CN103196005A - Pipe exploration robot based on real-time image transmission system - Google Patents
Pipe exploration robot based on real-time image transmission system Download PDFInfo
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- CN103196005A CN103196005A CN2013101180191A CN201310118019A CN103196005A CN 103196005 A CN103196005 A CN 103196005A CN 2013101180191 A CN2013101180191 A CN 2013101180191A CN 201310118019 A CN201310118019 A CN 201310118019A CN 103196005 A CN103196005 A CN 103196005A
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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
Technical field
The present invention relates to a kind of vision robot, particularly a kind ofly be adapted in the pipeline helping the staff to check the pipeline sniffing robot based on the real-time image transmission system of pipeline inner case.
Background technique
The pipeline sniffing robot is one of present scientific research popular domain, has a lot of pipeline robots to be widely used in occasions such as pipe inspection reparation both at home and abroad.The pipeline sniffing robot structurally generally is divided into wheeled or creeping type structure.Wheeled robot under the situation of determining pipe diameter, can realize that pipeline is observed fast by its powerful motivation system.The worm robot under comparatively abundant situation of time, can survey the pipeline of different tube diameters.But just there is one group of contradiction in this simultaneously: under speed situation comparatively at a high speed, almost nil to the adaptability of caliber; And when strong to the adaptability of pipeline, consumed time is low than long running speed.In the general arrangement of pipeline robot motion speed with this contradiction of adaptability of pipeline is existed all the time.
In order to solve this contradiction, normally adopt the method for making pipeline sniffing robot series series now, for example the Thes type pipeline sniffing robot of Japan series series; Or the method that the power of worm humanoid robot is strengthened, for example large-scale ikuta robot.
But above-mentioned robot is in the process of the operation of reality, still exist the situation lower to the caliber fitness of pipeline, serial robot for example, it still can only satisfy the requirement of respective fixation caliber pipeline, the perhaps lower situation of speed, ikuta robot for example, though in that but to have accelerated its speed degree limited, and the cost of the operation when its power strengthened is higher, has caused the deadweight loss of resource.Of this sort method can only relax above-mentioned contradiction but not eliminate, can not the well variation of good adaptation pipe diameter in high speed operation.
Summary of the invention
This robot mainly provides one to make things convenient for the staff to carry out the pipeline sniffing robot based on the real-time image transmission system that real-time pipe inspection is surveyed.
The technological scheme that realizes the object of the invention is: a kind of pipeline sniffing robot, 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, follower support, follower, and wherein the quantity of follower is three, and these three followers are evenly distributed on the follower support of motor housing, and motor housing inside arranges motor;
Described worm and gear system comprises worm gear, worm screw, driving wheel, reducing bar, connecting rod, metal shell and bearing pin, worm screw is positioned at metal shell, worm gear 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, and these three groups of worm gears are evenly distributed in the outside of worm screw and are meshed with worm screw; Driving wheel one has three groups, these three groups of driving wheels are evenly distributed on the outside of metal shell, every group includes two driving wheels, the line in two driving wheel centers of circle is parallel with worm screw, every group of driving wheel is connected by connecting rod, and each driving wheel all is connected on the metal shell by the reducing bar, and described reducing bar is connected on the metal shell by bearing pin, each driving wheel all is meshed with worm gear, rotates under the drive of worm gear.
The present invention compared with prior art, its remarkable advantage is: 1) the present invention adopts full driving wheel to drive, and adaptability is strong.Than other present pipeline robots, be driving wheel entirely in the wheeled system of this patent, power is powerful, has very strong adaptability; 2) robot of the present invention is of compact construction and is stable preferably.This robot is by two groups of wheeled system support, and front and back structural distribution compactness can realize self contering, has stronger stability; 3) robot of the present invention has significantly increased the scope that pipeline is surveyed.But in the wheeled system based on reducing, can regulate self size automatically to adapt to different pipelines according to the size of caliber; 4) robot of the present invention has higher motion speed, has improved detection efficiency.Utilize wheeled system, the gait of march of robot increases greatly; 5) this robot is to helping the staff and carry out various regular inspection of pipelines and detection has earth shaking meaning, and the restricted factor of dolly is less, can adapt to multiple pipeline, powerful, gear train all is meshing engagement structure, and is simple and reliable for structure, high working efficiency.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is robot motor's system construction drawing.
Fig. 2 is robot worm and gear system construction drawing.
Fig. 3 is robot Drive and Control Circuit system construction drawing.
Fig. 4 is robot display circuit system construction drawing.
Fig. 5 is robot overall structure schematic representation.
Embodiment
In conjunction with Fig. 5, a kind of pipeline sniffing robot of the present invention, 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;
In conjunction with Fig. 1, described electric system comprises motor, motor housing 1, follower support 2, follower 3, and wherein the quantity of follower 3 is three, and these three followers 3 are evenly distributed on the follower support 2 of motor housing 1, and motor housing 1 inside arranges motor;
In conjunction with Fig. 2, 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, and each driving wheel 6 all is connected on the metal shell 9 by reducing bar 7, and 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.
In conjunction with Fig. 3, described Drive and Control Circuit system comprises first K switch 1, second switch K2, the 3rd K switch 3, the 4th K switch 4 and power supply, these four switches are divided into two loops, first loop comprises first K switch 1, second switch K2, power supply, the positive pole of a termination power of first K switch 1 wherein, another termination second switch K2 of first K switch 1, the motor positive pole of the other end of second switch K2 and robot afterbody joins, and negative pole and the power cathode of motor join;
Second loop comprises the 3rd K switch 3, the 4th K switch 4, power supply, the negative pole of a termination power of the 3rd K switch 3 wherein, the other end of another termination the 4th K switch 4, the four K switch 4 of the 3rd K switch 3 links to each other with the motor negative pole of robot afterbody, and motor is anodal to join with positive source.Power supply is the 12V power supply.
In conjunction with Fig. 4, 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.Described camera power supply 12 is the 220V Ac.
Robot of the present invention mainly is theory and the thought of having used a kind of " motor-worm and gear-Drive and Control Circuit-display circuit ".The energy that utilizes power supply to produce drives revolution, the main shaft of robot is rotated and the work of bite strap driving wheel formula system by gear by motor, and the control by control circuit, thereby reaches the purpose that dolly advances, retreats.Real-time image information is transferred on the receiving screen for the staff by data collecting card after by camera collection and observes.Wherein, the concrete working principle of moving structure is as follows:
In the two groups of supports in the front and back of mobile mechanism, three big driving wheels all are radially equally distributed, and front and back two-part all are symmetrical vertically, and therefore totally six of the strong points satisfy the shape sealing condition.When mobile mechanism walked, three driving wheels were radially evenly distribution, determine planes at 3,3 all the time on a cylndrical surface, therefore can realize self contering, under the effect of support device, driving wheel tightly is pressed on the inner-walls of duct, has stronger adaptability.Because two groups of each six uniform driving wheels, each worm screw of front and back that links with motor must drive three worm gears simultaneously so, because reaching driving wheel and these driving wheels by worm gear must can be around the worm gear center steering, owing to three worm gears whiles and a worm meshing transmission in parallel, novel structure, transmission efficiency are also high.At last, driven by motor worm screw, worm gear motion, the frictional force that wheel produces by the positive pressure that acts on inner-walls of duct makes robot mobile forward or backward along the inner-walls of duct straight line, becomes the main drive system of pipeline robot.
In conjunction with Fig. 1, Fig. 3, wherein K switch 1, K2 control advancing of robot, and K3, K4 control robot retreats, and they and 12V power supply have constituted the Drive and Control Circuit system of robot, for robot provides electric power.
And motor 1, wheel support 2 and follower 3 have constituted electric system, wherein the rotation of motor 1 provides power for advancing of robot, be the necessary condition of worm and gear system works, 3 followers of playing a supporting role 3 have been installed on the support 2, make that the walking of robot is more stable.
In conjunction with Fig. 2, the main body of described worm and gear system is made of worm gear 4 and worm screw 5, worm gear 4 and worm screw 5 tight interlocks, and the rotation that drives worm screw 5 by motor 1 makes worm gear 4 also rotate thereupon.The mobile mechanism of robot all is radially equally distributed by 6, three big driving wheels 6 of driving wheel, and front and back two-part all are symmetrical vertically, and therefore totally six of the strong points satisfy the shape sealing condition.When robot ambulation, three driving wheels 6 are radially evenly distribution, determine planes at 3,3 all the time on a cylndrical surface, therefore can realize self contering, under the effect of support device, driving wheel 6 tightly is pressed on the inner-walls of duct, has strengthened the stability of robot.Because two groups of each six uniform driving wheels 6, then each worm screw 5 of front and back that links with motor 1 must drive three worm gears 4 simultaneously, because reaching driving wheel 6 and these driving wheels 6 by worm gear 4 must can be around worm gear 4 center steering, because three worm gears 4 mesh transmission in parallel with a worm screw 5 simultaneously, novel structure, transmission efficiency are also high.At last, motor 1 drives worm screw 5, worm gear 4 motions, and the frictional force that driving wheel 6 produces by the positive pressure that acts on inner-walls of duct makes robot mobile forward or backward along the inner-walls of duct straight line, becomes the main drive system of pipeline robot.And but driving wheel 6, reducing bar 7, connecting rod 8 and bearing pin 10 have constituted the wheeled system of reducing, but there are 3 groups of totally 12 reducing bars in the wheeled system of reducing.When surveying the pipeline of different tube diameters, along with the variation of caliber, reducing bar 7 rotates, thereby turns over same angle along worm gear 4 around below bearing pin 10 by the driving wheel 6 that links to each other with top bearing pin 10, finally realizes the process of wheeled system reducing.When the reducing scope of the wheeled system of reducing reached maximum reducing, the reducing bar 7 of robot was vertical fully with the direction of advance of robot.
Offset direction, compression degree when but connecting rod 8 has guaranteed the wheeled system works of reducing are all identical, have significantly reduced the probability that the robot mechanical system may break down.In addition, the metal shell 9 of robot has played protection robot body's effect, prevents that robot from coming to harm when proper functioning, has improved the survival rate of robot greatly, increases the working efficiency of robot.
In conjunction with Fig. 4, vehicle-mounted pick-up head 11 and power supply 12 have constituted data real-time collecting system, are responsible for collecting the image that robot is seen.Data collecting card 13 is responsible for the data transfer that collects is become the form of video, and 14 of receiving screens are display platforms, with real-time image output, to make things convenient for the timely situation in staff's observation tube.This part is the display circuit system of robot.
In conjunction with Fig. 1, Fig. 2, Fig. 3, these three parts (electric system, worm and gear system and Drive and Control Circuit system) have constituted the Machinery Control System of robot, guarantee that robot can realize functions such as forward-reverse and reducing normally.
In conjunction with Fig. 4 (display circuit part), it is the image delivering system of robot, and the image information that it collects camera changes into numerical information and is presented on the receiving screen, observes for the staff.
As from the foregoing, robot of the present invention is of compact construction and is stable preferably.This robot is by two groups of wheeled system support, and front and back structural distribution compactness can realize self contering, has stronger 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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| CN2013101180191A CN103196005A (en) | 2013-04-07 | 2013-04-07 | Pipe exploration robot based on real-time image transmission system |
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| CN2013101180191A CN103196005A (en) | 2013-04-07 | 2013-04-07 | Pipe exploration robot based on real-time image transmission system |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090679A (en) * | 2015-08-13 | 2015-11-25 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN105216896A (en) * | 2014-06-24 | 2016-01-06 | 南京理工大学 | One is taken pictures robot |
| CN105269566A (en) * | 2014-06-24 | 2016-01-27 | 南京理工大学 | Automatic photographing robot |
| CN105736898A (en) * | 2016-03-02 | 2016-07-06 | 胡洁维 | High-voltage cable detecting robot capable of detecting heat source temperature |
| CN106195522A (en) * | 2016-09-30 | 2016-12-07 | 温江波 | It is exclusively used in the multifunctional equipment of building pipe inter-process |
| CN106224693A (en) * | 2016-08-29 | 2016-12-14 | 山东胜伟园林科技有限公司 | A kind of corrosion-resistant collector pipe |
| CN107255205A (en) * | 2017-05-25 | 2017-10-17 | 承德石油高等专科学校 | A kind of general-using type spiral wheeled pipe robot |
| CN108644531A (en) * | 2018-07-06 | 2018-10-12 | 郑州大学 | Rail mounted drainpipe detecting equipment and the method for detecting drainage pipeline using it |
| CN108679454A (en) * | 2018-05-09 | 2018-10-19 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN109719742A (en) * | 2019-01-28 | 2019-05-07 | 中交上海航道勘察设计研究院有限公司 | A kind of pipe inspection robot device |
| CN110486571A (en) * | 2019-09-03 | 2019-11-22 | 哈尔滨工业大学 | A kind of pipe robot |
| CN110509298A (en) * | 2019-09-19 | 2019-11-29 | 国网陕西省电力公司宝鸡供电公司 | Cable channel robot and system based on surface geometry constrained motion model |
| CN110529691A (en) * | 2019-08-27 | 2019-12-03 | 浙江管迈环境科技有限公司 | Detecting robot of pipe |
| CN111239257A (en) * | 2020-02-28 | 2020-06-05 | 山东大学 | Ultrasonic probe introduction and coupling device, rock mass acoustic wave detection device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105216896A (en) * | 2014-06-24 | 2016-01-06 | 南京理工大学 | One is taken pictures robot |
| CN105269566A (en) * | 2014-06-24 | 2016-01-27 | 南京理工大学 | Automatic photographing robot |
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| CN106224693A (en) * | 2016-08-29 | 2016-12-14 | 山东胜伟园林科技有限公司 | A kind of corrosion-resistant collector pipe |
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| CN107255205A (en) * | 2017-05-25 | 2017-10-17 | 承德石油高等专科学校 | A kind of general-using type spiral wheeled pipe robot |
| CN108679454A (en) * | 2018-05-09 | 2018-10-19 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN108644531A (en) * | 2018-07-06 | 2018-10-12 | 郑州大学 | Rail mounted drainpipe detecting equipment and the method for detecting drainage pipeline using it |
| CN108644531B (en) * | 2018-07-06 | 2023-10-20 | 郑州大学 | Rail-mounted drainage pipeline detection equipment and method for detecting drainage pipeline by using same |
| CN109719742A (en) * | 2019-01-28 | 2019-05-07 | 中交上海航道勘察设计研究院有限公司 | A kind of pipe inspection robot device |
| CN109719742B (en) * | 2019-01-28 | 2023-11-24 | 中交上海航道勘察设计研究院有限公司 | Pipeline inspection robot device |
| CN110529691A (en) * | 2019-08-27 | 2019-12-03 | 浙江管迈环境科技有限公司 | Detecting robot of pipe |
| CN110486571A (en) * | 2019-09-03 | 2019-11-22 | 哈尔滨工业大学 | A kind of pipe robot |
| CN110509298A (en) * | 2019-09-19 | 2019-11-29 | 国网陕西省电力公司宝鸡供电公司 | Cable channel robot and system based on surface geometry constrained motion model |
| CN111239257A (en) * | 2020-02-28 | 2020-06-05 | 山东大学 | Ultrasonic probe introduction and coupling device, rock mass acoustic wave detection device and method |
| CN111239257B (en) * | 2020-02-28 | 2021-02-23 | 山东大学 | Ultrasonic probe introduction and coupling device, rock mass acoustic wave detection device and method |
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Application publication date: 20130710 |