CN218639651U

CN218639651U - Snakelike pipeline detection robot

Info

Publication number: CN218639651U
Application number: CN202022841215.XU
Authority: CN
Inventors: 王浩; 杨明祥; 董宁彭
Original assignee: Lantogis Ecological Technology Group Co Ltd
Current assignee: Lantogis Ecological Technology Group Co Ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2023-03-17
Anticipated expiration: 2030-11-30

Abstract

The utility model discloses a snakelike pipeline inspection robot. Comprises a snake head mechanism, a snake body mechanism and a snake tail mechanism; the snake body mechanisms are fixedly arranged at the tail ends of the snake head mechanisms, six snake body mechanisms are arranged and are connected end to end, the snake tail mechanism is fixedly arranged at the tail end of the snake body mechanism which is farthest away from the snake head mechanism, and the combination of the snake head mechanism, the snake body mechanism and the snake tail mechanism is shaped like a long-strip snake; the snake head mechanism is used for observing the internal condition of the pipeline and guiding the correct driving direction, and the snake body mechanism is used for providing driving capability; the utility model discloses when using, for traditional roller type and tracked robot, have high flexibility, advantages such as amphibian cooperate broken wheel simultaneously for whole device can generally walk in silt like the earthworm in the in-process of advancing, and the convenience is higher, and can wash it when the camera surface is covered by silt.

Description

Snakelike pipeline detection robot

Technical Field

The utility model relates to a pipeline detection equipment technical field specifically is a snakelike pipeline inspection robot.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.

However, the existing pipeline inspection robots are generally of a crawler-type or roller-type structure, and are easily blocked by sludge and obstacles when the robots travel in pipelines, and cameras are easily covered by the sludge and cannot be observed, and cannot be used for inspection in pipelines with water.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a serpentine channel inspection robot solves the problem that provides in the above-mentioned technical background, realizes at the inside light quick travel of pipeline, can wash it when the camera is sheltered from simultaneously, simultaneously can amphibious.

In order to achieve the above object, the utility model provides a following technical scheme: a snakelike pipeline detection robot comprises a snake head mechanism, a snake body mechanism and a snake tail mechanism;

the snake body mechanisms are fixedly arranged at the tail ends of the snake head mechanisms, six snake body mechanisms are arranged and are connected end to end, the snake tail mechanism is fixedly arranged at the tail end of the snake body mechanism which is farthest away from the snake head mechanism, and the combination of the snake head mechanism, the snake body mechanism and the snake tail mechanism is shaped like a long-strip snake;

the snake head mechanism is used for observing the internal condition of the pipeline and guiding the correct driving direction, the snake body mechanism is used for providing driving capability, and the snake body mechanism is used for radar detection and clearing surrounding obstacles.

Further, snake head mechanism includes snake head drive organism, snake head drive organism is cylindric structure, snake head drive organism rear side fixed mounting has first drive cartilage pipe, snake head drive organism openly fixed embedding has the camera, the camera is provided with the light illumination function, snake head drive organism outside surface encircles and installs first drive claw, the inside front and back end of first drive claw all rotates the embedding and has first broken tooth, the drive shaft of first broken tooth with first drive claw passes through belt pulley transmission and connects, snake head drive organism outside surface fixed mounting has the second drive claw, the positive bottom of second drive claw extends there is the shower nozzle of decontaminating, the shower nozzle of decontaminating extends to camera peripheral surface.

Furthermore, the number of the first driving claws is four, the four first driving claws uniformly surround the outer side surface of the snake head driving machine body, the number of the second driving claws is four, the four second driving claws uniformly surround the outer side surface of the snake head driving machine body, and the first driving claws and the second driving claws are adjacently and crossly arranged.

Furthermore, a miniature pump is fixedly mounted at one end, close to the trash removal nozzle, of the interior of the second driving claw, a water outlet port of the miniature pump is communicated with the trash removal nozzle, a water groove is formed in the interior of the first driving cartilage pipe, a water outlet port of the miniature pump extends into the second driving claw through a pipeline to form a first water inlet port and a second water inlet port, the first water inlet port is communicated with the interior of the water groove, the second water inlet port is communicated with the outside, and an electromagnetic valve is arranged at the tail end of the second water inlet port.

Furthermore, snake body mechanism includes snake body drive organism, snake body drive organism is the cylinder structure, and with snake head drive organism diameter is unanimous, snake body drive outside surface fixed mounting has the third drive claw, both ends all rotate around the third drive claw and are embedded into the broken tooth of second, the broken tooth of second with the drive shaft of third drive claw passes through belt pulley transmission and is connected, snake body drive organism tip fixed mounting has the second to drive the cartilage pipe.

Furthermore, eight third driving claws are arranged and uniformly surround the outer side surface of the snake body driving machine body.

Furthermore, snake tail mechanism includes snake tail drive organism, snake tail drive organism size and outside surface connection structure with snake body drive organism is identical, the terminal fixed mounting of snake tail drive organism has the caudal vertebra, caudal vertebra internally mounted has radar detection device, caudal vertebra end-to-end rotation is connected with broken wheel, broken wheel is in caudal vertebra inside is provided with driving motor.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a be provided with snake head mechanism, snake body mechanism and snake tail mechanism, make its combination be snakelike column structure, cooperate the second drive pawl simultaneously, the third drive pawl, second drive cartilage pipe and first drive cartilage pipe can realize that the device can move ahead like the wriggle of snake, and it is very convenient to turn round, and the volume is less, and the convenience detects the less pipeline of some diameters, application range is wider, for traditional roller type and tracked robot, high flexibility has, advantages such as amphibian.

Through being provided with broken tooth of second, first broken tooth and broken wheel and cooperating, can utilize the turning force of drive wheel to drive first broken tooth and the broken tooth of second and rotate at the device in-process of marcing, carry out the breakage to silt and barrier of the in-process of marcing, avoid silt and barrier to cause the hindrance to the device, cooperate broken wheel simultaneously for whole device can be generally walked in silt like the earthworm in the in-process of marcing, and the convenience is higher.

Cooperate through being provided with miniature pump, the shower nozzle of decontaminating and basin, can wash it when the camera surface is covered by silt, avoid advancing and the detection of pipeline to the device produces harmful effects, use through being provided with the second port cooperation solenoid valve of intaking simultaneously, the accessible is external to carry out the replenishment at water source, avoids the not enough condition in water source to take place.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention;

FIG. 2 is a schematic structural view of the snake head mechanism in the embodiment of FIG. 1;

FIG. 3 is a schematic cross-sectional view of the snake head mechanism in the embodiment of FIG. 1;

FIG. 4 is a schematic structural view of the snake body mechanism in the embodiment of FIG. 1;

fig. 5 is a schematic structural view of a snake tail mechanism in the embodiment of fig. 1.

Description of the reference numerals: 1, a snake head mechanism; 101 snake head driving machine body; 102 a first drive pawl; 103 a first water inlet port; 104 a first crushing tooth; 105 a second drive pawl; 106 a micro water pump; 107 camera; 108 a cleaning spray head; 109 a first driver cartilaginous tube; a 110 water tank; 111 a second water inlet port; 2, a snake body mechanism; 201 snake body driving machine body; 202 a second drive cartilage tube; 203 a third drive pawl; 204 second crushing teeth; 3, a snake tail mechanism; 301 snake tail driving machine body; 302 caudal vertebra; 303 crushing the wheel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. 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 to 5, a snake-shaped pipeline detecting robot includes a snake head mechanism 1, a snake body mechanism 2 and a snake tail mechanism 3;

the snake body mechanisms 2 are fixedly arranged at the tail ends of the snake head mechanisms 1, six snake body mechanisms 2 are arranged, the six snake body mechanisms 2 are connected end to end, the snake tail mechanism 3 is fixedly arranged at the tail end of the snake body mechanism 2 which is far away from the snake head mechanism 1, and the combined shape of the snake head mechanism 1, the snake body mechanism 2 and the snake tail mechanism 3 is a long-strip snake shape;

snake head mechanism 1 is used for observing the inside condition of pipeline, guides correct drive direction simultaneously, snake body mechanism 2 is used for providing the driving capability, snake body mechanism 2 is used for carrying out radar detection, clears away surrounding barrier simultaneously.

In order to control the direction conveniently and observe the inside of a pipeline simultaneously, the snake head mechanism 1 comprises a snake head driving body 101, the snake head driving body 101 is of a cylindrical structure, a first driving cartilage pipe 109 is fixedly installed on the rear side of the snake head driving body 101, a camera 107 is fixedly embedded in the front side of the snake head driving body 101, the camera 107 is provided with a light illumination function and is convenient to illuminate the inside of the pipeline, a first driving claw 102 is installed on the outer side surface of the snake head driving body 101 in a surrounding mode, a first crushing tooth 104 is rotatably embedded in the front end and the rear end of the inside of the first driving claw 102, a driving shaft of the first crushing tooth 104 is connected with the first driving claw 102 through a belt pulley transmission mode and is used for driving the first crushing tooth 104 to rotate through the driving shaft, a second driving claw 105 is fixedly installed on the outer side surface of the snake head driving body 101, a cleaning nozzle 108 extends from the bottom end of the front side of the second driving claw 105, and the cleaning nozzle 108 extends to the peripheral surface of the camera 107 to be convenient to clean the surface of the camera 107.

In order to stably drive the snake head mechanism 1, four first driving claws 102 are arranged, four first driving claws 102 uniformly surround the outer side surface of the snake head driving machine body 101, four second driving claws 105 are arranged, four second driving claws 105 uniformly surround the outer side surface of the snake head driving machine body 101, and the first driving claws 102 and the second driving claws 105 are arranged in an adjacent and crossed mode.

In order to facilitate cleaning of the surface of the camera 107, a micro water pump 106 is fixedly installed inside the second driving claw 105 at one end close to the trash removal nozzle 108, a water outlet of the micro water pump 106 is communicated with the trash removal nozzle 108, a water tank 110 is arranged inside the first driving cartilage pipe 109, a first water inlet 103 and a second water inlet 111 extend into the second driving claw 105 through a pipeline from the water outlet of the micro water pump 106, the first water inlet 103 is communicated with the inside of the water tank 110, the second water inlet 111 is communicated with the outside, and an electromagnetic valve is arranged at the tail end of the second water inlet 111 to facilitate control of water source entering and exiting.

In order to provide good crawling ability, the snake body mechanism 2 comprises a snake body driving machine body 201, the snake body driving machine body 201 is of a cylindrical structure and is consistent with the diameter of the snake head driving machine body 101, a third driving claw 203 is fixedly mounted on the surface of the outer side of the snake body driving machine body 201, second crushing teeth 204 are embedded into the front end and the rear end of the third driving claw 203 in a rotating mode, the second crushing teeth 204 are connected with a driving shaft of the third driving claw 203 through belt pulleys in a transmission mode and are used for driving the second crushing teeth 204 to rotate through the driving shaft, and a second driving cartilage pipe 202 is fixedly mounted at the tail end of the snake body driving machine body 201.

In order to provide stable driving capability, eight third driving pawls 203 are provided, and eight third driving pawls 203 uniformly surround the outer surface of the snake body driving body 201.

In order to keep the overall balance of the device and simultaneously facilitate detection and obstacle clearing, the snake tail mechanism 3 comprises a snake tail driving machine body 301, the size of the snake tail driving machine body 301 is identical to that of the snake body driving machine body 201 in a structure of being connected with the outer side surface, a tail cone 302 is fixedly mounted at the tail end of the snake tail driving machine body 301, a radar detection device is mounted inside the tail cone 302, a crushing wheel 303 is rotatably connected to the tail end of the tail cone 302, and a driving motor is arranged inside the tail cone 302 of the crushing wheel 303.

To sum up, the utility model provides a snakelike pipeline inspection robot, at work, at first, place the device into inside the pipeline, control second driving pawl 105 through the external control device and drive snake head mechanism 1 and remove towards the assigned direction immediately, the inside condition of pipeline can be observed to accessible camera 107 simultaneously, accessible third driving pawl 203 drives snake body mechanism 2 and moves immediately, through being provided with second drive cartilage pipe 202 and first drive cartilage pipe 109 simultaneously, make the device can advance like the general wriggle of snake, can drive first broken tooth 104 and second broken tooth 204 and rotate simultaneously when first driving pawl 102 and second broken tooth 204 drive gyro wheel rotate, can smash the barrier in the process of advancing, avoid the device to be blockked by barriers such as silt and can't advance, the barrier of afterbody can be clear away through crushing wheel 303 simultaneously;

secondly, when the camera 107 is covered by sludge, the micro water pump 106 can be controlled to absorb water in the water tank 110, the water is sprayed out through the dirt cleaning spray head 108 to clean the surface of the camera 107, so that the camera 107 cannot be blocked by the sludge, meanwhile, when water exists in the pipeline, the electromagnetic valve in the second water inlet port 111 can be opened, water is absorbed from the pipeline to clean the surface of the camera 107, and the condition that the water supply in the water tank 110 is insufficient is avoided;

finally, after the specified position is reached, the radar detection device in the tail cone 302 can be started, the camera 107 is matched to detect the interior of the pipeline, and the pipeline can be turned around and returned to the original way after the detection is finished.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A serpentine tube inspection robot, comprising: a snake head mechanism (1), a snake body mechanism (2) and a snake tail mechanism (3);

the snake body mechanism (2) is fixedly installed at the tail end of the snake head mechanism (1), six snake body mechanisms (2) are arranged, the six snake body mechanisms (2) are connected end to end, the snake tail mechanism (3) is fixedly installed at the tail end of the snake body mechanism (2) far away from the snake head mechanism (1), and the snake head mechanism (1), the snake body mechanism (2) and the snake tail mechanism (3) are combined to form a long-strip snake shape;

snake head mechanism (1) is used for observing the inside condition of pipeline, guides correct direction of drive simultaneously, snake body mechanism (2) are used for providing the driving capability, snake body mechanism (2) are used for carrying out radar detection, clear away surrounding barrier simultaneously.

2. The serpentine pipeline inspection robot as claimed in claim 1, wherein the serpentine mechanism (1) comprises a serpentine driving body (101), the serpentine driving body (101) is of a cylindrical structure, a first driving cartilage pipe (109) is fixedly installed at the rear side of the serpentine driving body (101), a camera (107) is fixedly embedded in the front side of the serpentine driving body (101), the camera (107) is provided with a lighting function, a first driving claw (102) is installed on the outer side surface of the serpentine driving body (101) in a surrounding manner, the first driving claw (102) is rotatably embedded in the front and rear ends of the interior of the first driving claw (102), a first breaking tooth (104) is rotatably embedded in the front and rear ends of the interior of the first breaking tooth (104), a driving shaft of the first breaking tooth (104) is connected with the first driving claw (102) through a belt pulley transmission, a second driving claw (105) is fixedly installed on the outer side surface of the serpentine driving body (101), a cleaning nozzle (108) extends to the peripheral surface of the camera (107).

3. The serpentine pipe inspection robot as claimed in claim 2, wherein said first driving pawls (102) are four, four of said first driving pawls (102) are uniformly wound around the outer side surface of said serpentine head driving body (101), four of said second driving pawls (105) are provided, four of said second driving pawls (105) are uniformly wound around the outer side surface of said serpentine head driving body (101), and said first driving pawls (102) and said second driving pawls (105) are adjacently and alternately arranged.

4. The serpentine pipeline detection robot as claimed in claim 3, wherein a micro water pump (106) is fixedly installed inside the second driving claw (105) at one end close to the cleaning nozzle (108), a water outlet of the micro water pump (106) is communicated with the cleaning nozzle (108), a water tank (110) is arranged inside the first driving cartilage pipe (109), a first water inlet (103) and a second water inlet (111) are extended into the second driving claw (105) through a pipeline from the water outlet of the micro water pump (106), the first water inlet (103) is communicated with the inside of the water tank (110), the second water inlet (111) is communicated with the outside, and an electromagnetic valve is arranged at the end of the second water inlet (111).

5. The snake-shaped pipeline detection robot as claimed in claim 4, wherein the snake body mechanism (2) comprises a snake body driving machine body (201), the snake body driving machine body (201) is of a cylindrical structure and has the same diameter as the snake head driving machine body (101), a third driving claw (203) is fixedly mounted on the outer side surface of the snake body driving machine body (201), second crushing teeth (204) are rotatably embedded into the front end and the rear end of the third driving claw (203), the second crushing teeth (204) are in transmission connection with a driving shaft of the third driving claw (203) through a belt pulley, and a second driving cartilage pipe (202) is fixedly mounted at the tail end of the snake body driving machine body (201).

6. The serpentine channel inspection robot as claimed in claim 5, wherein eight third driving pawls (203) are provided, and eight third driving pawls (203) are uniformly wound around the outer surface of the serpentine body driving body (201).

7. The serpentine pipeline inspection robot according to claim 6, wherein the serpentine mechanism (3) comprises a serpentine driving body (301), the serpentine driving body (301) has the same size as the serpentine driving body (201), a tail cone (302) is fixedly mounted at the end of the serpentine driving body (301), a radar detection device is mounted inside the tail cone (302), a crushing wheel (303) is rotatably connected at the end of the tail cone (302), and a driving motor is arranged inside the tail cone (302) by the crushing wheel (303).