CN215215782U - Pipeline robot for detecting damage of covering part of sewer pipeline - Google Patents
Pipeline robot for detecting damage of covering part of sewer pipeline Download PDFInfo
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- CN215215782U CN215215782U CN202121740719.0U CN202121740719U CN215215782U CN 215215782 U CN215215782 U CN 215215782U CN 202121740719 U CN202121740719 U CN 202121740719U CN 215215782 U CN215215782 U CN 215215782U
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- steering engine
- connecting seat
- camera
- vehicle body
- pipeline
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- 238000001514 detection method Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 4
- 230000007547 defect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000010840 domestic wastewater Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000010842 industrial wastewater Substances 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
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Abstract
The utility model discloses a pipeline robot for detecting the damage of a covering part of a sewer pipeline, which comprises a vehicle body (1), wherein driving wheels (2) connected with a motor are arranged at four corners of the bottom surface of the vehicle body (1), an infrared distance meter (3) is arranged between the adjacent driving wheels (2), and an ultrasonic distance meter (4) is arranged between the infrared distance meters (3); a first connecting seat (5) is arranged at the top of the vehicle body (1), a first steering engine (6) in rotary connection is arranged on the first connecting seat (5), and a first camera (7) is arranged on the first steering engine (6); the utility model discloses get rid of the foreign matter that shelters from of sewer pipe wall, effectively promote the reliability that detects.
Description
Technical Field
The utility model relates to a robot field, in particular to a pipeline robot that is used for sewer pipe to cover damaged detection of department.
Background
The sewer is an urban public facility, refers to a pipeline for discharging sewage and rainwater of a building, and is mainly used for collecting and discharging domestic wastewater generated in cities and industrial wastewater generated in industrial production; along with sewer pipe's use pipeline wall can age gradually, and then appears damaged easily, for preventing normal blowdown and drainage function, can use detection robot to get into to use camera and detecting instrument to inspect in the pipeline usually, and often have the foreign matter in the pipeline to cover the pipeline wall, only rely on camera and detecting instrument to be difficult to directly survey, very big reduction the reliability that detects, the practicality is not good enough.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a pipeline robot that is used for sewer line to cover the damaged detection of department. The utility model discloses get rid of the foreign matter that shelters from of sewer pipe wall, effectively promote the reliability that detects.
The technical scheme of the utility model: a pipeline robot for detecting the damage of the covered part of a sewer pipeline comprises a vehicle body, driving wheels connected with a motor are arranged at four corners of the bottom surface of the vehicle body, an infrared distance meter is arranged between the adjacent driving wheels, and an ultrasonic distance meter is arranged between the infrared distance meters; the top of the vehicle body is provided with a first connecting seat, the first connecting seat is provided with a first steering engine in rotating connection, and the first steering engine is provided with a first camera; a second connecting seat is arranged on the side face of the vehicle body, a second steering engine in rotary connection is arranged on the second connecting seat, a first connecting piece is arranged on one side of the second steering engine, a third connecting seat is arranged at the end part of the first connecting piece, and a third steering engine in rotary connection is arranged on the third connecting seat; a second connecting piece is arranged at the bottom of the third steering engine, a fourth connecting seat is arranged at the end part of the second connecting piece, a fourth steering engine in rotary connection is arranged on the fourth connecting seat, a connecting plate is arranged on the bottom surface of the fourth steering engine, and a bucket is arranged at the end part of the connecting plate; the rotating surfaces of the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are coplanar with the vertical surface, and the rotating surfaces of the second steering engine, the third steering engine and the fourth steering engine are consistent; and a second camera is arranged below the second connecting seat.
In foretell a pipeline robot for sewer pipe covers damage detection of department, the automobile body is including the supporting part that is located the below, and second camera, drive wheel, infrared distance meter and ultrasonic distance meter are located the supporting part, one side of the top of supporting part towards the second camera is equipped with counter weight portion, and second connecting seat and first camera are located counter weight portion.
In the pipe robot for detecting damage at the covered part of the sewer pipe, the top surface of the counterweight part and the adjacent two side surfaces form an arc-shaped surface together, and the two side surfaces of the supporting part are arc-shaped surfaces tangent to the side surfaces of the counterweight part; the supporting part on the opposite side of the second camera and the side face of the counterweight part form an inclined plane together.
In the pipeline robot for detecting the damage of the covered part of the sewer pipe, the driving wheel comprises a driving part close to one side of the vehicle body, an outer attaching part is arranged on the outer side of the driving part, and the side surface of the outer attaching part is an inclined surface.
In the pipeline robot for detecting the damage of the covered part of the sewer pipe, the bucket comprises an installation block connected with a connecting plate, a semicircular fixing plate is arranged on the installation block, and an arc-shaped supporting plate matched with the edge of the fixing plate is arranged on the fixing plate.
Compared with the prior art, the utility model discloses following beneficial effect has:
1. the four corners of the bottom surface of the utility model are provided with driving wheels connected with the motor, an infrared distance meter is arranged between the adjacent driving wheels, and an ultrasonic distance meter is arranged between the infrared distance meters; the top of the vehicle body is provided with a first connecting seat, the first connecting seat is provided with a first steering engine in rotating connection, and the first steering engine is provided with a first camera; a second connecting seat is arranged on the side face of the vehicle body, a second steering engine in rotary connection is arranged on the second connecting seat, a first connecting piece is arranged on one side of the second steering engine, a third connecting seat is arranged at the end part of the first connecting piece, and a third steering engine in rotary connection is arranged on the third connecting seat; a second connecting piece is arranged at the bottom of the third steering engine, a fourth connecting seat is arranged at the end part of the second connecting piece, a fourth steering engine in rotary connection is arranged on the fourth connecting seat, a connecting plate is arranged on the bottom surface of the fourth steering engine, and a bucket is arranged at the end part of the connecting plate; the rotating surfaces of the first steering engine, the second steering engine, the third steering engine and the fourth steering engine are coplanar with the vertical surface, and the rotating surfaces of the second steering engine, the third steering engine and the fourth steering engine are consistent; a second camera is arranged below the second connecting seat; after the device is placed in a sewer pipeline, the device is moved through a driving wheel, the internal condition of the pipeline is observed in a large visual angle range by utilizing a rotatable first camera and a rotatable second camera, and the defects of the inner wall of the pipeline are identified by using an infrared distance meter and an ultrasonic distance meter; when the inner wall of the pipeline is shielded by foreign matters, the second steering engine, the third steering engine and the fourth steering engine are started to be matched with each other to form a control arm with three movable joints, so that the bucket can be flexibly controlled to realize the operation of shoveling the foreign matters and throwing the back, the detection is continued after the foreign matters are shoveled, and the detection reliability is good; and when normally moving, the control arm that makes the constitution can be folded through mutually supporting of second steering wheel, third steering wheel and fourth steering wheel equally, reduces whole volume, promotes the convenience of using.
2. The utility model discloses the automobile body includes the supporting part that is located below, and second camera, drive wheel, infrared distance meter and ultrasonic ranging appearance are located the supporting part, the top of supporting part is equipped with counter weight portion towards one side of second camera, and second connecting seat and first camera are located counter weight portion; when the bucket is controlled to throw foreign matters backwards, the counterweight part is positioned at the front side, so that the foreign matters and the bucket cannot be turned backwards due to inertia, and the stability of the structure is effectively improved.
3. The top surface and the adjacent two side surfaces of the counterweight part of the utility model form an arc surface together, and the two side surfaces of the supporting part are arc surfaces tangent with the side surfaces of the counterweight part; the side faces of the supporting part and the counterweight part on the opposite side of the second camera form an inclined plane together; the arc-shaped surfaces on the two sides can be well matched with the pipe wall, so that collision of the vehicle body is reduced, and the stability during movement is improved; the inclined plane can enable the foreign matters to slide down along the inclined plane to leave the vehicle body when the foreign matters fall down from the upper part, thereby reducing possible retention of the foreign matters and further improving the use reliability.
4. The driving wheel of the utility model comprises a driving part which is close to one side of the vehicle body, the outer side of the driving part is provided with an outer joint part, and the side surface of the outer joint part is an inclined plane; when the driving wheel rotates, the inclined plane on the outer side can be matched with the arc-shaped surface of the pipeline wall, so that the abrasion to the pipeline wall is reduced, and the smoothness during movement can be improved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the bottom of the vehicle body of the present invention.
The labels in the figures are: 1-a vehicle body; 2-driving wheels; 3-an infrared distance meter; 4-ultrasonic distance measuring instrument; 5-a first connection seat; 6-a first steering engine; 7-a first camera; 8-a second connecting seat; 9-a second steering engine; 10-a first connector; 11-a third connecting seat; 12-a third steering engine; 13-a second connector; 14-a fourth connection seat; 15-a fourth steering engine; 16-a connecting plate; 17-a bucket; 18-a second camera; 19-a support; 20-a counterweight; 21-a drive section; 22-an outer fitting part; 23-fixing the plate; 24-a support plate; 25-mounting the block.
Detailed Description
The following description is made with reference to the accompanying drawings and examples, but not to be construed as limiting the invention.
Example (b): a pipeline robot for detecting the damage of the covered part of a sewer pipe is shown in the attached figure 1 and comprises a vehicle body 1, driving wheels 2 connected with a motor are arranged at four corners of the bottom surface of the vehicle body 1, infrared distance meters 3 are arranged between the adjacent driving wheels 2, and ultrasonic distance meters 4 are arranged between the infrared distance meters 3; a first connecting seat 5 is arranged at the top of the vehicle body 1, a first steering engine 6 in rotary connection is arranged on the first connecting seat 5, and a first camera 7 is arranged on the first steering engine 6; a second connecting seat 8 is arranged on the side face of the vehicle body 1, a second steering engine 9 in rotary connection is arranged on the second connecting seat 8, a first connecting piece 10 is arranged on one side of the second steering engine 9, a third connecting seat 11 is arranged at the end part of the first connecting piece 10, and a third steering engine 12 in rotary connection is arranged on the third connecting seat 11; a second connecting piece 13 is arranged at the bottom of the third steering engine 12, a fourth connecting seat 14 is arranged at the end part of the second connecting piece 13, a fourth steering engine 15 in rotary connection is arranged on the fourth connecting seat 14, a connecting plate 16 is arranged on the bottom surface of the fourth steering engine 15, and a bucket 17 is arranged at the end part of the connecting plate 16; the rotating surfaces of the first steering engine 6, the second steering engine 9, the third steering engine 12 and the fourth steering engine 14 are coplanar with the vertical surface, and the rotating surfaces of the second steering engine 9, the third steering engine 12 and the fourth steering engine 14 are consistent; a second camera 18 is arranged below the second connecting seat 8; the vehicle body 1 comprises a supporting part 19 positioned below, the second camera 18, the driving wheel 2, the infrared distance meter 3 and the ultrasonic distance meter 4 are positioned on the supporting part 19, a counterweight part 20 is arranged on one side, facing the second camera 18, of the top of the supporting part 19, and the second connecting seat 8 and the first camera 7 are positioned on the counterweight part 20; the top surface and the adjacent two side surfaces of the counterweight part 20 form an arc-shaped surface together, and the two side surfaces of the supporting part 19 are arc-shaped surfaces tangent to the side surfaces of the counterweight part 20; the side surfaces of the support part 19 and the counterweight part 20 on the opposite side of the position of the second camera 18 form an inclined surface together; the driving wheel 2 comprises a driving part 21 close to one side of the vehicle body 1, an outer attaching part 22 is arranged on the outer side of the driving part 21, and the side surface of the outer attaching part 22 is an inclined surface; the bucket 17 comprises a mounting block 25 connected with the connecting plate 16, a semicircular fixing plate 23 is arranged on the mounting block 25, and an arc-shaped supporting plate 24 matched with the edge of the fixing plate 23 is arranged on the fixing plate 23; have the controller in the automobile body, link to each other with each steering wheel, each sensor, drive wheel and each camera, possess the wireless transmission function, it needs to explain the utility model discloses a protection scope lies in the connection structure of its device to be not the improvement to control system, this control system belongs to technical capability that technical field personnel can realize and accomplish according to it masters, and each steering wheel, each sensor, drive wheel and each camera homoenergetic obtain through selling, no longer describe here.
The working principle is as follows: after the device is placed in a sewer pipeline, the device is moved through a driving wheel, the internal condition of the pipeline is observed in a large visual angle range by utilizing a rotatable first camera and a rotatable second camera, and the defects of the inner wall of the pipeline are identified by using an infrared distance meter and an ultrasonic distance meter; when the inner wall of the pipeline is shielded by foreign matters, the second steering engine, the third steering engine and the fourth steering engine are started to be matched with each other to form a control arm with three movable joints, so that the bucket can be flexibly controlled to realize the operation of shoveling the foreign matters and throwing the back, the detection is continued after the foreign matters are shoveled, and the detection reliability is good; and when normally moving, the control arm that makes the constitution can be folded through mutually supporting of second steering wheel, third steering wheel and fourth steering wheel equally, reduces whole volume, promotes the convenience of using.
Claims (5)
1. The utility model provides a pipeline robot that is used for sewer pipe to cover damaged detection of department which characterized in that: the electric vehicle comprises a vehicle body (1), driving wheels (2) connected with a motor are arranged at four corners of the bottom surface of the vehicle body (1), infrared distance meters (3) are arranged between the adjacent driving wheels (2), and ultrasonic distance meters (4) are arranged between the infrared distance meters (3); a first connecting seat (5) is arranged at the top of the vehicle body (1), a first steering engine (6) in rotary connection is arranged on the first connecting seat (5), and a first camera (7) is arranged on the first steering engine (6); a second connecting seat (8) is arranged on the side face of the vehicle body (1), a second steering engine (9) in rotary connection is arranged on the second connecting seat (8), a first connecting piece (10) is arranged on one side of the second steering engine (9), a third connecting seat (11) is arranged at the end part of the first connecting piece (10), and a third steering engine (12) in rotary connection is arranged on the third connecting seat (11); a second connecting piece (13) is arranged at the bottom of the third steering engine (12), a fourth connecting seat (14) is arranged at the end part of the second connecting piece (13), a fourth steering engine (15) in rotary connection is arranged on the fourth connecting seat (14), a connecting plate (16) is arranged on the bottom surface of the fourth steering engine (15), and a bucket (17) is arranged at the end part of the connecting plate (16); the rotating surfaces of the first steering engine (6), the second steering engine (9), the third steering engine (12) and the fourth steering engine (15) are coplanar with the vertical surface, and the rotating surfaces of the second steering engine (9), the third steering engine (12) and the fourth steering engine (15) are consistent; and a second camera (18) is arranged below the second connecting seat (8).
2. The pipeline robot for detecting breakage at a sewer pipe covering place according to claim 1, wherein: automobile body (1) is located supporting part (19) including supporting part (19) that are located the below, second camera (18), drive wheel (2), infrared distancer (3) and ultrasonic range finder (4), one side of the top of supporting part (19) orientation second camera (18) is equipped with counter weight portion (20), and second connecting seat (8) and first camera (7) are located counter weight portion (20).
3. The pipeline robot for detecting breakage at a sewer pipe covering place according to claim 2, wherein: the top surface and the adjacent two side surfaces of the counterweight part (20) form an arc-shaped surface together, and the two side surfaces of the supporting part (19) are arc-shaped surfaces tangent to the side surfaces of the counterweight part (20); the supporting part (19) on the opposite side of the position of the second camera (18) and the side surface of the counterweight part (20) form an inclined surface together.
4. The pipeline robot for detecting breakage at a sewer pipe covering place according to claim 1, wherein: the driving wheel (2) comprises a driving part (21) close to one side of the vehicle body (1), an outer attaching part (22) is arranged on the outer side of the driving part (21), and the side face of the outer attaching part (22) is an inclined plane.
5. The pipeline robot for detecting breakage at a sewer pipe covering place according to claim 1, wherein: the bucket (17) comprises an installation block (25) connected with the connecting plate (16), a semicircular fixing plate (23) is arranged on the installation block (25), and an arc-shaped supporting plate (24) matched with the edge of the fixing plate (23) is arranged on the fixing plate (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121740719.0U CN215215782U (en) | 2021-07-29 | 2021-07-29 | Pipeline robot for detecting damage of covering part of sewer pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121740719.0U CN215215782U (en) | 2021-07-29 | 2021-07-29 | Pipeline robot for detecting damage of covering part of sewer pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215215782U true CN215215782U (en) | 2021-12-17 |
Family
ID=79429077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121740719.0U Expired - Fee Related CN215215782U (en) | 2021-07-29 | 2021-07-29 | Pipeline robot for detecting damage of covering part of sewer pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215215782U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045377A (en) * | 2023-03-08 | 2023-05-02 | 宁波奥克斯电气股份有限公司 | Mobile air conditioner, control method and device thereof and storage medium |
-
2021
- 2021-07-29 CN CN202121740719.0U patent/CN215215782U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116045377A (en) * | 2023-03-08 | 2023-05-02 | 宁波奥克斯电气股份有限公司 | Mobile air conditioner, control method and device thereof and storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211217 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |