CN117067234B - Full-coverage scanning imaging robot for smooth curvature inner wall - Google Patents
Full-coverage scanning imaging robot for smooth curvature inner wall Download PDFInfo
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- CN117067234B CN117067234B CN202311310639.5A CN202311310639A CN117067234B CN 117067234 B CN117067234 B CN 117067234B CN 202311310639 A CN202311310639 A CN 202311310639A CN 117067234 B CN117067234 B CN 117067234B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G—PHYSICS
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- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
- H04N23/811—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation by dust removal, e.g. from surfaces of the image sensor or processing of the image signal output by the electronic image sensor
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The invention discloses a full-coverage scanning imaging robot facing a smooth curvature inner wall, which comprises a frame, a multifunctional front end cover and a turbofan rear end cover, wherein an industrial camera and a front camera are arranged on the outer side of the multifunctional front end cover, an inner gear cam and a second slewing bearing are arranged between a front bin shell and a rear bin shell, a reducing mechanism is arranged on the inner gear cam, the reducing mechanism comprises the inner gear cam, the inner gear cam is rotationally connected with the frame, the inner gear cam is provided with a cam groove, an independent differential linkage wheel set comprises a wheel set supporting rod, the front end of the wheel set supporting rod is provided with a limit column, the limit column is matched with the cam groove, the front bin shell is provided with a cylindrical chute and a rectangular groove, and the wheel set supporting rod of the independent differential linkage wheel set radially moves in the cylindrical chute and the rectangular groove. The diameter-changing function in the running process is realized, and the diameter-changing function can be adjusted according to different smooth curvature inner walls. The internal structure of the scanning robot is utilized to a greater extent through the optimal design and the innovative mechanical layout.
Description
Technical Field
The invention belongs to the technical field of inner wall scanning imaging robots, and relates to a full-coverage scanning imaging robot for an inner wall with smooth curvature.
Background
The inner wall scanning imaging robot is a robot specially used for detecting the internal conditions of equipment such as a storage tank, a container, a bin body and the like, and can scan and image the inside of the equipment by carrying imaging equipment and sensors so as to acquire information about internal structures, corrosion, cracks, sediments and the like.
The traditional inner wall scanning robot structural design often has the problem of internal space waste, and a large number of mechanical structures, transmission devices and electric elements occupy limited space, so that the embedding and the mounting of other functional components are limited, and the robot has single functions and cannot integrate complex functions in many applications. On the other hand, the radius of the traditional inner wall scanning robot is usually fixed, and is difficult to freely adjust according to actual requirements, so that the application of the traditional inner wall scanning robot in inner wall scenes with narrow space or unmatched dimensions is limited. Meanwhile, the conventional inner wall scanning robot is often affected by the shape of a path or an obstacle, and cannot perform continuous scanning imaging across the obstacle. In addition, the long-strip-shaped or chain-link-shaped inner wall scanning robot excessively pursues a sufficient diameter-changing range, which causes a lengthy body problem of lengthening the machine body, but cannot smoothly perform forward scanning imaging in a curved path.
Disclosure of Invention
The invention aims to provide a full-coverage scanning imaging robot facing a smooth curvature inner wall, which realizes the greater utilization of an inner space by optimizing the structural design so as to accommodate more functional components and sensors. In addition, the designed robot can adjust the radius in a certain range according to actual needs, can adapt to a narrow space or a scene needing accurate operation, and breaks through the limitation that the fixed radius of the traditional robot is only suitable for the inner wall with specific curvature.
The technical solution for realizing the purpose of the invention is as follows:
the utility model provides a full cover scanning imaging robot towards smooth curvature inner wall, includes frame, multi-functional front end housing and turbofan rear end cap, multi-functional front end housing outside is provided with industry camera and front camera, the frame includes front storehouse casing and rear storehouse casing, multi-functional front end housing swivelling joint front storehouse casing, be provided with internal gear cam and second slewing bearing between front storehouse casing and the rear storehouse casing, be provided with reducing mechanism on the internal gear cam, reducing mechanism includes the internal gear cam, the internal gear cam with frame swivelling joint, the internal gear cam is provided with the cam groove, the front storehouse casing still is provided with independent abnormal drive wheelset, independent abnormal drive wheelset includes the wheelset bracing piece, the front end of wheelset bracing piece is provided with the spacing post, the spacing post with the cooperation of front storehouse casing is provided with cylinder spout and cam groove, cylinder spout and rectangular channel communicate with each other, independent abnormal drive wheelset bracing piece is at cylinder spout and rectangular channel internal radial motion.
In the preferred technical scheme, the front bin shell and the rear bin shell are of columnar structures, and a cavity is formed in the front bin shell and the rear bin shell.
In the preferred technical scheme, the multifunctional front end cover comprises a front end cover, a first slewing bearing is arranged between the front end cover and a front bin shell, a first motor is arranged in the front bin shell, and the first motor is in meshed transmission with the gear of the front end cover through a first gear.
In the preferred technical scheme, the front end housing middle part is provided with hollow out construction, the front end housing is provided with first parallel four-bar linkage, first parallel four-bar linkage by install in the second motor drive of front end housing, demountable installation has clean collodion on the first parallel four-bar linkage, one side of first parallel four-bar linkage is provided with spacing arch.
In a preferred embodiment, the cam groove is an eccentric arc, and extends from the outer side to the inner side of the internal gear cam.
In the preferred technical scheme, the wheelset bracing piece other end of independent abnormal movement allies oneself with drives the wheelset bracing piece other end of wheelset and is provided with the backup pad, the backup pad middle part is provided with the supporting wheel, the backup pad both sides are provided with first driving motor respectively, the backup pad both sides are provided with second parallel four-bar linkage respectively, first driving motor drive second parallel four-bar linkage motion, the second parallel four-bar linkage other end is provided with the drive wheel respectively, the drive wheel is driven by the second driving motor.
In a preferred technical scheme, the tangent points of the supporting wheel and the driving wheels at two sides are on the same line.
In the preferred technical scheme, the turbofan rear end cover comprises a rear end cover, the rear end cover is provided with a reticular hole, a fourth motor is arranged in the middle of the rear end cover, the fourth motor is connected with the turbofan, and the axis of the turbofan is coincident with the axis of the robot.
In the preferred technical scheme, the wheel set supporting rod is of a hollow structure and is used for wiring.
Compared with the prior art, the invention has the remarkable advantages that:
the robot realizes the diameter changing function in the running process, and can be adjusted in a certain range according to different smooth curvature inner walls, so that the robot is suitable for different working environments and task requirements. The robot utilizes the internal structure of the scanning robot to a greater extent through the optimal design and the innovative mechanical layout, and provides more space for the integration of other functional components and sensors. In addition, the robot can stably cross obstacles through the independent abnormal linkage driving design of the wheel sets, reduces imaging jitter, and has important engineering value and practical significance for realizing full-coverage scanning imaging of the inner wall with smooth curvature.
Drawings
FIG. 1 is a schematic three-dimensional structure of a preferred embodiment;
FIG. 2 is a partial cutaway view of a multifunctional front end cap of the preferred embodiment;
FIG. 3 is a partial cutaway view of the reducing mechanism of the preferred embodiment;
FIG. 4 is a schematic view of a reducing mechanism according to the preferred embodiment;
FIG. 5 is an enlarged view of a portion of the cylindrical chute and rectangular chute of the preferred embodiment;
FIG. 6 is a schematic diagram of the independent differential linkage wheel set according to the preferred embodiment;
fig. 7 is a partial cutaway view of a preferred embodiment aft end cover of a turbofan.
Detailed Description
The principle of the invention is as follows: the robot provided by the invention realizes the greater utilization of the internal space through optimizing the structural design so as to accommodate more functional components and sensors. In addition, the designed robot can adjust the radius in a certain range according to actual needs, can adapt to a narrow space or a scene needing accurate operation, and breaks through the limitation that the fixed radius of the traditional robot is only suitable for the inner wall with specific curvature.
Example 1:
as shown in fig. 1, a full-coverage scanning imaging robot facing a smooth inner wall comprises a multifunctional front end cover 1, a reducing mechanism 2, an independent differential linkage driving wheel set 3, a turbofan rear end cover 4, and the whole robot is axially connected through circumference uniform distribution holes, which are described below, and the invention is described in sequence from front to back.
The full-coverage scanning imaging robot facing the smooth inner wall comprises a frame, a multifunctional front end cover 1 and a turbofan rear end cover 4, wherein an industrial camera 1-6 and a front camera 1-3 are arranged on the outer side of the multifunctional front end cover 1, the frame comprises a front bin shell 1-10 and a rear bin shell 2-8, the multifunctional front end cover 1 is rotationally connected with the front bin shell 1-10, an inner gear cam 2-6 and a second slewing bearing 2-7 are arranged between the front bin shell 1-10 and the rear bin shell 2-8, a reducing mechanism 2 is arranged on the inner gear cam 2-6, the reducing mechanism 2 comprises a third motor 2-1, the third motor 2-1 is in meshed transmission with the inner gear cam 2-6 through a second gear 2-2, the inner gear cam 2-6 is rotationally connected with the frame, the inner gear cam 2-6 is provided with a cam groove 2-5, the front bin shell 1-10 is also provided with an independent differential linkage wheel set 3, the independent differential linkage wheel set 3 comprises a wheel set supporting rod 2-4, a limit column 2-10 is arranged at the front end of the wheel set supporting rod 2-4, the limit column 2-10 is matched with the rectangular cam groove 2-10, the limit column 2-10 is matched with the rectangular groove 2-3, and the rectangular groove 2-3 is communicated with the rectangular groove 2-11.
The reducing mechanism can make the interior free of space penetrating the whole machine body, and can reserve more positions of mounting components and sensors, so that the integration of complex functions is possible. In addition, the cam driven diameter-changing mode enables the wheel groups to strictly and synchronously change in the radial direction, so that the robot can move and cross obstacles while being more stable. It can be seen that this reducing mechanism not only makes maximum use of the interior space of the robot possible but also provides good stability.
As shown in FIG. 2, the multifunctional front end cover 1 comprises a front end cover 1-1, cleaning collodion cotton 1-2, a front camera 1-3, a limiting boss 1-4, a gear 1-5 and an industrial camera 1-6.
The front end cover 1-1 is matched with the circumference uniform distribution holes of the inner ring of the first slewing bearing 1-7 through the circumference uniform distribution holes 2-9, the first slewing bearing 1-7 is matched with the circumference uniform distribution holes of the front bin shell 1-10 through the circumference uniform distribution holes of the outer ring, the first motor 1-8 arranged on the front bin shell 1-10 drives the first gear 1-5, and the front end cover 1-1 can rotate relative to the front bin shell 1-10 through internal gear transmission with the front end cover 1-1. The industrial camera 1-6 mounted on the front cover 1-1 can perform circumferential continuous scanning imaging of the inner wall as the machine advances or retreats.
The cleaning collodion 1-2 can be used for cleaning attachments before the industrial camera 1-6 scans, the cleaning collodion 1-2 can be replaced in a detachable mode, and the second motor 1-9 arranged on the front end cover 1-1 can be used for directly driving the first parallel four-bar mechanism 1-11, so that the cleaning collodion 1-2 can clean inner walls with different radiuses.
The front camera 1-3 is installed in the geometric center of the front face of the robot to ensure the visual field of the robot when the inner wall advances.
One side of the first parallel four-bar mechanism 1-11 is provided with a limiting protrusion 1-4 to prevent the connecting bar from colliding with other tools.
The parallel four-bar mechanism is a common movement mechanism and consists of a first connecting bar, a second connecting bar, a third connecting bar and a fourth connecting bar, wherein the first connecting bar is a fixed seat, the fourth connecting bar is a connecting seat of the installation equipment, and the second connecting bar and the third connecting bar are parallel and are connected with the first connecting bar and the fourth connecting bar in a hinge mode. The parallel four bar linkage has a degree of freedom in pitching oscillation.
As shown in fig. 3, 4 and 5, the reducing mechanism 2 comprises a third motor 2-1, a second gear 2-2, a cylindrical chute 2-3, a wheel set support bar 2-4, a cam groove 2-5, an internal gear cam 2-6, a limit post 2-10 and a rectangular groove 2-11. The front bin housing 1-10 is not fixedly connected with the internal gear cam 2-6, but is matched with the rear bin housing 2-8 through circumferential uniform holes 2-9, the front bin housing 1-10 and the rear bin housing 2-8 are regarded as a frame, the internal gear cam 2-6 is matched with circumferential uniform holes on the inner ring of the second slewing bearing 2-7 through the circumferential uniform holes 2-9, and the second slewing bearing 2-7 is matched with the circumferential uniform holes 2-9 on the rear bin housing 2-8 through circumferential uniform holes on the outer ring of the second slewing bearing. As shown in FIG. 4, the curve of the cam groove 2-5 on the internal gear cam 2-6 is an eccentric arc, the groove width of the cam groove 2-5 is the diameter of the limit post 2-10, at this time, the internal gear cam 2-6 is regarded as a driving part, the limit post 2-10 and the wheel group support rod 2-4 are regarded as driven parts, and the limit post 2-10 can be in contact transmission with the inner wall of the cam groove 2-5, so that the motion track of the limit post 2-10 is overlapped with the eccentric arc curve of the cam groove 2-5. When the third motor 2-1 drives the second gear 2-2, the second gear 2-2 is in internal engagement transmission with the internal gear cam 2-6, the internal gear cam 2-6 can rotate relative to the frame, and the rotating cam groove 2-5 contacts the limit post 2-10 to enable the limit post 2-10 to advance or retreat along the eccentric arc curve of the cam groove 2-5.
As shown in FIG. 5, the cylindrical sliding groove 2-3 is communicated with the rectangular groove 2-11, the cylindrical sliding groove 2-3 and the wheel set supporting rod 2-4 are concentrically matched to form a cylindrical pair, two side surfaces of the rectangular groove 2-11 and the limit post 2-10 are tangentially matched to form a moving pair, and the wheel set supporting rod 2-4 and the front bin shell 1-10 integrally form the moving pair. In combination with the above, the cylindrical sliding groove 2-3, the limit post 2-10 and the rectangular groove 2-11 determine the motion track, i.e. the linear motion, for the wheel set supporting rod 2-4, the cam groove 2-5 provides power, i.e. cam contact transmission, for the wheel set supporting rod 2-4, when the internal gear cam 2-6 rotates, the limit post 2-10 is contacted by the cam groove 2-5 so as to move along the eccentric arc curve of the cam groove 2-5, and further, the cylindrical sliding groove 2-3 and the rectangular groove 2-11 limit the wheel set supporting rod 2-4 to move only in the linear direction, so that the wheel set supporting rod 2-4 moves in the radial direction (the radial direction taking the integral cylindrical characteristic of the robot as the reference, the same applies below), and the peripheral wheel sets synchronously move in the radial direction, thus realizing the diameter changing function of the robot in the smooth curvature inner wall.
As shown in fig. 6, the independent differential linkage driving wheel set 3 comprises a first driving motor 3-1, a long wheel connecting rod 3-2, a second driving motor 3-3, a first driving wheel 3-4, a supporting wheel 3-5 and a first driving motor 3-7. The two side wheels of the independent abnormal driving wheel set 3 can be driven independently and matched with each other, complex operation can be completed flexibly, the other end of the wheel set supporting rod 2-4 of the independent abnormal driving wheel set 3 is provided with a supporting plate 3-9, the middle part of the supporting plate 3-9 is provided with a supporting wheel 3-5, two sides of the supporting plate 3-9 are respectively provided with a first driving motor (3-1, 3-7), two sides of the supporting plate 3-9 are respectively provided with a second parallel four-bar mechanism 3-10, the first driving motor drives the second parallel four-bar mechanism 3-10 to move, the other end of the second parallel four-bar mechanism 3-10 is respectively provided with a driving wheel (3-4, 3-6), and the driving wheels (3-4, 3-6) are driven by the second driving motor 3-3.
The whole obstacle avoidance process will be described below, the first driving wheel 3-4 can be directly driven to rotate by the second driving motor 3-3, and similarly, the second driving wheel 3-6 can be independently rotated. The first driving motor-motor 3-1 can directly drive the long connecting rod 3-2 so that the first driving wheel 3-4 has movement in the vertical direction under the action of the parallel four-bar mechanism, and similarly, the second driving wheel 3-6 positioned at the symmetrical side can also have movement in the vertical direction.
The hollow structure 3-8 in the wheel set support rod 2-4 can enable the wire of the motor to run along the inside of the wheel set support rod 2-4 to reach the inside of the robot, so that the wire is protected and the interference of wiring on the movement of the wheel set is reduced.
When the radius of the machine is adjusted to be suitable for the inner wall to advance, the supporting wheel 3-5 and the tangent points of the first driving wheel 3-4 and the second driving wheel 3-6 on the two sides and the inner wall are on the same line, at this time, the supporting wheel 3-5 plays a role in supporting the robot, and the first driving wheel 3-4 and the second driving wheel 3-6 vertically move upwards under the driving of the first driving motor 3-1 and the second driving motor 3-7 respectively until reaching the contact surface, so that the first driving motor 3-1 and the second driving motor 3-7 provide required supporting force for the stability of the robot, and the effect of stabilizing the machine body is realized. Assuming that when one side of the first driving wheel 3-4 encounters an obstacle, the position of the first driving wheel 3-4 and the wheel set supporting rod 2-4 remain relatively static, the first driving wheel 3-4 and the wheel set supporting rod 2-4 are retracted in the radial direction, and at the same time, the second driving wheel 3-6 is outwards stretched at the same speed in the radial direction and always contacts with the inner wall, so as to continuously provide advancing power; when the obstacle passes through the axis of the wheel set supporting rod 2-4, the first driving wheel 3-4 contacts the inner wall at a slightly faster outward expansion speed in the radial direction, at this time, the wheel set supporting rod 2-4 is not moved, the second driving wheel 3-6 is retracted in the radial direction while the first driving wheel 3-4 contacts the inner wall, and the first driving wheel 3-4 continues to provide forward power to enable the obstacle to pass through (taking the machine body as a reference system); when the obstacle passes through the wheel set, the second driving wheels 3-6 are radially stretched out until contacting the inner wall, at which time the first driving wheels 3-4 on both sides together provide forward power, the wheel set supporting rods 2-4 are radially stretched out again, and simultaneously the first driving wheels 3-4 on both sides are retracted at the same radial speed to return to the original collinear state. In the whole obstacle avoidance process, any wheel set on four sides of the circumference of the robot does not need to do redundant obstacle avoidance actions under the condition that no obstacle is detected, but the first driving wheels 3-4 on two sides of the wheel set correspondingly expand or contract outwards along with the adduction or the adduction of the wheel set supporting rods 2-4, so that the axis of the robot coincides with the axis of the inner wall, the advancing stability of the robot is kept, and the image scanning is more continuous and stable.
In addition, the travelling speed of the machine is always related to the scanning speed of the industrial cameras 1-6, and reference points are recorded regularly, so that the robot can rescan from a disconnection even if accidents occur, and the problem of image redundancy caused by repetition and overlapping is prevented. In addition, the independent abnormal movement linkage driving wheel group 3 is linked with the reducing mechanism 2, so that the robot can pass over an obstacle and the imaging shake can be reduced. Furthermore, thanks to the small machine body of the robot and the strain capacity of the independent differential linkage wheel set 3, the robot can stably pass through the inner wall of the curve with smooth curvature, and full coverage scanning in the true sense is realized.
As shown in fig. 7, the turbofan rear end cover 4 comprises a rear end cover 4-1, a motor 4-2 and a turbofan 4-3. The rear end cover 4-1 is matched with the rear bin shell 2-8 through circumference uniform distribution holes 2-9, the motor 4-2 is connected with the rear end cover 4-1, and the turbofan 4-3 is connected with the motor 4-2. The axis of the turbofan 4-3 coincides with the axis of the machine, when the turbofan 4-3 operates, air in the rear bin shell 2-8 is pumped out from the net holes 4-4 of the rear end cover 4-1, a certain degree of negative pressure is formed in the rear bin shell 2-8, so that new air is sucked from the front end cover 1-1, the air repeatedly forms a passage in the machine, dust generated during cleaning of the cleaning collodion cotton 1-2 in the front end cover 1-1 can be sucked, on one hand, electronic components in the machine are cooled, and the safety of an internal circuit is protected.
The design of the robot breaks through the limitation of the traditional robot, provides a series of optimized characteristics and functions, and brings a unique solution to the working environment and task requirements of various fields. Firstly, the robot of the invention realizes the maximum utilization of the internal space by optimizing the internal structure design. The novel design provides greater expansibility and flexibility, can accommodate more functional components and sensors, and enables the robot to have wider application potential. This will play an important role in fields such as logistics, manufacturing, medical care, etc. Secondly, the robot has the diameter-changing capability, and the radius can be adjusted within a certain range according to actual requirements. The function enables the robot to adapt to different working environments and task requirements, and can easily cope with the requirements of accurate operation in a narrow space and high-efficiency work in a wide area. This feature will increase the flexibility and adaptability of the robot operation, bringing more options and convenience to the user. In addition, the robot provided by the invention has flexible movement capability and obstacle crossing capability. The robot can freely move in different smooth inner wall paths through flexible movement capability, can easily cross obstacles, and is suitable for diversified working scenes. The robot can complete the scanning imaging task without human intervention, the working efficiency is improved, and the risk of entering a dangerous environment by manpower is reduced. Finally, the robot has the characteristic of high efficiency in the aspect of image processing. Through the datum point function, the robot can continuously scan and splice images, so that the redundancy problem caused by image repetition and overlapping is avoided, and the efficiency and accuracy of image processing are improved. The robot stably advances and the imaging jitter is reduced, so that the definition and detail capturing capability of the image are improved, and an operator can more accurately analyze and evaluate the condition of the inner wall. This will play an important role in the fields of machine vision, image recognition and detection, etc., providing higher quality image analysis and processing capabilities for related applications.
In the future, the robot of the invention can be expanded in various directions, and the functionality can be improved, so that the robot can be combined with other functions and technologies, such as machine learning and artificial intelligence technology, and the autonomous decision making and learning capabilities can be realized; or the device has an autonomous maintenance function, and maintenance measures can be actively taken according to the detection result; it is even possible to reduce its size, work into the inner wall of the microstructure, etc. The robot is expected to play an important role in the fields of manufacturing industry, medical science and technology and the like, and assist human beings in realizing higher-level technical development and progress.
The foregoing examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the foregoing examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made therein and are intended to be equivalent substitutes within the scope of the present invention.
Claims (8)
1. The full-coverage scanning imaging robot for the smooth curvature inner wall comprises a frame, a multifunctional front end cover and a turbofan rear end cover, and is characterized in that an industrial camera and a front camera are arranged on the outer side of the multifunctional front end cover, the frame comprises a front bin shell and a rear bin shell, the multifunctional front end cover is rotationally connected with the front bin shell, an inner gear cam and a second slewing bearing are arranged between the front bin shell and the rear bin shell, a reducing mechanism is arranged on the inner gear cam, the reducing mechanism comprises the inner gear cam, the inner gear cam is rotationally connected with the frame, the inner gear cam is provided with a cam groove, the front bin shell is also provided with an independent differential linkage wheel set, the independent differential linkage wheel set comprises a wheel set supporting rod, the front end of the wheel set supporting rod is provided with a limit column, the limit column is matched with the cam groove, the front bin shell is provided with a cylindrical chute and a rectangular groove, the cylindrical chute is communicated with the rectangular groove, and the wheel set supporting rod of the independent differential linkage wheel set is radially moved in the cylindrical chute and the rectangular groove; the wheel group support rod of the independent differential linkage driving wheel group is characterized in that a support plate is arranged at the other end of the wheel group support rod of the independent differential linkage driving wheel group, a support wheel is arranged in the middle of the support plate, a first driving motor is respectively arranged at two sides of the support plate, a second parallel four-bar mechanism is respectively arranged at two sides of the support plate, the first driving motor drives the second parallel four-bar mechanism to move, a driving wheel is respectively arranged at the other end of the second parallel four-bar mechanism, and the driving wheel is driven by the second driving motor.
2. The full-coverage scanning imaging robot facing a smooth curvature inner wall according to claim 1, wherein the front bin housing and the rear bin housing are of a columnar structure, and a cavity is provided inside.
3. The full-coverage scanning imaging robot facing a smooth curvature inner wall according to claim 1, wherein the multifunctional front end cover comprises a front end cover, a first slewing bearing is arranged between the front end cover and a front bin shell, a first motor is arranged in the front bin shell, and the first motor is in meshed transmission with a gear of the front end cover through a first gear.
4. The full-coverage scanning imaging robot facing the smooth curvature inner wall according to claim 3, wherein a hollow structure is arranged in the middle of the front end cover, the front end cover is provided with a first parallel four-bar mechanism, the first parallel four-bar mechanism is driven by a second motor arranged on the front end cover, cleaning collodion is detachably arranged on the first parallel four-bar mechanism, and a limit protrusion is arranged on one side of the first parallel four-bar mechanism.
5. The full coverage scanning imaging robot facing a smooth-curvature inner wall of claim 1, wherein the cam groove is an eccentric arc extending from an outer side to an inner side of the inner gear cam.
6. The full coverage scanning imaging robot facing a smooth curvature inner wall of claim 1, wherein the tangent points of the support wheel and the driving wheels on both sides are on the same line.
7. The full-coverage scanning imaging robot facing a smooth curvature inner wall according to claim 1, wherein the turbofan rear end cover comprises a rear end cover, the rear end cover is provided with a net-shaped hole, a fourth motor is arranged in the middle of the rear end cover, the fourth motor is connected with the turbofan, and the axis of the turbofan coincides with the axis of the robot.
8. The full-coverage scanning imaging robot facing a smooth curvature inner wall according to claim 1, wherein the wheel group support rod is hollow for wiring.
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Citations (5)
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| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN106925575A (en) * | 2017-05-11 | 2017-07-07 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| CN108317339A (en) * | 2018-03-21 | 2018-07-24 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
| CN112963661A (en) * | 2021-03-05 | 2021-06-15 | 郑州科技学院 | Intelligent detection device based on automation |
| CN114982488A (en) * | 2022-06-08 | 2022-09-02 | 中国农业大学 | Self-adaptive variable-diameter roller and chopping hob |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113306644B (en) * | 2021-07-01 | 2022-06-07 | 北京理工大学 | Wheel leg mechanism and wheel leg type vehicle using same |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2937755Y (en) * | 2005-12-12 | 2007-08-22 | 北京航空航天大学 | Detection robot for petroleum pipeline |
| CN106925575A (en) * | 2017-05-11 | 2017-07-07 | 中国矿业大学 | Complete strong support type list drives two-way crawling formula pipeline cleaning machine people |
| CN108317339A (en) * | 2018-03-21 | 2018-07-24 | 华北理工大学 | A kind of pipeline rotation detection robot diameter changing mechanism |
| CN112963661A (en) * | 2021-03-05 | 2021-06-15 | 郑州科技学院 | Intelligent detection device based on automation |
| CN114982488A (en) * | 2022-06-08 | 2022-09-02 | 中国农业大学 | Self-adaptive variable-diameter roller and chopping hob |
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| CN117067234A (en) | 2023-11-17 |
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