CN219912223U

CN219912223U - Water supply pipeline detection robot

Info

Publication number: CN219912223U
Application number: CN202321686523.7U
Authority: CN
Inventors: 李俊; 曹俊; 许鹏飞; 胡靓; 苏善昭
Original assignee: Shanghai Municipal Water Meter Compulsory Verification Station Co ltd
Current assignee: Shanghai Municipal Water Meter Compulsory Verification Station Co ltd
Priority date: 2023-06-29
Filing date: 2023-06-29
Publication date: 2023-10-27
Anticipated expiration: 2033-06-29

Abstract

The utility model relates to the technical field of pipeline detection, in particular to a water supply pipeline detection robot which comprises a robot body, a detection unit arranged on the robot body and a plurality of rollers arranged on the robot body, wherein a plurality of support rods are arranged on the side wall of the robot body and are in one-to-one correspondence with the rollers, the rollers are correspondingly arranged at the end parts of the support rods, the support rods are arranged in an included angle mode, the plurality of support rods are in a divergent mode, and the rollers roll in a water supply pipeline. The utility model has the effects of reducing the interference of the sludge in the water supply pipeline on the operation of the detection robot and improving the rolling smoothness of the detection robot.

Description

Water supply pipeline detection robot

Technical Field

The utility model relates to the technical field of pipeline detection, in particular to a water supply pipeline detection robot.

Background

In order to meet the demand of urban water, a large number of long-distance water supply pipeline projects are constructed in China, and the projects play an important role in guaranteeing urban water supply safety, industrial development and social stability. With the increase of the operation time, the water supply pipeline can have the dangerous conditions of local deformation, rupture, collapse, erosion, corrosion, silt accumulation, water burst, mud burst and the like, and the quantitative, timely and full coverage is required to evaluate the mechanism of the pipeline engineering in order to ensure the engineering safety. In real life, usually install detection robot in the water supply pipe, detection robot detects the structure in the water supply pipe, and the staff of being convenient for obtains the state that the pipeline is located.

Currently, the inspection robot includes a robot body, a plurality of gyro wheels mounted on the robot body and a detection unit disposed on the robot body, the inspection robot is placed into the water supply pipeline, the gyro wheels roll on the bottom wall of the water supply pipeline, and the detection unit detects the inner wall of the water supply pipeline.

The inventor considers that along with the growth of time, pile up a large amount of silt on the diapire of water supply pipe, the in-process that detects the robot rolling in water supply pipe, the gyro wheel of detecting the robot can sink into the silt in the water supply pipe, causes the interference to the roll of gyro wheel to influence the detection of detecting the robot to the pipeline inner wall, there is the place that remains to improve.

Disclosure of Invention

In order to reduce interference of sludge in a water supply pipeline on rolling of a detection robot in the water supply pipeline and enable the rolling of the detection robot to be smoother, the utility model provides the water supply pipeline detection robot.

The utility model provides a water supply pipeline detection robot, which adopts the following technical scheme:

the utility model provides a water supply pipe detects robot, is in including robot body, setting detecting element on the robot body and setting are in a plurality of gyro wheel on the robot body, be provided with a plurality of bracing piece on the lateral wall of robot body, the bracing piece with the gyro wheel is the one-to-one setting, the gyro wheel corresponds to be installed the tip of bracing piece, the bracing piece is the contained angle setting, a plurality of the bracing piece is divergently, the gyro wheel rolls in water supply pipe.

Through adopting above-mentioned technical scheme, when need examining the water supply pipe, transport the robot body to the water supply pipe in, make the gyro wheel all be located the position of the lateral wall of water supply pipe under the support of bracing piece, because the bracing piece on the robot body is the divergent state, reduce the possibility that gyro wheel and water supply pipe diapire silt contacted to reduce the silt and cause the interference to the roll of gyro wheel, make the roll of detection robot in the water supply pipe more smooth, thereby reduce the interference that the roll of silt in the water supply pipe caused the gyro wheel.

Optionally, the bracing piece all with the robot is articulated, articulated on the lateral wall of robot has a plurality of telescopic link, threaded connection has on the telescopic link outer wall and is used for limiting the flexible lockpin of telescopic link, the telescopic link with the bracing piece is the one-to-one setting, the telescopic link is kept away from the one end of robot is articulated with the outer wall of corresponding bracing piece.

By adopting the technical scheme, when the pipe diameter of the water supply pipeline is large, the telescopic rod stretches, and the telescopic rod drives the supporting rod to rotate, so that the distance between the roller and the outer wall of the robot body is increased; when the pipe diameter of the water supply pipe is smaller, the telescopic rod contracts to drive the end part of the supporting rod to rotate towards the direction close to the outer wall of the robot body, so that the distance between the roller and the robot body is reduced, and the detection of the inner walls of pipes with different pipe diameters is facilitated.

Optionally, rubber sleeves are sleeved on the outer walls of the rollers, and the edges of the rubber sleeves are in necking arrangement.

By adopting the technical scheme, the friction force between the roller and the inner wall of the water supply pipeline is increased by the arrangement of the rubber sleeve, so that the possibility of skidding on the roller and the inner wall of the water supply pipeline after the sludge in the water supply pipeline is stuck to the outer wall of the roller is reduced; the edge of the rubber sleeve is set to be in a necking shape, the rubber sleeve is more stably sleeved on the outer wall of the roller, and workers can also replace the rubber sleeve regularly according to the abrasion condition of the rubber sleeve.

Optionally, all be fixed with the connecting axle on the outer wall of bracing piece, the mounting hole has been seted up to the tip of telescopic link, the connecting axle passes the mounting hole, the spliced eye has been seted up in the last penetration of lateral wall of connecting axle, peg graft on the inner wall of spliced eye and be fixed with the spacer pin, the spacer pin restriction the position of telescopic link.

By adopting the technical scheme, the telescopic rod is rotated, the end part of the connecting shaft is inserted into the mounting hole, the limiting pin is inserted into the inserting hole, and the end part of the telescopic rod is fixedly connected with the connecting shaft under the blocking of the limiting pin; after the detection robot is used, the limiting pin is pulled out from the inserting hole, the telescopic rod is separated from the connecting shaft, and the supporting rod and the telescopic rod are rotated towards the direction of the outer wall of the robot body, so that the detection robot is convenient to store.

Optionally, be fixed with a plurality of joint seat on the outer wall of robot body, the telescopic link with the bracing piece all can the joint be in on the joint seat.

Through adopting above-mentioned technical scheme, when accomodating detection robot, unpacking the connection between bracing piece and the telescopic link, manual rotation bracing piece for the outer wall of bracing piece and the inner wall joint of joint seat, rotation telescopic link, the inner wall joint of make telescopic link and joint seat makes detection robot's mechanism compacter, the accomodating of the detection robot of being convenient for.

Optionally, the lateral wall of robot body is last to articulate has the mounting bracket, detecting element sets up on the mounting bracket, be provided with on the lateral wall of robot body and be used for driving the pivoted driving piece of mounting bracket.

Through adopting above-mentioned technical scheme, when detecting the robot in water supply pipe, the driving piece drives the mounting bracket rotation for detecting unit's position changes, thereby has increased detecting unit's detection scope.

Optionally, the lateral wall of mounting bracket is last to rotate and to be connected with the rolling disc, detecting element sets up on the rolling disc, be provided with on the mounting bracket and be used for driving rolling disc pivoted driver.

Through adopting above-mentioned technical scheme, detecting element is at the in-process that detects water supply pipe inner wall, and the driver drives the rolling disc and rotates, and the rolling disc drives detecting element and rotates to detecting element's detection scope has been promoted.

Optionally, anti-skid patterns are formed on the outer wall of the rubber sleeve.

By adopting the technical scheme, the friction force between the rubber sleeve and the inner wall of the water supply pipeline is increased due to the arrangement of the anti-skid patterns, so that the rolling of the roller is smoother.

In summary, the present utility model includes at least one of the following beneficial technical effects:

1. the staff carries detection robot to in the water supply pipe, makes the gyro wheel be located the position of keeping away from water supply pipe bottom under the support of bracing piece for the gyro wheel rolls in the position of keeping away from the interior silt of water supply pipe, reduces the interior silt of water supply pipe and causes the possibility of interference to detection robot's roll, thereby makes detection robot's detection more smooth.

2. The staff adjusts the length of telescopic link according to the size of pipeline diameter, and the setting of telescopic link is convenient for adjust the distance between the tip of bracing piece and the outer wall of robot body to be convenient for detect the pipeline of different pipe diameters of robot detection.

Drawings

FIG. 1 is a schematic diagram of an overall structure of a detection robot according to an embodiment of the present utility model

Fig. 2 is an enlarged view at a in fig. 1.

Reference numerals: 1. a robot body; 2. a detection unit; 3. a roller; 4. a support rod; 5. a telescopic rod; 6. a locking pin; 7. a rubber sleeve; 8. a connecting shaft; 11. a limiting pin; 12. a clamping seat; 13. a mounting frame; 14. a driving member; 15. a rotating disc; 16. a driver; 17. anti-skid lines; 18. a probe; 19. a gas sensor.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-2.

The embodiment of the utility model discloses a water supply pipeline detection robot.

Referring to fig. 1, a water supply pipeline detection robot comprises a robot body 1 and a detection unit 2 arranged on the robot body 1, wherein a plurality of support rods 4 are hinged to the side wall of the robot body 1, the four support rods 4 are preferentially arranged in the utility model, the end parts of the support rods 4 are respectively connected with a roller 3 through rotation of a rotating shaft, motors are respectively arranged on the outer walls of the support rods 4, the motors drive the rollers 3 to rotate, the distance between the rollers 3 and the outer walls of the robot changes in the process of rotating the support rods 4, and the distance between the rollers 3 and the outer walls of the robot is convenient to adjust.

Referring to fig. 2, a connecting shaft 8 is fixedly riveted on the outer wall of the supporting rod 4, a plurality of telescopic rods 5 are hinged on the side wall of the robot body 1, the telescopic rods 5 are in one-to-one correspondence with the supporting rod 4, one ends of the telescopic rods 5 are hinged with the outer wall of the robot body 1, the other ends of the telescopic rods penetrate through the mounting holes, a worker inserts the end parts of the connecting shaft 8 into the mounting holes, and in the telescopic rods 5, the end parts of the telescopic rods 5 rotate along the connecting shaft 8 in the telescopic rods 5 stretching process, and the supporting rods 4 are driven to rotate under the supporting of the telescopic rods 5.

Referring to fig. 2, the outer wall of the telescopic rod 5 is connected with a locking pin 6 for limiting the telescopic rod 5 to stretch out and draw back, a worker can pull the telescopic rod 5 to stretch out and draw back, after the length of the telescopic rod 5 is adjusted, the locking pin 6 is screwed up, the locking pin 6 limits the telescopic rod 5 to stretch out and draw back, and therefore the telescopic rod 5 supports the supporting rod 4 more stably.

Referring to fig. 2, an outer wall of a connecting shaft 8 is provided with a plugging hole, a limiting pin 11 is inserted into the plugging hole, in the utility model, an iron wire is preferably selected as the limiting pin 11, a worker plugs the end of a telescopic rod 5 onto the outer wall of the connecting shaft 8, plugs the limiting pin 11 into the plugging hole, pulls the limiting pin 11 to bend the end of the limiting pin 11, and fixes the end of the telescopic rod 5 with the connecting shaft 8 under the limitation of the limiting pin 11.

Referring to fig. 2, two clamping seats 12 are fixed on the outer wall of a robot body 1 through screws, two clamping seats 12 are arranged in the utility model, after the detection of the inner wall of a pipeline is completed by a detection robot, a limiting pin 11 in a plugging hole is pulled out, the end part of a telescopic rod 5 is detached from a connecting shaft 8, the telescopic rod 5 is retracted, the telescopic rod 5 and a supporting rod 4 are clamped with the clamping seats 12, and the supporting rod 4 and the telescopic rod 5 are fixed on the outer wall of the robot body 1 through the clamping seats 12, so that the detection robot has a more compact structure and is convenient for accommodating the detection robot.

Referring to fig. 2, rubber sleeves 7 are sleeved on the outer walls of the rollers 3, anti-slip patterns 17 are formed on the outer walls of the rubber sleeves 7, the shape of the rubber sleeves 7 is preferentially set to be circular, the edges of the two sides of the rubber sleeves 7 are in necking arrangement, a worker sleeves the rubber sleeves 7 on the outer walls of the rollers 3, and the two sides of the rubber sleeves 7 are in necking arrangement, so that the fixation between the rubber sleeves 7 and the rollers 3 is more stable; the arrangement of the rubber sleeve 7 and the arrangement of the anti-skid patterns 17 increase the friction force between the roller 3 and the inner wall of the water supply pipeline, thereby reducing the possibility of the roller 3 slipping in the working process of the detection robot.

Referring to fig. 1, an outer wall of a robot body 1 is rotatably connected with a mounting frame 13 through a rotating shaft, a driving member 14 for driving the mounting frame 13 to rotate is arranged on a side wall of the robot body 1, in the utility model, an electric cylinder is preferably selected as the driving member 14, a cylinder body of the driving member 14 is hinged with the outer wall of the robot body 1, a piston rod of the driving member 14 is hinged with the outer wall of the mounting frame 13, the driving member 14 is started, and the piston rod of the driving member 14 slides, so that the mounting frame 13 is driven to rotate.

Referring to fig. 1, a rotating disc 15 is rotatably connected to a side wall of a mounting frame 13, a detection unit 2 is disposed on the rotating disc 15, a driving member 16 for driving the rotating disc 15 to rotate is disposed on the side wall of the mounting frame 13, a driving motor is preferentially selected as the driving member 16 in the utility model, a rotating shaft of the driving member 16 is coaxially fixed with a rotating shaft of the rotating disc 15, and the driving member 16 is started to rotate the rotating shaft of the driving member 16, so that the rotating disc 15 rotates, and the detection range of the detection unit 2 on the inner wall of a water supply pipeline is wider.

Referring to fig. 1, the detecting unit 2 of the present utility model includes a detecting head 18 and a gas sensor 19, wherein the detecting head 18 and the gas sensor 19 are mounted on the side wall of the rotating disk 15, and the detecting head 18 conditions the gas sample through the gas sensor 19; the camera is fixed on the side wall of the mounting frame 13 through screws, and the camera is arranged to take pictures of the inner wall of the water supply pipeline, so that workers can know the conditions in the water supply pipeline conveniently.

The implementation principle of the water supply pipeline detection robot provided by the embodiment of the utility model is as follows: the staff assembles the detection robot at first, take out telescopic link 5 and support bar 4 from the bayonet socket 12, peg graft the tip of telescopic link 5 to the connecting axle 8, insert the stop pin 11 in the peg graft, realize the fixed to telescopic link 5 and support bar 4 under the limit of stop pin 11; the length of telescopic link 5 is adjusted according to the size of the pipe diameter of the water supply pipeline that waits to detect for distance between gyro wheel 3 and the outer wall of robot body 1 changes, thereby be convenient for detect the robot and roll in the water supply pipeline of different pipe diameters, transport detection robot to the water supply pipeline in, drive piece 14 orders about mounting bracket 13 to rotate, lifting probe 18 and camera, gyro wheel 3 roll in the water supply pipeline, detects the inner wall of water supply pipeline.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims

1. The utility model provides a water supply pipe detects robot, includes robot body (1), sets up detecting element (2) on robot body (1) and set up a plurality of gyro wheel (3) on robot body (1), its characterized in that: be provided with a plurality of bracing piece (4) on the lateral wall of robot body (1), bracing piece (4) with gyro wheel (3) are the one-to-one setting, install that gyro wheel (3) correspond the tip of bracing piece (4), bracing piece (4) are the contained angle setting, a plurality of bracing piece (4) are divergently describe, gyro wheel (3) roll in water supply pipe.

2. A water supply pipe inspection robot according to claim 1, wherein: the support rod (4) is hinged to the robot body (1), a plurality of telescopic rods (5) are hinged to the side wall of the robot body (1), locking pins (6) used for limiting the telescopic rods (5) to stretch are connected to the outer walls of the telescopic rods (5) in a threaded mode, the telescopic rods (5) are arranged in a one-to-one correspondence mode with the support rod (4), and one end, away from the robot body (1), of each telescopic rod (5) is hinged to the corresponding outer wall of the support rod (4).

3. A water supply pipe inspection robot according to claim 2, wherein: the outer walls of the rollers (3) are respectively sleeved with a rubber sleeve (7), and the edges of the rubber sleeves (7) are arranged in a necking mode.

4. A water supply pipe inspection robot according to claim 3, wherein: the telescopic support is characterized in that a connecting shaft (8) is fixed on the outer wall of the support rod (4), a mounting hole is formed in the end portion of the telescopic rod (5), the connecting shaft (8) penetrates through the mounting hole, a plug hole is formed in the side wall of the connecting shaft (8) in a penetrating mode, a limiting pin (11) is fixedly inserted into the inner wall of the plug hole in a plug mode, and the limiting pin (11) limits the position of the telescopic rod (5).

5. A water supply pipe inspection robot according to claim 4, wherein: a plurality of clamping seats (12) are fixed on the outer wall of the robot body (1), and the telescopic rod (5) and the supporting rod (4) can be clamped on the clamping seats (12).

6. A water supply pipe inspection robot according to claim 1, wherein: the side wall of the robot body (1) is hinged with a mounting frame (13), the detection unit (2) is arranged on the mounting frame (13), and a driving piece (14) for driving the mounting frame (13) to rotate is arranged on the side wall of the robot body (1).

7. A water supply pipe inspection robot according to claim 6, wherein: the side wall of the mounting frame (13) is rotationally connected with a rotating disc (15), the detection unit (2) is arranged on the rotating disc (15), and the mounting frame (13) is provided with a driving piece (16) for driving the rotating disc (15) to rotate.

8. A water supply pipe inspection robot according to claim 3, wherein: the outer wall of the rubber sleeve (7) is provided with anti-skid patterns (17).