CN-121973813-A - Comprehensive city pipe gallery inspection robot

CN121973813ACN 121973813 ACN121973813 ACN 121973813ACN-121973813-A

Abstract

The invention belongs to the technical field of inspection robots, and particularly relates to a comprehensive urban pipe gallery inspection robot, which comprises a hanging rail fixed on the top wall of a pipe gallery, wherein the hanging rail is of an I-shaped structure, a robot is arranged on the hanging rail, the robot comprises a moving mechanism and a robot body, the moving mechanism is positioned above the robot body and is used for driving the robot body to move along the hanging rail, a monitoring assembly for monitoring the surrounding environment is arranged on the robot body, the moving mechanism comprises a U-shaped seat, auxiliary positioning assemblies for limiting the lower flange of the hanging rail are arranged on opposite sides of the U-shaped seat, a tensioning assembly is arranged in the middle of the U-shaped seat, a driving wheel set is arranged on the tensioning assembly, the driving wheel set is in friction contact with the lower flange bottom surface of the hanging rail, a scraping assembly and a cleaning assembly are also arranged on opposite sides of the U-shaped seat, and the scraping assembly is used for separating residues on the hanging rail and cleaning the residues through the cleaning assembly. The invention can stably and reliably operate and maintain the high-quality patrol data acquisition capacity.

Inventors

CAI MINGCHENG
XU NUO
WANG TIANZUO
WU YIHAO
ZHAO DANDAN
Ji Bingyao
WANG XIN
XUE FEI
LI WENZHI
ZHANG LINGXI

Assignees

绍兴市棒球未来城开发建设有限公司
绍兴市交控管廊安全运维服务有限公司

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (10)

1. The utility model provides a city pipe gallery inspection robot, its characterized in that, including fixing hanger rail (15) on pipe gallery roof, hanger rail (15) are I shape structure, dispose the robot on hanger rail (15), the robot includes moving mechanism and robot body, moving mechanism is located the top of robot body is used for driving the robot body is followed hanger rail (15) removes, be provided with the monitoring module that is used for monitoring surrounding environment on the robot body, moving mechanism includes U type seat, the opposite side of U type seat all is provided with the assistance-localization real-time subassembly that is used for spacing on the lower edge of a wing of hanger rail (15), the middle part of U type seat is provided with tensioning module, be provided with the drive wheelset on the tensioning module, the drive wheelset with the lower edge of a wing bottom surface friction contact of hanger rail (15), the opposite side of U type seat still is provided with and scrapes the subassembly and cleans the subassembly, it is used for the separation to scrape the residue on hanger rail (15) and passes through the subassembly and cleans.
2. The utility model provides a comprehensive city pipe gallery inspection robot of claim 1, characterized in that, U type seat includes mount pad (4), the both ends of mount pad (4) are all fixedly connected with riser (11), the bottom flange of hanger rail (15) is located two between riser (11), auxiliary positioning subassembly is including rotating first pivot (10) of connecting on riser (11), be connected with auxiliary wheel (12) on first pivot (10), auxiliary wheel (12) with the bottom flange friction contact of hanger rail (15).
3. The utility model provides a city pipe gallery inspection robot of claim 2, characterized in that, auxiliary positioning subassembly still includes the symmetry and locates the direction subassembly of hanger rail (15) web both sides, the direction subassembly is including connecting transverse support (14) on riser (11), rotate on transverse support (14) and be connected with leading wheel (13), leading wheel (13) are located auxiliary wheel (12) top and with the web frictional contact of hanger rail (15).
4. The utility model provides a utility tunnel inspection robot of claim 2, characterized in that, tensioning assembly includes mounting panel (7), the both ends sliding connection of mounting panel (7) have a plurality of slide bars (5), the bottom of slide bar (5) with mount pad (4) fixed connection, the slip cap is equipped with first spring (6) on slide bar (5), one end of first spring (6) with mounting panel (7) butt, the other end of first spring (6) with mount pad (4) butt, the top of slide bar (5) is run through mounting panel (7) and threaded connection have nut (23).
5. The utility model provides a city pipe gallery inspection robot of claim 4, characterized in that the drive wheelset includes two installing support (30) that connect perpendicularly on mounting panel (7), two between installing support (30) rotation is connected with drive wheel (22), drive wheel (22) transmission fit has drive assembly, and drive wheel (22) with the bottom flange bottom surface friction contact of hanger rail (15).
6. The utility model provides a city pipe gallery inspection robot of claim 5, characterized in that, drive assembly is including installing biax motor (24) at mounting panel (7) middle part, biax motor (24) both ends output shaft all runs through installing support (30) and is connected with first drive wheel (8), the pivot both ends of drive wheel (22) all are connected with first follow driving wheel (9), first drive wheel (8) pass through the belt with first follow driving wheel (9) transmission cooperation.
7. The utility model provides a city pipe gallery inspection robot of claim 2, characterized in that, strike off the subassembly including connect support (20) on riser (11), rotate on support (20) and be connected with bull stick (26), the cover is equipped with torsional spring (28) on bull stick (26), the one end of torsional spring (28) is spacing to be connected on support (20), the other end of torsional spring (28) is spacing to be connected on bull stick (26), be connected with on bull stick (26) and strike a shovel (27), strike a shovel (27) with the top surface sliding contact of the lower flange of hanger rail (15).
8. The utility model provides a city pipe gallery inspection robot of claim 2, characterized in that, cleaning assembly is including setting up elasticity on riser (11) is supported and is held the piece, elasticity is supported the piece and is kept away from the one end rotation of riser (11) and is connected with gyro wheel (32), gyro wheel (32) are through elasticity support the piece with web of hanger rail (15) is effective to be contacted, elasticity is supported and is connected with brush head (21) on the piece, brush head (21) with the top surface friction contact of hanger rail (15) bottom flange, just brush head (21) with gyro wheel (32) transmission cooperation.
9. The utility model provides a city pipe gallery inspection robot of claim 8, wherein, elasticity is supported and is held the piece and is connected including rotating swing arm (19) that are close to riser (11) one side of hanger rail (15), be connected with limiting plate (31) on riser (11), be connected with the one end of second spring (29) on limiting plate (31), the other end of second spring (29) with swing arm (19) fixed connection.
10. The utility model provides a utility tunnel inspection robot of claim 1, characterized in that, the robot body is including installing brace table (2) of U type seat bottom, one side of brace table (2) is connected with box (25), be provided with battery, controller and wireless communication module in box (25), monitor the subassembly including install pan-tilt camera (1) of the bottom of brace table (2) and install laser radar (3) on brace table (2), the battery wireless communication module pan-tilt camera (1), laser radar (3) all with the controller electricity is connected.

Description

Comprehensive city pipe gallery inspection robot Technical Field The invention belongs to the technical field of inspection robots, and particularly relates to a comprehensive city pipe gallery inspection robot. Background Along with the rapid promotion of the urban process in China, the utility tunnel is taken as an underground tunnel for intensively laying municipal pipelines such as electric power, communication, water supply and drainage, heating power and the like, and becomes an indispensable infrastructure of modern cities. Regular inspection is carried out on the internal environment of the pipe gallery, the running state of equipment and the structural safety, and the method is a key for guaranteeing safe and stable running of the pipe gallery. The traditional manual inspection mode has the problems of low efficiency, high labor intensity, safety risk, limitation to severe environment, subjective factor influence and the like. In recent years, the use of inspection robots to replace or assist in manual work has become an important development direction for intelligent operation and maintenance management. However, some existing pipe gallery inspection robots, particularly track inspection robots, still face many challenges in practical applications. Because the internal environment of the pipe gallery is complex and moist, oil stains, water vapor condensate, dust and even rust are easy to accumulate on the surface of a rail (particularly a lifting rail). These residues can adhere to the track, seriously affect the adhesive force and friction force of the walking wheel of the inspection robot, lead to the skidding of the driving wheel of the robot, the reduction of positioning accuracy, even cause the faults of clamping stagnation, derailment and the like of the operation of the robot, and severely restrict the continuity and reliability of the inspection work. Therefore, the comprehensive pipe rack inspection robot which can adapt to complex pipe rack environments, has an autonomous track cleaning function and is stable and reliable in walking is developed, and has important practical significance and application value. Disclosure of Invention The invention aims to provide a comprehensive urban pipe gallery inspection robot which aims to solve the problems in the prior art. In order to achieve the above purpose, the invention provides a comprehensive urban pipe gallery inspection robot, which comprises a hanging rail fixed on the top wall of the pipe gallery, wherein the hanging rail is of an I-shaped structure, a robot is arranged on the hanging rail, the robot comprises a moving mechanism and a robot body, the moving mechanism is positioned above the robot body and is used for driving the robot body to move along the hanging rail, a monitoring component used for monitoring the surrounding environment is arranged on the robot body, the moving mechanism comprises a U-shaped seat, auxiliary positioning components used for limiting on the lower flange of the hanging rail are arranged on the opposite sides of the U-shaped seat, a tensioning component is arranged in the middle of the U-shaped seat, a driving wheel set is arranged on the tensioning component, the driving wheel set is in friction contact with the lower flange bottom surface of the hanging rail, and a scraping component and a cleaning component are also arranged on the opposite sides of the U-shaped seat and are used for separating residues on the hanging rail and cleaning the residues through the cleaning component. Preferably, the U-shaped seat comprises a mounting seat, vertical plates are fixedly connected to two ends of the mounting seat, a lower flange of the hanging rail is positioned between the two vertical plates, the auxiliary positioning assembly comprises a first rotating shaft which is rotationally connected to the vertical plates, an auxiliary wheel is connected to the first rotating shaft, and the auxiliary wheel is in friction contact with the lower flange of the hanging rail. Preferably, the auxiliary positioning assembly further comprises guide assemblies symmetrically arranged on two sides of the web plate of the hanging rail, the guide assemblies comprise transverse brackets connected to the vertical plates, guide wheels are connected to the transverse brackets in a rotating mode, and the guide wheels are located above the auxiliary wheels and in friction contact with the web plate of the hanging rail. Preferably, the tensioning assembly comprises a mounting plate, two ends of the mounting plate are slidably connected with a plurality of sliding rods, the bottom ends of the sliding rods are fixedly connected with the mounting seat, a first spring is sleeved on the sliding rods in a sliding mode, one end of the first spring is in butt joint with the mounting plate, the other end of the first spring is in butt joint with the mounting seat, and the top ends of the sliding rods penetrate through the mounting plate and are