleeved on the surface of the limiting rod 19, a spring 21 is arranged at the bottom end of the driving frame 20, a braking frame 22 is fixed at the bottom end of the spring 21, a sliding frame 24 is arranged inside the receiving machine 6 on one side of the driving frame 20, a through hole 25 is arranged inside the receiving machine 6 on one side of the sliding frame 24, and a locking pin 23 is arranged inside the sliding frame 24 on one side of the through hole 25;

install the bottom at receiving machine 6 through walking wheel 7 and auxiliary wheel 8 during the use, make things convenient for receiving machine 6 to remove, when machine 6 is received in the needs braking, carriage 24 slides down, carriage 24 drives the carriage 20 and moves down, gag lever post 19 carries on spacingly to the carriage 20, carriage 20 driving spring 21 and brake yoke 22 move down, brake yoke 22 brakes to receiving machine 6 with ground contact, insert the inside of carriage 24 and through-hole 25 with fitting pin 23, come to fix carriage 24 and receiving machine 6, the convenient braking of culvert detection robot has been realized, culvert detection robot's practicality has been increased.

The working principle is as follows: when the self-propelled culvert pipe network power supply is used, firstly, the machine vehicle 1 is placed in a culvert, whether the culvert pipe is blocked, silted, cracked, leaked and the like or not is detected by real-time transmission of detection images through the camera 9, whether hidden dangers exist in the culvert pipe and the like or not is checked, four groups of driving wheels 2 assist the machine vehicle 1 to move, a receiving machine 6 receives and processes signals of the camera 9, an output end 5 is connected with an input end 3 through a cable 4 to realize data transmission, two groups of walking wheels 7 are installed with the receiving machine 6, two groups of auxiliary wheels 8 are installed with the receiving machine 6 to facilitate the movement of the receiving machine 6, then, the screw 13 is rotated, under the matching of the screw 13 and a threaded seat 15, the screw 13 drives an auxiliary support arm 16 to move, the top end of the auxiliary support arm 16 slides in the upper sliding frame 11, under the support of the adjusting frame 12, the auxiliary support arm 16 drives a main support arm 14 to move, the bottom end of the main arm 14 slides inside the lower runner 18, the base 17 supports the lower runner 18, the auxiliary arm 16 and the main arm 14 cooperate to drive the adjustment frame 12 to move upwards, so that the adjusting frame 12 drives the supporting frame 10 and the camera 9 to move upwards to adjust the height of the camera 9, and then the walking wheels 7 and the auxiliary wheels 8 are arranged at the bottom end of the receiving machine 6 to facilitate the movement of the receiving machine 6, when the receiving machine 6 needs to be braked, the sliding frame 24 slides downwards, the sliding frame 24 drives the driving frame 20 to move downwards, the limiting rod 19 limits the driving frame 20, the driving frame 20 drives the spring 21 and the braking frame 22 to move downwards, the braking frame 22 is in contact with the ground to brake the receiving machine 6, and the locking pin 23 is inserted into the sliding frame 24 and the through hole 25 to fix the sliding frame 24 and the receiving machine 6, so that the use work of the detection robot is completed.

Claims

1. A culvert detection robot, characterized in that: comprises a machine vehicle (1), driving wheels (2), an input end (3), a base (17) and a lower sliding frame (18), wherein four groups of driving wheels (2) are installed at the bottom end of the machine vehicle (1), the input end (3) is installed on the outer wall of the machine vehicle (1) on one side of the driving wheels (2), the outer wall of the input end (3) is fixedly connected with the machine vehicle (1), a receiving machine (6) is arranged outside the machine vehicle (1), two groups of walking wheels (7) are installed at the bottom end of the receiving machine (6), the top end of each walking wheel (7) is connected with the receiving machine (6) through a bearing, two groups of auxiliary wheels (8) are installed at the bottom end of the receiving machine (6) on one side of the walking wheels (7), an output end (5) is installed on the outer wall of the receiving machine (6) above the auxiliary wheels (8), and the outer wall of the output end (5) is fixedly connected with the receiving machine (6), be equipped with cable (4) on the outer wall of output (5), and the one end of cable (4) extends to the inside of input (3).

2. The culvert detecting robot of claim 1, wherein: the top of machine car (1) is equipped with support frame (10), and is fixed with camera (9) on the outer wall of support frame (10) to alignment jig (12) are installed to the bottom of support frame (10).

3. The culvert detecting robot of claim 2, wherein: the bottom of alignment jig (12) is equipped with slide (11) on going up, and goes up inside base (17) that is equipped with of machine car (1) of slide (11) below to slide (18) down is installed on the top of base (17).

4. The culvert detecting robot of claim 2, wherein: the bottom of alignment jig (12) is equipped with main support arm (14), and the bottom of main support arm (14) extends to the inside of runner (18) down to the top of base (17) is installed and is assisted support arm (16), the top of assisting support arm (16) extends to the inside of runner (11), install screw thread seat (15) on the outer wall of alignment jig (12), and the inside of screw thread seat (15) is equipped with lead screw (13), and the one end of lead screw (13) extends to on the outer wall of assisting support arm (16).

5. The culvert detecting robot of claim 1, wherein: the receiving machine is characterized in that a limiting rod (19) is arranged inside the receiving machine (6), a driving frame (20) is sleeved on the surface of the limiting rod (19), and a spring (21) is installed at the bottom end of the driving frame (20).

6. The culvert detecting robot of claim 5, wherein: the bottom end of the spring (21) is fixed with a brake frame (22), a sliding frame (24) is arranged inside the receiving machine (6) on one side of the driving frame (20), a through hole (25) is arranged inside the receiving machine (6) on one side of the sliding frame (24), and a locking pin (23) is arranged inside the sliding frame (24) on one side of the through hole (25).