CN219968002U - Two-section type folding intelligent well lid robot - Google Patents

Abstract

The utility model provides a two-section folding intelligent well lid robot which comprises a well lid body, a mechanical arm, a detection module, a two-section folding module and a multi-stage telescopic module, wherein the two-section folding module comprises a first screw rod module and a second screw rod module, the first screw rod module and the second screw rod module are arranged on the lower surface of the well lid body in parallel, the multi-stage telescopic module comprises a base, a wire drawing, a transmission assembly and a free telescopic assembly, and the transmission assembly drives the wire drawing to tighten or release so as to drive the free telescopic assembly to stretch along the axial direction. The utility model can provide a novel two-section folding intelligent well lid robot so as to achieve the technical effects of reducing detection blind areas in the inspection well and meeting the detection requirements of the inspection wells with different depths.

Description

Two-section type folding intelligent well lid robot

Technical Field

The utility model relates to the field of pipeline detection, in particular to a two-section folding intelligent well lid robot.

Background

According to the technical characteristics of underground pipeline engineering, in order to meet the requirements of installation equipment, daily overhaul and maintenance, inspection wells are arranged at certain intervals along the pipeline burying direction in the engineering, the inspection well covers are main equipped products of the inspection wells and are sealing objects at the tops of entrances and exits to underground facilities, and well covers are required to be installed in places where public facilities such as tap water, telecommunication, electric power, fuel gas, heat, fire protection, sanitation and the like are installed. Along with the continuous development of internet of things, intelligent well lid based on internet of things obtains the application, and current intelligent well lid is through setting up electronic lock, sensor etc. and realizes detecting the unusual condition of well lid and well head and send alarm information's function on the well lid, including detecting functions such as to well head water level, water pressure, velocity of flow, poisonous gas detection, theftproof.

The pipeline below the traditional well lid is detected, on the one hand, a manual mode is adopted, namely a detector is connected with the periscope through a long rod piece, and the periscope is placed at a proper position through holding the rod piece by two hands, so that the pipe network below the inspection well is detected, the labor intensity of the detector is increased, the road is blocked, the traffic pressure of a certain road section of a city is increased, and the urban road is blocked. On the other hand, the lifting structure of the steel wire is arranged on the well lid body, so that the lifting is controlled by the steel wire, and the problem of unstable control exists; and the lifting is controlled by fixedly arranging the electric telescopic rod on the well lid body, and the electric telescopic rod has the defects of large mass, large volume, short stroke and the like in the use process because the electric telescopic rod is fixed in the arranging position.

How to provide a novel two-section folding intelligent well lid robot, the detection blind area in the inspection well is reduced, and meanwhile, the detection requirements of the inspection wells with different depths are met, so that the novel two-section folding intelligent well lid robot is a technical problem to be solved in the field.

Disclosure of Invention

Aiming at the problems, the utility model aims to provide a two-section folding intelligent well lid robot which at least solves at least one technical problem.

In order to at least solve the above technical problems, the utility model provides a two-section folding intelligent well lid robot, which comprises a well lid body, a mechanical arm and a detection module, wherein the detection module is fixedly arranged at one end of the mechanical arm and is used for detecting defects in an underground pipeline, and the two-section folding intelligent well lid robot further comprises: the two-section folding module comprises a first screw rod module and a second screw rod module, and the first screw rod module and the second screw rod module are arranged on the lower surface of the well lid body in parallel; the multi-stage telescopic module comprises a base, a wire drawing, a transmission assembly and a free telescopic assembly, wherein one end of the transmission assembly and one end of the free telescopic assembly are fixed on the base, one end of the wire drawing is fixedly connected with the output end of the transmission assembly, the other end of the wire drawing is fixedly connected with the other end of the free telescopic assembly, and the transmission assembly drives the wire drawing to tighten or release so as to drive the free telescopic assembly to stretch along the axial direction; the base is movably connected with the second screw rod module, the side wall of the free telescopic component is movably connected with the first screw rod module, the first screw rod module drives the multistage telescopic module to rotate around the movable connection part of the base and the second screw rod module, and the second screw rod module drives the multistage telescopic module to move along the arrangement direction of the second screw rod module; the other end of the free telescopic component is fixedly connected with the other end of the mechanical arm.

Preferably, the base includes: the first side face, the second side face, the third side face and the fourth side face are surrounded to form a cubic structure with a containing space, mounting holes are formed in the central positions of the first side face, the second side face and the third side face, a first bearing is arranged in the mounting hole of the first side face, and a second bearing is arranged in the mounting hole of the third side face; the transmission assembly is fixedly connected with the first side face, the free telescopic assembly is fixedly connected with the second side face, and the second screw rod module is movably connected with the third side face.

Preferably, the transmission assembly comprises: the body of the third motor is fixed on the first side surface, and one end, far away from the body, of the rotating shaft of the third motor penetrates through the first bearing and is arranged in the accommodating space; the rope winding belt shaft, one end of the rope winding belt shaft is fixedly connected with one end of the rotating shaft far away from the body, and one end of the wire drawing is fixed on the rope winding belt shaft.

Preferably, the free telescopic component is formed by sleeving a plurality of telescopic rods from inside to outside, and two adjacent telescopic rods can be telescopic relatively, one end of each telescopic rod is fixedly provided with a limiting ring, the inner side wall at the bottom of the limiting ring is provided with a first boss in a surrounding manner, the first boss is provided with a limiting block, the outer side wall at the other end of each telescopic rod is provided with a second boss in a surrounding manner, and telescopic displacement is limited between two adjacent telescopic rods through the first boss and the second boss; the top end of the telescopic rod at the outermost side in the free telescopic assembly is fixedly connected with the lower surface of the second side, and the bottom end of the telescopic rod at the innermost side in the free telescopic assembly is fixedly connected with the mechanical arm and the wire drawing respectively.

Preferably, a through groove is formed in the side wall of each telescopic rod from one end of the telescopic rod to the other end of the telescopic rod, and each through groove is correspondingly provided with a limiting block in a penetrating mode.

Preferably, the first screw module includes: the first mounting seat is fixedly arranged on the lower surface of the well lid body; the first screw rod motor is fixedly arranged on the lower surface of the well lid body; the first gear is fixedly arranged at one end, far away from the first screw rod motor body, of the screw rod of the first screw rod motor; a second gear meshed with the first gear; one end of the screw rod is fixedly connected with the axis part of the second gear, and the other end of the screw rod is movably connected with the first mounting seat; the first transmission slide block is provided with a first threaded channel which penetrates through the first transmission slide block, the first threaded channel is matched with the screw rod, and the first transmission slide block is sleeved on the screw rod through the first threaded channel; the transmission connecting rod, the one end of transmission connecting rod with first transmission slider swing joint, the other end of transmission connecting rod with the lateral wall swing joint of the telescopic link of the outermost side in the free expansion assembly.

Preferably, the first mounting seat comprises a first fixing part, a first limiting part and a first slideway, the first fixing part and the first limiting part are respectively arranged at two ends of the first slideway, the second gear is fixedly arranged at the first fixing part, the other end of the screw rod penetrates through the first transmission sliding block and is fixedly connected with the first limiting part, and the screw rod drives the first transmission sliding block to slide on the first slideway.

Preferably, the second screw module includes: the second installation seat is fixedly arranged on the lower surface of the well lid body and is arranged in parallel with the first installation seat; the second screw rod motor is fixedly arranged on the second mounting seat; the second transmission slide block is provided with a second threaded channel which penetrates through the second transmission slide block, the second threaded channel is matched with the screw rod of the second screw rod motor, and the second transmission slide block is sleeved on the screw rod of the second screw rod motor through the second threaded channel; and one end of the connecting shaft is fixedly connected with the second transmission sliding block, and the other end of the connecting shaft is movably connected with the third side face.

Preferably, the second mounting seat comprises a second fixing part, a second limiting part and a second slideway, the second fixing part and the second limiting part are respectively arranged at two ends of the second slideway, the body of the second screw rod motor is fixedly arranged at the second fixing part, one end of the screw rod of the second screw rod motor, which is far away from the body of the second screw rod motor, is arranged at the second limiting part, and the second transmission sliding block slides on the second slideway; wherein the length of the first slideway is less than the length of the second slideway.

Preferably, the wire is made of a flexible metal material.

The beneficial effects are that:

according to the two-section folding intelligent well lid robot, the first screw rod module and the second screw rod module are arranged on the lower surface of the well lid body in parallel, the multistage telescopic modules are respectively and movably connected with the first screw rod module and the second screw rod module, the multistage telescopic modules are driven to rotate around the movable connection parts of the multistage telescopic modules and the second screw rod module through the first screw rod module, the multistage telescopic modules are driven to move along the arrangement direction of the second screw rod module through the second screw rod module, so that the multistage telescopic modules can be folded below the well lid body and are convenient to carry, and meanwhile, the multistage telescopic modules can be moved to the bottom center position of the well lid body through the first screw rod module and the second screw rod module, so that the multistage telescopic modules are prevented from being positioned at the edge positions of a pipe under the well lid in the using process, and further detection dead zones in the pipe under the well lid can be reduced; the multistage flexible module is arranged to comprise a base, a wire drawing, a transmission assembly and a free flexible assembly, the forward rotation is carried out through the driving transmission assembly, the wire drawing is wound at the output end of the transmission assembly to tighten the wire drawing, the free flexible assembly is further driven to shrink along the axial direction, the wire drawing is released through the reverse rotation of the driving transmission assembly, the free flexible assembly stretches under the action of self gravity according to the released wire drawing length, and the driving detection assembly stretches along the axial direction to meet the detection requirements of inspection wells with different depths. The utility model can provide a novel two-section folding intelligent well lid robot so as to achieve the technical effects of reducing detection blind areas in the inspection well and meeting the detection requirements of the inspection wells with different depths.

The foregoing description is only an overview of the present utility model, and is intended to be implemented in accordance with the teachings of the present utility model in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present utility model more readily apparent.

Drawings

In order to more clearly illustrate the embodiments of the present description or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a bottom view of a two-stage folding intelligent manhole cover robot provided in the present embodiment;

fig. 2 is a schematic structural diagram of a multi-stage expansion module in the present embodiment;

fig. 3 is a cross-sectional view showing the connection of two adjacent telescopic links in this embodiment.

The drawings are marked:

1. a manhole cover body;

2. a mechanical arm;

3. a detection module;

41 a first screw module; 411. a first mount; 412. a first lead screw motor; 413. a first gear; 414. a second gear; 415. a screw rod; 416. a first drive slide; 417. a transmission link; 42. the second screw rod module; 421. a second mounting base; 422. a second screw motor; 423. a second drive slide; 424. a connecting shaft;

5. a multi-stage expansion module; 51. and (2) base: 511. a first side; 512. a second side; 513. a third side; 514. a fourth side; 52. drawing wire; 53. a transmission assembly; 531. a third motor; 532. a rope winding belt shaft; 54. a free telescoping assembly; 541. a telescopic rod: 5411. a limiting ring; 54111. a first boss; 54112. a limiting block; 5412. a second boss; 5413. a through slot.

Detailed Description

The technical solutions of the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is apparent that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the specification fall within the scope of the present utility model; wherein reference to "and/or" in this embodiment indicates and/or two cases, in other words, reference to a and/or B in the embodiments of this specification indicates two cases a and B, A or B, and describes three states in which a and B exist, such as a and/or B, indicating: only A and not B; only B and not A; includes A and B.

Meanwhile, in the present embodiment, when one component is considered to be "connected" to another component, it may be directly connected to the other component or may coexist with an intervening component. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Other advantages and effects of the present utility model will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present utility model with reference to specific examples. The utility model may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present utility model.

Example 1

Please refer to fig. 1, this embodiment provides a two-section folding intelligent well lid robot, including well lid body 1, arm 2 and detection module 3, detection module 3 is fixed to be set up the one end of arm 2, detection module 3 is used for detecting the defect in the underground piping, two-section folding intelligent well lid robot still includes: the two-section folding module comprises a first screw rod module 41 and a second screw rod module 42, and the first screw rod module 41 and the second screw rod module 42 are arranged on the lower surface of the well lid body 1 in parallel; the multi-stage telescopic module 5 comprises a base 51, a wire drawing 52, a transmission assembly 53 and a free telescopic assembly 54, wherein one ends of the transmission assembly 53 and the free telescopic assembly 54 are fixed on the base 51, one end of the wire drawing 52 is fixedly connected with the output end of the transmission assembly 53, the other end of the wire drawing 52 is fixedly connected with the other end of the free telescopic assembly 54, and the transmission assembly 53 drives the wire drawing 52 to tighten or release so as to drive the free telescopic assembly 54 to shrink or expand along the axial direction; the base is movably connected with the second screw rod module 42, the side wall of the free telescopic component 54 is movably connected with the first screw rod module 41, the first screw rod module 41 drives the multi-stage telescopic module 5 to rotate around the movable connection part of the base 51 and the second screw rod module 42, and the second screw rod module 42 drives the multi-stage telescopic module 5 to move along the arrangement direction of the second screw rod module 42; the other end of the free telescopic component 54 is fixedly connected with the other end of the mechanical arm 2.

Specifically, the two-section folding intelligent well lid robot provided by the embodiment is characterized in that the first screw rod module 41 and the second screw rod module 42 are arranged on the lower surface of the well lid body 1 in parallel, the multi-stage telescopic module 5 is movably connected with the first screw rod module 41 and the second screw rod module 42 respectively, so that the multi-stage telescopic module 5 is driven to rotate around the movable connection part of the multi-stage telescopic module and the second screw rod module 42 through the first screw rod module 41, the multi-stage telescopic module 5 is driven to move along the arrangement direction of the second screw rod module 42 through the second screw rod module 42, the multi-stage telescopic module 5 can be folded below the well lid body 1, portability is achieved, meanwhile, the multi-stage telescopic module 5 can be moved to the central position of the bottom of the well lid body 1 through the first screw rod module 41 and the second screw rod module 42, the multi-stage telescopic module 5 is prevented from being positioned at the edge position of a pipeline below the well lid body in the using process, and then detection blind areas in the pipeline below the well lid can be reduced; the multistage telescopic module 5 is arranged to comprise a base 51, a wire drawing 52, a transmission assembly 53 and a free telescopic assembly 54, the transmission assembly 53 is driven to positively rotate, the wire drawing 52 is wound at the output end of the transmission assembly 53 to tighten the wire drawing 52, the free telescopic assembly 54 is driven to shrink along the axial direction, the transmission assembly 53 is driven to reversely rotate to release the wire drawing 52, the free telescopic assembly 54 stretches under the action of self gravity according to the length of the released wire drawing 52, and the detection assembly is driven to stretch along the axial direction to meet the detection requirements of inspection wells with different depths. The embodiment can provide a novel two-section type folding intelligent well lid robot to reach the technical effects of reducing inspection blind areas in the inspection shaft, and meeting the inspection requirements of inspection shafts with different depths.

In one possible embodiment, the base 51 includes: the first side 511, the second side 512, the third side 513 and the fourth side 514 enclose to form a cubic structure with a containing space, the central parts of the first side 511, the second side 512 and the third side 513 are respectively provided with a mounting hole, a first bearing is arranged in the mounting hole of the first side 511, and a second bearing is arranged in the mounting hole of the third side 513; the transmission assembly 53 is fixedly connected with the first side 511, the free telescopic assembly 54 is fixedly connected with the second side 512, and the second screw rod module 42 is movably connected with the third side 513.

Further, the transmission assembly 53 includes: the third motor 531, the body of the third motor 531 is fixed on the first side 511, one end of the rotating shaft of the third motor 531 far away from the body passes through the first bearing and is placed in the accommodating space; the rope winding shaft 532, one end of the rope winding shaft 532 is fixedly connected with one end of the rotating shaft far away from the body, and one end of the wire drawing 52 is fixed on the rope winding shaft 532.

Specifically, the transmission component 53 and the free telescopic component 54 are fixed through the base 51, and the multistage telescopic module 5 is movably connected with the second screw rod module 42 through the base 51, so that the multistage telescopic module 5 is driven to move towards the central position of the well lid body 1 through the second screw rod module 42, and meanwhile, the multistage telescopic module 5 is driven to be in a vertical state; the third motor 531 is driven to rotate to release the wire 52 or wind the wire 52 around the take-up spool 532, thereby releasing or tightening the wire 52.

In a possible implementation manner, the free telescopic component 54 is formed by sleeving a plurality of telescopic rods 541 from inside to outside, and any two adjacent telescopic rods 541 can relatively stretch out and draw back, one end of each telescopic rod 541 is fixedly provided with a limiting ring 5411, a first boss 54111 is circumferentially arranged on the inner side wall at the bottom of the limiting ring 5411, a limiting block 54112 is arranged on the first boss 54111, a second boss 5412 is circumferentially arranged on the outer side wall at the other end of each telescopic rod 541, and telescopic displacement is limited between any two adjacent telescopic rods 541 through the first boss 54111 and the second boss 5412; the top end of the outermost telescopic rod in the free telescopic assembly 54 is fixedly connected with the lower surface of the second side surface 512, and the bottom end of the innermost telescopic rod in the free telescopic assembly 54 is fixedly connected with the mechanical arm 2 and the wire drawing 52 respectively.

Further, a through slot 5413 is formed on a side wall of each telescopic rod 541 from one end of the telescopic rod 541 to the other end of the telescopic rod 541, and the limiting block 54112 is correspondingly formed in each through slot 5413.

Specifically, as shown in fig. 2-3, each two adjacent telescopic rods 541 can move in a telescopic manner, one telescopic rod 541 is sleeved on the periphery of the other telescopic rod 541, and is limited by a first boss 54111 of one telescopic rod 541 and a second boss 5412 of the other telescopic rod 541, so that the other telescopic rod 541 moves in a telescopic manner in one telescopic rod 541 all the time, and a limiting block 54112 on a first boss 54111 of one telescopic rod 541 is inserted into a through groove 5413 of the other telescopic rod 541, so that the other telescopic rod 541 is prevented from rotating in a radial direction relative to one telescopic rod 541 by the limiting block 54112; the inside of the free telescopic component 54 formed by sleeving a plurality of telescopic rods 541 is provided with a wiring channel, the other end of the wire drawing 52 penetrates through the wiring channel and is fixedly connected with one end of the free telescopic component 54 provided with the first limiting ring 5411, so that when the wire drawing 52 is tightened by driving the third motor 531, the free telescopic component 54 is contracted along the axial direction, and when the wire drawing 52 is released by driving the third motor 531, the free telescopic component 54 is stretched along the axial direction.

In one possible embodiment, the first screw module 41 includes: the first mounting seat 411 is fixedly arranged on the lower surface of the well lid body 1; the first screw motor 412, the first screw motor 412 is fixedly arranged on the lower surface of the well lid body 1; the first gear 413, the first gear 413 is fixedly arranged at one end of the screw rod of the first screw rod motor 412, which is far away from the first screw rod motor 412 body; a second gear 414, the second gear 414 being meshed with the first gear 413; one end of the screw rod 415 is fixedly connected with the axis part of the second gear 414, and the other end of the screw rod 415 is movably connected with the first mounting seat 411; the first transmission slide block is provided with a first threaded channel penetrating through the first transmission slide block, the first threaded channel is matched with the screw rod 415, and the first transmission slide block is sleeved on the screw rod 415 through the first threaded channel; and one end of the transmission connecting rod is movably connected with the first transmission sliding block, and the other end of the transmission connecting rod is movably connected with the side wall of the telescopic rod 541 at the outermost side in the free telescopic assembly 54.

Further, the first mounting seat 411 includes a first fixing portion, a first limiting portion and a first slide, the first fixing portion and the first limiting portion are respectively disposed at two ends of the first slide, the second gear 414 is fixedly mounted on the first fixing portion, the other end of the screw rod 415 passes through the first transmission slider and is fixedly connected with the first limiting portion, and the screw rod 415 drives the first transmission slider to slide on the first slide.

Specifically, as shown in fig. 1, the first screw motor 412 is disposed adjacent to the first mounting seat 411, so that the first gear 413 is meshed with the second gear 414 in parallel, the axis of the second gear 414 is fixedly connected with one end of the screw 415, the other end of the screw 415 passes through the first transmission slider and is connected with the first limiting portion through a bearing, so that the screw 415 can rotate relative to the first limiting portion, the first limiting portion limits the movement displacement of the first transmission slider, when the first screw motor 412 is driven to rotate, the first gear 413 drives the second gear 414 to rotate, and simultaneously drives the screw 415 to rotate, the screw 415 is movably connected with the first transmission slider through the first thread channel, so that when the screw 415 rotates, the first transmission slider is driven to move along the axial direction of the screw 415, and then the first transmission slider drives the transmission link to apply force to the free telescopic assembly 54, so that the free telescopic assembly 54 can be folded and unfolded at a certain angle through the first screw module 41.

Preferably, the second screw module 42 includes: the second mounting seat 421 is fixedly arranged on the lower surface of the manhole cover body 1, and is arranged in parallel with the first mounting seat 411; a second screw motor 422, wherein the second screw motor 422 is fixedly arranged on the second mounting seat 421; the second driving slide 423 is provided with a second threaded passage penetrating through the second driving slide 423, the second threaded passage is matched with the screw of the second screw motor 422, and the second driving slide 423 is sleeved on the screw of the second screw motor 422 through the second threaded passage; and one end of the connecting shaft 424 is fixedly connected with the second transmission slide block 423, and the other end of the connecting shaft 424 is movably connected with the third side 513.

Further, the second mounting seat 421 includes a second fixing portion, a second limiting portion, and a second slide, where the second fixing portion and the second limiting portion are respectively disposed at two ends of the second slide, a body of the second lead screw motor 422 is fixedly mounted on the second fixing portion, one end of a screw of the second lead screw motor 422 away from the body of the second lead screw motor 422 is disposed at the second limiting portion, and the second driving slider 423 slides on the second slide; wherein the length of the first slideway is less than the length of the second slideway.

Specifically, as shown in fig. 1, the body of the second lead screw motor 422 is fixedly mounted on the second fixing portion, one end of the screw rod of the second lead screw motor 422 far away from the body of the second lead screw motor 422 passes through the second transmission sliding block 423 and is connected to the second limiting portion through a bearing, so that the screw rod of the second lead screw motor 422 can rotate relative to the second limiting portion, and meanwhile, the movement displacement of the second transmission sliding block 423 is limited by the second limiting portion; when the second screw rod motor 422 is driven to rotate, the second transmission slide block 423 moves relative to the screw rod of the second screw rod motor 422 along the axial direction of the screw rod, and then the multistage telescopic module 5 fixed on the second transmission slide block 423 through the connecting shaft 424 is driven by the second transmission slide block 423 to move along the axial direction of the screw rod, and the maximum travelling distance of the second transmission slide block 423 can be determined through the length of the screw rod of the second screw rod motor 422, so that the multistage telescopic module 5 is moved to the central position of the well lid body 1 through the maximum travelling distance.

In an actual application scenario, the length of the screw rod in the first screw rod module 41 is set to be A, the length of the screw rod 415 in the second screw rod module 42 is set to be B, the length B is larger than the length A, the first transmission sliding block pushes the multistage telescopic module 5 to rotate in the stroke of the length A, the rotatable maximum angle is C, the maximum rotation angle C is smaller than 90 degrees, the second transmission sliding block drives the multistage telescopic module 5 to move to the central position of the well lid body 1 in the stroke of the length B, meanwhile, as the first transmission sliding is movably connected with the side wall of the multistage telescopic module 5 through the transmission connecting rod, when the first screw rod module 41 does not drive, the second transmission sliding drives the multistage telescopic module 5 to move, the first screw rod module 41 continues to apply force to the multistage telescopic module 5 through the transmission connecting rod, and therefore the multistage telescopic module 5 can just rotate to the vertical position when moving to the central position of the well lid body 1.

In order to prevent creases from being generated during the retraction of the wire drawing 52 to affect the retraction state and to secure the rigidity of the wire drawing 52, in one possible embodiment, the wire drawing 52 is made of a flexible metal material.

In one possible implementation, the transmission assembly 53 further includes a guide belt shaft disposed between the first side 511 and the third side 513 and above the mounting hole of the second side 512 to guide the wire drawing 52 into the mounting hole through the guide belt shaft without contacting the side wall of the mounting hole.

It should be noted that, the structures, proportions, sizes and the like shown in the drawings attached to the present specification are used for understanding and reading only in conjunction with the disclosure of the present specification, and are not intended to limit the applicable limitations of the present utility model, so that any modification of the structures, variation of proportions or adjustment of sizes of the structures, proportions and the like should not be construed as essential to the present utility model, and should still fall within the scope of the disclosure of the present utility model without affecting the efficacy and achievement of the present utility model. Also, the terms such as "upper," "lower," "left," "right," "middle," and "a" and the like recited in the present specification are merely for descriptive purposes and are not intended to limit the scope of the utility model, but are intended to provide relative positional changes or modifications without materially altering the technical context in which the utility model may be practiced.

The present utility model is not limited to the above-mentioned embodiments, but is not limited to the above-mentioned embodiments, and any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical matters of the present utility model can be made by those skilled in the art without departing from the scope of the present utility model.

Claims (10)

1. The utility model provides a two segmentation folding intelligent well lid robots, includes well lid body, arm and detection module, detection module is fixed to be set up the one end of arm, detection module is used for detecting the defect in the underground pipe, its characterized in that, two segmentation folding intelligent well lid robots still include:

the two-section folding module comprises a first screw rod module and a second screw rod module, and the first screw rod module and the second screw rod module are arranged on the lower surface of the well lid body in parallel;

the multi-stage telescopic module comprises a base, a wire drawing, a transmission assembly and a free telescopic assembly, wherein one end of the transmission assembly and one end of the free telescopic assembly are fixed on the base, one end of the wire drawing is fixedly connected with the output end of the transmission assembly, the other end of the wire drawing is fixedly connected with the other end of the free telescopic assembly, and the transmission assembly drives the wire drawing to tighten or release so as to drive the free telescopic assembly to shrink or expand along the axial direction;

the base is movably connected with the second screw rod module, the side wall of the free telescopic component is movably connected with the first screw rod module, the first screw rod module drives the multistage telescopic module to rotate around the movable connection part of the base and the second screw rod module, and the second screw rod module drives the multistage telescopic module to move along the arrangement direction of the second screw rod module; the other end of the free telescopic component is fixedly connected with the other end of the mechanical arm.

2. The two-section folding intelligent well lid robot of claim 1, wherein the base comprises:

the first side face, the second side face, the third side face and the fourth side face are surrounded to form a cubic structure with a containing space, mounting holes are formed in the central positions of the first side face, the second side face and the third side face, a first bearing is arranged in the mounting hole of the first side face, and a second bearing is arranged in the mounting hole of the third side face;

the transmission assembly is fixedly connected with the first side face, the free telescopic assembly is fixedly connected with the second side face, and the second screw rod module is movably connected with the third side face.

3. The two-part folding intelligent well lid robot of claim 2, wherein the transmission assembly comprises:

the body of the third motor is fixed on the first side surface, and one end, far away from the body, of the rotating shaft of the third motor penetrates through the first bearing and is arranged in the accommodating space;

the rope winding belt shaft, one end of the rope winding belt shaft is fixedly connected with one end of the rotating shaft far away from the body, and one end of the wire drawing is fixed on the rope winding belt shaft.

4. The two-part folding intelligent well lid robot of claim 3, wherein:

the free telescopic assembly is formed by sleeving a plurality of telescopic rods from inside to outside, and two telescopic rods which are arbitrarily adjacent can relatively stretch, a limiting ring is fixedly arranged at one end of each telescopic rod, a first boss is arranged around the inner side wall at the bottom of the limiting ring, a second boss is arranged around the outer side wall at the other end of each telescopic rod, and telescopic displacement is limited between the two telescopic rods which are arbitrarily adjacent through the first boss and the second boss;

the top end of the telescopic rod at the outermost side in the free telescopic assembly is fixedly connected with the lower surface of the second side surface, and the bottom end of the telescopic rod at the innermost side in the free telescopic assembly is fixedly connected with the mechanical arm and the wire drawing respectively.

5. The two-part folding intelligent well lid robot of claim 4, wherein:

a limiting block is arranged on the first boss;

each side wall of the telescopic rod is provided with a through groove from one end of the telescopic rod to the other end of the telescopic rod, and each through groove is correspondingly provided with a limiting block in a penetrating way.

6. The two-part folding intelligent well lid robot of claim 5, wherein the first screw module comprises:

the first mounting seat is fixedly arranged on the lower surface of the well lid body;

the first screw rod motor is fixedly arranged on the lower surface of the well lid body;

the first gear is fixedly arranged at one end, far away from the first screw rod motor body, of the screw rod of the first screw rod motor;

a second gear meshed with the first gear;

one end of the screw rod is fixedly connected with the axis part of the second gear, and the other end of the screw rod is movably connected with the first mounting seat;

the first transmission slide block is provided with a first threaded channel which penetrates through the first transmission slide block, the first threaded channel is matched with the screw rod, and the first transmission slide block is sleeved on the screw rod through the first threaded channel;

the transmission connecting rod, the one end of transmission connecting rod with first transmission slider swing joint, the other end of transmission connecting rod with the lateral wall swing joint of the telescopic link of the outermost side in the free expansion assembly.

7. The two-part folding intelligent well lid robot of claim 6, wherein:

the first mounting seat comprises a first fixing part, a first limiting part and a first slide way, the first fixing part and the first limiting part are respectively arranged at two ends of the first slide way, the second gear is fixedly arranged at the first fixing part, the other end of the screw rod penetrates through the first transmission sliding block and is fixedly connected with the first limiting part, and the screw rod drives the first transmission sliding block to slide on the first slide way.

8. The two-part folding intelligent well lid robot of claim 7, wherein the second screw module comprises:

the second installation seat is fixedly arranged on the lower surface of the well lid body and is arranged in parallel with the first installation seat;

the second screw rod motor is fixedly arranged on the second mounting seat;

the second transmission slide block is provided with a second threaded channel which penetrates through the second transmission slide block, the second threaded channel is matched with the screw rod of the second screw rod motor, and the second transmission slide block is sleeved on the screw rod of the second screw rod motor through the second threaded channel;

and one end of the connecting shaft is fixedly connected with the second transmission sliding block, and the other end of the connecting shaft is movably connected with the third side face.

9. The two-part folding intelligent well lid robot of claim 8, wherein:

the second mounting seat comprises a second fixing part, a second limiting part and a second slideway, the second fixing part and the second limiting part are respectively arranged at two ends of the second slideway, the body of the second screw rod motor is fixedly arranged at the second fixing part, one end, far away from the body of the second screw rod motor, of the screw rod of the second screw rod motor is arranged at the second limiting part, and the second transmission sliding block slides on the second slideway;

wherein the length of the first slideway is less than the length of the second slideway.

10. The two-part folding intelligent well lid robot of claim 9, wherein:

the wire drawing is made of flexible metal materials.