CN114893648A

CN114893648A - Self-adaptive inner wall pipeline robot

Info

Publication number: CN114893648A
Application number: CN202210565614.9A
Authority: CN
Inventors: 郭九宵
Original assignee: Qiaohong Nanjing Technology Co Ltd
Current assignee: Qiaohong Nanjing Technology Co Ltd
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-08-12

Abstract

The invention discloses a self-adaptive inner wall pipeline robot, which belongs to the technical field of pipeline robots and comprises a protective shell and a stepping motor fixed in the protective shell, wherein a positioning sleeve is arranged on the outer wall of one side of the protective shell, a camera is installed in the positioning sleeve, a transparent protection plate is arranged on one side of the camera, a driving motor is installed in the positioning sleeve, the output end of the driving motor is fixedly connected with a cleaning rod, a partition plate is fixedly connected in the protective shell, the stepping motor is fixedly connected with the partition plate, the output end of the driving motor is fixedly connected with an adjusting screw, the outer wall of the adjusting screw is in threaded connection with an adjusting ring, three connecting rods are arranged on the outer side of the adjusting ring at equal intervals, three positioning pipes are symmetrically arranged on the outer wall of the protective shell, and a telescopic column is connected in the positioning pipes in a sliding manner. This self-adaptation inner wall pipeline robot not only can be applicable to the pipeline of different specifications, can guarantee the definition that the camera gathered the image moreover.

Description

Self-adaptive inner wall pipeline robot

Technical Field

The invention belongs to the technical field of pipeline robots, and particularly relates to a self-adaptive inner wall pipeline robot.

Background

With the pace of modernization and urbanization, pipelines are widely applied as an important material conveying mode, because the space condition of urban underground pipelines is very complex, the risk and difficulty of construction in such areas are more and more great, and because the safety accidents caused by the unclear distribution of the underground pipelines in the construction process are frequent, the definition of the distribution condition of the underground pipelines is particularly important. In view of the limitation of the working space in the pipeline, the labor intensity is high, so that the pipeline robot is required to carry the detection device to walk in the pipeline, and the detection device collects and records the three-dimensional coordinate information of the pipeline distribution, thereby knowing the distribution condition of the underground pipeline.

However, the current pipeline robot mainly depends on the contact between the wheel or the sucker and the inner wall of the pipeline, so that many problems can occur, such as: the robot can only walk on a straight pipeline with a fixed diameter, and the robot cannot continue to walk once the pipe diameter is changed, so that the acquisition work is influenced.

Disclosure of Invention

The present invention is directed to a self-adaptive inner wall pipeline robot, so as to solve the problems mentioned in the background art.

The technical scheme is as follows: a self-adaptive inner wall pipeline robot comprises a protective shell and a stepping motor fixed in the protective shell, wherein the outer wall of one side of the protective shell is provided with a positioning sleeve, a camera is arranged in the positioning sleeve, and one side of the camera is provided with a transparent protection plate, a driving motor is arranged in the positioning sleeve, the output end of the driving motor is fixedly connected with a cleaning rod, a baffle plate is fixedly connected in the protective shell, the stepping motor is fixedly connected with the baffle plate, the output end of the driving motor is fixedly connected with an adjusting screw rod, the outer wall of the adjusting screw is in threaded connection with an adjusting ring, three connecting rods are arranged on the outer side of the adjusting ring at equal intervals, the outer wall of the protective shell is symmetrically provided with three positioning pipes, the positioning pipes are connected with telescopic columns in a sliding way, the both ends of flexible post all rotate be connected with adjustable ring and flexible post fixed connection's connecting seat.

In a further embodiment, the end face of the telescopic column, which is located outside the positioning tube, is fixedly connected with a protection box, a double-shaft motor is installed in the protection box, and driving wheels are fixedly connected to the outside of two output shafts of the double-shaft motor.

In a further embodiment, a plurality of rotating grooves are formed in the inner walls of the two sides of the positioning pipe, balls are rotatably connected in the rotating grooves of the positioning pipe, and sliding grooves for the balls to move are formed in the outer walls of the two sides of the telescopic column.

In a further embodiment, a rotary motor is mounted on one side of the partition plate away from the stepping motor, and a mounting seat is fixedly connected to the output end of the rotary motor.

In a further embodiment, two supporting sleeves are symmetrically arranged on the outer walls of two sides of the mounting seat, supporting springs are arranged in the supporting sleeves, and supporting columns sliding in the supporting sleeves are arranged on one sides of the supporting springs.

In a further embodiment, the end face of the support column located outside the support sleeve is provided with a jack, a positioning column is inserted into the jack of the support column, and the end face of the positioning column located outside the support column is fixedly connected with a cleaning plate.

In a further embodiment, a guide hole is formed in the outer wall of one side of the supporting sleeve, a positioning pin is connected in the guide hole of the supporting sleeve in a sliding mode, and a fixing spring is fixedly connected between the positioning pin and the supporting sleeve.

In a further embodiment, a mounting groove is formed in the outer wall of one side of the positioning sleeve, and the light supplementing lamp strip is mounted in the mounting groove of the positioning sleeve.

In a further embodiment, the equal fixedly connected with stopper of both sides outer wall of support column, and the spacing groove that supplies the stopper to remove is all seted up to supporting sleeve's both sides inner wall.

The invention has the technical effects and advantages that:

according to the self-adaptive inner wall pipeline robot, the stepping motor drives the adjusting screw to rotate, the adjusting screw drives the adjusting ring to move, and the adjusting ring can drive the telescopic rod to move in the positioning pipe in the moving process, so that the position of the driving wheel is adjusted according to the diameter of a pipeline, and the robot can be suitable for pipelines of different specifications; when the robot walks in the pipeline, the cleaning plate extrudes the support columns and the support springs due to the arrangement of the support springs, so that the cleaning plate can be attached to the inner walls of the pipelines with different specifications; drive the clean pole through driving motor and rotate, can when transparent guard plate stains, clear up transparent guard plate, avoid staining and influence the collection of camera to the image because of transparent guard plate, this self-adaptation inner wall pipeline robot not only can be applicable to the pipeline of different specifications, can guarantee the definition that the camera gathered the image moreover.

Drawings

FIG. 1 is a schematic view of the structure of the present invention;

FIG. 2 is a cross-sectional view of a locating sleeve of the present invention;

FIG. 3 is a partial cross-sectional view of a protective shell of the present invention;

FIG. 4 is a cross-sectional view of the junction of the protective shell knot and the positioning tube of the present invention;

FIG. 5 is an enlarged view of the invention at A in FIG. 3;

figure 6 is an exploded view of the support sleeve, support column and cleaning plate of the present invention.

In the figure: 1. a protective shell; 11. a positioning sleeve; 12. a camera; 13. a transparent protection plate; 14. a light supplement lamp strip; 15. a drive motor; 16. a cleaning rod; 2. a partition plate; 21. a stepping motor; 22. adjusting the screw rod; 23. an adjusting ring; 24. a connecting rod; 25. a connecting seat; 3. a positioning tube; 31. a telescopic column; 32. a ball bearing; 33. a chute; 34. a protective case; 35. a dual-axis motor; 36. a drive wheel; 4. a rotary motor; 41. a mounting seat; 42. a support sleeve; 43. a support spring; 44. a limiting block; 45. a support pillar; 46. a positioning column; 47. cleaning the plate; 48. positioning pins; 49. the spring is fixed.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In order to ensure the definition of an image collected by the camera 12, as shown in fig. 1 and fig. 2, a thread groove is formed in the outer wall of one side of the protective shell 1, a positioning sleeve 11 is connected to the thread groove of the outer wall of the protective shell 1 through external threads, a mounting hole is formed in the positioning sleeve 11, the camera 12 is mounted in the mounting hole of the positioning sleeve 11, a transparent protection plate 13 is arranged on one side of the camera 12, the transparent protection plate 13 can protect the camera 12 without affecting the shooting of the camera 12, a groove for accommodating the transparent protection plate 13 is formed in the positioning sleeve 11, a driving motor 15 is mounted in the positioning sleeve 11 through a bolt, an output end of the driving motor 15 is fixedly connected with a cleaning rod 16 through a bolt, a rubber cleaning strip is arranged at a position where the cleaning rod 16 is in contact with the positioning sleeve 11, the cleaning rod can be better attached to the transparent protection plate 13, a mounting groove is formed in the outer wall of one side of the positioning sleeve 11, and a light supplementing strip 14 is mounted in the mounting groove of the positioning sleeve 11, drive cleaning rod 16 through driving motor 15 and rotate, can when transparent protection plate 13 stains, clear up transparent protection plate 13, avoid staining and influence the collection of camera 12 to the image because of transparent protection plate 13.

In order to make the robot suitable for pipelines with different specifications, as shown in fig. 1 and fig. 3 to fig. 5, a partition plate 2 is fixedly connected in a protective shell 1 through a bolt, a driving motor 15 is fixedly connected to one side of the partition plate 2 through a bolt, an output end of the driving motor 15 is fixedly connected with an adjusting screw 22 through a coupler, an outer wall of the adjusting screw 22 is in threaded connection with an adjusting ring 23, three connecting rods 24 are arranged on the outer side of the adjusting ring 23 at equal intervals, three threaded holes are symmetrically formed in the outer wall of the protective shell 1, a positioning tube 3 is in threaded connection with the threaded hole in the outer wall of the protective shell 1, a telescopic column 31 is slidably connected in the positioning tube 3, two ends of the telescopic column 31 are both rotatably connected with connecting seats 25 fixedly connected with the adjusting ring 23 and the telescopic column 31, a plurality of rotating grooves are formed in inner walls of two sides of the positioning tube 3, balls 32 are rotatably connected in the rotating grooves of the positioning tube 3, sliding grooves 33 for the balls 32 to move are formed in outer walls of two sides of the telescopic column 31, the telescopic column 31 can move more smoothly in the positioning tube 3, the end face of the telescopic column 31, which is positioned outside the positioning tube 3, is fixedly connected with a protective box 34 through a bolt, a double-shaft motor 35 is installed in the protective box 34, driving wheels 36 are fixedly connected with the outer parts of two output shafts of the double-shaft motor 35, a control chip and a signal transceiving chip are respectively installed in the protective shell 1, the robot can be conveniently controlled remotely, the control chip and the signal transceiving chip are the prior art, the structure of the robot is not described herein, a storage battery is installed in the protective shell 1, which is not shown in the figure, the storage battery can provide electric support for the robot, jacks for charging the storage battery are formed in the outer wall of the protective shell 1, the stepping motor 21 drives the adjusting screw 22 to rotate, the adjusting screw 22 drives the adjusting ring 23 to move, the adjusting ring 23 can drive the telescopic rod to move in the positioning tube 3 in the moving process, thereby adjusting the position of the drive wheel 36 according to the diameter of the pipe.

In order to facilitate cleaning of the inner wall of the pipeline, as shown in fig. 1 and 6, a rotary motor 4 is installed on one side, away from the stepping motor 21, of the partition board 2 through a bolt, an installation seat 41 is fixedly connected to an output end of the rotary motor 4, two supporting sleeves 42 are symmetrically installed on outer walls of two sides of the installation seat 41 through bolts, supporting springs 43 are arranged in the supporting sleeves 42, supporting columns 45 sliding in the supporting sleeves 42 are arranged on one side of each supporting spring 43, limiting blocks 44 are fixedly connected to outer walls of two sides of each supporting column 45, and limiting grooves for the limiting blocks 44 to move are formed in inner walls of two sides of each supporting sleeve 42, so that the supporting columns 45 are prevented from falling off from the supporting sleeves 42;

the end face of the supporting column 45 positioned outside the supporting sleeve 42 is provided with a jack, a positioning column 46 is inserted in the jack of the supporting column 45, the end face of the positioning column 46 positioned outside the supporting column 45 is fixedly connected with a cleaning plate 47, bristles are arranged on the cleaning plate 47 to facilitate cleaning of the inner wall of the pipeline, the outer wall of one side of the supporting sleeve 42 is provided with a guide hole, and a positioning pin 48 is slidably connected in the guiding hole of the supporting sleeve 42, a positioning hole matched with the positioning pin 48 is formed on the outer wall of one side of the positioning column 46, the positioning pin 48 is inserted into the positioning hole of the positioning column 46, so that the position of the positioning column 46 can be fixed, meanwhile, the positioning pin 48 is separated from the positioning column 46, so that the cleaning plate 47 is conveniently disassembled and assembled, the cleaning plate 47 is more conveniently replaced, and the fixing spring 49 is fixedly welded between the positioning pin 48 and the supporting sleeve 42, so that the positioning pin 48 is prevented from falling off from the supporting sleeve 42.

The working principle is as follows:

when the self-adaptive inner wall pipeline robot is used, the robot is moved to the position of a pipeline opening, the stepping motor 21 is started, the stepping motor 21 drives the adjusting screw 22 to rotate, the adjusting screw 22 drives the adjusting ring 23 to move, the adjusting ring 23 drives the connecting rod 24 to move in the moving process, the connecting rod 24 drives the telescopic rod to move in the positioning pipe 3, so that the position of the driving wheel 36 is adjusted according to the diameter of a pipeline, after the position of the driving wheel 36 is adjusted, the robot is placed into the pipeline, the supporting spring 43 supports the supporting column 45 and the cleaning plate 47, and the cleaning plate 47 is always attached to the inner wall of the pipeline;

start camera 12, light filling lamp area 14, biax motor 35 and rotating motor 4, camera 12 can gather the image in the pipeline, light filling lamp area 14 can carry out the light filling simultaneously, avoid influencing image acquisition because of the intraductal light is not enough, biax motor 35 drives drive wheel 36 and rotates simultaneously, make this robot remove in the pipeline, rotating motor 4 drives mount pad 41 and rotates, make cleaning plate 47 rotate at the inner wall of pipeline, clear up the inner wall of pipeline, when transparent guard plate 13 stains, start driving motor 15, driving motor 15 drives cleaning rod 16 and rotates, clear up transparent guard plate 13, avoid staining and influencing the collection of camera 12 to the image because of transparent guard plate 13.

Finally, it should be noted that: the above are merely preferred contents of the present invention, and the present invention is not limited thereto.

Claims

1. The utility model provides an adaptive inner wall pipeline robot, includes protecting crust (1) and is fixed in step motor (21) in protecting crust (1), its characterized in that: the outer wall of one side of the protective shell (1) is provided with a positioning sleeve (11), a camera (12) is installed in the positioning sleeve (11), one side of the camera (12) is provided with a transparent protection plate (13), a driving motor (15) is installed in the positioning sleeve (11), an output end of the driving motor (15) is fixedly connected with a cleaning rod (16), a partition plate (2) is fixedly connected in the protective shell (1), a stepping motor (21) is fixedly connected with the partition plate (2), an output end of the driving motor (15) is fixedly connected with an adjusting screw rod (22), the outer wall of the adjusting screw rod (22) is in threaded connection with an adjusting ring (23), three connecting rods (24) are equidistantly arranged on the outer side of the adjusting ring (23), three positioning pipes (3) are symmetrically arranged on the outer wall of the protective shell (1), and a telescopic column (31) is slidably connected in the positioning pipes (3), both ends of the telescopic column (31) are rotatably connected with connecting seats (25) fixedly connected with the adjusting ring (23) and the telescopic column (31).

2. The adaptive inner wall pipeline robot according to claim 1, wherein: the telescopic column (31) is located at the end face fixedly connected with a protection box (34) outside the positioning pipe (3), a double-shaft motor (35) is installed in the protection box (34), and driving wheels (36) are fixedly connected to the outer portions of two output shafts of the double-shaft motor (35).

3. The adaptive inner wall pipeline robot according to claim 1, wherein: a plurality of rotation grooves have all been seted up to the both sides inner wall of registration arm (3), and the rotation inslot rotation of registration arm (3) is connected with ball (32), spout (33) that supply ball (32) to remove are all seted up to the both sides outer wall of flexible post (31).

4. The adaptive inner wall pipeline robot according to claim 1, wherein: the rotary motor (4) is installed on one side, far away from the stepping motor (21), of the partition plate (2), and an output end of the rotary motor (4) is fixedly connected with an installation seat (41).

5. The adaptive inner wall pipeline robot according to claim 4, wherein: the two sides of the mounting seat (41) are symmetrically provided with two supporting sleeves (42), supporting springs (43) are arranged in the supporting sleeves (42), and supporting columns (45) sliding in the supporting sleeves (42) are arranged on one sides of the supporting springs (43).

6. The adaptive inner wall pipeline robot according to claim 5, wherein: the jack has been seted up to the terminal surface that support column (45) are located support sleeve (42) outside, and has spliced in the jack of support column (45) reference column (46), reference column (46) are located the outside terminal surface fixedly connected with cleaning plate (47) of support column (45).

7. The adaptive inner wall pipeline robot according to claim 6, wherein: the guide hole has been seted up to one side outer wall of support sleeve (42), and sliding connection has locating pin (48) in the guide hole of support sleeve (42), fixedly connected with fixed spring (49) between locating pin (48) and support sleeve (42).

8. The adaptive inner wall pipeline robot according to claim 1, wherein: the mounting groove is seted up to one side outer wall of position sleeve (11), and installs light filling lamp area (14) in the mounting groove of position sleeve (11).

9. The adaptive inner wall pipeline robot according to claim 5, wherein: the equal fixedly connected with stopper (44) of both sides outer wall of support column (45), and the spacing groove that supplies stopper (44) to remove is all seted up to the both sides inner wall of supporting sleeve (42).