CN112128511B - Pipeline endoscope inspection mobile robot - Google Patents
Pipeline endoscope inspection mobile robot Download PDFInfo
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- CN112128511B CN112128511B CN202011015770.5A CN202011015770A CN112128511B CN 112128511 B CN112128511 B CN 112128511B CN 202011015770 A CN202011015770 A CN 202011015770A CN 112128511 B CN112128511 B CN 112128511B
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- pipeline
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- protective cover
- ball screw
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
A pipeline endoscope inspection mobile robot relates to a mobile robot. The invention solves the problems of high cost and difficulty in designing a control system of the conventional wheel type or crawler type pipeline robot driven by a plurality of motors. The stepping motor of the invention transmits motion and power to the driving straight-tooth conical gear after being decelerated by the planetary gear reducer; the driven straight-tooth conical gear transmits motion and power to the ball screw pair through the quincunx coupling; the connecting rod arranged on the nut seat pushes the sliding block to move towards the two ends of the pipeline robot along the guide rod along with the movement of the nut seat; the rocker assemblies are driven by the connecting rods to rotate around respective hinge centers, so that the travelling wheels of the pipeline robot are always in contact with the inner wall of the pipeline. The invention adopts a pipe diameter self-adapting mechanism of the single motor driven pipeline robot, thereby reducing the manufacturing cost of the robot, the energy consumption and the design difficulty of a control system. The invention is used for endoscopic inspection of pipelines.
Description
Technical Field
The invention relates to a mobile robot, in particular to a pipeline endoscopic inspection mobile robot, and belongs to the technical field of robots.
Background
The pipeline is used as a carrier of an important transportation medium in a city, the position of the pipeline is important, the pipeline plays an important role in the development of economy in China, the pipeline is wide in application, can be used for transporting gas, liquid and solid devices, and is mainly applied to industries such as water supply and drainage, heat supply, gas supply, petroleum, natural gas, agricultural irrigation, hydraulic engineering and the like, so that once the pipeline is broken, the pipeline is very painful, and a large amount of manpower and material resources are required for detecting the pipeline. Therefore, the above-mentioned practical problems can be solved by using a robot to perform the pipeline inspection work instead of a human. The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk inside or outside a pipeline, carry various sensors and operation devices and carry out pipeline detection operation under the automatic control of a computer or the remote control of an operator.
The pipeline robot with the pipe diameter self-adaptation function can realize walking in vertical pipeline, can carry on different detecting instrument, like ultrasonic radar, image acquisition device, temperature measuring instrument etc. realizes carrying out detailed detection to deformation, leakage, scale deposit, the foreign matter invasion condition of pipeline, provides reliable data for pipeline maintainer to carry out maintenance work to the pipeline. However, the wheel type or crawler type pipeline robot with the pipe diameter self-adaptive function can only realize the pipe diameter self-adaptive function of the robot by adopting a plurality of driving motors, and the pipeline of the type not only increases the cost but also increases the design difficulty of a control system due to the fact that the plurality of motors are adopted for driving.
In summary, the existing wheel-type or crawler-type pipeline robot is driven by a plurality of motors, so that the problems of high cost and difficulty in designing a control system are solved.
Disclosure of Invention
The invention aims to solve the problems of high cost and difficulty in designing a control system of the conventional wheel type or crawler type pipeline robot due to the fact that the conventional wheel type or crawler type pipeline robot is driven by a plurality of motors. Further provides a pipeline endoscopic inspection mobile robot.
The technical scheme of the invention is that the pipeline endoscopic inspection mobile robot comprises a body assembly, a conical gear box, a planetary gear reducer, a stepping motor supporting seat, a front camera mounting seat, a front camera, a lighting lamp, a lamp holder, a rear camera support, a rear camera, a protective cover assembly, a plurality of driving wheel assemblies, a plurality of first connecting rods, a plurality of second connecting rods, a plurality of ball screw assemblies, a plurality of couplers and a recovery device assembly, wherein the body assembly is a cylindrical body, the plurality of driving wheel assemblies are arranged on two sides of the body assembly in the length direction through hinges, two adjacent driving wheel assemblies in the length direction of the body assembly are oppositely arranged, one end of each first connecting rod is mounted on one driving wheel assembly through a hinge, the other end of each first connecting rod is mounted on the body assembly through a hinge, and the other end of each first connecting rod is slidably mounted in the length direction of the body assembly; the protective cover assembly is installed on the body assembly, the recovery device assembly is installed at the rear end of the protective cover assembly, the rear camera support is installed at the rear end inside the body assembly, the rear camera is installed on the rear camera support, the stepping motor support is installed inside the body assembly and located at the front end of the rear camera support, the stepping motor is installed on the stepping motor support, the planetary gear reducer is installed at the front end of the stepping motor support, an output shaft of the stepping motor is connected with the planetary gear reducer, the conical gear box is installed at the front end of the planetary gear reducer and connected with an output shaft of the planetary gear reducer, the front camera mounting seat is installed at the front end of the conical gear box, the front camera is installed on the front camera mounting seat, the lamp holder is installed on the front camera mounting seat, and the illuminating lamp is installed on the lamp holder; one end of each ball screw assembly is connected with a gear shaft of the conical gear box through a coupler, the other end of each ball screw assembly is rotatably installed on the body assembly, one end of each two adjacent second connecting rods is hinged to the corresponding ball screw assembly, and the other end of each two adjacent second connecting rods slides respectively and is hinged to the body assembly.
Further, the body subassembly includes preceding ring, the zhonghuan, the after-ring, the after-mounting board, preceding mounting panel, a plurality of bases, many guide arms, a plurality of sliders and a plurality of mounting panel fixed block, preceding ring, zhonghuan and after-ring set gradually by preceding to back, and pass through equidistant coaxial arrangement of many guide arms respectively between preceding ring and zhonghuan and the after-ring, install a plurality of bases with the form of annular array on preceding ring and the after-ring, preceding ring, install a plurality of mounting panel fixed blocks on the inside wall of zhonghuan and after-ring, preceding mounting panel and after-mounting board are installed on preceding ring and zhonghuan and after-ring through a plurality of mounting panel fixed blocks respectively, slidable mounting has a slider on every guide arm.
Furthermore, a plurality of arc-shaped protrusions are arranged on the outer circumference of each guide rod along the axis direction of the guide rod in an annular array mode, arc-shaped grooves are formed in inner holes of the sliding blocks, and the arc-shaped protrusions are connected with the arc-shaped grooves in a sliding mode.
Further, every drive wheel subassembly all includes the in-wheel motor fixing base, in-wheel motor, the in-wheel motor support, first rocker, the cylindric lock, spring and second rocker, in-wheel motor passes through the in-wheel motor fixing base and installs in the U-shaped recess of in-wheel motor support, and in-wheel motor rotates and installs in the U-shaped recess, rectangular shape hole has been seted up on the length direction of first rocker, first rocker rotates the lower extreme of installing at the in-wheel motor support, the spring suit is on the cylinder of second rocker, and spring and second rocker cartridge are in first rocker and through wearing to establish the cylindric lock connection on the rectangular shape hole.
Furthermore, each ball screw assembly comprises a screw support seat, a ball screw pair and a connecting plate, the screw support seat is installed on the inner side of the middle ring, one end of the ball screw pair is rotatably inserted into the screw support seat, the other end of the ball screw pair is connected with a gear shaft of the bevel gear box, the connecting plate is installed on the ball screw pair, and one end of the second connecting rod is installed on the connecting plate through a hinge.
Furthermore, the bevel gear box comprises an upper box body, a lower box body, a driving bevel gear and four driven bevel gears, the driving bevel gear is rotatably installed in the upper box body, the four driven bevel gears are installed in the upper box body in a rectangular array mode, the four driven bevel gears are meshed with the driving bevel gear, and the lower box body is buckled on the upper box body.
Further, the protection casing subassembly includes preceding transparent organic glass protection casing, shell, rubber protection casing and back transparent organic glass protection casing, and preceding transparent organic glass protection casing is installed in the front on the left end face of ring, and the shell suit is on the body subassembly, offers a plurality of mounting holes on the shell circumferencial direction, and the rubber protection casing is installed in the mounting hole, and back transparent organic glass protection casing is installed on the outer terminal surface of back ring.
Furthermore, the opening positions of the plurality of mounting holes correspond to the mounting positions of the guide rod and the sliding block.
Further, the recovery unit subassembly includes connecting seat, adapter sleeve and a plurality of connecting rod, and in the adapter sleeve inlayed the connecting seat, the one end evenly distributed of a plurality of connecting rods was on the outer circumference of adapter sleeve, and the other end and the back transparent organic glass protection casing of a plurality of connecting rods are connected.
Further, the plurality of driving wheel assemblies are symmetrically distributed in four groups of circumferences and front and back.
Compared with the prior art, the invention has the following improvement effects:
1. the driving wheel assembly is controlled to rotate around the center of the hinge by the robot pipe diameter self-adaptive mechanism, so that the pipeline robot can move to the neutral pressure wall in the pipeline; the robot walks more fast and stably, and the phenomenon of skidding that appears in the robot walking in-process has effectually been avoided.
2. The invention adopts a pipe diameter self-adapting mechanism of the single motor driven pipeline robot, thereby reducing the manufacturing cost of the robot, the energy consumption and the design difficulty of a control system.
3. The pipe diameter self-adaptive mechanism of the pipeline robot adopts a structure of the guide rod sliding block, and compared with the prior structure of adopting the ball screw pair, the pipe diameter self-adaptive mechanism can effectively avoid the interference of foreign matters such as silt and branches in the pipeline on the movement of the sliding block; the guide rod 1-3 in the pipeline robot is provided with three arc-shaped protrusions which are symmetrically distributed on the circumference, so that the slide block can be prevented from rotating due to acting force when moving on the guide rod, and the movement accuracy of the pipe diameter self-adaptive mechanism is ensured.
4. The driving wheel assembly of the pipeline robot has the function of fine adjustment of the spring, so that when the pipeline has local micro deformation, the robot can smoothly pass through the micro deformation area; the action is more flexible.
5. The front part and the rear part of the pipeline robot are provided with the arc-shaped protective covers made of high-transparency organic glass materials, so that the image information acquisition of a camera of the pipeline robot is prevented from being blocked, the accuracy of data in the inspection process is improved, convenience is provided for timely finding hidden dangers which are not easy to detect, foreign matters can be effectively prevented from entering the interior of the pipeline robot, and the service life of the pipeline robot is prolonged;
6. the rear part of the pipeline robot is provided with the camera and the recovery device, so that an operator can pull the pipeline robot out of the pipeline by using the recovery device when the pipeline robot cannot return autonomously due to serious faults; the robot is convenient to overhaul in sudden situations, and the problem that the robot cannot be taken out after being damaged due to special situations in a pipeline is avoided.
7. The pipeline robot has good sealing performance, can execute detection tasks in various pipelines, such as cable pipelines, oil and gas pipelines, drainage pipelines and the like, and has wide application range.
Drawings
Fig. 1 is an axial sectional view of the present invention, fig. 2 is an axial sectional view of the present invention with a shield assembly removed, fig. 3 is an axial sectional view of a body assembly of the present invention, fig. 4 is a three-dimensional exploded view of a drive wheel assembly of the present invention, fig. 5 is an assembly view of fig. 4, fig. 6 is a three-dimensional exploded view of a ball screw assembly of the present invention, fig. 7 is a three-dimensional exploded view of a conical gear case of the present invention, fig. 8 is an axial sectional view of a shield assembly of the present invention at an angle, fig. 9 is an axial sectional view of a recovery device assembly of the present invention, fig. 10 is an axial sectional view of the present invention with the shield assembly removed, and fig. 11 is a radial view of the present invention with the shield assembly removed.
Detailed Description
The first embodiment is as follows: referring to fig. 1 to 11, the present embodiment is described, which includes a body assembly 1, a conical gear box 7, a planetary gear reducer 8, a stepping motor 9, a stepping motor support 10, a front camera mounting base 11, a front camera 12, a lighting lamp 13, a lamp holder 14, a rear camera holder 15, a rear camera 16, a shield assembly 17, a plurality of driving wheel assemblies 2, a plurality of first links 3, a plurality of second links 4, a plurality of ball screw assemblies 5, a plurality of couplers 6 and a recovery device assembly 18, wherein the body assembly 1 is a cylindrical body, the plurality of driving wheel assemblies 2 are mounted on both sides of the body assembly 1 in a length direction by hinges, two adjacent driving wheel assemblies 2 in the length direction of the body assembly 1 are arranged oppositely, one end of each first link 3 is mounted on one driving wheel assembly 2 by a hinge, the other end of each first connecting rod 3 is arranged on the body component 1 through a hinge, and the other end of each first connecting rod 3 is arranged in the length direction of the body component 1 in a sliding mode; the protective cover assembly 17 is installed on the body assembly 1, the recovery device assembly 18 is installed at the rear end of the protective cover assembly 17, the rear camera bracket 15 is installed at the rear end inside the body assembly 1, the rear camera 16 is installed on the rear camera bracket 15, the stepping motor support 10 is installed inside the body assembly 1 and located at the front end of the rear camera bracket 15, the stepping motor 9 is installed on the stepping motor support 10, the planetary gear reducer 8 is installed at the front end of the stepping motor support 10, the output shaft of the stepping motor 9 is connected with the planetary gear reducer 8, the conical gear box 7 is installed at the front end of the planetary gear reducer 8 and connected with the output shaft of the planetary gear reducer 8, the front camera mounting seat 11 is installed at the front end of the conical gear box 7, the front camera 12 is installed on the front camera mounting seat 11, the lamp holder 14 is installed on the front camera mounting seat 11, the illuminating lamp 13 is mounted on the lamp holder 14; one end of each ball screw assembly 5 is connected with a gear shaft of the conical gear box 7 through a coupler 6, the other end of each ball screw assembly 5 is rotatably installed on the body assembly 1, one end of each two adjacent second connecting rods 4 is hinged to each ball screw assembly 5, and the other end of each two adjacent second connecting rods 4 slides respectively and is hinged to the body assembly 1.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 3, a body assembly 1 of the embodiment includes a front ring 1-1, a middle ring 1-5, a rear ring 1-6, a rear mounting plate 1-7, a front mounting plate 1-8, a plurality of bases 1-2, a plurality of guide rods 1-3, a plurality of sliders 1-4 and a plurality of mounting plate fixing blocks 1-9, the front ring 1-1, the middle ring 1-5 and the rear ring 1-6 are sequentially arranged from front to rear, the front ring 1-1, the middle ring 1-5 and the rear ring 1-6 are coaxially mounted at equal intervals through the plurality of guide rods 1-3, the plurality of bases 1-2 are mounted on the front ring 1-1 and the rear ring 1-6 in an annular array, the plurality of mounting plates 1-9 are mounted on inner side walls of the front ring 1-1, the middle ring 1-5 and the rear ring 1-6, the front mounting plate 1-8 and the rear mounting plate 1-7 are respectively mounted on the front ring 1-1, the middle ring 1-5 and the rear ring 1-6 through a plurality of mounting plate fixing blocks 1-9, and a sliding block 1-4 is slidably mounted on each guide rod 1-3. With such arrangement, the number of the sliding blocks 1-2 in the embodiment is 8, 4 of the sliding blocks are fixed on the front ring 1-1 through bolts, and the other 4 sliding blocks are fixed on the rear ring 1-6 through bolts; the sliding blocks 1-4 are arranged on the guide rods 1-3 and can move left and right along the guide rods, the number of the guide rods 1-3 is 8, one end of each guide rod 4 is arranged in a hole of the front ring 1-1, the other end of each guide rod 4 is arranged in a left end hole of the middle ring 1-5, one end of each guide rod 4 is arranged in a hole of the rear ring 1-6, and the other end of each guide rod 4 is arranged in a right end hole of the middle ring 1-5; the front mounting plate 1-8 is arranged in the grooves of the front ring 1-1 and the middle ring 1-6 and is fixed by a mounting plate fixing block 1-9; the rear mounting plates 1-7 are mounted in grooves of the rear rings 1-6 and the middle rings 1-5 and fixed through mounting plate fixing blocks 1-9. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to fig. 1 to 3, the embodiment is described, in which a plurality of arc-shaped protrusions 1-3-1 are arranged on the outer circumference of each guide rod 1-3 in an annular array along the axial direction, arc-shaped grooves are formed on the inner holes of the sliders 1-4, and the arc-shaped protrusions 1-3-1 are slidably connected with the arc-shaped grooves. By the arrangement, the sliding blocks 1-4 can be effectively prevented from rotating under the influence of acting force when moving on the guide rods 1-3. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: the embodiment is described by combining fig. 1, fig. 2, fig. 4 and fig. 5, each driving wheel assembly 2 of the embodiment comprises a hub motor fixing seat 2-1, a hub motor 2-2, a hub motor bracket 2-3, a first rocker 2-4, a cylindrical pin 2-5, a spring 2-6 and a second rocker 2-7, the hub motor 2-2 is installed in a U-shaped groove of the hub motor bracket 2-3 through the hub motor fixing seat 2-1, the hub motor 2-2 is rotatably installed in the U-shaped groove, a long strip-shaped hole 2-4-1 is formed in the first rocker 2-4 in the length direction, the first rocker 2-4 is rotatably installed at the lower end of the hub motor bracket 2-3, the spring 2-6 is sleeved on a cylinder of the second rocker 2-7, and the spring 2-6 and the second rocker 2-7 are inserted in the first rocker 2-4 and are connected through a cylindrical pin 2-5 arranged on the elongated hole 2-4-1 in a penetrating way. According to the arrangement, the cylindrical shaft of the second rocking rod 2-7 is matched with the cylindrical hole of the first rocking rod 2-4, and the cylindrical pin 2-5 is matched with the pin hole at one end of the second rocking rod 2-7, so that the second rocking rod 2-7 can only move along the groove of the first rocking rod 2-4. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: referring to fig. 1, 2 and 6, the embodiment is described, each ball screw assembly 5 of the embodiment includes a screw support seat 5-1, a ball screw pair 5-2 and a connecting plate 5-3, the screw support seat 5-1 is installed inside the middle ring 1-5, one end of the ball screw pair 5-2 is rotatably inserted into the screw support seat 5-1, the other end of the ball screw pair 5-2 is connected with one gear shaft of the bevel gear box 7, the connecting plate 5-3 is installed on the ball screw pair 5-2, and one end of the second connecting rod 4 is installed on the connecting plate 5-3 through a hinge. The arrangement is simple, the power of the conical gear box 7 is conveniently and accurately transmitted to the ball screw pair 5-2, and the second connecting rod 4 is driven to move through the ball screw pair 5-2; other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1, fig. 2 and fig. 7, the conical gear box 7 of the embodiment comprises an upper box body 7-1, a lower box body 7-2, a driving conical gear 7-3 and four driven conical gears 7-4, the driving conical gear 7-3 is rotatably installed in the upper box body 7-1, the four driven conical gears 7-4 are installed in the upper box body 7-1 in a rectangular array mode, the four driven conical gears 7-4 are meshed with the driving conical gear 7-3, and the lower box body 7-2 is buckled on the upper box body 7-1. So set up, be convenient for transmit the power that planetary gear reducer 8 transmitted simultaneously to four driven bevel gears 7-4 on, and then will drive every ball screw subassembly 5 motion. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
In the embodiment, an upper box body 7-1 and a lower box body 7-2 are fixed through bolts, a driven bevel gear shaft 7-4 is matched with rolling bearings embedded in cylindrical holes of the upper box body 7-1 and the lower box body 7-2, and a driving bevel gear 7-3 is connected with an output shaft of a planetary gear reducer 8 through a flat key.
The seventh embodiment: the embodiment is described with reference to fig. 1, fig. 2 and fig. 8, the protective cover assembly 17 of the embodiment includes a front transparent organic glass protective cover 17-1, a shell 17-2, a rubber protective cover 17-3 and a rear transparent organic glass protective cover 17-4, the front transparent organic glass protective cover 17-1 is installed on the left end face of the front ring 1-1, the shell 17-2 is sleeved on the body assembly 1, a plurality of installation holes 17-2-1 are formed in the shell 17-2 in the circumferential direction, the rubber protective cover 17-3 is installed in the installation holes 17-2-1, and the rear transparent organic glass protective cover 17-4 is installed on the outer end face of the rear ring 1-6. So set up, the leakproofness is good, can carry out the detection task in multiple pipeline, like cable duct, oil gas pipeline, drainage pipe etc.. In addition, the method can prevent the image information of the camera of the robot from being blocked, thereby improving the accuracy of data in the inspection process, providing convenience for timely finding hidden dangers which are not easy to perceive, effectively avoiding foreign matters from entering the interior of the pipeline robot and prolonging the service life of the robot; other components and connection relations are the same as those of any one of the first to sixth embodiments.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 1, 2 and 8, and the opening positions of the plurality of mounting holes 17-2-1 of the present embodiment correspond to the mounting positions of the guide bar 1-3 and the slider 1-4. The arrangement is convenient for providing a movement space for the joint of the first connecting rod and the sliding block on the premise of ensuring sealing; other constitutions and connection relations are the same as those of any one of the first to seventh embodiments.
The specific implementation method nine: referring to fig. 1, 2 and 9 to explain the embodiment, the recycling device assembly 18 of the embodiment includes a connecting base 18-2, a connecting sleeve 18-3 and a plurality of connecting rods 18-1, the connecting sleeve 18-3 is embedded into the connecting base 18-2, one ends of the plurality of connecting rods 18-1 are uniformly distributed on the outer circumference of the connecting sleeve 18-3, and the other ends of the plurality of connecting rods 18-1 are connected with a rear transparent organic glass protective cover 17-4. Due to the arrangement, the dragging cable is arranged in the connecting sleeve 18-3, so that power can be conveniently supplied to the stepping motor, the camera and the illuminating lamp, and the dragging cable can be conveniently pulled out in time when the robot breaks down. Other compositions and connection relations are the same as those of any one of the first to eighth embodiments.
The detailed implementation mode is ten: the present embodiment will be described with reference to fig. 1, 2, 10, and 11, and the plurality of drive wheel assemblies 2 of the present embodiment are symmetrically arranged in four sets of circumferences and front and rear. So set up to guarantee that the robot keeps centering walking at the pipeline. Other components and connection relationships are the same as those in any one of the first to ninth embodiments.
The working principle of the invention is explained in conjunction with fig. 1 to 8:
the self-adaptive pipe diameter mechanism of the mobile robot for endoscopic inspection of the pipeline is formed by combining a double-slider mechanism and a rocker-slider mechanism, a stepping motor 9 arranged in the robot body is used as a power source of the self-adaptive pipe diameter mechanism, and the power is transmitted to a driving bevel gear 7-3 after being reduced by a planetary gear reducer 8. The driving bevel gear 7-3 transmits power to the driven bevel gear 7-4, and the driven bevel gear 7-4 transmits the power to the ball screw assembly 5 through the coupler 6. The screw drive converts the rotary motion of the screw into a linear movement of the connecting plate 5-2. The connecting plate 5-2 is connected with a pair of connecting rods 4 through cylindrical hinges, and as the connecting plate 5-2 moves, the two sliding blocks 1-4 respectively connected to the other ends of the connecting rods 4 move towards the two ends along the axis direction of the robot, so as to drive the rockers 2-7 on the driving wheel assembly 2 to rotate around respective hinge centers, and finally, the hub motors 2-2 are contacted with the inner wall of the pipeline.
When the inner diameter of the detected pipeline changes, the contraction and the expansion of the pipe diameter self-adaptive mechanism can be adjusted only by controlling the stepping motor 9, so that the driving wheel of the robot is always in contact with the inner wall of the pipeline. Four groups of driving wheels with symmetrically distributed circumferences are in contact with the inner wall of the pipeline, and when the friction force on the driving wheels is greater than the gravity borne by the robot, the pipeline robot can adapt to execute related detection work in the vertical pipeline.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. The utility model provides a pipeline is peeped and is patrolled and examined mobile robot which characterized in that: comprises a body component (1), a conical gear box (7), a planetary gear reducer (8), a stepping motor (9), a stepping motor supporting seat (10), a front camera mounting seat (11), a front camera (12), a lighting lamp (13), a lamp holder (14), a rear camera support (15), a rear camera (16), a protective cover component (17), a plurality of driving wheel components (2), a plurality of first connecting rods (3), a plurality of second connecting rods (4), a plurality of ball screw components (5), a plurality of couplers (6) and a recovery device component (18),
the body component (1) comprises a front ring (1-1), a middle ring (1-5), a rear ring (1-6), a rear mounting plate (1-7), a front mounting plate (1-8), a plurality of bases (1-2), a plurality of guide rods (1-3), a plurality of sliding blocks (1-4) and a plurality of mounting plate fixing blocks (1-9),
the front ring (1-1), the middle ring (1-5) and the rear ring (1-6) are sequentially arranged from front to back, the front ring (1-1), the middle ring (1-5) and the rear ring (1-6) are coaxially arranged at equal intervals through a plurality of guide rods (1-3), a plurality of bases (1-2) are arranged on the front ring (1-1) and the rear ring (1-6) in an annular array mode, a plurality of mounting plate fixing blocks (1-9) are arranged on the inner side walls of the front ring (1-1), the middle ring (1-5) and the rear ring (1-6), the front mounting plate (1-8) and the rear mounting plate (1-7) are respectively arranged on the front ring (1-1), the middle ring (1-5) and the rear ring (1-6) through a plurality of mounting plate fixing blocks (1-9), each guide rod (1-3) is provided with a sliding block (1-4) in a sliding way;
each ball screw component (5) comprises a screw support seat (5-1), a ball screw pair (5-2) and a connecting plate (5-3),
a screw rod supporting seat (5-1) is installed on the inner side of the middle ring (1-5), one end of a ball screw rod pair (5-2) is rotatably inserted into the screw rod supporting seat (5-1), the other end of the ball screw rod pair (5-2) is connected with a gear shaft of a conical gear box (7), a connecting plate (5-3) is installed on the ball screw rod pair (5-2), and one end of a second connecting rod (4) is installed on the connecting plate (5-3) through a hinge;
the body assembly (1) is a cylindrical body, a plurality of driving wheel assemblies (2) are arranged on two sides of the body assembly (1) in the length direction through hinges, two adjacent driving wheel assemblies (2) in the length direction of the body assembly (1) are oppositely arranged, one end of each first connecting rod (3) is arranged on one driving wheel assembly (2) through a hinge, the other end of each first connecting rod (3) is hinged to a sliding block (1-4) of the body assembly (1), and the other end of each first connecting rod (3) slides in the length direction of a guide rod (1-3) of the body assembly (1) through the sliding block (1-4);
the protective cover assembly (17) is arranged on the body assembly (1), the recovery device assembly (18) is arranged at the rear end of the protective cover assembly (17), the rear camera support (15) is arranged at the rear end inside the body assembly (1), the rear camera (16) is arranged on the rear camera support (15), the stepping motor support (10) is arranged inside the body assembly (1) and positioned at the front end of the rear camera support (15), the stepping motor (9) is arranged on the stepping motor support (10), the planetary gear reducer (8) is arranged at the front end of the stepping motor support (10), an output shaft of the stepping motor (9) is connected with the planetary gear reducer (8), the conical gear box (7) is arranged at the front end of the planetary gear reducer (8) and connected with an output shaft of the planetary gear reducer (8), the front camera mounting seat (11) is arranged at the front end of the conical gear box (7), the front camera (12) is arranged on the front camera mounting seat (11), the lamp holder (14) is arranged on the front camera mounting seat (11), and the illuminating lamp (13) is arranged on the lamp holder (14);
one end of each ball screw assembly (5) is connected with a gear shaft of the conical gear box (7) through a coupler (6), a screw supporting seat (5-1) of each ball screw assembly (5) is installed on a middle ring (1-5) of the body assembly (1), one end of each two adjacent second connecting rods (4) is hinged to a connecting plate (5-3) of each ball screw assembly (5), and the other end of each two adjacent second connecting rods (4) slides respectively and is hinged to a sliding block (1-4) of the body assembly (1).
2. The pipeline endoscopy inspection mobile robot of claim 1, wherein: the outer circumference of each guide rod (1-3) is provided with a plurality of arc-shaped bulges (1-3-1) in an annular array mode along the axis direction, the inner hole of each slide block (1-4) is provided with an arc-shaped groove, and the arc-shaped bulges (1-3-1) are connected with the arc-shaped grooves in a sliding mode.
3. The pipeline endoscopy inspection mobile robot of claim 2, wherein: each driving wheel component (2) comprises a hub motor fixing seat (2-1), a hub motor (2-2), a hub motor bracket (2-3), a first rocker (2-4), a cylindrical pin (2-5), a spring (2-6) and a second rocker (2-7),
the hub motor (2-2) is arranged in a U-shaped groove of the hub motor bracket (2-3) through a hub motor fixing seat (2-1), the hub motor (2-2) is rotatably arranged in the U-shaped groove, a strip-shaped hole (2-4-1) is arranged in the length direction of the first rocker (2-4),
the first rocker (2-4) is rotatably installed at the lower end of the hub motor support (2-3), the spring (2-6) is sleeved on the cylinder of the second rocker (2-7), and the spring (2-6) and the second rocker (2-7) are inserted in the first rocker (2-4) and connected through the cylindrical pin (2-5) penetrating through the elongated hole (2-4-1).
4. The pipeline endoscopy inspection mobile robot of claim 3, wherein: the conical gear box (7) comprises an upper box body (7-1), a lower box body (7-2), a driving conical gear (7-3) and four driven conical gears (7-4),
the driving conical gear (7-3) is rotatably arranged in the upper box body (7-1), the four driven conical gears (7-4) are arranged in the upper box body (7-1) in a rectangular array mode, the four driven conical gears (7-4) are meshed with the driving conical gear (7-3), and the lower box body (7-2) is buckled on the upper box body (7-1).
5. The pipeline endoscopy inspection mobile robot of claim 4, wherein: the protective cover component (17) comprises a front transparent organic glass protective cover (17-1), a shell (17-2), a rubber protective cover (17-3) and a rear transparent organic glass protective cover (17-4),
the front transparent organic glass protective cover (17-1) is arranged on the left end face of the front ring (1-1), the shell (17-2) is sleeved on the body assembly (1), a plurality of mounting holes (17-2-1) are formed in the shell (17-2) in the circumferential direction, the rubber protective cover (17-3) is arranged in the mounting holes (17-2-1), and the rear transparent organic glass protective cover (17-4) is arranged on the outer end face of the rear ring (1-6).
6. The pipeline endoscopy inspection mobile robot of claim 5, wherein: the opening positions of the plurality of mounting holes (17-2-1) correspond to the mounting positions of the guide rods (1-3) and the sliding blocks (1-4).
7. The pipeline endoscopy inspection mobile robot of claim 6, wherein: the recycling device assembly (18) comprises a connecting seat (18-2), a connecting sleeve (18-3) and a plurality of connecting rods (18-1), the connecting sleeve (18-3) is embedded into the connecting seat (18-2), one ends of the connecting rods (18-1) are uniformly distributed on the outer circumference of the connecting sleeve (18-3), and the other ends of the connecting rods (18-1) are connected with a rear transparent organic glass protective cover (17-4).
8. The pipeline endoscopy inspection mobile robot of claim 1 or 7, wherein: the plurality of driving wheel assemblies (2) are symmetrically distributed in four groups of circumferences and front and back.
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| CN112799059A (en) * | 2020-12-31 | 2021-05-14 | 安徽砺剑防务科技有限公司 | Non-contact high-precision real-time identification method for explosives |
| CN112815374A (en) * | 2021-03-03 | 2021-05-18 | 王青梅 | Monitoring equipment for heat supply |
| CN114034638A (en) * | 2021-11-10 | 2022-02-11 | 张启贺 | Building quality detection mechanism and method |
| CN115064979B (en) * | 2021-12-09 | 2023-08-15 | 国网浙江省电力有限公司丽水供电公司 | Intelligent inspection instrument for cable duct |
| CN114658956B (en) * | 2022-03-09 | 2023-06-06 | 武汉工程大学 | Pipeline inspection robot |
| CN115076512B (en) * | 2022-07-07 | 2023-10-03 | 中北大学 | Self-adaptive pipeline detection cleaning device with high driving force |
| CN116297512B (en) * | 2023-01-05 | 2024-05-07 | 国网安徽省电力有限公司宿州供电公司 | Nondestructive detection robot for telegraph pole reinforcing steel bar structure |
| CN117090997B (en) * | 2023-09-01 | 2024-01-26 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
| CN117030334B (en) * | 2023-09-04 | 2024-02-09 | 安徽贲鼎工程科技有限公司 | Hydrogeology reconnaissance measuring device and method |
| CN117028744B (en) * | 2023-10-10 | 2024-01-16 | 杭州城基管道科技有限公司 | Pipeline inspection robot |
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| KR20100064475A (en) * | 2008-12-05 | 2010-06-15 | 김현주 | Robot apparatus for pipe inside surface work |
| KR101475022B1 (en) * | 2013-08-01 | 2014-12-22 | 삼성중공업 주식회사 | Apparatus for driving on the inside of the pipe |
| KR101563458B1 (en) * | 2015-02-02 | 2015-10-27 | 성균관대학교산학협력단 | Robot using multi-out differential gear for inspection of pipeline with this module |
| CN108167575A (en) * | 2018-01-05 | 2018-06-15 | 哈尔滨工业大学（威海） | Detection robot inside a kind of straight tube based on composite drive |
| CN109519650A (en) * | 2018-12-25 | 2019-03-26 | 南昌大学 | A kind of diameter changing mechanism of pipe robot |
| CN110397820B (en) * | 2019-08-05 | 2021-03-16 | 南京师范大学中北学院 | Multi-section type spiral dual-drive variable-diameter pipeline detection robot |
| CN210907255U (en) * | 2019-09-10 | 2020-07-03 | 山东科技大学 | Pipeline deashing robot capable of reducing diameter |
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