阅读说明：本技术 一种具有防侧翻功能的管道检修用检修机器人 (Pipeline overhauls with overhauing robot with prevent function of turning on one's side ) 是由 李轩 于 2020-12-25 设计创作，主要内容包括：本发明公开了一种具有防侧翻功能的管道检修用检修机器人,包括底架,底架的底端左右对称设有安装板,所述安装板的底端设有电驱组件；所述底架的顶端设有立架和两个无线传输装置,立架的顶端设有采像组件,立架的内腔底壁设有蓄电池组和控制总成组件,所述控制总成组件设在蓄电池组的左侧,所述控制总成组件连接蓄电池、采像组件、无线传输装置和电驱组件,所述无线传输装置无线连接手机、平板电脑或笔记本电脑；本发明的整个装置通过稳定架配合预紧组件紧顶管道的内腔壁上,从而保证电驱组件驱动整个装置在管道内行走的稳定性,能有效的预防侧翻现象的发生,能大幅降低整个装置的操控难度,从而保证检修工作的顺利进行。(The invention discloses a maintenance robot with a rollover prevention function for pipeline maintenance, which comprises an underframe, wherein mounting plates are symmetrically arranged at the left and right sides of the bottom end of the underframe, and an electric driving assembly is arranged at the bottom end of each mounting plate; the top end of the underframe is provided with a vertical frame and two wireless transmission devices, the top end of the vertical frame is provided with an image acquisition component, the bottom wall of the inner cavity of the vertical frame is provided with a storage battery pack and a control assembly component, the control assembly component is arranged on the left side of the storage battery pack and is connected with a storage battery, an image acquisition component, a wireless transmission device and an electric drive component, and the wireless transmission device is wirelessly connected with a mobile phone, a tablet computer or a notebook computer; the whole device disclosed by the invention is matched with the pre-tightening component to tightly push against the inner cavity wall of the pipeline through the stabilizing frame, so that the stability of the electric driving component for driving the whole device to walk in the pipeline is ensured, the side-turning phenomenon can be effectively prevented, the control difficulty of the whole device can be greatly reduced, and the smooth operation of maintenance work is ensured.)

1. The maintenance robot with the rollover prevention function for pipeline maintenance comprises a chassis (1) and is characterized in that the chassis (1) is of an inverted U-shaped structure, mounting plates (2) are symmetrically arranged at the left and right sides of the bottom end of the chassis (1), an electric driving assembly (3) is arranged at the bottom end of each mounting plate (2), and each electric driving assembly (3) is a crawler-type driving mechanism;

the mobile phone comprises a bottom frame (1), wherein the top end of the bottom frame (1) is provided with a vertical frame (7) and two wireless transmission devices (11), the vertical frame (7) is fixed in the middle of the top end of the bottom frame (1), the two wireless transmission devices (11) are symmetrically arranged on the left side and the right side of the vertical frame (7), the vertical frame (7) is of an inverted U-shaped structure, an image acquisition component (10) is arranged at the top end of the vertical frame (7), a storage battery (8) and a control assembly component (9) are arranged on the bottom wall of an inner cavity of the vertical frame (7), the control assembly component (9) is arranged on the left side of the storage battery (8), the control assembly component (9) is connected with the storage battery (8), the image acquisition component (10), the wireless transmission devices (11) and an electric drive component (3), and the wireless transmission devices (11) are wirelessly connected;

two stabilizing frames (5) are sleeved outside the side end of the bottom frame (1), the two stabilizing frames (5) are of arc-shaped plate structures, the two stabilizing frames (5) are symmetrically arranged front and back, and a plurality of pre-tightening assemblies (6) are uniformly arranged at the convex end of each stabilizing frame (5);

a plurality of ultrasonic detection components (12) are uniformly arranged on the inner cavity wall of the stabilizing frame (5), and all the ultrasonic detection components (12) are connected with a control assembly component (9); the dredging components (4) are symmetrically arranged on the left and right of the top wall of the inner cavity of the underframe (1);

the pre-tightening component (6) comprises a buffer cylinder (61), the buffer cylinder (61) is of a hollow cylindrical structure, the buffer cylinder (61) is fixedly connected to the convex end of the stabilizing frame (5), a sliding block (62) is connected to the inner cavity of the buffer cylinder (61) in a sliding mode, the sliding block (62) is fixedly connected to the inner cavity bottom wall of the buffer cylinder (61) through a first telescopic rod (66), a pre-tightening spring (67) matched with the sliding block (62) is sleeved on the outer side of the first telescopic rod (66), the end portion of the pre-tightening spring (67) is fixedly connected to the inner cavity bottom wall of the buffer cylinder (61), a sliding rod (63) is fixedly connected to the top end of the sliding block (62), one end, far away from the sliding block (62), of the sliding rod (63) penetrates through the top wall of the buffer cylinder (61) and extends to the outer side, the sliding connection is formed between the sliding rod (63) and the buffer cylinder (61), and top wheels (, the top wheel (64) is rotatably connected to the sliding rod (63) through a wheel shaft (65), and the top end of the top wheel (64) is higher than that of the sliding rod (63).

2. The maintenance robot with the rollover prevention function for pipeline maintenance according to claim 1, characterized in that the underframe (1) and the mounting plate (2) are integrally formed.

3. The pipe inspection service robot having the rollover prevention function as recited in claim 2, wherein the length of the base frame (1) is the same as that of the mounting plate (2).

4. The pipe inspection service robot having the rollover prevention function as recited in claim 1, wherein an axis of the first telescopic rod (66) coincides with an axis of the buffer cylinder (61).

5. The overhauling robot with the anti-rollover function for the pipeline overhauling is characterized in that the dredging component (4) comprises a dredging motor (41), the dredging motor (41) is fixedly connected to the top wall of the inner cavity of the underframe (1), a dredging shaft (42) is rotatably connected to the dredging motor (41), one end, far away from the dredging motor (41), of the dredging shaft (42) is fixedly connected with a dredging drill (43), and a plurality of cleaning brushes (44) are uniformly arranged on the outer circumferential surface of the dredging shaft (42).

6. The overhaul robot with the anti-rollover function for the pipeline overhaul according to claim 1, wherein the image acquisition assembly (10) comprises a seat plate (101), the seat plate (101) is fixedly connected to the top end of the stand (7), an angle frame (102) and a power frame (103) are arranged at the top end of the seat plate (101), the angle frame (102) and the power frame (103) are both in a U-shaped structure, the power frame (103) is arranged on the right side of the angle frame (102), an inner cavity of the angle frame (102) is provided with an angle rod (105), the angle rod (105) is hinged to the top wall of the inner cavity of the angle frame (102) through a hinge seat (104), the top wall of the inner cavity of the power frame (103) is fixedly connected with an electric telescopic device (106), the bottom end of a second telescopic rod (107) on the electric telescopic device (106) is hinged to the top end of the angle rod (105), and a camera (108) is fixedly connected to one end, far away from the power frame (103), of the angle rod, the outside cover of angle pole (105) is equipped with camera (108) matched with fixed point illumination dish (109), and the side of fixed point illumination dish (109) is circular array and is equipped with a plurality of first LED lamps (110) with camera (108) matched with, electronic telescoping device (106) and camera (108) and all first LED lamps (110) are connection control assembly subassembly (9) respectively.

7. The pipe inspection service robot with the rollover prevention function as recited in claim 6, wherein a top end face of the power frame (103) is higher than a top end face of the angle frame (102).

8. The pipe inspection service robot having the rollover prevention function as recited in claim 6, wherein the spot lighting panel (109) is a circular ring plate structure.

9. The overhaul robot with the rollover prevention function for pipeline overhaul according to claim 6, wherein a lighting cylinder base (111) is fixedly connected to the top end of the power frame (103), the lighting cylinder base (111) is of a cylindrical structure, second LED lamps (112) are symmetrically arranged at the left end and the right end of the lighting cylinder base (111), and the second LED lamps (112) are connected with the control assembly component (9).

Technical Field

The invention relates to the technical field of pipeline maintenance equipment, in particular to a maintenance robot with a side turning prevention function for pipeline maintenance.

Background

A pipeline is a device for transporting a gas, liquid or fluid with solid particles, connected by pipes, pipe couplings, valves, etc. The use of pipelines is very widespread, mainly in water supply, drainage, heating, gas supply, long-distance oil and gas delivery, agricultural irrigation, hydraulic engineering and various industrial installations.

The pipeline often has the condition of leaking in the in-process, needs regular maintenance. The pipeline inspection robot has the advantages that the pipeline inspection robot is easy to inspect the outside of the pipeline and can be used for manual inspection, but due to the particularity of the pipeline, the inspection inside the pipeline is difficult, and the pipeline inspection robot is required to finish the inspection work.

However, the existing pipeline maintenance robot is only a common wheel-mounted or crawler-type driven robot, and when the robot runs in a pipeline, once the robot runs on the side wall, the robot is easy to turn on one side, so that the whole robot falls down in a paralyzed state, cannot continue to work, is high in control difficulty and quite inconvenient to use.

Therefore, the invention provides the maintenance robot with the side turning prevention function for pipeline maintenance, which can well solve the problems.

Disclosure of Invention

The invention aims to provide a pipeline maintenance robot with a rollover prevention function, and the pipeline maintenance robot is used for solving the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

the utility model provides a pipeline overhauls and uses maintenance robot with prevent function of turning on one's side, includes the chassis, the chassis is the U-shaped structure of handstand, and the bottom bilateral symmetry of chassis is equipped with the mounting panel, is the integrated into one piece preparation between chassis and the mounting panel, and the length of chassis is the same with the length of mounting panel, the bottom of mounting panel is equipped with the electricity and drives the subassembly, it is crawler-type actuating mechanism to drive the subassembly to drive the chassis and walk in the pipeline to drive the subassembly to utilize the electricity, and can overcome the adaptability of multiple topography;

the top of chassis is equipped with grudging post and two wireless transmission device, the grudging post is fixed at the top middle part of chassis, two the left and right sides at the grudging post is established to the branch of wireless transmission device mutual symmetry, the grudging post is the U-shaped structure of handstand, and the top of grudging post is equipped with adopts like the subassembly, and the inner chamber diapire of grudging post is equipped with storage battery and control assembly subassembly, control assembly subassembly is established in storage battery's left side, control assembly subassembly connection battery, adopts like subassembly, wireless transmission device and electricity drive subassembly, wireless transmission device wireless connection cell-phone, panel computer or notebook computer send the operating instruction to control assembly subassembly directly through cell-phone, panel computer or notebook computer, and then utilize control assembly subassembly control electricity to drive whole device and walk in the pipeline, control is adopted like the subassembly and is gathered the inside video data of pipeline, the pipeline maintenance device is sent to a mobile phone, a tablet personal computer or a notebook computer, so that workers can clearly observe the internal condition of the pipeline from the outside, problems can be found in time, and the maintenance quality in the pipeline can be greatly improved;

the side end of the underframe is sleeved with two stabilizing frames in an outer mode, the two stabilizing frames are of arc-shaped plate structures and are arranged symmetrically front and back, a plurality of pre-tightening assemblies are uniformly arranged at the convex side ends of the stabilizing frames, and the whole device is matched with the pre-tightening assemblies through the stabilizing frames to tightly prop against the inner cavity wall of the pipeline, so that the stability of the electric driving assemblies for driving the whole device to walk in the pipeline is guaranteed, the rollover phenomenon can be effectively prevented, the control difficulty of the whole device can be greatly reduced, and the smooth operation of maintenance work is guaranteed;

in order to facilitate the detailed observation of the conditions in the pipeline, a plurality of ultrasonic detection components are uniformly arranged on the inner cavity wall of the stabilizing frame, and all the ultrasonic detection components are connected with a control assembly component;

in order to guarantee that the whole device is smooth current in the pipeline, the inner chamber roof bilateral symmetry of chassis is equipped with the mediation subassembly, can utilize the mediation subassembly to accomplish the jam clearance work on the pipeline diapire, can dredge the pipeline, also can clear up the pipeline diapire, and the whole device of the electric drive subassembly drive of being convenient for walks smoothly in the pipeline, the smooth expansion of the work of being convenient for overhaul.

The pre-tightening assembly comprises a buffer cylinder, the buffer cylinder is of a hollow cylindrical structure, the buffer cylinder is fixedly connected to the convex end of the stabilizing frame, a sliding block is connected to the inner cavity of the buffer cylinder in a sliding manner, the sliding block is fixedly connected to the inner cavity bottom wall of the buffer cylinder through a first telescopic rod, the axis of the first telescopic rod is overlapped with the axis of the buffer cylinder, a pre-tightening spring matched with the sliding block is sleeved on the outer side of the first telescopic rod, the end part of the pre-tightening spring is fixedly connected to the inner cavity bottom wall of the buffer cylinder, a sliding rod is fixedly connected to the top end of the sliding block, one end, far away from the sliding block, of the sliding rod penetrates through the top wall of the buffer cylinder and stretches outside the top wall of the buffer cylinder, the sliding rod is in sliding connection with the buffer cylinder, top wheels are symmetrically arranged on the left side and the right side of the sliding rod and are rotatably connected to the, the sliding rod is matched with the top wheel to be tightly attached to the inner cavity wall of the pipeline, so that the top wheel provides a reverse fulcrum for the stabilizing frame, and the stability of the electric driving assembly for driving the whole device to move can be greatly improved; and the top wheel is supported on the inner cavity wall of the pipeline in a rolling manner, so that the top wheel can be effectively prevented from blocking the forward driving of the electric driving assembly, and the electric driving assembly can be ensured to drive the whole device to move smoothly.

In a further embodiment, the dredging component comprises a dredging motor, the dredging motor is fixedly connected to the top wall of the inner cavity of the underframe, a dredging shaft is rotatably connected to the dredging motor, one end, far away from the dredging motor, of the dredging shaft is fixedly connected with a dredging drill, a plurality of cleaning brushes are uniformly arranged on the outer circumferential surface of the dredging shaft, the dredging component drives the dredging shaft to rotate at a high speed through the dredging motor, the dredging shaft further drives the dredging drill to rotate at a high speed, the high-speed rotating dredging drill can be used for breaking the wall barrier, the cleaning pipeline is further expanded by using the high-speed rotating cleaning brushes, and the interior of the dredging pipeline is blocked; meanwhile, foreign matters on the bottom wall of the pipeline can be broken, the whole device driven by the electric drive assembly can be driven to move forwards smoothly, and the maintenance work is finished.

In a further embodiment, the image acquisition assembly comprises a seat plate, the seat plate is fixedly connected to the top end of a vertical frame, an angle frame and a power frame are arranged at the top end of the seat plate, the angle frame and the power frame are both of a U-shaped structure, the top end face of the power frame is higher than the top end face of the angle frame, the power frame is arranged on the right side of the angle frame, an angle rod is arranged in an inner cavity of the angle frame and is hinged to the top wall of the inner cavity of the angle frame through a hinge seat, the top wall of the inner cavity of the power frame is fixedly connected with an electric telescopic device, the bottom end of a second telescopic rod on the electric telescopic device is hinged to the top end of the angle rod, one end, away from the power frame, of the angle rod is fixedly connected with a camera, a fixed-point illumination disc matched with the camera is sleeved on the outer side of the angle rod, the fixed-point illumination disc is of, the electric telescopic device, the camera and all the first LED lamps are respectively connected with the control assembly component, the second telescopic rod is extended or retracted through the electric telescopic device, and the angle rod is further pulled to rotate around the hinge seat, so that the image acquisition angle of the camera can be adjusted, the inner wall of the pipeline can be observed in detail, and the maintenance quality of the pipeline is improved; meanwhile, the first LED lamp is matched with the camera, and the front of the camera is illuminated by the first LED lamp, so that the image acquisition definition of the camera is ensured, and the maintenance quality of the pipeline can be further improved;

the top end of the power frame is fixedly connected with the lighting barrel holder which is of a cylindrical structure, the left end and the right end of the lighting barrel holder are symmetrically provided with second LED lamps, the second LED lamps are connected with the control assembly, and the front square pipeline and the rear square pipeline of the whole device are illuminated through the second LED lamps, so that the brightness near the whole device is guaranteed, and the control convenience of the whole device is further improved.

Compared with the prior art, the invention has the beneficial effects that:

1. the whole device disclosed by the invention is matched with the pre-tightening component to tightly push against the inner cavity wall of the pipeline through the stabilizing frame, so that the stability of the electric driving component for driving the whole device to walk in the pipeline is ensured, the side-turning phenomenon can be effectively prevented, the control difficulty of the whole device can be greatly reduced, and the smooth operation of maintenance work is ensured;

2. according to the invention, a working instruction is directly sent to the control assembly component through the mobile phone, the tablet personal computer or the notebook computer, and then the control assembly component is used for controlling the electric drive component to drive the whole device to walk in the pipeline, and controlling the image acquisition component to acquire video data in the pipeline and send the video data to the mobile phone, the tablet personal computer or the notebook computer, so that a worker can clearly observe the internal condition of the pipeline at the outside, the problem can be found in time, and the overhauling quality in the pipeline can be greatly improved;

3. the whole pre-tightening assembly jacks up the sliding rod through the first telescopic rod in cooperation with the pre-tightening spring in an elastic mode, and further the sliding rod is matched with the top wheel to be tightly attached to the inner cavity wall of the pipeline, so that the top wheel provides a reverse fulcrum for the stabilizing frame, and the stability of the electric driving assembly for driving the whole device to move can be greatly improved; the top wheel is supported on the inner cavity wall of the pipeline in a rolling manner, so that the top wheel can be effectively prevented from blocking the forward driving of the electric driving assembly, and the electric driving assembly can be ensured to drive the whole device to move smoothly;

4. according to the dredging component, the dredging shaft is driven to rotate at a high speed by the dredging motor, and then the dredging shaft is used for driving the dredging drill to rotate at a high speed, so that the high-speed rotating dredging drill can be used for breaking the barrier, the cleaning pipeline is further enlarged by the high-speed rotating cleaning brush, and the inner part of the dredging pipeline is blocked; meanwhile, foreign matters on the bottom wall of the pipeline can be broken, the electric driving assembly is ensured to drive the whole device to move forwards smoothly, and the maintenance work is finished;

5. according to the invention, the second telescopic rod is extended or retracted through the electric telescopic device, and the angle rod is further pulled to rotate around the hinge seat, so that the image acquisition angle of the camera can be adjusted, the inner wall of the pipeline can be observed in detail, and the overhauling quality of the pipeline is improved; meanwhile, the first LED lamp is matched with the camera, and the front of the camera is illuminated by the first LED lamp, so that the image acquisition definition of the camera is ensured, and the maintenance quality of the pipeline can be further improved;

6. according to the invention, the front and rear pipelines of the whole device are illuminated by the second LED lamp, so that the brightness near the whole device is ensured, and the convenience in operation and control of the whole device can be further improved.

Drawings

Fig. 1 is a schematic structural view of a front view of a pipe inspection service robot having a rollover prevention function;

FIG. 2 is a schematic structural view of a matching relationship between a chassis and a stabilizing frame in a maintenance robot for pipeline maintenance with a rollover prevention function;

FIG. 3 is a schematic perspective view of a pre-tightening assembly in a maintenance robot for pipeline maintenance with anti-rollover function;

FIG. 4 is a schematic cross-sectional view of a pre-tightening assembly in a maintenance robot for pipeline maintenance with an anti-rollover function;

fig. 5 is a schematic perspective view of a dredging assembly in a maintenance robot for pipeline maintenance with a rollover prevention function;

FIG. 6 is a schematic structural view of an image capturing assembly in a maintenance robot for pipeline maintenance having a rollover prevention function;

fig. 7 is a schematic perspective view of the spot lighting panel of fig. 6.

In the figure: 1-an underframe, 2-a mounting plate, 3-an electric drive assembly, 4-a dredging assembly, 41-a dredging motor, 42-a dredging shaft, 43-a dredging drill, 44-a cleaning brush, 5-a stabilizing frame, 6-a pre-tightening assembly, 61-a buffer cylinder, 62-a slide block, 63-a slide rod, 64-a top wheel, 65-a wheel shaft, 66-a first telescopic rod, 67-a pre-tightening spring, 7-a vertical frame, 8-a storage battery pack, 9-a control assembly, 10-an image acquisition assembly, 101-a seat plate, 102-an angle frame, 103-a power frame, 104-a hinged seat, 105-an angle rod, 106-an electric telescopic device, 107-a second telescopic rod, 108-a camera, 109-a fixed-point lighting disc and 110-a first LED lamp, 111-lighting cartridge, 112-second LED lamp, 11-wireless transmission device, 12-ultrasonic detection assembly.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example 1

Referring to fig. 1-4, an overhaul robot with a rollover prevention function for pipeline overhaul comprises an underframe 1, wherein the underframe 1 is of an inverted U-shaped structure, mounting plates 2 are symmetrically arranged at the left and right sides of the bottom end of the underframe 1, the underframe 1 and the mounting plates 2 are integrally formed, the length of the underframe 1 is equal to that of the mounting plates 2, an electric driving assembly 3 is arranged at the bottom end of the mounting plates 2, the electric driving assembly 3 is a crawler-type driving mechanism, the underframe 1 can be driven to travel in a pipeline by the electric driving assembly 3, and adaptability of various terrains can be overcome;

the top end of the chassis 1 is provided with a vertical frame 7 and two wireless transmission devices 11, the vertical frame 7 is fixed at the middle part of the top end of the chassis 1, the two wireless transmission devices 11 are symmetrically arranged at the left side and the right side of the vertical frame 7, the vertical frame 7 is of an inverted U-shaped structure, the top end of the vertical frame 7 is provided with an image acquisition component 10, the bottom wall of the inner cavity of the vertical frame 7 is provided with a storage battery pack 8 and a control assembly component 9, the control assembly component 9 is arranged at the left side of the storage battery pack 8, the control assembly component 9 is connected with the storage battery 8, the image acquisition component 10, the wireless transmission devices 11 and the electric driving component 3, the wireless transmission devices 11 are wirelessly connected with a mobile phone, a tablet computer or a notebook computer, work instructions are directly sent to the control assembly component 9 through the mobile phone, the tablet computer or the notebook computer, and then the electric driving component 3 is controlled by the, the image acquisition component 10 is controlled to acquire video data inside the pipeline and send the video data to a mobile phone, a tablet personal computer or a notebook computer, so that workers can clearly observe the inside condition of the pipeline from the outside, problems can be found in time, and the overhauling quality in the pipeline can be greatly improved;

the two stabilizing frames 5 are sleeved outside the side end of the underframe 1, the two stabilizing frames 5 are of arc-shaped plate structures, the two stabilizing frames 5 are arranged in a front-back symmetrical mode, a plurality of pre-tightening assemblies 6 are uniformly arranged at the convex end of each stabilizing frame 5, and the whole device is matched with the pre-tightening assemblies 6 through the stabilizing frames 5 to tightly push against the inner cavity wall of the pipeline, so that the stability of the electric driving assembly 3 driving the whole device to walk in the pipeline is ensured, the side-turning phenomenon can be effectively prevented, the control difficulty of the whole device can be greatly reduced, and the smooth operation of maintenance work is ensured;

in order to further observe the conditions in the pipeline in detail, a plurality of ultrasonic detection components 12 are uniformly arranged on the inner cavity wall of the stabilizing frame 5, and all the ultrasonic detection components 12 are connected with the control assembly component 9;

in order to guarantee that whole device is smooth current in the pipeline, the inner chamber roof bilateral symmetry of chassis 1 is equipped with mediation subassembly 4, can utilize mediation subassembly 4 to accomplish the jam clearance work on the pipeline diapire, can dredge the pipeline, also can clear up the pipeline diapire, and the whole device of the electric drive subassembly 3 drive of being convenient for walks smoothly in the pipeline, the smooth expansion of the work of being convenient for overhaul.

The pre-tightening component 6 comprises a buffer cylinder 61, the buffer cylinder 61 is of a hollow cylindrical structure, the buffer cylinder 61 is fixedly connected to the convex end of the stabilizing frame 5, the inner cavity of the buffer cylinder 61 is slidably connected with a sliding block 62, the sliding block 62 is fixedly connected to the bottom wall of the inner cavity of the buffer cylinder 61 through a first telescopic rod 66, the axis of the first telescopic rod 66 is overlapped with the axis of the buffer cylinder 61, a pre-tightening spring 67 matched with the sliding block 62 is sleeved on the outer side of the first telescopic rod 66, the end part of the pre-tightening spring 67 is fixedly connected to the bottom wall of the inner cavity of the buffer cylinder 61, the top end of the sliding block 62 is fixedly connected with a sliding rod 63, one end, far away from the sliding block 62, of the sliding rod 63 penetrates through the top wall of the buffer cylinder 61 and overhangs on the outer side, the sliding rod 63 is slidably connected with the buffer cylinder 61, top wheels 64 are symmetrically arranged, the top end of the top wheel 64 is higher than the top end of the sliding rod 63, the whole pre-tightening assembly 60 elastically jacks up the sliding rod 63 through the first telescopic rod 66 in cooperation with the pre-tightening spring 67, and then the sliding rod 63 is matched with the top wheel 64 to be tightly attached to the inner cavity wall of the pipeline, so that the top wheel 64 provides a reverse fulcrum for the stabilizing frame 5, and the stability of the electric driving assembly 3 for driving the whole device to move can be greatly improved; and the top wheel 64 is supported on the inner cavity wall of the pipeline in a rolling manner, so that the top wheel 64 can be effectively prevented from blocking the forward driving of the electric driving assembly 3, and the electric driving assembly 3 can be ensured to drive the whole device to move smoothly.

Example 2

Referring to fig. 5, the difference from example 1 is: the dredging component 4 comprises a dredging motor 41, the dredging motor 41 is fixedly connected to the top wall of the inner cavity of the underframe 1, a dredging shaft 42 is rotatably connected to the dredging motor 41, one end, far away from the dredging motor 41, of the dredging shaft 42 is fixedly connected with a dredging drill 43, a plurality of cleaning brushes 44 are uniformly arranged on the outer circumferential surface of the dredging shaft 42, the dredging component 4 drives the dredging shaft 42 to rotate at a high speed through the dredging motor 41, the dredging drill 43 is driven to rotate at a high speed through the dredging shaft 42, so that the wall barriers can be broken through the high-speed rotating dredging drill 43, the cleaning pipelines are further enlarged through the high-speed rotating cleaning brushes 44, and the interior of the dredging pipelines is blocked; also can break the foreign matter on the pipeline diapire simultaneously, guarantee to drive the whole device of 3 drives of subassembly of electricity and move ahead smoothly, accomplish maintenance work.

Example 3

Referring to fig. 6 to 7, the difference from example 1 is: the image acquisition assembly 10 comprises a seat plate 101, the seat plate 101 is fixedly connected to the top end of a stand 7, an angle frame 102 and a power frame 103 are arranged at the top end of the seat plate 101, the angle frame 102 and the power frame 103 are both in a U-shaped structure, the top end face of the power frame 103 is higher than the top end face of the angle frame 102, the power frame 103 is arranged on the right side of the angle frame 102, an angle rod 105 is arranged in an inner cavity of the angle frame 102, the angle rod 105 is hinged to the top wall of the inner cavity of the angle frame 102 through a hinge base 104, the top wall of the inner cavity of the power frame 103 is fixedly connected with an electric telescopic device 106, the bottom end of a second telescopic rod 107 on the electric telescopic device 106 is hinged to the top end of the angle rod 105, a camera 108 is fixedly connected to one end of the angle rod 105 far away from the power frame 103, a fixed point illumination disc 109 matched with the camera 108, a plurality of first LED lamps 110 matched with the camera 108 are arranged at the side end of the fixed point lighting disc 109 in a circular array, the electric telescopic device 106, the camera 108 and all the first LED lamps 110 are respectively connected with the control assembly component 9, the second telescopic rod 107 is extended or retracted through the electric telescopic device 106, and then the angle rod 105 is pulled to rotate around the hinged seat 104, so that the image collecting angle of the camera 108 can be adjusted, the inner wall of the pipeline can be observed carefully, and the overhauling quality of the pipeline is improved; meanwhile, the first LED lamp 110 is arranged to be matched with the camera 108, and the front of the image acquired by the camera 108 is illuminated by the first LED lamp 110, so that the image acquisition definition of the camera 108 is ensured, and the overhauling quality of the pipeline can be further improved;

the top end of the power frame 103 is fixedly connected with an illuminating cylinder base 111, the illuminating cylinder base 111 is of a cylindrical structure, second LED lamps 112 are symmetrically arranged at the left end and the right end of the illuminating cylinder base 111, the second LED lamps 112 are connected with the control assembly component 9, and front and rear pipelines of the whole device are illuminated through the second LED lamps 112, so that the brightness near the whole device is ensured, and the convenience in operation and control of the whole device can be further improved.

According to the working principle of the embodiment 1-3, a working instruction is directly sent to the control assembly component 9 through a mobile phone, a tablet personal computer or a notebook computer, the control assembly component 9 is further utilized to control the electric driving component 3 to drive the whole device to walk in the pipeline, the image acquisition component 10 is controlled to acquire video data inside the pipeline and send the video data to the mobile phone, the tablet personal computer or the notebook computer, and therefore workers can clearly observe the inside condition of the pipeline outside conveniently, problems can be found timely, and the overhauling quality inside the pipeline can be greatly improved; meanwhile, the ultrasonic detection component 12 can further observe the inner wall condition of the pipeline in detail, so that the maintenance quality of the whole device is further improved;

the image capturing assembly 10 extends or retracts the second telescopic rod 107 through the electric telescopic device 106, and then pulls the angle rod 105 to rotate around the hinge base 104, so that the image capturing angle of the camera 108 can be adjusted, and the inner wall of the pipeline can be observed in detail; meanwhile, the first LED lamp 110 is arranged to be matched with the camera 108, and the front of the image acquired by the camera 108 is illuminated by the first LED lamp 110, so that the image acquisition definition of the camera 108 is ensured;

when the whole device creeps, the dredging shaft 42 is driven to rotate at a high speed by the dredging motor 41, and then the dredging shaft 42 is used for driving the dredging drill 43 to rotate at a high speed, so that the high-speed rotating dredging drill 43 can be used for breaking the barriers, the cleaning brush 44 rotating at a high speed is used for further expanding the cleaning pipeline, and the interior of the dredging pipeline is blocked; meanwhile, foreign matters on the bottom wall of the pipeline can be broken, and the electric drive assembly 3 is ensured to drive the whole device to move forwards smoothly.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.