CN103196005A - Pipe exploration robot based on real-time image transmission system - Google Patents

Abstract

The invention discloses a vision robot which is capable of replacing workers to conduct regular inspection on pipes with different pipe diameters. The robot is composed of a mechanical power system and an image transmission system. In the mechanical power system, engagement of a worm gear and a gear and engagement of the gear and a driving wheel are utilized to achieve movement of the robot after a power supply provides energy, a control circuit is utilized to control the advancing direction of the robot, and the advancing direction is transmitted to a receiving screen through a data line for workers to observe. The robot has extremely significant meaning on helping the workers to conduct various pipe regular inspections and explorations. Further, limit factors of a trolley are few in number, and the trolley can adapt to pipes with different pipe diameters through a wheel type diameter reducing system. In the image transmission system, various pipes can be adapted through a vehicle-mounted camera, the robot is strong in power, all gear groups are of engagement structure, and the robot is simple and reliable in structure and high in working efficiency.

Description

Pipeline detection robot based on real-time image transmission system

technical field

The invention relates to a vision robot, in particular to a pipeline detection robot based on a real-time image transmission system, which is suitable for helping workers to check the internal conditions of the pipeline.

Background technique

Pipeline detection robot is one of the hot fields of scientific research at present. There are many pipeline robots at home and abroad that are widely used in pipeline inspection and repair and other occasions. Pipeline detection robots are generally divided into wheeled or peristaltic structures in structure. The wheeled robot, in the case of determining the diameter of the pipeline, can realize rapid pipeline observation through its powerful power system. Worm robots can detect pipes with different diameters when time is sufficient. But at the same time, there is a set of contradictions: when the speed is relatively high, the adaptability to the pipe diameter is almost zero; while when the adaptability to the pipeline is strong, it takes a long time to run at a low speed. The contradiction between the running speed and the adaptability to the pipeline always exists in the overall design of the pipeline robot.

In order to solve this contradiction now, usually adopt the method of manufacturing pipeline detection robot series, such as Japan's Thes type pipeline detection robot series; or the method that the power of worm type robot is strengthened, such as large-scale ikuta robot.

However, in the actual operation process of the above-mentioned robots, there are still situations where the adaptability to the pipe diameter is low. For example, the ikuta robot has accelerated its speed but to a limited extent, and the operation cost of strengthening its power is relatively high, resulting in unnecessary loss of resources. A method like this can only alleviate but not eliminate the above-mentioned contradictions, and cannot well adapt to changes in pipe diameter while running at high speed.

Contents of the invention

This robot mainly provides a pipeline detection robot based on a real-time image transmission system that is convenient for staff to perform real-time pipeline inspection and detection.

The technical solution to realize the object of the present invention is: a pipeline detection robot, including two parts of a mechanical control system and an image transmission system, the image transmission system is located on the mechanical control system, and the mechanical control system includes a motor system, a worm gear system and a drive control system There are three parts of the circuit system, the drive control circuit system controls the work of the motor system, and the motor system provides power for the worm gear system;

The motor system includes a motor, a motor casing, a driven wheel bracket, and a driven wheel, wherein the number of driven wheels is three, and the three driven wheels are evenly distributed on the driven wheel bracket of the motor casing, and a motor is arranged inside the motor casing;

The worm gear system includes a worm wheel, a worm, a driving wheel, a reducing rod, a connecting rod, a metal casing and a pin shaft. The worm is located in the metal casing. There are three groups of worm wheels, each group includes two worm wheels, and two of the same group The line connecting the center of the worm wheel is parallel to the worm, and the three sets of worm wheels are evenly distributed on the outside of the worm and meshed with the worm; there are three sets of driving wheels, and the three sets of driving wheels are evenly distributed on the outside of the metal casing, and each set includes Two driving wheels, the line connecting the centers of the two driving wheels is parallel to the worm, each group of driving wheels is connected through a connecting rod, and each driving wheel is connected to the metal casing through a reducing rod, and the reducing rod passes through a pin Connected to the metal casing, each drive wheel is meshed with the worm wheel and rotates driven by the worm wheel.

Compared with the prior art, the present invention has the following remarkable advantages: 1) The present invention is driven by all driving wheels and has strong adaptability. Compared with other pipeline robots at present, the wheel system of this patent is full of driving wheels, which has strong power and strong adaptability; 2) The robot of the present invention has a compact structure and good stability. The robot is supported by two sets of wheeled systems, and the front and rear structures are compactly distributed, which can realize self-centering and has strong stability; 3) The robot of the present invention significantly increases the scope of pipeline detection. Based on the variable-diameter wheel system, it can automatically adjust its own size according to the size of the pipe diameter to adapt to different pipes; 4) The robot of the present invention has a high operating speed and improves detection efficiency. Using the wheeled system, the speed of the robot is greatly increased; 5) This robot is of great significance to help the staff to carry out regular inspection and detection of various pipelines, and the car has fewer constraints and can adapt to various pipelines. The power is strong, the gear set is all meshing structure, the structure is simple and reliable, and the working efficiency is high.

The present invention will be described in further detail below in conjunction with the accompanying drawings.

Description of drawings

Figure 1 is a structural diagram of the robot motor system.

Figure 2 is a structural diagram of the robot worm gear system.

Figure 3 is a structural diagram of the robot drive control circuit system.

Figure 4 is a structural diagram of the robot display circuit system.

Figure 5 is a schematic diagram of the overall structure of the robot.

Detailed ways

Referring to Fig. 5, a pipeline detection robot of the present invention includes two parts: a mechanical control system and an image transmission system, the image transmission system is located on the mechanical control system, and the mechanical control system includes a motor system, a worm gear system and a drive control circuit system Three parts, the drive control circuit system controls the work of the motor system, and the motor system provides power for the worm gear system;

1, the motor system includes a motor, a motor housing 1, a driven wheel bracket 2, and a driven wheel 3, wherein the number of driven wheels 3 is three, and the three driven wheels 3 are evenly distributed on the driven wheel bracket of the motor housing 1 2, a motor is set inside the motor housing 1;

2, the worm gear system includes a worm gear 4, a worm 5, a drive wheel 6, a reducing rod 7, a connecting rod 8, a metal casing 9 and a pin shaft 10, the worm 5 is located in the metal casing 9, and the worm gear 4 has three Each group includes two worm gears. The line connecting the centers of the two worm gears of the same group is parallel to the worm 5. The three groups of worm gears 4 are evenly distributed on the outside of the worm 5 and meshed with the worm; the driving wheel 6 has three groups in total. , the three groups of driving wheels 6 are evenly distributed on the outside of the metal shell 9, each group includes two driving wheels, the line connecting the centers of the two driving wheels is parallel to the worm 5, each group of driving wheels is connected by a connecting rod 8, each Each driving wheel 6 is connected on the metal shell 9 by the reducing rod 7, and the said reducing rod 7 is connected on the metal shell 9 by the pin shaft, and each driving wheel 6 is all meshed with the worm wheel 4, driven by the worm wheel 4 Rotate down.

3, the drive control circuit system includes a first switch K1, a second switch K2, a third switch K3, a fourth switch K4 and a power supply, the four switches are divided into two loops, the first loop includes the first switch K1, second switch K2, power supply, wherein one end of the first switch K1 is connected to the positive pole of the power supply, the other end of the first switch K1 is connected to the second switch K2, and the other end of the second switch K2 is connected to the positive pole of the motor at the tail of the robot. The negative pole of the motor is connected to the negative pole of the power supply;

The second loop includes a third switch K3, a fourth switch K4, and a power supply, wherein one end of the third switch K3 is connected to the negative pole of the power supply, the other end of the third switch K3 is connected to the fourth switch K4, and the other end of the fourth switch K4 is connected to the negative pole of the power supply. The negative pole of the motor at the tail of the robot is connected, and the positive pole of the motor is connected with the positive pole of the power supply. The power supply is 12V power supply.

In conjunction with Fig. 4, described image transmission system comprises vehicle-mounted camera 11, camera power supply 12, data acquisition card 13 and receiving screen 14, and described vehicle-mounted camera 11 is connected with receiving screen 14 by data acquisition card 13, and camera power supply 12 is vehicle-mounted camera 11 for power supply, and the data acquisition card 13 converts the information collected by the camera into an image and displays it through the receiving screen 14 . The camera power supply 12 is 220V alternating current.

The robot of the present invention mainly uses a concept and idea of "motor-worm gear-drive control circuit-display circuit". The energy generated by the power supply is used to drive the motor to rotate, and the motor is used to rotate the main shaft of the robot and drive the wheel system to work through the engagement of the gears, and through the control of the control circuit, the purpose of the trolley to move forward and backward is achieved. The real-time image information is collected by the camera and transmitted to the receiving screen through the data acquisition card for the staff to observe. Among them, the specific working principle of the mobile structure is as follows:

In the front and rear two sets of supports of the moving mechanism, the three large driving wheels are evenly distributed along the radial direction, while the front and rear parts are symmetrical along the axial direction, with a total of six support points, thus satisfying the form-closed condition. When the moving mechanism is moving, the three driving wheels are evenly distributed in the radial direction. Three points determine a plane, and the three points are always on a cylindrical surface, so self-centering can be realized. Under the action of the supporting device, the driving wheels are tightly Pressed on the inner wall of the pipe, it has strong adaptability. Due to two groups of six evenly distributed driving wheels, each worm connected to the motor must drive three worm gears at the same time. The worm gear is meshed with a worm at the same time for parallel transmission, which has a novel structure and high transmission efficiency. Finally, the motor drives the worm and the worm gear to move, and the friction force generated by the wheel through the positive pressure acting on the inner wall of the pipeline makes the robot move forward or backward in a straight line along the inner wall of the pipeline, becoming the main drive system of the pipeline robot.

Combined with Figure 1 and Figure 3, switches K1 and K2 control the robot's forward movement, and K3 and K4 control the robot's backward movement. They and the 12V power supply constitute the robot's drive control circuit system to provide power for the robot.

And the motor 1, the wheel bracket 2 and the driven wheel 3 constitute the motor system, wherein the rotation of the motor 1 provides power for the advancement of the robot, which is a necessary condition for the work of the worm gear system. Three supporting slaves are installed on the bracket 2. The moving wheel 3 makes the walking of the robot more stable.

Referring to FIG. 2 , the main body of the worm gear system is composed of a worm gear 4 and a worm 5 . The worm gear 4 and the worm 5 are tightly engaged. The rotation of the worm gear 5 driven by the motor 1 makes the worm gear 4 rotate accordingly. The mobile mechanism of the robot consists of driving wheels 6, and the three large driving wheels 6 are evenly distributed in the radial direction, while the front and rear parts are symmetrical in the axial direction, and there are six supporting points, so the condition of shape closure is satisfied. When the robot is walking, the three driving wheels 6 are evenly distributed in the radial direction, and three points determine a plane, and the three points are always on a cylindrical surface, so self-centering can be realized. Under the action of the supporting device, the driving wheels 6 are tightened It is tightly pressed against the inner wall of the pipe to enhance the stability of the robot. Due to two groups of six evenly distributed drive wheels 6, each worm 5 connected to the motor 1 must drive three worm wheels 4 at the same time. The worm gear 4 rotates at the center, and since the three worm gears 4 mesh with a worm 5 and drive in parallel, the structure is novel and the transmission efficiency is high. Finally, the motor 1 drives the worm 5 and the worm wheel 4 to move, and the friction force generated by the driving wheel 6 through the positive pressure acting on the inner wall of the pipeline makes the robot move forward or backward in a straight line along the inner wall of the pipeline, becoming the main driving system of the pipeline robot. And driving wheel 6, reducing rod 7, connecting rod 8 and bearing pin 10 have constituted variable-diameter wheel system, and variable-diameter wheel system has 3 groups of totally 12 reducing rods. When detecting pipes with different pipe diameters, as the pipe diameter changes, the reducing rod 7 rotates, so that the drive wheel 6 connected to the upper pin shaft 10 rotates through the same angle around the lower pin shaft 10 along the worm wheel 4, and finally The process of realizing the variable diameter of the wheel system. When the diameter reduction range of the diameter reduction wheel system reaches the maximum diameter reduction, the diameter reduction rod 7 of the robot is completely perpendicular to the forward direction of the robot.

The connecting rod 8 ensures that the variable-diameter wheel system has the same offset direction and compression degree during operation, which significantly reduces the probability of failure of the mechanical system of the robot. In addition, the metal shell 9 of the robot plays the role of protecting the main body of the robot, preventing the robot from being hurt during normal work, greatly improving the survival rate of the robot and increasing the working efficiency of the robot.

Referring to FIG. 4 , the on-vehicle camera 11 and the power supply 12 constitute a real-time data acquisition system, which is responsible for collecting images seen by the robot. The data acquisition card 13 is responsible for converting the collected data into the form of video, and the receiving screen 14 is a display platform for outputting real-time images to facilitate staff to observe the timely situation in the tube. This part is the display circuit system of the robot.

Combined with Figure 1, Figure 2, and Figure 3, the three parts (motor system, worm gear system, and drive control circuit system) constitute the mechanical control system of the robot, ensuring that the robot can normally realize functions such as forward, backward, and diameter change.

Combined with Figure 4 (display circuit part), it is the image transmission system of the robot, which converts the image information collected by the camera into digital information and presents it on the receiving screen for the staff to observe.

It can be seen from the above that the robot of the present invention has a compact structure and good stability. The robot is supported by two sets of wheel systems, and the front and rear structures are compactly distributed, which can realize self-centering and has strong stability.

Claims (5)

1. pipeline sniffing robot based on the real-time image transmission system, it is characterized in that, comprise Machinery Control System and image delivering system two-part, image delivering system is positioned on the Machinery Control System, described Machinery Control System comprises electric system, worm and gear system and Drive and Control Circuit system three parts, the control electric system work of Drive and Control Circuit system, electric system provides power for the worm and gear system;

Described electric system comprises motor, motor housing (1), follower support (2), follower (3), wherein the quantity of follower (3) is three, these three followers (3) are evenly distributed on the follower support (2) of motor housing (1), and motor housing (1) inside arranges motor;

Described worm and gear system comprises worm gear (4), worm screw (5), driving wheel (6), reducing bar (7), connecting rod (8), metal shell (9) and bearing pin (10), worm screw (5) is positioned at metal shell (9), worm gear (4) one has three groups, every group comprises two worm gears, the line in two worm gear centers of circle of same group is parallel with worm screw (5), and these three groups of worm gears (4) are evenly distributed in the outside of worm screw (5) and are meshed with worm screw; Driving wheel (6) one has three groups, these three groups of driving wheels (6) are evenly distributed on the outside of metal shell (9), every group includes two driving wheels, the line in two driving wheel centers of circle is parallel with worm screw (5), every group of driving wheel is connected by connecting rod (8), each driving wheel (6) all is connected on the metal shell (9) by reducing bar (7), described reducing bar (7) is connected on the metal shell (9) by bearing pin, each driving wheel (6) all is meshed with worm gear (4), rotates under the drive of worm gear (4).

2. the pipeline sniffing robot based on the real-time image transmission system according to claim 1, it is characterized in that, described Drive and Control Circuit system comprises first switch (K1), second switch (K2), the 3rd switch (K3), the 4th switch (K4) and power supply, these four switches are divided into two loops, first loop comprises first switch (K1), second switch (K2), power supply, the positive pole of a termination power of first switch (K1) wherein, another termination second switch (K2) of first switch (K1), the other end of second switch (K2) and the motor positive pole of robot afterbody join, and negative pole and the power cathode of motor join;

Second loop comprises the 3rd switch (K3), the 4th switch (K4), power supply, the negative pole of a termination power of the 3rd switch (K3) wherein, another termination the 4th switch (K4) of the 3rd switch (K3), the other end of the 4th switch (K4) links to each other with the motor negative pole of robot afterbody, and motor is anodal to join with positive source.

3. the pipeline sniffing robot based on the real-time image transmission system according to claim 2 is characterized in that, power supply is the 12V power supply.

4. the pipeline sniffing robot based on the real-time image transmission system according to claim 1, it is characterized in that, described image delivering system comprises vehicle-mounted pick-up head (11), camera power supply (12), data collecting card (13) and receiving screen (14), described vehicle-mounted pick-up head (11) is connected with receiving screen (14) by data collecting card (13), camera power supply (12) is vehicle-mounted pick-up head (11) power supply, data collecting card (13) with camera collection to information translation become image and show by receiving screen (14).

5. the pipeline sniffing robot based on the real-time image transmission system according to claim 4 is characterized in that, described camera power supply (12) is the 220V Ac.

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