CN220668788U - Underground space detection robot - Google Patents

Abstract

The application relates to an underground space's detection robot relates to pipeline census equipment technical field. The inspection robot includes: the chassis, the telescopic supporting rod and the lifting frame are moved; one end of the lifting frame is rotatably connected with the movable chassis, and the front camera shooting assembly is arranged at the other end of the lifting frame. One end of the telescopic supporting rod is connected with the movable chassis, the other end of the telescopic supporting rod is connected with the lifting frame and supports the lifting frame, and when the lifting frame rotates, the telescopic supporting rod can synchronously stretch and retract. To sum up, this application embodiment is through setting up flexible vaulting pole on removing the chassis, and the triangle-shaped bearing structure that lifting frame, flexible vaulting pole and chassis formed effectively avoids the shake in the lens rise and fall, improves the stability of whole lifting frame greatly.

Description

Underground space detection robot

Technical Field

The utility model relates to the technical field of pipeline census equipment, in particular to a detection robot for an underground space.

Background

At present, the construction of cities is not separated from underground pipelines, and because the underground pipelines are buried underground, under the special environment, detection personnel cannot perform timing and fixed detection, and even because the diameter of the pipelines is smaller, the detection personnel cannot enter the pipelines for detection; and under the condition that the regular inspection cannot be performed, the damage to the pipeline in the running process can be damaged along with the time. Therefore, the staff needs to regularly detect the underground pipeline, the detection in the pipeline means to use the pipeline medium to drive the detector to run in the pipeline, the deformation, corrosion and other damage conditions of the pipeline are detected and recorded in real time, and the oil and gas pipeline is mostly buried and laid in the ground, various defects and damages can be found in advance through the detection in the pipeline, the dangerous degree of each pipeline section is known, accidents can be prevented and effectively reduced, the maintenance fund of the pipeline is saved, and the method is an important measure for guaranteeing the safety of the pipeline.

In the related art, a practitioner monitors and detects the inside of a pipeline by using an underground pipeline inspection robot. Generally, a robot is equipped with an imaging device, and the imaging device is required to capture images, and also to adjust the capturing position by means of a connection support device to detect different orientations of a pipeline. However, because the underground pipeline environment is complex, the robot frequently jolts when moving, drives the connection supporting device and the camera device to shake, so that the shake in the ascending and descending of the lens is too severe, the dynamic picture quality is poor, and the operation efficiency is low.

Disclosure of Invention

To often take place jolting when underground space's detection robot removes among the prior art, drive connection strutting arrangement and camera device and rock, shake in making the camera lens rise and descend is too violent, and dynamic picture quality is relatively poor, problem that the operating efficiency is lower, this application provides an underground space's detection robot, and it includes: the chassis, the telescopic supporting rod and the lifting frame are moved; wherein,

one end of the lifting frame is rotatably connected with the movable chassis, and the other end of the lifting frame is provided with a front camera shooting assembly. One end of the telescopic supporting rod is connected with the movable chassis, the other end of the telescopic supporting rod is connected with the lifting frame and supports the lifting frame, and when the lifting frame rotates, the telescopic supporting rod can synchronously stretch and retract.

With reference to the first aspect, in one implementation manner, the front camera assembly includes: a face mask, a front lens and at least one illumination lamp;

and the mask is assembled on the lifting frame. And the front lens is detachably connected with the lifting frame. The irradiation lamp is detachably connected with the lifting frame.

With reference to the first aspect, in one embodiment, the front camera assembly includes two illumination lamps, the front lens is disposed between the two illumination lamps, and one end of the front lens extends along an axial direction of the front lens and exceeds the two illumination lamps.

With reference to the first aspect, in one embodiment, the mobile chassis is provided with a handle, the handle is rotatably connected with the mobile chassis, and a connection part of the handle and the mobile chassis is far away from the middle part of the mobile chassis in the length direction.

With reference to the first aspect, in one embodiment, the handle is a U-shaped bar.

With reference to the first aspect, in one embodiment, the handle is switchable between a lowered state and an operative state by rotating on the mobile chassis; wherein the method comprises the steps of

The mobile chassis is configured to: when the movable chassis is in the descending state, the lifting handles are parallel to the upper surface of the movable chassis, and when the movable chassis is in the running state, the lifting handles are at least partially arranged in front of the front lens of the front camera shooting assembly at intervals.

With reference to the first aspect, in one implementation manner, the end portion of the mobile chassis is provided with a rear camera assembly.

With reference to the first aspect, in one implementation manner, the rear camera assembly includes:

the rear camera is assembled on the movable chassis;

and the two searchlights are arranged on the movable chassis in a group mode, and the two searchlights are positioned on two opposite sides of the rear camera.

With reference to the first aspect, in one implementation manner, an included angle is formed between a shooting direction of the rear camera and an irradiation direction of any one of the searchlight.

With reference to the first aspect, in one implementation manner, a plurality of rotating shafts are arranged in the mobile chassis in a penetrating manner, and driving wheels are arranged at two ends of each rotating shaft.

The beneficial effects that technical scheme that this application embodiment provided include at least:

in the embodiment of the application, the telescopic support rod is arranged on the movable chassis, and the lifting frame, the telescopic support rod and the triangular support structure formed by the chassis effectively avoid shaking in ascending and descending of the lens, so that the stability of the whole lifting frame is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed 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 application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a detection robot in an embodiment of the present application;

fig. 2 is a front view of a detection robot in an embodiment of the present application;

FIG. 3 is a top view of a inspection robot in an embodiment of the present application;

fig. 4 is a side view of a inspection robot in an embodiment of the present application.

In the figure: 1. a mobile chassis; 11. a rotating shaft; 2. lifting the frame; 3. a front camera assembly; 31. a face mask; 32. a front lens; 33. a radiation lamp; 4. a telescopic stay bar; 5. a handle; 6. a rear camera assembly; 61. a rear camera; 62. a searchlight; 7. the cable interface is active.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

To often take place jolting when underground space's detection robot removes among the prior art, drive connection strutting arrangement and camera device and rock, shake in making the camera lens rise and descend is too violent, and dynamic picture quality is relatively poor, problem that the operating efficiency is lower, this application provides an underground space's detection robot, and it includes: the chassis 1, the lifting frame 2 and the telescopic supporting rod 4 are moved; wherein,

one end of the lifting frame 2 is rotatably connected with the movable chassis 1, and the other end is provided with a front camera shooting component 3. One end of the telescopic supporting rod 4 is connected to the movable chassis 1, the other end of the telescopic supporting rod is connected with the lifting frame 2 and supports the lifting frame 2, and when the lifting frame 2 rotates, the telescopic supporting rod 4 can synchronously stretch.

It can be understood that during the detection operation, an operator needs to remotely operate the lifting frame 2 to rotate to adjust the shooting direction of the front shooting assembly 3, and the axial direction of the front shooting assembly 3 is the direction in which the lenses of the front shooting assembly 3 are aligned. However, the shake in the process of driving the front camera assembly 3 to rise and fall is too severe in the rotation process, so that the dynamically photographed picture is very blurred and difficult to see. The telescopic support rod 4 is adopted to support the lifting frame 2 in the application, so that the telescopic support rod 4, the lifting frame 2 and the movable chassis 1 form a triangular stable support structure, shake generated in ascending and descending of the lens is effectively avoided, and the quality of a dynamic picture is well controlled.

Further, as shown in fig. 1, the front camera assembly 3 includes: a face mask 31, a front lens 32 and at least one illumination lamp 33; wherein,

a mask 31 assembled to the lifting frame 2. A front lens 32 detachably attached to the elevation frame 2. At least one illumination lamp 33 detachably connected to the lifting frame 2.

Optionally, the front camera assembly 3 includes two illumination lamps 33, and the front lens 32 is disposed between the two illumination lamps 33.

In some preferred embodiments, to facilitate installation and maintenance of the front lens 32, one end of the front lens 32 extends along its axial direction and beyond two of the lamps 33.

It will be appreciated that the operator may quickly assemble the front lens 32 by screwing, tightening, etc. the end of the front lens 32.

Specifically, as shown in fig. 1 and 2, in order to improve the stability of the rotation of the front camera assembly 3, the lifting frame 2 includes a front frame bar and a rear frame bar, which are disposed at intervals in the length direction of the moving chassis 1, and are connected to the end portions of the back surface of the face mask 31, and the rear frame bar is connected to the position of the back surface of the face mask 31 near the middle. The telescopic supporting rod 4 is connected with the front frame rod and plays a supporting role on the front frame rod.

Further, the front rack bar and the rear rack bar each comprise two rotary single bars arranged at intervals in the width direction of the movable chassis 1.

In some embodiments, a plurality of rotating shafts 11 are arranged in the mobile chassis 1 in a penetrating manner, and driving wheels are arranged at two ends of each rotating shaft 11. Specifically, as shown in fig. 1, the embodiment of the present application includes three rotating shafts, which are respectively connected to three sets of driving wheels, wherein one end near the front camera assembly 3 is a front wheel. The whole mobile chassis 1 is driven by a powerful motor and is matched with precise gear transmission, so that efficient crawling and obstacle surmounting are achieved.

In other specific embodiments, the mobile chassis 1 is provided with a handle 5, the handle 5 is rotatably connected with the mobile chassis 1, and a connection part of the handle 5 and the mobile chassis 1 is far away from the middle part of the mobile chassis 1 in the length direction.

Preferably, the rotary connection part of the handle 5 and the movable chassis 1 is arranged near the front wheel.

Before the robot is detected, the robot needs to be lowered to the operation area, and an operator needs to hang the handle 5 in a hanging manner and gradually lowered to the bottom operation area. However, because the entrance of the underground space is narrower, relatively fragile components such as a camera are arranged on the robot, so that the influence is reduced as much as possible in order to avoid collision of the robot. In this application handle 5 with the rotation junction part that removes chassis 1 locates and is close to front wheel department, when normally mentioning the robot, because gravity effect camera lens is naturally down to the chassis is approximately vertical state, can effectively reduce and transfer the space, does benefit to equipment entering some narrow spaces.

In other preferred embodiments, the handle 5 can be switched between a lowered state and an operative state by rotating on the mobile chassis 1; wherein the method comprises the steps of

The handle 5 is configured to: when the movable chassis 1 is in the lowered state, the lifting handle 5 is parallel to the upper surface of the movable chassis 1, and when the movable chassis 1 is in the running state, the lifting handle 5 is at least partially arranged in front of the front lens 32 of the front camera assembly 3 at intervals.

Optionally, the handle 5 is a U-shaped rod piece, and the handle 5 can freely rotate between 0 and 180 degrees,

it is worth noting that, in this application handle 5 has given out the convenience and has carried down to put down, still possesses the protection problem to the camera lens, and handle 5 accessible rotates the place ahead that makes its middle part be in the camera lens and provides safeguard function for the camera lens to prevent that robot in-process foreign matter from colliding the camera and causing the impaired condition of function of making a video recording to take place.

Further, as shown in fig. 3, in order to make up the defect that the front camera module 3 cannot shoot the rear situation, the mobile chassis 1 is provided with a rear camera module 6, and the shooting direction of the rear camera module 6 is opposite to the shooting direction of the front camera module 3, so that the shooting dead angle of the rear camera module 6 is made up.

Specifically, as shown in fig. 3, the rear camera assembly 6 includes:

the rear camera 61 is assembled on the mobile chassis 1. Two searchlight 62 are assembled on the mobile chassis 1, and the two searchlight 62 are positioned at two opposite sides of the rear camera 61. Optionally, an included angle is formed between the shooting direction of the rear camera 61 and the irradiation direction of any one of the searchlight 62.

It should be noted that, in actual work, it is found that reflection caused by light irradiation of the searchlight 62 affects a shot image of the rear camera 61, and in this embodiment, the two sets of searchlight 62 are respectively distributed at two sides at a certain angle with the rear camera 61, so that functions of reflecting light and increasing irradiation area caused by direct irradiation can be avoided.

In other embodiments, as shown in fig. 4, the rear end of the mobile chassis 1 (i.e., the end near the rear camera 61) is provided with a mobile cable interface 7.

To sum up, this application embodiment is through setting up flexible vaulting pole on removing the chassis, and the triangle-shaped bearing structure that lifting frame, flexible vaulting pole and chassis formed effectively avoids the shake in the lens rise and fall, improves the stability of whole lifting frame greatly.

In the description of the present application, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of description of the present application and simplification of the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present application. Unless specifically stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

It should be noted that in this application, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a specific embodiment of the application to enable one skilled in the art to understand or practice the application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A robot for detecting an underground space, comprising:

a mobile chassis (1);

one end of the lifting frame (2) is rotatably connected with the movable chassis (1), and the other end of the lifting frame is provided with a front camera shooting assembly (3);

and one end of the telescopic supporting rod (4) is connected with the movable chassis (1), the other end of the telescopic supporting rod is connected with the lifting frame (2) and supports the lifting frame (2), and when the lifting frame (2) rotates, the telescopic supporting rod (4) can synchronously stretch.

2. The inspection robot of claim 1, wherein the front camera assembly (3) comprises:

a mask (31) which is assembled on the lifting frame (2);

a front lens (32) detachably connected to the lifting frame (2);

at least one illuminating lamp (33) which is detachably connected with the lifting frame (2).

3. The inspection robot of claim 2, wherein: the front camera shooting assembly (3) comprises two illuminating lamps (33), the front lens (32) is arranged between the two illuminating lamps (33), and one end of the front lens (32) extends along the axial direction of the front lens and exceeds the two illuminating lamps (33).

4. The inspection robot of claim 2, wherein: the lifting handle (5) is arranged on the movable chassis (1), the lifting handle (5) is rotatably connected with the movable chassis (1), and the connecting part of the lifting handle (5) and the movable chassis (1) is far away from the middle part of the movable chassis (1) in the length direction.

5. The inspection robot of claim 4, wherein: the handle (5) is a U-shaped rod piece.

6. The inspection robot of claim 5, wherein: the handle (5) can be switched between a lowered state and an operating state by rotating on the mobile chassis (1); wherein the method comprises the steps of

The handle (5) is configured to: when the movable chassis (1) is in the descending state, the lifting handle (5) is parallel to the upper surface of the movable chassis (1), and when the movable chassis (1) is in the running state, the lifting handle (5) is at least partially arranged in front of a front lens (32) of the front camera assembly (3) at intervals.

7. The inspection robot of claim 1, wherein: the mobile chassis (1) is provided with a rear camera shooting assembly (6).

8. The inspection robot of claim 7, wherein the rear camera assembly (6) includes:

two searchlight (62) which are assembled on the movable chassis (1);

and the rear camera (61) is assembled on the movable chassis (1), and the rear camera (61) is arranged between the two searchlight (62).

9. The inspection robot of claim 8, wherein: an included angle is arranged between the shooting direction of the rear camera (61) and the irradiation direction of any one searchlight (62).

10. The inspection robot of claim 1, wherein: a plurality of rotating shafts (11) are arranged in the movable chassis (1) in a penetrating mode, and driving wheels are arranged at two ends of each rotating shaft (11).