CN216843691U - Detection robot for municipal underground pipeline repairing construction - Google Patents
Detection robot for municipal underground pipeline repairing construction Download PDFInfo
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- CN216843691U CN216843691U CN202220281329.XU CN202220281329U CN216843691U CN 216843691 U CN216843691 U CN 216843691U CN 202220281329 U CN202220281329 U CN 202220281329U CN 216843691 U CN216843691 U CN 216843691U
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Abstract
The utility model provides a detection robot for municipal underground pipeline repairing construction, which comprises a robot main body, wherein the overall appearance of the robot main body is of a polygonal structure, and a plurality of groups of wheel set mounting structures are uniformly distributed outside the polygonal structure; the wheel set mounting structure is provided with a traveling device through a link mechanism; the walking device is connected with a tensioning mechanism for driving the walking device to be unfolded; the tensioning mechanism is connected with a telescopic sliding device for driving the tensioning mechanism to tension; an image pickup device for picking up an image of the damaged condition inside the pipeline is mounted at one end of the head of the robot main body. This robot can be used for the inside defect detection of municipal administration pipeline, and then replaces traditional manual detection process to the pipeline that the adaptation manual detection can't get into.
Description
Technical Field
The utility model relates to a municipal administration pipeline construction technical field, concretely relates to detection robot of construction is restoreed to municipal administration pipeline in pit.
Background
Municipal administration pipeline need regularly overhaul and restore damaged position, need detect the impaired condition inside the pipeline between restoreing. At present, the detection method generally adopted mainly adopts manual detection, a large-sized pipeline adopts a manual detection mode, the pipeline can conveniently go deep into the pipeline, manual work can not enter the small-sized pipeline, and at the moment, a special detection robot is required to be adopted to automatically detect the interior of the small-sized pipeline.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming prior art not enough, providing the inspection robot of municipal administration pipeline restoration construction in pit, this robot can be used for the inside defect detection of municipal administration pipeline, and then replaces traditional artifical testing process to adapt to the artifical pipeline that can't get into that detects.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: the detection robot for the municipal underground pipeline repairing construction comprises a robot main body, wherein the overall appearance of the robot main body is of a polygonal structure, and a plurality of groups of wheel set mounting structures are uniformly distributed outside the polygonal structure; the wheel set mounting structure is provided with a traveling device through a link mechanism; the walking device is connected with a tensioning mechanism for driving the walking device to be unfolded; the tensioning mechanism is connected with a telescopic sliding device for driving the tensioning mechanism to tension; an image pickup device for picking up an image of the damaged condition inside the pipeline is mounted at one end of the head of the robot main body.
The robot main body adopts a split structure and comprises an upper shell and a lower shell which are connected through a bolt combination.
The wheel set mounting structure comprises a first fixing block and a second fixing block which are symmetrically and fixedly mounted on the outer wall of the robot main body respectively; and a vertical plate is fixedly arranged between the first fixing block and the second fixing block through a long bolt.
The connecting rod mechanism adopts a parallelogram connecting rod mechanism and comprises a first connecting rod and a second connecting rod which are symmetrically hinged on a vertical plate of the wheel set mounting structure; the other ends of the first connecting rod and the second connecting rod are hinged with the two outer sides of the walking device.
The walking device comprises symmetrically arranged crawler supporting plates, crawler supporting wheels are arranged between the crawler supporting plates in a rolling mode through a plurality of groups of supporting shafts, driven crawler wheels are rotatably arranged at the heads of the crawler supporting plates through driven shafts, driving crawler wheels are arranged at the tails of the crawler supporting plates through driving shafts, and walking crawlers are arranged between the driven crawler wheels and the driving crawler wheels; the driving shaft is connected with a walking power device for driving the driving shaft to rotate.
The walking power device comprises a walking motor, an output shaft of the walking motor is connected with a speed reducer, and an output shaft of the speed reducer is connected with a driving shaft and transmits torque; the inside of track backup pad is installed and is used for carrying out the interior backup pad that supports to walking track.
The telescopic sliding device comprises a cylinder body mounting seat fixed on a vertical plate of the wheel set mounting structure, the cylinder body mounting seat is hinged with an ear seat of a cylinder body through a first pin shaft, a push plate is fixedly mounted at the tail end of a piston rod of the cylinder body, the push plate is fixedly mounted at the top of a sliding block, the sliding block is in sliding fit with a sliding groove through a sliding pin, the sliding groove is machined on the vertical plate of the wheel set mounting structure, and the sliding block is hinged with a tensioning mechanism; and a buffer spring is sleeved outside the piston rod.
The camera device comprises a camera, and the camera is fixed at the head position of the robot main body through a camera base and a base bolt.
The tensioning mechanism comprises a main rod, the head of the main rod is hinged with a track supporting plate of the walking device through a second pin shaft, a sliding rod is arranged inside the main rod in a sliding fit mode, a reset spring is sleeved outside the sliding rod, the other end of the sliding rod is fixed on a tail rod, and the tail rod is hinged to the outer side wall of the sliding block; the sliding rod and the telescopic chute on the processed main rod form sliding fit.
The utility model discloses there is following beneficial effect:
1. the robot can be used for the inside defect detection of municipal administration pipeline, and then replaces traditional artifical testing process to the pipeline that the artificial detection of adaptation can't get into.
2. The robot main body can be used for carrying devices on the whole robot, and further ensures the subsequent normal walking movement of the robot.
3. The linkage mechanism ensures that the walking device can be unfolded, so that the walking device can be tightly attached to the inner wall of the pipeline, and the whole robot can normally walk.
4. The walking device can be used for providing the walking action of the whole robot.
5. The walking power device can be used for providing walking power.
6. The telescopic sliding device can be used for providing sliding power for the sliding block, ensures that the sliding block drives the tensioning mechanism, and then the tensioning mechanism drives the traveling device to be tightly attached to the inner wall of the pipeline, so that the telescopic sliding device is suitable for pipelines with different diameters.
7. The tensioning mechanism can be used for driving the walking device to stretch, so that the walking device can be tightly attached to the inner wall of the pipeline.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a first perspective three-dimensional view of the present invention.
Fig. 2 is a second perspective three-dimensional view of the present invention.
Fig. 3 is a third perspective three-dimensional view of the present invention.
Fig. 4 is a fourth perspective three-dimensional view of the present invention.
Fig. 5 is a front view of the present invention.
Fig. 6 is a view from a-a of fig. 5 according to the present invention.
In the figure: the robot comprises a robot main body 1, a wheel set mounting structure 2, a camera device 3, a traveling device 4, a link mechanism 5, a telescopic sliding device 6 and a tensioning mechanism 7;
an upper case 101, a lower case 102;
a first fixing block 201, a vertical plate 202, a second fixing block 203 and a long bolt 204;
a camera 301, a base bolt 302, a camera base 303;
a walking motor 401, a speed reducer 402, a speed reducer base 403, a track support plate 404, a support shaft 405, a walking track 406, a driven shaft 407, a driven crawler wheel 408, a track support wheel 409, a driving crawler wheel 410 and an inner support plate 411;
a first link 501 and a second link 502;
the cylinder body mounting seat 601, the first pin shaft 602, the lug seat 603, the cylinder body 604, the buffer spring 605, the piston rod 606, the sliding groove 607 and the sliding block 608;
a second pin 701, a main rod 702, a telescopic chute 703, a sliding rod 704, a return spring 705 and a tail rod 706.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1-6, the detection robot for municipal underground pipeline repairing construction comprises a robot main body 1, wherein the overall appearance of the robot main body 1 is a polygonal structure, and a plurality of groups of wheel set mounting structures 2 are uniformly distributed outside the polygonal structure; the wheel set mounting structure 2 is provided with a traveling device 4 through a link mechanism 5; the walking device 4 is connected with a tensioning mechanism 7 for driving the walking device to be unfolded; the tensioning mechanism 7 is connected with a telescopic sliding device 6 for driving the tensioning mechanism to tension; an imaging device 3 for imaging a damaged state of the inside of the pipe is attached to one end of the head of the robot body 1. The robot can be used for the inside defect detection of municipal administration pipeline, and then replaces traditional artifical testing process to the pipeline that the artificial detection of adaptation can't get into. In a specific use process, the tensioning mechanism 7 is driven by the telescopic sliding device 6, the walking device 4 is driven by the tensioning mechanism 7, the walking device 4 is tightly attached to the inner wall of the pipeline, and the whole robot is driven by the walking device 4 to walk in the pipeline; the condition inside the pipeline is detected through the camera device 3 in the walking process of the pipeline.
Further, the robot main body 1 adopts a split structure and comprises an upper shell 101 and a lower shell 102, and the upper shell 101 and the lower shell 102 are connected through a bolt combination. The robot main body 1 described above can be used to mount devices on the entire robot, and further ensure the subsequent normal traveling movement thereof.
Further, the wheel set mounting structure 2 comprises a first fixing block 201 and a second fixing block 203 which are symmetrically and fixedly mounted on the outer wall of the robot main body 1 respectively; a vertical plate 202 is fixedly installed between the first fixing block 201 and the second fixing block 203 through a long bolt 204. The wheel set mounting structure 2 described above can be used to mount the link mechanism 5 and the traveling device 4.
Further, the link mechanism 5 adopts a parallelogram link mechanism, and comprises a first link 501 and a second link 502 which are symmetrically hinged on the vertical plate 202 of the wheel set mounting structure 2; the other ends of the first link 501 and the second link 502 are hinged to both outer sides of the traveling unit 4. The link mechanism 5 ensures that the walking device 4 can be unfolded, so that the walking device 4 can be tightly attached to the inner wall of the pipeline, and the whole robot can normally walk. In a specific use process, after the first link 501 and the second link 502 are unfolded, the walking device 4 is driven to be unfolded.
Further, the traveling device 4 comprises symmetrically arranged track support plates 404, track support wheels 409 are installed between the track support plates 404 through a plurality of groups of support shafts 405 in a rolling manner, driven track wheels 408 are installed at the head parts of the track support plates 404 through driven shafts 407 in a rotating manner, driving track wheels 410 are installed at the tail parts of the track support plates 404 through driving shafts, and traveling tracks 406 are installed between the driven track wheels 408 and the driving track wheels 410; the driving shaft is connected with a walking power device for driving the driving shaft to rotate. The traveling device 4 described above can be used to provide a traveling motion of the entire robot. In the working process, the driving crawler wheel 410 is driven by the driving shaft, the walking crawler 406 is driven by the driving crawler wheel 410, and the walking crawler 406 is in contact with the inner wall of the pipeline, so that the whole robot is driven to walk.
Further, the walking power device comprises a walking motor 401, an output shaft of the walking motor 401 is connected with a speed reducer 402, and an output shaft of the speed reducer 402 is connected with a driving shaft and transmits torque; an inner support plate 411 for supporting the traveling crawler 406 is installed inside the crawler support plate 404. The walking power device can be used for providing walking power. In the working process, the speed reducer 402 is driven by the walking motor 401, the driving shaft is driven by the speed reducer 402, the driving crawler wheel 410 is driven by the driving shaft, the walking crawler 406 is driven by the driving crawler wheel 410, and the walking crawler 406 is in contact with the inner wall of the pipeline, so that the whole detection robot is driven to walk in the pipeline.
Further, the telescopic sliding device 6 comprises a cylinder body mounting seat 601 fixed on the vertical plate 202 of the wheel set mounting structure 2, the cylinder body mounting seat 601 is hinged to an ear seat 603 of a cylinder body 604 through a first pin 602, a push plate 609 is fixedly mounted at the end of a piston rod 606 of the cylinder body 604, the push plate 609 is fixedly mounted at the top of a sliding block 608, the sliding block 608 forms sliding fit with a sliding groove 607 through a sliding pin, the sliding groove 607 is processed on the vertical plate 202 of the wheel set mounting structure 2, and the sliding block 608 is hinged to the tensioning mechanism 7; the piston rod 606 is externally sleeved with a buffer spring 605. The telescopic sliding device 6 can be used for providing power for sliding the sliding block 608, and ensuring that the sliding block drives the tensioning mechanism 7, and then the tensioning mechanism 7 drives the walking device 4 to be tightly attached to the inner wall of the pipeline, so that the telescopic sliding device is suitable for pipelines with different diameters. In the specific working process, the cylinder 604 drives the piston rod 606, and the piston rod 606 drives the sliding block 608 to slide along the sliding groove 607 and drives the tensioning mechanism 7 to tension.
Further, the camera device 3 includes a camera 301, and the camera 301 is fixed at the head position of the robot main body 1 by a camera base 303 and a base bolt 302. The camera device 3 can be used for photographing the condition inside the pipeline, and further the detection of the condition inside the pipeline is realized.
Further, the tensioning mechanism 7 includes a main rod 702, a head of the main rod 702 is hinged to the track support plate 404 of the traveling device 4 through a second pin 701, a sliding rod 704 is slidably fitted inside the main rod 702, a return spring 705 is sleeved outside the sliding rod 704, the other end of the sliding rod 704 is fixed to a tail rod 706, and the tail rod 706 is hinged to an outer side wall of the sliding block 608; the sliding rod 704 is slidably engaged with the telescopic sliding groove 703 of the main rod 702. The tensioning mechanism 7 can be used to drive the running gear 4 to open, so that the running gear 4 can be tightly attached to the inner wall of the pipeline. In the working process, the main rod 702 can be ensured to be always in a tensioning state through the return spring 705.
The utility model discloses working process and principle:
the method comprises the following steps: the whole detection robot is placed in the pipeline to be detected, and the camera device 3 is ensured to be over against the position to be detected;
step two: according to the diameter of the pipeline to be detected, the telescopic sliding device 6 is started, the cylinder body 604 drives the piston rod 606, the piston rod 606 drives the sliding block 608 to slide along the sliding groove 607, and the tensioning mechanism 7 is driven to be tensioned;
step three: the tail rod 706 of the tensioning mechanism 7 drives the sliding rod 704, the main rod 702 is driven by the sliding rod 704, the walking device 4 is driven by the main rod 702, and the walking crawler 406 is enabled to be tightly attached to the inner wall of the pipeline under the rotation of the link mechanism 5 by the walking device 4;
step four: starting the traveling device 4, driving a speed reducer 402 through a traveling motor 401, driving a driving shaft through the speed reducer 402, driving a driving crawler wheel 410 through the driving shaft, driving a traveling crawler 406 through the driving crawler wheel 410, and driving the whole detection robot to travel in the pipeline through the contact of the traveling crawler 406 and the inner wall of the pipeline;
step five: in the moving process of the robot, the camera device 3 is started, the internal condition of the pipeline is photographed and detected through the camera device 3, the photographed image is transmitted to the ground monitor, and then the damage condition inside the pipeline is judged.
Claims (9)
1. Detection robot of municipal administration underground piping restoration construction, its characterized in that: the robot comprises a robot main body (1), wherein the overall appearance of the robot main body (1) is a polygonal structure, and a plurality of groups of wheel set mounting structures (2) are uniformly distributed outside the polygonal structure; the wheel set mounting structure (2) is provided with a traveling device (4) through a connecting rod mechanism (5); the walking device (4) is connected with a tensioning mechanism (7) for driving the walking device to unfold; the tensioning mechanism (7) is connected with a telescopic sliding device (6) for driving the tensioning mechanism to tension; an image pickup device (3) for picking up an image of the damage condition inside the pipeline is mounted at one end of the head of the robot main body (1).
2. The detection robot for the municipal underground pipeline repairing construction according to claim 1, wherein: the robot main body (1) adopts a split structure and comprises an upper shell (101) and a lower shell (102), wherein the upper shell (101) is connected with the lower shell (102) through a bolt combination.
3. The detection robot for the municipal underground pipeline repairing construction according to claim 1, wherein: the wheel set mounting structure (2) comprises a first fixing block (201) and a second fixing block (203) which are symmetrically and fixedly mounted on the outer wall of the robot main body (1) respectively; a vertical plate (202) is fixedly arranged between the first fixing block (201) and the second fixing block (203) through a long bolt (204).
4. The detection robot for the municipal underground pipeline repairing construction according to claim 1, wherein: the connecting rod mechanism (5) adopts a parallelogram connecting rod mechanism and comprises a first connecting rod (501) and a second connecting rod (502) which are symmetrically hinged on a vertical plate (202) of the wheel set mounting structure (2); the other ends of the first connecting rod (501) and the second connecting rod (502) are hinged with the two outer sides of the walking device (4).
5. The detection robot for the municipal underground pipeline repairing construction according to claim 1, characterized in that: the walking device (4) comprises symmetrically arranged crawler supporting plates (404), crawler supporting wheels (409) are arranged between the crawler supporting plates (404) in a rolling mode through a plurality of groups of supporting shafts (405), driven crawler wheels (408) are rotatably arranged at the heads of the crawler supporting plates (404) through driven shafts (407), driving crawler wheels (410) are arranged at the tail parts of the crawler supporting plates (404) through driving shafts, and walking crawlers (406) are arranged between the driven crawler wheels (408) and the driving crawler wheels (410); the driving shaft is connected with a walking power device for driving the driving shaft to rotate.
6. The inspection robot of claim 5, wherein the inspection robot comprises: the walking power device comprises a walking motor (401), an output shaft of the walking motor (401) is connected with a speed reducer (402), and an output shaft of the speed reducer (402) is connected with a driving shaft and transmits torque; an inner support plate (411) for supporting the traveling crawler (406) is mounted inside the crawler support plate (404).
7. The detection robot for the municipal underground pipeline repairing construction according to claim 1, wherein: the telescopic sliding device (6) comprises a cylinder body mounting seat (601) fixed on a vertical plate (202) of the wheel set mounting structure (2), the cylinder body mounting seat (601) is hinged with an ear seat (603) of a cylinder body (604) through a first pin shaft (602), the tail end of a piston rod (606) of the cylinder body (604) is fixedly provided with a push plate (609), the push plate (609) is fixedly arranged at the top of a sliding block (608), the sliding block (608) forms sliding fit with a sliding groove (607) through a sliding pin, the sliding groove (607) is processed on the vertical plate (202) of the wheel set mounting structure (2), and the sliding block (608) is hinged with a tensioning mechanism (7); the outside of the piston rod (606) is sleeved with a buffer spring (605).
8. The detection robot for the municipal underground pipeline repairing construction according to claim 1, characterized in that: the camera device (3) comprises a camera (301), and the camera (301) is fixed at the head position of the robot main body (1) through a camera base (303) and a base bolt (302).
9. The inspection robot of claim 1 or 7 for municipal downhole pipeline rehabilitation, wherein: the tensioning mechanism (7) comprises a main rod (702), the head of the main rod (702) is hinged to a track supporting plate (404) of the walking device (4) through a second pin shaft (701), a sliding rod (704) is arranged inside the main rod (702) in a sliding fit mode, a reset spring (705) is sleeved outside the sliding rod (704), the other end of the sliding rod (704) is fixed to a tail rod (706), and the tail rod (706) is hinged to the outer side wall of a sliding block (608); the sliding rod (704) is in sliding fit with a telescopic chute (703) on the processed main rod (702).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220281329.XU CN216843691U (en) | 2022-02-11 | 2022-02-11 | Detection robot for municipal underground pipeline repairing construction |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220281329.XU CN216843691U (en) | 2022-02-11 | 2022-02-11 | Detection robot for municipal underground pipeline repairing construction |
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| Publication Number | Publication Date |
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| CN216843691U true CN216843691U (en) | 2022-06-28 |
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| CN202220281329.XU Active CN216843691U (en) | 2022-02-11 | 2022-02-11 | Detection robot for municipal underground pipeline repairing construction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117823752A (en) * | 2024-03-05 | 2024-04-05 | 成都锦城学院 | Pipeline inspection robot |
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2022
- 2022-02-11 CN CN202220281329.XU patent/CN216843691U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117823752A (en) * | 2024-03-05 | 2024-04-05 | 成都锦城学院 | Pipeline inspection robot |
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