CN108730676A - A kind of ball shape robot for pipe detection - Google Patents
A kind of ball shape robot for pipe detection Download PDFInfo
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- CN108730676A CN108730676A CN201810243376.3A CN201810243376A CN108730676A CN 108730676 A CN108730676 A CN 108730676A CN 201810243376 A CN201810243376 A CN 201810243376A CN 108730676 A CN108730676 A CN 108730676A
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- left hemisphere
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000005096 rolling process Methods 0.000 claims description 19
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000000465 moulding Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 abstract description 23
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 10
- 210000004720 cerebrum Anatomy 0.000 description 7
- 238000004891 communication Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000000472 traumatic effect Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of ball shape robots for pipe detection, related sensor can be carried to enter in complicated pipeline instead of manual work, belong to detecting robot of pipe technical field, robot of the present invention includes left hemisphere, intermediate connector, right hemisphere and control unit；The left hemisphere is connect by intermediate connector with right hemisphere, the left hemisphere is identical as the structure of right hemisphere, and left hemisphere and right hemisphere are symmetrical about intermediate connector, the intermediate connector is equipped with control unit, the present invention has simple and compact for structure, it is flexible in pipeline internal motion, motion model is simple, the small advantage with pipeline interior contact sectional area, and internal drive mode of the present invention is driven using double-rack-and-pinion, two gears are accurately engaged with two ring gears for being fixed on spherical shell inner surface, it avoids conventional ball robot and the shortcomings that being easy to skid is rolled in ball inner wall using wheel, it is accurate with transmission ratio, the accurate advantage of speed control.
Description
Technical field
The present invention relates to a kind of ball shape robots for pipe detection, belong to detecting robot of pipe technical field.
Background technology
It is well known that with the development of transport service, the demand to oil and natural gas is increasing, and oil and natural
The means of transportation that gas is relied on is mainly pipeline transportation, causes pipeline distribution more and more intensive, the distance of pipeline transportation is also more next
It is longer.And pipeline is with the growth of service life, it may appear that various failures.Such as caused by the corrosion of interior media
Leakage, or lead to pipeline traumatic rupture etc. due to the shock by external force.Due to the medium one of pipeline internal reservoir
As have the characteristics that it is inflammable and explosive, once leak, it will cause serious consequence.So regularly being examined to pipeline
Survey is necessary, but is distributed in underground since these pipelines are all complicated, and environment is unfavorable for manual work,
The Main way that pipe detection is current technology development is carried out using robot.
There are mainly of two types for the current robot being applied in pipe detection, and one is wheeled device people, another is
Squirmy robot.Wheeled robot motion mode is simple, easily controllable, applies in general in the flat environment of topography, in pipe
In road environment when driving, it since inner wall of the pipe is arc-shaped, be easy to cause robot pose variation and tumbles, especially meeting
It is bad to passability when bend pipe and branch breeches pipe.Although and the passability and turn performance of worm type climbing robot in the duct
It is good, but since its freedom of motion is more, required driving moment is big, movement velocity is slow, is used for the working efficiency of pipe detection
It is low.In addition, both the above detecting robot of pipe that there is also space accountings is high, with tube contacts point is more, contact area is larger
Problem is easy to interfere or destroys pipeline internal environment；Moreover, because complex contour, both robot closure are bad, hold
It easily leads to robot interior mechanism and sensor is directly exposed in pipeline environment, influence safety.
The present invention is subsidized by project of national nature science fund project 51365019 and is supported.
Invention content
The present invention provides a kind of for pipeline inspection for deficiency existing for existing wheeled, creeping type robot for pipeline inspection
The ball shape robot of survey, the robot use the two cerebral hemispheres differential type of drive, existing wheeled robot motion control simple
Feature, but also with ball shape robot neat appearance, space accounting is low, movement turning is flexible, running resistance is small, resistant to tipping ability
The features such as strong.When moving in the duct, at most there are two contact points with inner wall of the pipe, and contacting section product is small, will not occur and manage
Direct collision inside road, so as to avoid may be to the destruction of pipeline internal structure.Since the robot is the knot of double hemisphere
Structure, the two cerebral hemispheres can completely enclose, and intermediate there are gaps, by robot interior mechanism and can be not easy exposed biography in this way
Sensor is placed in closed area, some special sensors for needing to be externally exposed environment may be mounted at non-close region.
The technical solution adopted in the present invention is：A kind of ball shape robot for pipe detection, including left hemisphere, in
Between connector, right hemisphere and control unit；The left hemisphere is connect by intermediate connector with right hemisphere, the left hemisphere with
The structure of right hemisphere is identical, and left hemisphere and right hemisphere are symmetrical about intermediate connector, and the intermediate connector is equipped with control
Component.
The left hemisphere includes left gear rack-driving component, left connecting bracket, gasket, axis, ball bearing, left hemisphere
Shell, left hemisphere shell closed plate；The left hemisphere shell be internally provided with left gear rack-driving component, left connecting bracket, gasket, axis,
Ball bearing, the left gear rack-driving component include ring gear, gear and DC servo motor, the ring gear inside
Equipped with gear, the ring gear and gear internal messing, the DC servo motor are fixedly connected with the wheel hub of gear, the left side
Connecting bracket includes connecting plate I, connecting plate II, connecting plate III, the connecting plate I, connecting plate III place vertically and respectively with even
The both ends vertical connection of fishplate bar II is provided with circular hole on the connecting plate III of the left connecting bracket, and the DC servo motor is worn
Cross circular hole, the connecting plate I of the left connecting bracket is connect with gasket, the connection of one end of the gasket and axis, the axis it is another
End is connect with the inner ring of ball bearing, and the inner surface of the left hemisphere shell is equipped with bearing block I, the bearing block I and ball axis
The outer ring connection held, the side of the left hemisphere shell closed plate are equipped with screw hole I and screw hole II, will be described by screw hole I with screw
Left hemisphere shell closed plate is connect with ring gear, is connected the left hemisphere shell closed plate and left hemisphere shell by screw hole II with screw
It connects, the left hemisphere shell closed plate other side is equipped with bearing block II, and the bearing block II is connect with intermediate connector.
The intermediate connector includes rolling bearing I, hardware carrying platform, holder, cylinder connecting shaft, rolling bearing II,
One end of the cylinder connecting shaft is connect with the inner ring of rolling bearing I, the other end and the rolling bearing II of the cylinder connecting shaft
Inner ring connection, the outer ring of the rolling bearing I connect with the bearing block II of the left hemisphere shell closed plate side, the rolling
The outer ring of dynamic bearing II is connect with the bearing block of right hemispherical Shell closed plate side, and the holder is located on the outside of cylinder connecting shaft simultaneously
It is fixedly connected with cylinder connecting shaft, and the top of holder is equipped with hardware carrying platform, the hardware carrying platform is equipped with spiral shell
The control unit is fixed in hole with screw by screw hole.
The control unit includes battery module, reception of wireless signals module, motor drive module, main molding block and biography
Sensor module, the control unit are fixed by screws on hardware carrying platform, and the hardware carrying platform is equipped with battery
Seat, the battery module are placed on battery tray, and the main control module is fixedly connected by copper post with battery tray, the master control
The top of module is placed wireless receiving module and motor drive module, wireless receiving module and motor drive module point respectively
It is not connect with main control module by copper post, wherein battery module is used to provide the power of ball shape robot kinematic system, wireless communication
Number receiving module is the command centre of ball shape robot, sensor for host computer and the communication of robot host, control module
Module is mainly the visual sensor that some are used to detect pipeline internal environment.
The gasket is rectangle.
The gear is the linear gear of one-sided open, and the axis is multi-diameter shaft.
The wheel hub of the DC servo motor and gear is connected by screw.
The holder is u-bracket.
The sensor of the sensor assembly is visual sensor.
The motion principle of ball shape robot of the present invention is：
If Figure of description 7 show motion principle analysis chart of the present invention for the ball shape robot of pipe detection, this
The ball shape robot of invention is a kind of difference structure of double hemisphere, and there are three types of motion modes：Linear motion, pivot turn fortune
Dynamic and circular motion；In the following description, ω is setlIndicate the angular speed of left gear rack gear servo motor, if
Determine ωrIndicate that the angular speed of right gear rack gear servo motor, setting Q indicate instantaneous, setting P indicates spherical machine
The center of people's the two cerebral hemispheres sets VrIndicate the linear velocity of right hemisphere ring gear, VlIndicate the linear velocity of left hemisphere ring gear, Vp
Indicate that the speed of ball shape robot the two cerebral hemispheres central point, r indicate that the radius of the two cerebral hemispheres, A indicate P points to the distance of Q points, X
Ball shape robot is indicated in the displacement of X-direction, Y expression ball shape robots are in the displacement of Y-axis, the spherical machine of θ expressions
The angle of people direction and Y-axis,Indicate the angular speed of ball shape robot and Y-axis,Indicate ball shape robot speed in X-direction
Component,It indicates the component of ball shape robot speed in the Y-axis direction, then it is as follows to obtain formula：
The form that above formula is organized into matrix obtains:
These three motion principles are illustrated separately below：
(1) work as ωr=ωlAnd when direction is identical, according to formula 4 it is known that ball shape robot is in X-axis and Y direction
On component be not zero, andIt is zero, it is possible to judge that ball shape robot is moving in a straight line.
(2) work as ωr> ωlWhen, according to formula 4 it is known that component of the ball shape robot in X-axis and Y direction is not
Zero, andIt is not zero, it is possible to judge that ball shape robot is doing movement in a curve.
(3) work as ωr=-ωlWhen, component of the ball shape robot in X-axis and Y direction is known that all according to formula 4
It is zero, andIt is not zero, it is possible to judge that ball shape robot is doing pivot turn motion.
By above various it is found that by controlling ωrAnd ωlTwo values it is determined that robot whether do straight line,
Turning and pivot turn motion, therefore can be by controlling ωrAnd ωlThe two values are to control the movement of robot.
The beneficial effects of the invention are as follows：
(1) ball shape robot of the present invention uses the two cerebral hemispheres differential type driving structure, kinematics model to be simply easy to control
System.
(2) robot overall appearance of the present invention be spherical shape, remain ball shape robot neat appearance, space accounting it is low, fortune
Turn is curved flexibly, running resistance is small, resistant to tipping ability is strong advantage, when moving in the duct, with inner wall of the pipe it is most there are two
Contact point, contacting section product it is small, will not occur with the direct collision inside pipeline, avoiding may be to pipeline internal structure
It destroys.
(3) robot interior type of drive of the present invention is driven using double-rack-and-pinion, two gears and is fixed on ball
Two ring gears of shell inner surface accurately engage, and avoid conventional ball robot and roll easy beat in ball inner wall using wheel
Sliding disadvantage has the advantages that transmission ratio is accurate, speed control is accurate.
(4) robot of the present invention is the structure of double hemisphere, and the two cerebral hemispheres are completely enclosed, remains ball shape robot closing
The good advantage of property by robot interior mechanism and can be not easy exposed sensor and be placed in closed area, among two hemisphere
There are gap, it is easily installed some special sensors for needing to be externally exposed environment.
Description of the drawings
Fig. 1 is the overall structure diagram of ball shape robot of the present invention；
Fig. 2 a are the structural schematic diagram of the left gear rack gear of ball shape robot of the present invention；
Fig. 2 b are the structural schematic diagram of the right gear rack gear of ball shape robot of the present invention；
Fig. 3 a are the structural schematic diagram of the left spherical shell of ball shape robot of the present invention；
Fig. 3 b are the structural schematic diagram of the right spherical shell of ball shape robot of the present invention；
Fig. 4 a are the structural schematic diagram of the left hemisphere closed plate side of ball shape robot of the present invention；
Fig. 4 b are the structural schematic diagram of the left hemisphere closed plate other side of ball shape robot of the present invention；
Fig. 5 a are the structural schematic diagram of the right hemisphere closed plate side of ball shape robot of the present invention；
Fig. 5 b are the structural schematic diagram of the right hemisphere closed plate other side of ball shape robot of the present invention；
Fig. 6 is the structural schematic diagram of the intermediate connector of ball shape robot of the present invention；
Fig. 7 is the motion principle analysis chart of ball shape robot of the present invention；
Wherein：1- left hemispheres, 2- intermediate connectors, the right hemisphere of 3-, 4- ring gears, 5- gears, 6- DC servo motors,
The left connecting brackets of 7-, 8- gaskets, 9- axis, 10- ball bearings, 11- connecting plate I, 12- connecting plate II, 13- connecting plates III, 14-
Left hemisphere shell, 15- bearing block I, 16- left hemisphere shells closed plate, 17- screw hole Is, 18- screw hole IIs, 19- bearing blocks II, 20- are rolled
Bearing I, 21- hardware carrying platform, 22- holders, 23- cylinders connecting shaft, 24- rolling bearings II.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and examples, to facilitate the technical staff to understand.
Embodiment 1：As shown in figs. 1 to 6, the present invention is used for the ball shape robot of pipe detection, including left hemisphere 1, centre
Connector 2, right hemisphere 3 and control unit；The left hemisphere 1 is connect by intermediate connector 2 with right hemisphere 3, the left hemisphere
1 is identical as the structure of right hemisphere 3, and left hemisphere 1 and right hemisphere 3 are symmetrical about intermediate connector 2, on the intermediate connector 2
Equipped with control unit.
The left hemisphere 1 includes left gear rack-driving component, left connecting bracket 7, gasket 8, axis 9, ball bearing 10,
Left hemisphere shell 14, left hemisphere shell closed plate 16；The left hemisphere shell 14 is internally provided with left gear rack-driving component, left connection
Holder 7, gasket 8, axis 9, ball bearing 10, the left gear rack-driving component include ring gear 4, gear 5 and DC servo
Motor 6, the inside of the ring gear 4 are equipped with gear 5, the ring gear 4 and 5 internal messing of gear, the DC servo motor 6 with
The wheel hub of gear 5 is fixedly connected by screw, and the left connecting bracket 7 includes connecting plate I 11, connecting plate II 12, connecting plate III
13, the connecting plate I 11, connecting plate III 13 vertically place and respectively with the both ends vertical connection of connecting plate II 12, the left side
Circular hole is provided on the connecting plate III 13 of connecting bracket 7, and the DC servo motor 6 passes through circular hole, the left connecting bracket 7
Connecting plate I 11 connect with gasket 8, the gasket 8 is rectangle, and the gasket 8 connect with one end of axis 9, the axis 9 it is another
One end is connect with the inner ring of ball bearing 10, and the inner surface of the left hemisphere shell 14 is equipped with bearing block I 15, the bearing block I 15
It is connect with the outer ring of ball bearing 10, the side of the left hemisphere shell closed plate 16 is equipped with screw hole I 17 and screw hole II 18, uses spiral shell
The left hemisphere shell closed plate 16 is connect by nail by screw hole I 17 with ring gear 4, with screw by screw hole II 18 by the left side
Hemispherical Shell closed plate 16 is connect with left hemisphere shell 14, and 16 other side of left hemisphere shell closed plate is equipped with bearing block II 19, institute
Bearing block II 19 is stated to connect with intermediate connector 2.
The intermediate connector 2 includes rolling bearing I 20, hardware carrying platform 21, holder 22, cylinder connecting shaft 23, rolling
One end of dynamic bearing II 24, the cylinder connecting shaft 23 is connect with the inner ring of rolling bearing I 20, the cylinder connecting shaft 23
The other end is connect with the inner ring of rolling bearing II 24, the outer ring of the rolling bearing I 20 and the left hemisphere shell closed plate 16 1
The bearing block II 19 of side connects, and the outer ring of the rolling bearing II 24 is connect with the bearing block of right hemispherical Shell closed plate side, institute
Holder 22 to be stated to be located at 23 outside of cylinder connecting shaft and be fixedly connected with cylinder connecting shaft 23, the holder 22 is u-bracket, and
The top of holder 22 is equipped with hardware carrying platform 21, and the hardware carrying platform 21 is equipped with screw hole, solid by screw hole with screw
The fixed control unit.
The control unit includes battery module, reception of wireless signals module, motor drive module, main molding block and biography
Sensor module, the control unit are fixed by screws on hardware carrying platform 21, and the hardware carrying platform 21 is equipped with
Battery tray, the battery module are placed on battery tray, and the main control module is fixedly connected by copper post with battery tray, described
The top of main control module is placed wireless receiving module and motor drive module respectively, and wireless receiving module and motor drive mould
Block is connect by copper post with main control module respectively.
Embodiment 2：The present embodiment structure with embodiment 1, the difference is that, the gear 5 be one-sided open straight line
Gear, the axis 9 are multi-diameter shaft.The sensor of the sensor assembly is visual sensor.
The motion process of the present embodiment double-rack-and-pinion Hemispheric differential spherical robot is：DC servo motor 6 drives directly
Line gear 5 rotates, and linear gear 5 and ring gear 4 are intermeshed, to which left hemisphere moves, similarly the linear gear of right hemisphere with
Ring gear is intermeshed, to right hemispherical movement, when the rotation speed of DC servo motor 6 and the DC servo motor of right hemisphere
When degree is identical with direction, robot moves in a straight line；When the rotation of DC servo motor 6 and the DC servo motor of right hemisphere
When velocity magnitude is identical, direction is opposite, robot does pivot turn motion；When DC servo motor 6 and the direct current of right hemisphere are watched
When the velocity of rotation that takes motor is of different sizes, direction is identical, robot does movement in a curve, when DC servo motor 6 and right hemisphere
The velocity of rotation of DC servo motor when being zero, robot stop motion.
The specific implementation mode of the present invention is explained in detail above in conjunction with attached drawing, but the present invention is not limited to upper
Embodiment is stated, within the knowledge of a person skilled in the art, present inventive concept can also not departed from
Under the premise of make a variety of changes.
Claims (9)
1. a kind of ball shape robot for pipe detection, which is characterized in that including left hemisphere (1), intermediate connector (2), the right side
Hemisphere (3) and control unit；The left hemisphere (1) is connect by intermediate connector (2) with right hemisphere (3), the left hemisphere (1)
It is identical as the structure of right hemisphere (3), and left hemisphere (1) and right hemisphere (3) about intermediate connector (2) symmetrically, the centre connects
Fitting (2) is equipped with control unit.
2. the ball shape robot according to claim 1 for pipe detection, it is characterised in that：Left hemisphere (1) packet
Include left gear rack-driving component, left connecting bracket (7), gasket (8), axis (9), ball bearing (10), left hemisphere shell (14), a left side
Hemispherical Shell closed plate (16)；The left hemisphere shell (14) is internally provided with left gear rack-driving component, left connecting bracket (7), pad
Piece (8), axis (9), ball bearing (10), the left gear rack-driving component include that ring gear (4), gear (5) and direct current are watched
Motor (6) is taken, gear (5), the ring gear (4) and gear (5) internal messing, the direct current are equipped on the inside of the ring gear (4)
Servo motor (6) is fixedly connected with the wheel hub of gear (5), and the left connecting bracket (7) includes connecting plate I (11), connecting plate II
(12), connecting plate III (13), the connecting plate I (11), connecting plate III (13) vertically place and respectively with connecting plate II (12)
Both ends vertical connection is provided with circular hole, and the DC servo motor (6) on the connecting plate III (13) of the left connecting bracket (7)
Across circular hole, the connecting plate I (11) of the left connecting bracket (7) is connect with gasket (8), one end of the gasket (8) and axis (9)
Connection, the other end of the axis (9) are connect with the inner ring of ball bearing (10), and the inner surface of the left hemisphere shell (14) is equipped with axis
Bearing I (15), the bearing block I (15) are connect with the outer ring of ball bearing (10), and the one of the left hemisphere shell closed plate (16)
Side is equipped with screw hole I (17) and screw hole II (18), with screw by screw hole I (17) by the left hemisphere shell closed plate (16) and internal tooth
(4) connection is enclosed, is connect the left hemisphere shell closed plate (16) with left hemisphere shell (14) by screw hole II (18) with screw, it is described
Left hemisphere shell closed plate (16) other side is equipped with bearing block II (19), and the bearing block II (19) is connect with intermediate connector (2).
3. the ball shape robot according to claim 1 for pipe detection, it is characterised in that：The intermediate connector
(2) include rolling bearing I (20), hardware carrying platform (21), holder (22), cylinder connecting shaft (23), rolling bearing II (24),
One end of the cylinder connecting shaft (23) is connect with the inner ring of rolling bearing I (20), the other end of the cylinder connecting shaft (23)
It is connect with the inner ring of rolling bearing II (24), the outer ring of the rolling bearing I (20) and the left hemisphere shell closed plate (16) one
The bearing block II (19) of side connects, and the outer ring of the rolling bearing II (24) and the bearing block of right hemispherical Shell closed plate side connect
It connecing, the holder (22) is located on the outside of cylinder connecting shaft (23) and is fixedly connected with cylinder connecting shaft (23), and holder (22)
Top is equipped with hardware carrying platform (21), and the hardware carrying platform (21) is equipped with screw hole, institute is fixed by screw hole with screw
State control unit.
4. the ball shape robot according to claim 1 for pipe detection, it is characterised in that：The control unit includes
Battery module, reception of wireless signals module, motor drive module, main molding block and sensor assembly, the control unit pass through
Screw is fixed on hardware carrying platform (21), and the hardware carrying platform (21) is equipped with battery tray, and the battery module is put
It sets on battery tray, the main control module is fixedly connected by copper post with battery tray, and the top of the main control module is placed respectively
Wireless receiving module and motor drive module, wireless receiving module and motor drive module pass through copper post and main control module respectively
Connection.
5. the ball shape robot according to claim 2 for pipe detection, it is characterised in that：The gasket (8) is square
Shape.
6. the ball shape robot according to claim 2 for pipe detection, it is characterised in that：The gear (5) is single
The linear gear of side opening, the axis (9) are multi-diameter shaft.
7. the ball shape robot according to claim 2 for pipe detection, it is characterised in that：The DC servo motor
(6) wheel hub with gear (5) is connected by screw.
8. the ball shape robot according to claim 3 for pipe detection, it is characterised in that：The holder (22) is U
Type holder.
9. the ball shape robot according to claim 4 for pipe detection, it is characterised in that：The sensor assembly
Sensor is visual sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810243376.3A CN108730676B (en) | 2018-03-23 | 2018-03-23 | Spherical robot for pipeline detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810243376.3A CN108730676B (en) | 2018-03-23 | 2018-03-23 | Spherical robot for pipeline detection |
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| CN108730676B CN108730676B (en) | 2020-08-25 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN111396692A (en) * | 2020-03-30 | 2020-07-10 | 北京交通大学 | Gravity-action small-caliber oil pipeline spherical detector throwing and recycling device |
| CN111391932A (en) * | 2020-04-09 | 2020-07-10 | 合肥工业大学 | Deformable crawler-type spherical pipeline robot |
| CN111637900A (en) * | 2020-05-29 | 2020-09-08 | 逻腾（杭州）科技有限公司 | Rolling robot mileage calculation device and method |
| CN111928987A (en) * | 2020-09-24 | 2020-11-13 | 成都裕鸢航空零部件制造有限公司 | Pipe fitting inner wall stress detection device |
| CN113086040A (en) * | 2021-05-14 | 2021-07-09 | 北京邮电大学 | Open-close type reconfigurable spherical robot |
| CN113086039A (en) * | 2021-05-10 | 2021-07-09 | 北京邮电大学 | Hemispherical differential spherical self-reconstruction robot with independently moving unit modules |
| CN114608565A (en) * | 2022-02-21 | 2022-06-10 | 清华大学 | Method and device for determining target pipeline based on motion data of sphere device |
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