CN214325243U

CN214325243U - Pipeline robot walking mechanism based on vision SLAM

Info

Publication number: CN214325243U
Application number: CN202022997922.8U
Authority: CN
Inventors: 徐若彤
Original assignee: Harbin University of Science and Technology
Current assignee: Harbin University of Science and Technology
Priority date: 2020-12-14
Filing date: 2020-12-14
Publication date: 2021-10-01
Anticipated expiration: 2030-12-14

Abstract

The utility model discloses a pipeline robot running gear based on vision SLAM in vision SLAM technical field, including the robot and install in SLAM system and running gear on the robot, running gear is including removing wheel, connecting rod, electric telescopic handle, driving motor, connecting rod and adsorption apparatus, and the pipeline internal diameter that detects as required carries out the interval to the removal wheel of robot and adjusts, adapts to the entering mode of different pipelines, satisfies the detection operation to in the pipeline, when driving motor drive removes the wheel and walks, drives the vacuum chuck on the gyro wheel simultaneously and rotates, under the effect of negative pressure pump, adsorption apparatus can make the powerful absorption of robot carry out stable work on vertical pipeline.

Description

Pipeline robot walking mechanism based on vision SLAM

Technical Field

The utility model relates to a vision SLAM technical field specifically is a pipeline robot running gear based on vision SLAM.

Background

In order to navigate in an unknown environment, the mobile robot needs to construct an environment map And locate its own position in the map at the same time, And a process of solving the two problems at the same time is called Simultaneous Localization And Mapping (SLAM). This problem can be solved by a high precision GPS when the robot is in an outdoor environment. However, when the robot is in an indoor environment, or when the GPS is not accurate enough to meet the requirement of high precision, or when the environment in which the robot is located is confidential, one must use other methods to accurately estimate the position of the robot and construct an environment map at the same time. The mobile robot is to be applied to a real trend, one key function is autonomous navigation, and the core technology for realizing the autonomous navigation of the mobile robot is SLAM, obstacle avoidance and autonomous path planning. For example, a vision SLAM-based pipeline robot with chinese granted patent number CN202020000982.5 can implement obstacle avoidance and autonomous path planning, and can perform sampling, detection, gap filling, rust prevention, and other tasks. However, the walking mechanism of the current visual SLAM-based pipeline robot has single function, different hub distances need to be replaced according to the inner diameter of a pipeline, and the current walking mechanism can only walk in the horizontal pipeline but is difficult to walk in the vertical pipeline.

Based on this, the utility model designs a pipeline robot running gear based on vision SLAM to solve the above-mentioned problem of mentioning.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pipeline robot running gear based on vision SLAM to solve the above-mentioned problem of mentioning.

In order to achieve the above object, the utility model provides a following technical scheme: a pipeline robot walking mechanism based on visual SLAM comprises a robot body, an SLAM system and a walking mechanism which are arranged on the robot body, the walking mechanism comprises a moving wheel, a connecting rod, an electric telescopic rod, a driving motor, a connecting rod and an adsorption mechanism, the connecting rods are positioned at two sides of the robot body, the connecting rods are connected with the robot body through electric telescopic rods, moving wheels are arranged at both ends of the connecting rod, a driving motor is arranged on the moving wheels, a connecting rod is fixed at one side of the connecting rod, the connecting rod is connected with an adsorption mechanism through a connecting shaft, the moving wheel is connected with the connecting shaft through a belt, the adsorption mechanism comprises a roller, a plurality of vacuum suckers are arranged on the roller, a negative pressure pump is installed on the roller and is connected with the plurality of vacuum suckers through a negative pressure pipeline and an electromagnetic valve.

Preferably, a first belt wheel is sleeved on the driving shaft of the moving wheel, a second belt wheel is sleeved on the driving shaft of the connecting shaft, and the belt is connected between the first belt wheel and the second belt wheel.

Preferably, a plurality of the vacuum suction cups are arranged on the roller at equal intervals.

Preferably, the outer wall of gyro wheel is located one side of vacuum chuck is equipped with the fixed block, be equipped with on the fixed block run through in the movable rod of fixed block, it establishes to be equipped with the cover between vacuum chuck and the fixed block the outside spring of movable rod.

Preferably, the spring is in clearance fit with the roller.

Compared with the prior art, the beneficial effects of the utility model are that: this kind of pipeline robot running gear structural design is novel based on vision SLAM, the pipeline internal diameter that detects as required carries out interval adjustment to the removal wheel of robot, specifically control electric telescopic handle through the controller in the SLAM system and carry out work, thereby drive and remove the wheel, parts such as adsorption apparatus carry out interval adjustment, adapt to the entering mode of different pipelines, satisfy the detection operation to in the pipeline, and need scramble the inspection during operation in vertical pipeline, control negative pressure pump through the controller in the SLAM system and carry out work, when driving motor drive removes the wheel and walks, the vacuum chuck that drives on the gyro wheel simultaneously rotates, under the effect of negative pressure pump, adsorption apparatus can make robot strong absorption carry out stable work on vertical pipeline.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

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

fig. 2 is the structure schematic diagram of the adsorption mechanism of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a robot body; 2. a SLAM system; 3. a moving wheel; 4. a connecting rod; 5. an electric telescopic rod; 6. A drive motor; 7. a connecting rod; 8. an adsorption mechanism; 9. a connecting shaft; 10. a belt; 11. a negative pressure pump; 12. A roller; 13. a vacuum chuck; 14. a fixed block; 15. a movable rod; 16. a spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution: a pipeline robot walking mechanism based on visual SLAM comprises a robot body 1, and an SLAM system 2 and a walking mechanism which are arranged on the robot body 1, wherein the walking mechanism comprises a moving wheel 3, a connecting rod 4, an electric telescopic rod 5, a driving motor 6, a connecting rod 7 and an adsorption mechanism 8, the connecting rod 4 is positioned on two sides of the robot body 1, the connecting rod 4 is connected with the robot body 1 through the electric telescopic rod 5, moving wheels 3 are arranged at two ends of the connecting rod 4, the driving motor 6 is arranged on the moving wheels 3, the connecting rod 7 is fixed on one side of the connecting rod 4, the connecting rod 7 is connected with the adsorption mechanism 8 through a connecting shaft 9, the moving wheels 3 are connected with the connecting shaft 9 through a belt 10, the adsorption mechanism 8 comprises a roller 12, and a plurality of vacuum suckers 13 are arranged on the roller 12, the roller 12 is provided with a negative pressure pump 11, and the negative pressure pump 11 is connected with a plurality of vacuum suction cups 13 through a negative pressure pipeline and an electromagnetic valve.

Wherein, the cover is equipped with band pulley one in the drive shaft of removal wheel 3, the cover is equipped with band pulley two in the drive shaft of connecting axle 9, belt 10 connects between band pulley one and band pulley two, drives adsorption equipment 8 that is located on connecting axle 9 through removing wheel 3 and removes, and is a plurality of vacuum chuck 13 is equidistant arranges on gyro wheel 12. The adsorption mechanism 8 is a conventional product, generally in a circular shape with a concave middle part, and the sucker is made of nitrile rubber and has a large breaking force, so that the adsorption mechanism is widely applied to various vacuum holding devices, and the structure and the principle of the adsorption mechanism can be known by technical manuals or conventional experimental methods.

Wherein, the outer wall of gyro wheel 12 is located one side of vacuum chuck 13 is equipped with fixed block 14, be equipped with on the fixed block 14 run through in the movable rod 15 of fixed block 14, be equipped with the cover between vacuum chuck 13 and the fixed block 14 and establish the outside spring 16 of movable rod 15. The spring 16 is in clearance fit with the roller 12, the vacuum sucker 13 is connected through the spring 16, certain flexibility is achieved in rotation, rotation is prevented from violently rotating, the whole machine loses the balance of vacuum adsorption, the improved adsorption mechanism and the negative pressure pump 11 can be suitable for different hanging, and strong adsorption and stable work can be achieved.

The specific working principle is as follows:

the utility model discloses when using, the pipeline internal diameter that detects as required carries out the interval regulation to robot's removal wheel 3, specifically controller control electric telescopic handle 5 through in the SLAM system carries out work, thereby drive and remove wheel 3, parts such as adsorption apparatus 8 carry out the interval regulation, adapt to the entering mode of different pipelines, satisfy the detection operation to in the pipeline, and need scramble the inspection during operation in vertical pipeline, work through controller control negative pressure pump 11 in the SLAM system, when driving motor 6 drive removal wheel 3 walked, it rotates to drive vacuum chuck 13 on the gyro wheel 12 simultaneously, under negative pressure pump 11's effect, adsorption apparatus 8 can make robot 1 powerful absorption carry out stable work on vertical pipeline.

In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a pipeline robot running gear based on vision SLAM, includes robot body (1) and install in SLAM system (2) and running gear on robot body (1), its characterized in that: the walking mechanism comprises moving wheels (3), connecting rods (4), electric telescopic rods (5), driving motors (6), connecting rods (7) and adsorption mechanisms (8), wherein the connecting rods (4) are located on two sides of the robot body (1), the connecting rods (4) are connected with the robot body (1) through the electric telescopic rods (5), the moving wheels (3) are installed at two ends of the connecting rods (4), the driving motors (6) are installed on the moving wheels (3), the connecting rods (7) are fixed on one sides of the connecting rods (4), the connecting rods (7) are connected with the adsorption mechanisms (8) through connecting shafts (9), the moving wheels (3) are connected with the connecting shafts (9) through belts (10), the adsorption mechanisms (8) comprise idler wheels (12), and a plurality of vacuum suction cups (13) are arranged on the idler wheels (12), the roller (12) is provided with a negative pressure pump (11), and the negative pressure pump (11) is connected with a plurality of vacuum suckers (13) through negative pressure pipelines and electromagnetic valves.

2. The vision SLAM-based pipeline robot walking mechanism of claim 1, wherein: a first belt wheel is sleeved on a driving shaft of the moving wheel (3), a second belt wheel is sleeved on a driving shaft of the connecting shaft (9), and the belt (10) is connected between the first belt wheel and the second belt wheel.

3. The vision SLAM-based pipeline robot walking mechanism of claim 1, wherein: the vacuum suction cups (13) are arranged on the roller (12) at equal intervals.

4. The vision SLAM-based pipeline robot walking mechanism of claim 1, wherein: the outer wall of gyro wheel (12) is located one side of vacuum chuck (13) is equipped with fixed block (14), be equipped with on fixed block (14) run through in movable rod (15) of fixed block (14), be equipped with the cover between vacuum chuck (13) and fixed block (14) and establish the outside spring (16) of movable rod (15).

5. The vision SLAM-based pipeline robot walking mechanism of claim 4, wherein: the spring (16) is in clearance fit with the roller (12).