CN112077817A - Warship type pipe gallery inspection robot - Google Patents
Warship type pipe gallery inspection robot Download PDFInfo
- Publication number
- CN112077817A CN112077817A CN202010780360.3A CN202010780360A CN112077817A CN 112077817 A CN112077817 A CN 112077817A CN 202010780360 A CN202010780360 A CN 202010780360A CN 112077817 A CN112077817 A CN 112077817A
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- type pipe
- inspection robot
- walking base
- camera
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0058—Means for cleaning manipulators, e.g. dust removing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The invention provides a ship type pipe rack inspection robot. The warship type pipe rack inspection robot comprises a walking base; the driving wheel is arranged on the walking base and is used for driving the walking base to move; a rotating platform device, wherein the rotating platform is arranged on the top side of the walking base; a robotic arm assembly mounted on a top side of the rotary platform device; the mounting platform is mounted at the top end of the mechanical arm assembly; and the two obstacle crossing height adjusting devices are respectively arranged on two sides of the walking base. The warship type pipe rack inspection robot provided by the invention has the advantages of high-speed information transmission, autonomous navigation and multi-sensor information fusion.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a ship type pipe rack inspection robot.
Background
The utility model relates to a city underground comprehensive pipe gallery, be exactly "city underground pipeline utility corridor", also known as "common ditch", build a tunnel space in the city underground promptly, collect various pipelines such as municipal administration, electric power, communication, gas, plumbing to be equipped with access hole, hoist and mount mouth and monitoring system, implement unified planning, design, construction and management. The appearance of zip fastener road can be avoided effectively in the utility tunnel of underground city. After the construction, only wiring needs to be carried out inside, and the road does not need to be dug repeatedly. The city has been beautified in utility tunnel's construction, moves the cable conductor into the underground, has avoided aerial spider web, makes city construction clean and tidy orderly.
At present, the traditional comprehensive pipe gallery inspection method is mainly realized by manpower and a small amount of environment monitors. But because utility tunnel road journey is long, and the closure is strong, the structure is many, and the communication is inconvenient, not only causes workman intensity of labour big, and work efficiency and detection precision are low. Simultaneously, underground pipe gallery environment is complicated, the cable also often arouses the conflagration because of natural aging, corruption or gnawing of toy is bitten easily, and generally there is radioactive pollutant in the air of pipe gallery, in case the accident appears, will cause very big threat to patrolling and examining personnel's personal safety.
Therefore, a new vessel type pipe rack inspection robot is needed to solve the technical problems.
Disclosure of Invention
The invention aims to provide a warship type pipe gallery inspection robot with high-speed information transmission, autonomous navigation and multi-sensor information fusion.
In order to solve the technical problem, the invention provides a carrier type pipe gallery inspection robot, which comprises: a traveling base;
the driving wheel is arranged on the walking base and is used for driving the walking base to move;
a rotating platform device, wherein the rotating platform is arranged on the top side of the walking base;
a robotic arm assembly mounted on a top side of the rotary platform device;
the mounting platform is mounted at the top end of the mechanical arm assembly;
and the two obstacle crossing height adjusting devices are respectively arranged on two sides of the walking base.
Preferably, the mounting platform is provided with a camera, a lighting lamp, an infrared detector, a temperature sensor, a humidity sensor, a smoke detector and an ultrasonic flaw detection probe.
Preferably, a wireless communication module, a GPS positioning module and a control module are installed in the walking base, and the driving wheel, the rotating platform device, the mounting platform and the wireless communication module are all connected with the control module.
Preferably, the wireless communication module is connected with a monitoring control center, and the monitoring control center exchanges information with the control module through the wireless communication module.
Preferably, a camera cleaning device is installed on the top side of the installation platform and used for cleaning the camera.
Preferably, camera cleaning device is including rotating the seat, it is in to rotate a fixed mounting the top side of mounting platform, rotate the seat internal rotation and install the pivot, fixed cup joint has the connecting rod in the pivot, one side fixed mounting who rotates the seat has the motor, the output shaft of motor with pivot fixed connection, fixed mounting has the arc pole on the connecting rod, the one end fixed mounting of arc pole has the casing, fixed mounting has micro motor in the casing, fixed mounting has the bull stick on micro motor's the output shaft, the one end of bull stick extends to the casing is outer and rotate and install the cleaning head, the cleaning head with camera looks adaptation.
Preferably, the obstacle crossing height adjusting device comprises a fixed seat, a placing groove is formed in the bottom side of the fixed seat, a driving motor is fixedly mounted in the placing groove, a lead screw is fixedly mounted on an output shaft of the driving motor, a threaded sleeve is sleeved on the lead screw in a threaded manner, a threaded groove is formed in the threaded sleeve, and a supporting wheel is rotatably mounted on the bottom side of the threaded sleeve.
Preferably, the inner walls of the two sides of the thread groove are provided with limiting holes, the two sides of the thread sleeve are fixedly provided with limiting blocks, and the limiting blocks are connected with the limiting holes in a sliding mode.
Preferably, a transmission module and a steering module are installed in the walking base, and the transmission module and the steering module are connected with the driving wheel.
Compared with the related technology, the warship type pipe gallery inspection robot provided by the invention has the following beneficial effects:
the invention provides a carrier type pipe rack inspection robot, which can be cleaned under the condition that a camera is polluted in a pipe rack through a camera cleaning device so as to help the follow-up pipe rack inspection; through the obstacle crossing height adjusting device, the robot can be supported when meeting obstacles, the obstacle crossing capability of the robot is improved, and the track can be removed to run more quickly for inspection; the limit of a traditional monitoring mode is changed, the limit of personnel inspection on time and environment requirements is broken through, and the inspection and control of the whole area and the whole time of a pipe gallery are realized; the inspection robot is provided with various signal acquisition devices, and a pre-detection technology is combined to realize working condition early warning in the pipe gallery, so that post-processing is changed into precaution, an early warning mechanism is enhanced, and maintenance interruption is reduced or avoided; the shape of the track can be changed by adopting the wheel base adjusting device, the track can stably advance in adaptation to various terrain conditions, and key technologies such as automatic obstacle avoidance control, line inspection and fault location, high-speed information transmission, autonomous navigation and multi-sensor information fusion are integrated.
Drawings
Fig. 1 is a schematic structural diagram of a preferred embodiment of the warship-type pipe rack inspection robot provided by the invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic structural diagram of the camera cleaning device shown in FIG. 1;
FIG. 4 is a schematic view of the obstacle crossing height adjusting apparatus shown in FIG. 1;
fig. 5 is a structural block diagram of the warship type pipe rack inspection robot provided by the invention.
Fig. 6 is an enlarged view of the portion B shown in fig. 4.
Reference numbers in the figures: 1. walking base, 2, drive wheel, 3, rotary platform device, 4, mechanical arm component, 5, mounting platform, 51, camera, 52, rotation seat, 53, pivot, 54, connecting rod, 55, motor, 56, arc pole, 57, casing, 58, micro motor, 59, bull stick, 510, clearance head, 6, obstacle crossing height adjusting device, 61, fixing base, 62, standing groove, 63, driving motor, 64, lead screw, 65, thread bush, 66, thread groove, 67, supporting wheel, 68, stopper, 69, spacing hole.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Referring to fig. 1-5 in combination, the warship type pipe rack inspection robot includes: a traveling base 1;
the driving wheel 2 is installed on the walking base 1, and the driving wheel 2 is used for driving the walking base 1 to move;
the rotating platform device 3 is arranged on the top side of the walking base 1, and the rotating platform 3 is arranged on the top side of the walking base 1;
a robot arm assembly 4, said robot arm assembly 4 being mounted on a top side of said rotary platform assembly 3;
the mounting platform 5 is mounted at the top end of the mechanical arm assembly 4, and the mounting platform 5 is mounted at the top end of the mechanical arm assembly 4;
two obstacle crossing height adjusting devices 6, wherein the two obstacle crossing height adjusting devices 6 are respectively arranged on two sides of the walking base 1.
Install camera 51, light, infrared detection instrument, temperature sensor, humidity transducer, smoke detector and ultrasonic inspection probe on mounting platform 5, camera and light are used for carrying out image acquisition and gather and patrol and examine real-time video, and infrared detection instrument is used for carrying out combustible gas and detects, and humidity, temperature and smoke detection in temperature sensor, humidity transducer and the smoke detector were used for the piping lane environment detect, and ultrasonic inspection probe is used for detecting a flaw to the pipeline.
The walking base is characterized in that a wireless communication module, a GPS positioning module and a control module are installed in the walking base 1, and the driving wheel 2, the rotating platform device 3, the mounting platform 5 and the wireless communication module are connected with the control module.
The wireless communication module is connected with a monitoring control center, and the monitoring control center exchanges information with the control module through the wireless communication module.
A camera cleaning device is installed on the top side of the mounting platform 5 and used for cleaning the camera 51.
Camera cleaning device is including rotating seat 52, rotate seat 52 fixed mounting in mounting platform 5's top side, it installs pivot 53 to rotate seat 52 internal rotation, and the fixed connecting rod 54 that has cup jointed on pivot 53, one side fixed mounting who rotates seat 52 has motor 55, the output shaft of motor 55 with pivot 53 fixed connection, fixed mounting has arc pole 56 on the connecting rod 54, the one end fixed mounting of arc pole 56 has casing 57, fixed mounting has micro motor 58 in the casing 57, fixed mounting has bull stick 59 on micro motor 58's the output shaft, the one end of bull stick 59 extends to casing 57 is outer and rotate and install cleaning head 510, cleaning head 510 with camera 51 looks adaptation leads to camera 51 surface pollution when patrolling and examining the in-process because temperature, humidity (fog) or other reasons, when leading to the picture of shooing all to influence, start camera cleaning device, motor 55 drives pivot 53 and rotates this moment, pivot 53 drives connecting rod 54 and rotates, pivot 54 drives arc pole 56 and removes, arc pole 56 drives casing 57 and removes, casing 57 drives clearance head 510 and camera 51 looks adaptation, restart micro motor 58, micro motor 58 drives clearance head 58 and cleans the camera, clean the back that finishes, restart motor 55 packs up camera cleaning device once more.
Hinder high adjusting device 6 more includes fixing base 61, standing groove 62 has been seted up to the bottom side of fixing base 61, fixed mounting has driving motor 63 in the standing groove 62, fixed mounting has lead screw 64 on driving motor 63's the output shaft, screw thread sleeve 65 has been cup jointed to the lead screw 64, screw thread groove 66 has been seted up on the screw thread sleeve 65, the bottom side of screw thread sleeve 65 is rotated and is installed supporting wheel 67, and the in-process meets the obstacle when patrolling and examining when the robot, starter motor driving motor 63, driving motor 63's output shaft drives lead screw 64 and rotates, and lead screw 64 drives screw thread sleeve 65 and removes and jack-up the robot, is convenient for cross the obstacle.
As shown in fig. 4 and 6, the inner walls of the two sides of the thread groove 66 are provided with limiting holes 69, the two sides of the thread bushing 65 are fixedly provided with limiting blocks 68, and the limiting blocks 68 are slidably connected with the limiting holes 69 to limit the thread bushing 65 and prevent the thread bushing 65 from rotating along with the screw rod 64.
The two long hole walls of the limiting hole 69 are respectively provided with a strip-shaped groove 690, the limiting block 68 is provided with a sliding pin 680 inserted in the strip-shaped groove, and the strip-shaped groove 690 and the sliding pin 680 are matched with each other to prevent the threaded sleeve 65 from tilting.
Secondly, the inner wall of the open end of the cylinder body is provided with a supporting sleeve 7, the end face of the upper end of the supporting sleeve 7 is flush with the lower hole wall of the limiting hole 69, the inner wall of the supporting sleeve 7 is connected with a sealing ring 70 which is sleeved on the threaded sleeve 65, the single-side transverse section of the sealing ring 70 is C-shaped, the inner wall of the sealing ring 70 is in sealing connection with the outer wall of the threaded sleeve 65, and the outer wall of the sealing ring 70 is in sealing connection with the inner wall of the supporting sleeve 7.
The sealing ring 70 is internally provided with a plurality of C-shaped elastic sheets 71 which are uniformly distributed in a circumferential manner and force the inner wall of the sealing ring 70 to always abut against the outer wall of the thread sleeve 65, the supporting sleeve 7 is made of engineering plastics, the sealing ring 70 is made of rubber materials, the sealing ring 70 is injection molded to fixedly embed the C-shaped elastic sheets 71 in the sealing ring 70, the circle center of each C-shaped elastic sheet 71 is above the circle center of the C-shaped single-side transverse section of the sealing ring 70, namely, the radius of each C-shaped elastic sheet 71 is smaller than that of the C-shaped single-side transverse section of the sealing ring 70, the service life of each C-shaped elastic sheet 71 can be prolonged under the condition that the radius of each C-shaped elastic sheet 71 is larger than or equal to that of.
A metal bushing 72 is provided on an inner wall of the sealing ring 70, and a spiral oil groove filled with a solid lubricant, such as grease, is provided on an inner wall of the metal bushing 72.
The seal ring 70 is fixed to the holding sleeve 7 by means of screws or the like.
A transmission module and a steering module are installed in the walking base 1, and the transmission module and the steering module are connected with the driving wheels 2.
The working principle of the warship type pipe gallery inspection robot provided by the invention is as follows:
when the surface of the camera 51 is polluted due to temperature, humidity (fog) or other reasons in the inspection process and the shot pictures are affected, the camera cleaning device is started, at the moment, the motor 55 drives the rotating shaft 53 to rotate, the rotating shaft 53 drives the connecting rod 54 to rotate, the rotating rod 54 drives the arc-shaped rod 56 to move, the arc-shaped rod 56 drives the shell 57 to move, the shell 57 drives the cleaning head 510 to be matched with the camera 51, then the micro motor 58 is started, the micro motor 58 drives the cleaning head 58 to clean the camera, and after the cleaning is finished, the motor 55 is started again to retract the camera cleaning device; run into the obstacle when the robot patrols and examines the in-process, start motor driving motor 63, driving motor 63's output shaft drives lead screw 64 and rotates, and lead screw 64 drives thread bush 65 and removes and jack-up the robot, is convenient for cross the obstacle.
Compared with the related technology, the warship type pipe gallery inspection robot provided by the invention has the following beneficial effects:
the invention provides a carrier type pipe rack inspection robot, which can clean a camera 51 under the condition that the camera is polluted in a pipe rack through a camera cleaning device so as to help the follow-up pipe rack inspection; through the obstacle crossing height adjusting device 6, the robot can be supported when meeting obstacles, the obstacle crossing capability of the robot is improved, and the track can be removed to run more quickly for inspection; the limit of a traditional monitoring mode is changed, the limit of personnel inspection on time and environment requirements is broken through, and the inspection and control of the whole area and the whole time of a pipe gallery are realized; the inspection robot is provided with various signal acquisition devices, and a pre-detection technology is combined to realize working condition early warning in the pipe gallery, so that post-processing is changed into precaution, an early warning mechanism is enhanced, and maintenance interruption is reduced or avoided; the shape of the track can be changed by adopting the wheel base adjusting device, the track can stably advance in adaptation to various terrain conditions, and key technologies such as automatic obstacle avoidance control, line inspection and fault location, high-speed information transmission, autonomous navigation and multi-sensor information fusion are integrated.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (9)
1. The utility model provides a warship formula pipe rack inspection robot which characterized in that includes:
a traveling base;
the driving wheel is arranged on the walking base and is used for driving the walking base to move;
a rotating platform device, wherein the rotating platform is arranged on the top side of the walking base;
a robotic arm assembly mounted on a top side of the rotary platform device;
the mounting platform is mounted at the top end of the mechanical arm assembly;
and the two obstacle crossing height adjusting devices are respectively arranged on two sides of the walking base.
2. The inspection robot for the carrier type pipe galleries according to claim 1, wherein a camera, a lighting lamp, an infrared detector, a temperature sensor, a humidity sensor, a smoke detector and an ultrasonic inspection probe are mounted on the mounting platform.
3. The inspection robot for the carrier type pipe galleries according to claim 1, wherein a wireless communication module, a GPS positioning module and a control module are installed in the walking base, and the driving wheel, the rotating platform device, the installation platform and the wireless communication module are connected with the control module.
4. The robot for inspecting the carrier type pipe gallery according to claim 3, wherein the wireless communication module is connected with a monitoring control center, and the monitoring control center exchanges information with the control module through the wireless communication module.
5. The robot for inspecting carrier type pipe galleries according to claim 1, wherein a camera cleaning device is installed on the top side of the installation platform and used for cleaning the camera.
6. The robot is patrolled and examined to carrier formula piping lane of claim 1, characterized in that, camera cleaning device includes the rotation seat, rotation seat fixed mounting in the top side of mounting platform, the rotation seat internal rotation is installed the pivot, and the fixed connecting rod that has cup jointed in the pivot, one side fixed mounting of rotation seat has the motor, the output shaft of motor with pivot fixed connection, fixed mounting has the arc pole on the connecting rod, the one end fixed mounting of arc pole has the casing, fixed mounting has micro motor in the casing, fixed mounting has the bull stick on micro motor's the output shaft, the one end of bull stick extends to outside the casing and rotate and install the cleaning head, the cleaning head with camera looks adaptation.
7. The inspection robot for the carrier type pipe gallery according to claim 1, wherein the obstacle crossing height adjusting device comprises a fixed seat, a placing groove is formed in the bottom side of the fixed seat, a driving motor is fixedly mounted in the placing groove, a lead screw is fixedly mounted on an output shaft of the driving motor, a threaded sleeve is sleeved on the lead screw in a threaded manner, a threaded groove is formed in the threaded sleeve, and a supporting wheel is rotatably mounted on the bottom side of the threaded sleeve.
8. The inspection robot for the carrier type pipe galleries according to claim 7, characterized in that limiting holes are formed in inner walls of two sides of the thread groove, limiting blocks are fixedly mounted on two sides of the thread sleeve, and the limiting blocks are connected with the limiting holes in a sliding mode.
9. The inspection robot for the carrier type pipe galleries according to claim 1, wherein a transmission module and a steering module are installed in the walking base, and the transmission module and the steering module are connected with the driving wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010780360.3A CN112077817B (en) | 2020-08-05 | 2020-08-05 | Warship type pipe gallery inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010780360.3A CN112077817B (en) | 2020-08-05 | 2020-08-05 | Warship type pipe gallery inspection robot |
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| CN112077817A true CN112077817A (en) | 2020-12-15 |
| CN112077817B CN112077817B (en) | 2022-08-16 |
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| CN202010780360.3A Active CN112077817B (en) | 2020-08-05 | 2020-08-05 | Warship type pipe gallery inspection robot |
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Cited By (6)
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| CN113260095A (en) * | 2021-06-15 | 2021-08-13 | 阿克苏秦翔信息科技有限公司 | Emergency base station for multiple terrains |
| CN113392992A (en) * | 2021-06-17 | 2021-09-14 | 兰普电器股份有限公司 | Intelligent maintenance auxiliary system for railway vehicle |
| CN114354098A (en) * | 2021-12-30 | 2022-04-15 | 中交二公局第六工程有限公司 | Prefabricated piping lane seals detection device and system |
| CN114378829A (en) * | 2022-01-30 | 2022-04-22 | 四川大学 | GIS horizontal cavity overhauling robot and GIS horizontal cavity overhauling system |
| CN115849261A (en) * | 2022-11-17 | 2023-03-28 | 华交智慧(江西)工程技术有限公司 | Multifunctional tunnel maintenance vehicle |
| CN116183118A (en) * | 2023-03-30 | 2023-05-30 | 于仁宝 | Gas pipeline flaw detection instrument |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113260095A (en) * | 2021-06-15 | 2021-08-13 | 阿克苏秦翔信息科技有限公司 | Emergency base station for multiple terrains |
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| CN114354098A (en) * | 2021-12-30 | 2022-04-15 | 中交二公局第六工程有限公司 | Prefabricated piping lane seals detection device and system |
| CN114378829A (en) * | 2022-01-30 | 2022-04-22 | 四川大学 | GIS horizontal cavity overhauling robot and GIS horizontal cavity overhauling system |
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| CN116183118A (en) * | 2023-03-30 | 2023-05-30 | 于仁宝 | Gas pipeline flaw detection instrument |
| CN116183118B (en) * | 2023-03-30 | 2024-05-28 | 于仁宝 | Gas pipeline flaw detection instrument |
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|---|---|
| CN112077817B (en) | 2022-08-16 |
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