CN109176460B - Intelligent comprehensive management system for intelligent inspection of intelligent pipe gallery robot - Google Patents

Abstract

The invention provides an intelligent inspection integrated management system of an intelligent pipe rack robot, which comprises a cylinder, a roller motor, a roller, a track, a one-way valve, a fan, a manipulator motor, a substrate, a top sheet, a middle sheet, a tail sheet, a middle bent rod, a middle hinging rod, a tail rod, an end hinging rod, a camera, a bearing and a limiting nail, wherein a U-shaped bracket is arranged at the top of the cylinder, the track penetrates through the U-shaped bracket, the roller is pinned on a roller motor shaft, and rolls on the track; the one-way valve and the fan are arranged in a wind control pipe of the cylinder, so as to control the air inlet and the air outlet of the inner cavity of the cylinder and realize the up-and-down movement of the manipulator motor; the substrate is screwed at the bottom end of the mechanical flashlight, the top piece is pin-connected on the shaft of the mechanical flashlight, the top piece, the middle piece and the tail piece of the regular pentagon are sequentially hinged and assembled, and the lug, the middle bent rod, the tail rod, the middle hinge rod and the end hinge rod on the side face of the substrate are hinged into a connecting rod mechanism; when the top piece rotates, the manipulator completes the actions of folding into a closed space and unfolding.

Description

Intelligent comprehensive management system for intelligent inspection of intelligent pipe gallery robot

Technical Field

The invention relates to a management system, in particular to an intelligent comprehensive inspection management system for an intelligent pipe gallery robot.

Background

The utility tunnel is an underground urban pipeline utility tunnel, a tunnel space is built underground, various engineering pipelines such as electric power, communication, fuel gas, heat supply, water supply and drainage are integrated into a whole, a special access opening and a lifting opening are arranged, unified planning, unified design, unified construction and management are implemented, and the utility tunnel is an important infrastructure for guaranteeing urban operation. The problems in urban construction such as repeated excavation of the ground and street spider-web overhead lines are solved, and meanwhile, the safety level and disaster prevention and resistance of pipelines are obviously improved.

The establishment of a perfect comprehensive pipe gallery operation management system is an important guarantee for realizing safe and stable operation of the pipe gallery. In the operation process of the pipe gallery, the problems which easily occur mainly comprise two aspects, namely, the quality problem of the pipe gallery, the phenomena of sedimentation or cracking and the like of the cement gallery wall are easy to occur, the deformation of the gallery wall can influence the damage of an internal rigid pipeline, and the cracking on the gallery wall can lead to leakage phenomena, so that the corrosion of a circuit in the pipe gallery is caused; on the other hand, leakage of gas, heat supply, water discharge and other pipelines in the pipe rack can cause damage to other circuits placed in the same pipe rack. Therefore, a practical and reliable intelligent pipe gallery robot intelligent inspection comprehensive management system is needed to conduct real-time supervision on the gallery wall and the internal pipelines of the pipe gallery.

Patent No. 201810136227.7, a city utility tunnel robot, is equipped with the track in the pipe corridor, and the machine is along the track removal, is equipped with camera and fire extinguisher on the machine, can carry out real-time supervision to the condition in the pipe corridor, carries out the action of putting out a fire when finding the fire point in the pipe corridor. In the actual management process of the pipe rack, the fire extinguishing structure on the pipe rack robot is far from sufficient, and importantly, after an accident occurs, the pipe rack robot can assist management personnel to rapidly solve the field problem, so that the pipe rack robot is required to have the grabbing action of a manipulator, and can rapidly transfer a remote tool to a worker or rapidly transport harmful objects in the pipe rack out of the pipe rack.

Therefore, an intelligent comprehensive management system for inspecting the intelligent pipe rack robot is required to be designed, a manipulator part in the system can achieve grabbing action and carry maintenance tools, and the manipulator can form a closed carrying space to rapidly transport harmful substances out of the pipe rack. The method has important significance for maintaining stable operation of the underground comprehensive pipe rack, promoting construction of municipal infrastructure, guaranteeing integral coordinated development of urban space and building good urban ecological environment.

Disclosure of Invention

Therefore, the invention optimizes the structure and the function of the robot in the prior pipe gallery management system, monitors the environment in the pipe gallery, and simultaneously, the manipulator of the pipe gallery robot can carry tools and form a complete closed space to carry harmful objects, such as non-fixed shapes, and the like in the pipe gallery out of the pipe gallery.

The technical scheme adopted by the invention is as follows: intelligent management system is patrolled and examined to wisdom piping lane robot intelligence, its characterized in that: the device comprises a cylinder, a roller motor, a roller, a rail, a one-way valve, a fan, a manipulator motor, a substrate, a top sheet, a middle sheet, a tail sheet, a middle bent rod, a middle hinging rod, a tail rod, an end hinging rod, a camera, a bearing and a limiting nail.

The cylinder is a vertical cylindrical shell with a central axis, a bracket with a U-shaped cross section is arranged at the top of the cylinder, and bearings are arranged in vertical walls at two sides of the bracket; the shell of the roller motor is in threaded connection with the outer side surface of the vertical wall at one side of the bracket, and the motor shaft of the roller motor horizontally penetrates through the inner rings of bearings on the vertical walls at two sides of the bracket; the roller is pin-connected to the motor shaft of the roller motor.

The rail is strip-shaped, vertical upright posts are arranged at two ends of the rail and are arranged on the inner top of the pipe gallery, and the rail penetrates through a bracket at the top of the air cylinder; and grooves are formed in the top surface of the rail along the length direction of the rail, and the rollers roll in the grooves of the rail.

A camera is arranged on the outer cylindrical surface of the cylinder; the opposite end of the camera is provided with a pneumatic control pipe with a horizontal central axis on the cylindrical surface of the cylinder, and the inside of the pneumatic control pipe is communicated with the inner cavity of the cylinder; and a one-way valve and a fan are sequentially arranged in the pneumatic control pipe of the air cylinder from inside to outside.

The shell of the one-way valve is a cylinder, two through holes are formed along the central axis direction of the shell, and the inner aperture of each through hole is larger than the inner diameter of the opening; and each through hole of the shell is internally provided with a piston and a spring, and the arrangement positions of the pistons and the springs in the two through holes are opposite.

Further, the piston is a cylinder, the outer diameter of the cylinder is smaller than the inner aperture of the through hole of the shell and larger than the inner diameters of openings at two ends of the through hole.

Further, a plurality of vertical bars are uniformly arranged on the outer cylindrical surface of the piston along the direction of the central axis of the piston and surround the central axis of the piston, and the maximum outer diameter of the piston is equal to the inner aperture of the through hole of the shell.

Further, one end of the spring is mounted on the piston, and the other end abuts against the end wall of the larger bore section inside the through hole.

The middle structure of the fan is an oblate hollow frame, the shell of the fan motor is connected to the hollow frame in a threaded mode, the motor shaft of the fan motor horizontally penetrates through the hollow frame, and fan blades are connected to the motor shaft in a pin joint mode.

Further, the central axis of the building space frame is horizontal, the fan motor is arranged on the inner side of the building space frame, and the fan blades are arranged on the outer side of the hollow frame.

The bottom end of the shell of the manipulator motor is in threaded connection with a substrate, the substrate is a regular pentagonal flat cylinder, a bearing hole is formed in the center of the substrate, a bearing is arranged in the bearing hole, and bumps are arranged on five vertical sides of the substrate.

The motor shaft of the manipulator motor vertically downwards passes through the bearing inner ring on the substrate, and the top piece driving column at the top of the top piece is in pin joint with the motor shaft.

The top of the manipulator motor is provided with a cylindrical push-pull column with a vertical central axis, a plurality of vertical ribs are uniformly arranged on the outer cylindrical surface of the push-pull column and surround the central axis, a plurality of vertical grooves are formed in the lower end opening of the inner cavity of the cylinder, and the vertical ribs slide up and down in the vertical grooves; the top of push-pull column is equipped with the top stopper of the vertical oblate cylinder of central axis, the top stopper slides from top to bottom in the inner chamber of cylinder.

Further, the outer diameter of the top plug is equal to the inner diameter of the inner cavity of the cylinder; the outer diameter of the top plug is larger than the maximum aperture of the lower end opening of the cylinder.

The main bodies of the top sheet, the middle sheet and the tail sheet are regular pentagonal flat columns with the same size, a flat cylindrical top sheet driving column is arranged in the center of the top of the main body of the top sheet, a thin cylindrical middle sheet driving column is arranged in the center of the top of the main body of the middle sheet, and a thin cylindrical tail sheet driving column is arranged in the center of the top of the main body of the tail sheet; the bottom edge lines of the five side surfaces of the top sheet are respectively hinged with the bottom edge lines of one side surface of the five middle sheets, and the bottom edge line of the other side surface of each middle sheet is hinged with the bottom edge line of one side surface of the tail sheet; triangular triangle teeth extend from the other side surface of the tail piece.

Further, the two hingedly mounted sides of the intermediate panel are not adjacent; the side surface of the hinged end of the tail piece is not adjacent to the side surface of the triangular tooth end.

Further, the pentagonal bottom surface of the main body of the tail piece forms an obtuse angle with the triangular teeth, and when the manipulator is contracted into a complete closed body, the complete regular pentagonal flat post formed by the five triangular teeth is parallel to the top piece.

The two ends of the middle bent rod are straight, the middle is bent, the middle position is hinged to the top end of the middle sheet driving column, and the middle bent rod can rotate around the middle sheet driving column in a hinged mode; two ends of the middle bent rod are respectively hinged with a middle hinge rod in a way that the included angle between the middle hinge rod and the middle piece is adjustable; one end of the tail rod is hinged to the top end of the tail piece driving column, the tail rod can rotate around the tail piece driving column in a hinged mode, the other end of the tail rod is hinged to an end hinged rod, and the included angle between the end hinged rod and the tail piece is adjustable in a hinged mode.

The end hinge rod is provided with two parts, one end of the other part is hinged on the convex block of the substrate, and the hinge mode is that the included angle between the end hinge rod and the top sheet is adjustable; the other ends of the two end hinging rods are hinged with the outer ends of the two middle hinging rods respectively, and the hinging mode is that the end hinging rods can rotate around the outer ends of the middle hinging rods.

Further, the top surfaces and the bottom surfaces of the middle bent rod, the middle hinging rod, the tail rod and the end hinging rod are parallel planes, and the thicknesses are the same; the middle hinging rod and the end hinging rod are always parallel to each other in the top surface in the moving process.

Further, during the process of retracting and expanding the manipulator, the middle bent rod rotates parallel to the outer side surface of the middle sheet; the tail rod rotates parallel to the outer side surface of the tail piece.

The principle of the invention is as follows: the roller motor, the fan motor and the manipulator motor are all forward and reverse rotation stepping motors, a wireless signal receiver is arranged on a motor shell, and an operator controls the three motors by using wireless remote control equipment. The roller motor is used for driving the roller to roll on the track, and the fan motor is used for exhausting and inflating the inner cavity of the air cylinder so as to realize the up-and-down movement of the manipulator motor; the mechanical electric torch controls the rotation of the top piece, and the folding and unfolding of the mechanical arm are realized.

The push-pull column at the top of the manipulator motor is internally provided with a storage battery, and provides electric energy for the roller motor, the fan motor and the mechanical flashlight, a plurality of wireless inflators are arranged on the wall of the pipe gallery along the outline of the rail, and the storage battery is provided with electric energy at any time.

When the manipulator needs to be unfolded, the mechanical electric hand drives the top piece, the inner end of the back middle bent rod points to rotate, and the manipulator is unfolded; when the manipulator is required to be folded, the mechanical electric hand drives the top piece to rotate towards the inner end of the middle bent rod, and the manipulator is folded.

The intelligent comprehensive management system for intelligent tour inspection of the intelligent pipe rack robot has the following advantages:

(1) The manipulator can assist staff in realizing emergency treatment while inspecting the internal condition of the pipe gallery;

(2) The manipulator adopts a plurality of regular pentagonal panels and a connecting rod mechanism, so that the manipulator can form a closed space to realize the transportation of objects without fixed shapes;

(3) And the up-and-down movement of the manipulator is realized by utilizing a fan and cylinder structure.

Therefore, the intelligent inspection comprehensive management system for the intelligent pipe rack robot monitors the environment in the pipe rack, the manipulator of the pipe rack robot can carry vehicles and form a complete closed space, and harmful objects such as non-fixed shapes in the pipe rack are carried out of the pipe rack, so that the intelligent inspection comprehensive management system has important significance for maintaining stable operation of the underground comprehensive pipe rack, promoting construction of municipal infrastructure, ensuring integral coordinated development of urban space and building a good urban ecological environment.

Additional features and advantages of the invention will be set forth in the description which follows, or may be learned by practice of the invention.

Drawings

The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention, like reference numerals being used to refer to like parts throughout the several views.

Fig. 1 is a schematic diagram of the overall assembly.

Fig. 2 is a schematic view of an assembled structure of a cylinder top.

Fig. 3 is a schematic view of an assembled structure of the cylinder bottom.

Fig. 4 is a schematic view of the assembly of the roller and the bracket at the top of the cylinder.

Fig. 5 is a schematic structural view of a bracket at the top of the cylinder.

Fig. 6 is a schematic view of an internal assembly structure of the cylinder taken vertically along the central axis.

Fig. 7 is a schematic structural view of a push-pull column of a robot motor.

Fig. 8 is a schematic structural view of a blower.

Fig. 9 is a schematic diagram of a side view of a blower.

Fig. 10 is a schematic view of the external structure of the check valve.

Fig. 11 is a schematic view of an internal assembly structure of the check valve taken along the central axis.

Fig. 12 is a schematic view of a top assembly structure of the robot in a fully closed state.

Fig. 13 is a schematic view of a bottom assembly structure of the robot in a fully closed state.

Fig. 14 is a schematic view of an assembled structure of the manipulator in a semi-opened state.

Fig. 15 is a schematic view of an assembled structure of the robot in a fully opened state.

Fig. 16 is a schematic view of an assembled configuration of the manipulator in a fully opened state of the fifth configuration.

Fig. 17 is an assembly structure schematic diagram of the half-open state of the fifth structure of the manipulator.

Fig. 18 is an assembled structural schematic view of the manipulator in a fifth structural safe closed state.

Fig. 19 is an assembled structural schematic view from the side view of the manipulator in a fifth structural safe closed state.

Fig. 20 is a schematic structural view of a substrate.

Fig. 21 is a schematic structural view of the top sheet.

Fig. 22 is a schematic view of the intermediate plate and the stop pin disassembled.

Fig. 23 is a schematic view of the tail piece and the stop pin disassembled.

Fig. 24 is a schematic view of the structure of the intermediate bent lever.

Fig. 25 is a schematic structural view of the intermediate hinge lever.

Fig. 26 is a schematic structural view of the tail rod.

Fig. 27 is a schematic structural view of an end hinge lever.

Fig. 28 is a schematic diagram of the control circuit principle of the stepping motor.

Reference numerals in the drawings: 1-cylinder, 101-cavity, 102-bracket, 103-pneumatic control pipe, 2-roller motor, 3-roller, 4-track, 401-column, 5-one-way valve, 501-shell, 502-piston, 503-spring, 6-fan, 601-hollow frame, 602-fan motor, 603-fan blade, 7-manipulator motor, 701-push-pull column, 702-vertical rib, 703-top plug, 8-substrate, 801-bearing hole, 802-bump, 9-top sheet, 901-top sheet driving column, 10-middle sheet, 1001-middle sheet driving column, 11-tail sheet, 1101-tail sheet driving column, 1102-triangle tooth, 12-middle bent rod, 13-middle hinge rod, 14-tail rod, 15-end hinge rod, 16-camera, 17-bearing and 18-limit nail.

Detailed Description

The following describes the intelligent inspection integrated management system for the intelligent pipe gallery robot in further detail with reference to the drawings and the embodiments.

Intelligent management system is patrolled and examined to wisdom piping lane robot intelligence, its characterized in that: the device comprises a cylinder 1, a roller motor 2, a roller 3, a track 4, a one-way valve 5, a fan 6, a manipulator motor 7, a substrate 8, a top sheet 9, a middle sheet 10, a tail sheet 11, a middle bent rod 12, a middle hinging rod 13, a tail rod 14, an end hinging rod 15, a camera 16, a bearing 17 and a limiting nail 18.

As shown in fig. 4, 5 and 6, the cylinder 1 is a vertical cylindrical shell with a central axis, a bracket 102 with a U-shaped cross section is arranged at the top of the cylinder 1, and bearings 17 are arranged in the vertical walls at two sides of the bracket 102; the shell of the roller motor 2 is in threaded connection with the outer side surface of one side vertical wall of the bracket 102, and the motor shaft of the roller motor 2 horizontally penetrates through the inner rings of the bearings 17 on the two side vertical walls of the bracket 102; the roller 3 is pin-connected to the motor shaft of the roller motor 2.

As shown in fig. 1, 2 and 4, the rail 4 is in a strip shape, vertical upright posts 401 are arranged at two ends of the rail 4 and are arranged on the inner top of the pipe gallery, and the rail 4 penetrates through a bracket 102 on the top of the air cylinder 1; the top surface of the track 4 is provided with grooves along the length direction of the track 4, and the roller 3 rolls in the grooves of the track 4.

As shown in fig. 2, 4 and 6, a camera 16 is mounted on the outer cylindrical surface of the cylinder 1; on the cylindrical surface of the cylinder 1, the opposite end of the camera 16 is provided with a pneumatic control pipe 103 with a horizontal central axis, and the inside of the pneumatic control pipe 103 is communicated with the inner cavity 101 of the cylinder 1; the air control pipe 103 of the air cylinder 1 is internally provided with a one-way valve 5 and a fan 6 from inside to outside.

Further, the outer end opening of the pneumatic control pipe 103 is communicated with the outside; the inner end communicates with the inner chamber 101 of the cylinder 1.

As shown in fig. 6, 10 and 11, the housing 501 of the one-way valve 5 is a cylinder, two through holes are formed along the central axis direction of the housing 501, and the inner aperture of the through hole is larger than the inner diameter of the opening; a piston 502 and a spring 503 are installed in each through hole of the housing 501, and the arrangement positions of the piston 502 and the spring 503 in the two through holes are opposite.

Further, the piston 502 is a cylinder, and the outer diameter of the cylinder is smaller than the inner diameter of the through hole of the housing 501 and larger than the inner diameters of the openings at the two ends of the through hole.

Further, a plurality of vertical bars are uniformly arranged on the outer cylindrical surface of the piston 502 along the direction of the central axis of the piston and around the central axis of the piston, and the maximum outer diameter of the piston 502 is equal to the inner aperture of the through hole of the housing 501.

Further, one end of the spring 503 is mounted on the piston 502, and the other end abuts against the end wall of the larger bore section inside the through hole.

Further, the spring 503 is always in a compressed state.

As shown in fig. 6, 8 and 9, the middle structure of the fan 6 is an oblate hollow frame 601, the casing of the fan motor 602 is screwed on the hollow frame 601, the motor shaft of the fan motor 602 horizontally passes through the hollow frame 601, and the fan blades 603 are pinned on the motor shaft.

Further, the central axis of the hollow frame 601 is horizontal, the fan motor 601 is located at the inner side of the hollow frame 601, and the fan blades 603 are located at the outer side of the hollow frame 601.

As shown in fig. 1, 3, 12, 16 and 20, the bottom end of the casing of the manipulator motor 7 is screwed with a substrate 8, the substrate 8 is a regular pentagonal flat cylinder, a bearing hole 801 is formed in the central position of the substrate 8, a bearing 17 is installed in the bearing hole 801, and bumps 802 are arranged on five vertical sides of the substrate 8.

The motor shaft of the manipulator motor 7 vertically passes through the bearing inner ring on the substrate 8 downwards, and the top piece driving column 901 at the top of the top piece 9 is in pin joint with the motor shaft.

As shown in fig. 1, 6 and 7, a cylindrical push-pull column 701 with a vertical central axis is arranged at the top of the manipulator motor 7, a plurality of vertical ribs 702 are uniformly arranged on the outer cylindrical surface of the push-pull column 701 and surround the central axis, a plurality of vertical grooves are formed in the lower end opening of the inner cavity 101 of the cylinder 1, and the vertical ribs 702 slide up and down in the vertical grooves; the top end of the push-pull column 701 is provided with a top plug 703 of an oblate cylinder with a vertical central axis, and the top plug 703 slides up and down in the inner cavity 101 of the cylinder 1.

Further, the outer diameter of the top plug 703 is equal to the inner diameter of the inner cavity 101 of the cylinder 1; the outside diameter of the top plug 703 is larger than the maximum aperture of the lower end opening of the cylinder 1.

As shown in fig. 12, 13, 14, 15, 16, 17, 18, 19, 21, 22 and 23, the main bodies of the top sheet 9, the middle sheet 10 and the tail sheet 11 are regular pentagonal flat posts with the same size, a flat cylindrical top sheet driving post 901 is arranged in the center of the top of the main body of the top sheet 9, a thin cylindrical middle sheet driving post 1001 is arranged in the center of the top of the main body of the middle sheet 10, and a thin cylindrical tail sheet driving post 1101 is arranged in the center of the top of the main body of the tail sheet 11; the bottom edge lines of the five sides of the top sheet 9 are respectively hinged with the bottom edge lines of one side of the five middle sheets 10, and the bottom edge line of the other side of each middle sheet 10 is hinged with the bottom edge line of one side of the tail sheet 11; triangular teeth 1102 extend from the other side of the tail piece 11.

Further, the two hingedly mounted sides of the intermediate panel 10 are not adjacent; the hinged end side of the tail piece 11 is not adjacent to the triangular tooth end side.

Further, the pentagonal bottom surface of the main body of the tail piece 11 forms an obtuse angle with the triangular teeth 1102, and when the manipulator is contracted into a complete closed body, the five triangular teeth 1102 form a complete regular pentagonal flat post, and the five triangular teeth 1102 are parallel to the top piece 9.

As shown in fig. 12, 13, 14, 15, 16, 17, 18, 19, 24, 25, 26 and 27, the two ends of the middle bending rod 12 are straight, the middle is bent, the middle position is hinged at the top end of the middle sheet driving column 1001, and the middle bending rod 12 can rotate around the middle sheet driving column 1001 in a hinged manner; two ends of the middle bent rod 12 are respectively hinged with a middle hinge rod 13 in a way that the included angle between the middle hinge rod 13 and the middle sheet 10 is adjustable; one end of the tail rod 14 is hinged to the top end of the tail piece driving column 1101 in a manner that the tail rod 14 can rotate around the tail piece driving column 1101, and the other end of the tail rod 14 is hinged to an end hinge rod 15 in a manner that an included angle between the end hinge rod 15 and the tail piece 11 is adjustable.

The end hinging rod 15 is provided with two parts, one end of the other part is hinged on the convex block 802 of the substrate 8, and the hinging mode is that the included angle between the end hinging rod 15 and the top sheet 9 is adjustable; the other ends of the two end hinge rods 15 are hinged to the outer ends of the two middle hinge rods 13, respectively, in such a manner that the end hinge rods 15 can rotate around the outer ends of the middle hinge rods 13.

Further, the top surfaces and the bottom surfaces of the middle bent rod 12, the middle hinging rod 13, the tail rod 14 and the end hinging rod 15 are parallel planes, and the thicknesses are the same; the top surfaces of the middle hinge rod 13 and the end hinge rod 15 are always parallel during the movement.

Further, during retraction and deployment of the manipulator, the intermediate curved bar 12 rotates parallel to the outer side of the intermediate sheet 10; the tail lever 14 rotates parallel to the outer side of the tail piece 11.

Further, screw holes are formed in the tops of the middle piece driving column 1001 and the tail piece driving column 1101, and the limit nails 18 are screwed in the screw holes, so that the middle bent rod 12 and the tail rod 14 are respectively limited on the middle piece driving column 1001 and the tail piece driving column 1101, and the middle bent rod 12 and the tail rod 14 are prevented from slipping.

The roller motor 2, the fan motor 6 and the manipulator motor 7 are all forward and reverse rotation stepping motors, a wireless signal receiver is arranged on a motor shell, and an operator controls the three motors by using wireless remote control equipment. The roller motor 2 is used for driving the roller 3 to roll on the track 4, and the fan motor 6 is used for exhausting and inflating the inner cavity 101 of the air cylinder so as to realize the up-and-down movement of the manipulator motor 7; the manipulator motor 7 controls the rotation of the top sheet 9, so that the folding and unfolding of the manipulator are realized.

The push-pull column 701 at the top of the manipulator motor 7 is internally provided with a storage battery, and provides electric energy for the roller motor 2, the fan motor 6 and the manipulator motor 7, and a plurality of wireless inflators are arranged on the pipe gallery wall along the outline of the track 4, so that electric energy is provided for the storage battery at any time.

The substrate 8 is arranged at the bottom of the manipulator motor 7 and is fixed; when the manipulator needs to be unfolded, the manipulator motor 7 drives the top sheet 9, the inner end of the back middle bent rod 12 points to rotate, and the manipulator is unfolded; as shown in fig. 12, 13, 14, and 15, the top sheet 9 is rotated clockwise from a top view, the middle sheet driving post 1001 is pulled by the middle bent lever 12, the middle sheet 10 is turned outward, and at the same time, the middle bent lever 12 is rotated, the tail sheet driving post 1101 is pulled, and the tail sheet 11 is turned outward.

When the manipulator is required to be folded, the manipulator motor 7 drives the top sheet 9 to rotate towards the inner end of the middle bent rod 12 in a pointing way, and the manipulator is folded; as shown in fig. 16, 17, 18 and 19, the top sheet 9 is rotated counterclockwise in a plan view, the intermediate sheet driving post 1001 is pushed by the intermediate bent lever 12, the intermediate sheet 10 is turned inward, and at the same time, the intermediate bent lever 12 is rotated to push the tail sheet driving post 1101 and the tail sheet 11 to turn inward.

As shown in fig. 28, the roller motor 2, the fan motor 6 and the manipulator motor 7 are all forward and reverse rotation stepper motors, and the control device sends pulse signals to the stepper motor driver to determine the rotation angle of the stepper motor; the control device sends a direction signal to the stepping motor driver to determine the rotation direction of the stepping motor; the control device sends an off-line signal to the stepper motor driver, and the stepper motor no longer has a torque output.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (5)

1. Intelligent management system is patrolled and examined to wisdom piping lane robot intelligence, its characterized in that: the device comprises a cylinder (1), a roller motor (2), a roller (3), a track (4), a one-way valve (5), a fan (6), a manipulator motor (7), a substrate (8), a top sheet (9), a middle sheet (10), a tail sheet (11), a middle bent rod (12), a middle hinging rod (13), a tail rod (14), an end hinging rod (15), a camera (16), a bearing (17) and a limiting nail (18);

the cylinder (1) is a vertical cylindrical shell with a central axis, a bracket (102) with a U-shaped cross section is arranged at the top of the cylinder (1), and bearings (17) are arranged in vertical walls at two sides of the bracket (102); the shell of the roller motor (2) is in threaded connection with the outer side surface of one side vertical wall of the bracket (102), and the motor shaft of the roller motor (2) horizontally penetrates through the inner rings of bearings (17) on the two side vertical walls of the bracket (102); the roller (3) is in pin joint with a motor shaft of the roller motor (2);

the rail (4) is in a strip shape, vertical upright posts (401) are arranged at two ends of the rail and are arranged on the inner top of the pipe gallery, and the rail (4) penetrates through a bracket (102) at the top of the air cylinder (1); a groove is formed in the top surface of the track (4) along the length direction of the track (4), and the roller (3) rolls in the groove of the track (4);

a camera (16) is arranged on the outer cylindrical surface of the air cylinder (1); on the cylindrical surface of the cylinder (1), the opposite end of the camera (16) is provided with a pneumatic control pipe (103) with a horizontal central axis, and the inside of the pneumatic control pipe (103) is communicated with the inner cavity (101) of the cylinder (1); a one-way valve (5) and a fan (6) are sequentially arranged in the pneumatic control pipe (103) of the air cylinder (1) from inside to outside;

the shell (501) of the one-way valve (5) is a cylinder, two through holes are formed along the central axis direction of the shell (501), and the inner aperture of each through hole is larger than the inner diameter of the opening; a piston (502) and a spring (503) are arranged in each through hole of the shell (501), and the arrangement positions of the piston (502) and the spring (503) in the two through holes are opposite;

the middle structure of the fan (6) is an oblate hollow frame (601), the shell of the fan motor (602) is connected to the hollow frame (601) in a threaded mode, a motor shaft of the fan motor (602) horizontally penetrates through the hollow frame (601), and fan blades (603) are connected to the motor shaft in a pin joint mode;

the bottom end of a shell of the manipulator motor (7) is in threaded connection with a substrate (8), the substrate (8) is a regular pentagonal flat cylinder, a bearing hole (801) is formed in the center of the substrate (8), a bearing (17) is arranged in the bearing hole (801), and bumps (802) are arranged on five vertical side surfaces of the substrate (8);

a motor shaft of the manipulator motor (7) vertically downwards passes through a bearing inner ring on the substrate (8), and a top sheet driving column (901) at the top of the top sheet (9) is in pin joint with the motor shaft;

the top of the manipulator motor (7) is provided with a cylindrical push-pull column (701) with a vertical central axis, a plurality of vertical ribs (702) are uniformly arranged on the outer cylindrical surface of the push-pull column (701) around the central axis, a plurality of vertical grooves are formed in the lower end opening of the inner cavity (101) of the cylinder (1), and the vertical ribs (702) slide up and down in the vertical grooves; the top end of the push-pull column (701) is provided with a top plug (703) of an oblate column with a vertical central axis, and the top plug (703) slides up and down in an inner cavity (101) of the air cylinder (1);

the main bodies of the top sheet (9), the middle sheet (10) and the tail sheet (11) are regular pentagonal flat columns with the same size, a flat cylindrical top sheet driving column (901) is arranged in the center of the top of the main body of the top sheet (9), a thin cylindrical middle sheet driving column (1001) is arranged in the center of the top of the main body of the middle sheet (10), and a thin cylindrical tail sheet driving column (1101) is arranged in the center of the top of the main body of the tail sheet (11); the bottom edge lines of the five side surfaces of the top sheet (9) are respectively hinged with the bottom edge lines of one side surface of the five middle sheets (10), and the bottom edge line of the other side surface of each middle sheet (10) is hinged with the bottom edge line of one side surface of the tail sheet (11); triangular teeth (1102) extend out of the other side surface of the tail piece (11);

the two ends of the middle bent rod (12) are straight, the middle is bent, the middle position is hinged to the top end of the middle sheet driving column (1001), and the middle bent rod (12) can rotate around the middle sheet driving column (1001) in a hinged mode; two ends of the middle bent rod (12) are respectively hinged with a middle hinge rod (13), and the hinge mode is that an included angle between the middle hinge rod (13) and the middle sheet (10) is adjustable; one end of the tail rod (14) is hinged to the top end of the tail piece driving column (1101), the tail rod (14) can rotate around the tail piece driving column (1101) in a hinged mode, the other end of the tail rod (14) is hinged to an end hinging rod (15), and the included angle between the end hinging rod (15) and the tail piece (11) is adjustable in a hinged mode;

the end hinging rod (15) is provided with two parts, one end of the other part is hinged on the convex block (802) of the substrate (8), and the hinging mode is that the included angle between the end hinging rod (15) and the top sheet (9) is adjustable; the other ends of the two end hinging rods (15) are hinged with the outer ends of the two middle hinging rods (13) respectively, and the hinging mode is that the end hinging rods (15) can rotate around the outer ends of the middle hinging rods (13);

one end of the spring (503) is arranged on the piston (502), and the other end of the spring is propped against the end wall of the larger-aperture section in the through hole;

the pentagonal bottom surface of the main body of the tail piece (11) forms an obtuse angle with the triangular teeth (1102), and when the manipulator is contracted into a complete closed body, the five triangular teeth (1102) form a complete regular pentagonal flat column and are parallel to the top piece (9);

the top surfaces and the bottom surfaces of the middle bent rod (12), the middle hinging rod (13), the tail rod (14) and the end hinging rod (15) are parallel planes, and the thicknesses are the same; the top surfaces of the middle hinging rod (13) and the end hinging rod (15) are always parallel in the moving process;

during the process of retracting and expanding the manipulator, the middle bent rod (12) rotates parallel to the outer side surface of the middle sheet (10); the tail rod (14) rotates parallel to the outer side surface of the tail piece (11);

screw holes are formed in the tops of the middle sheet driving column (1001) and the tail sheet driving column (1101), the limit nails (18) are screwed in the screw holes, and the middle bent rod (12) and the tail rod (14) are respectively limited on the middle sheet driving column (1001) and the tail sheet driving column (1101) to prevent the middle bent rod (12) and the tail rod (14) from slipping.

2. The intelligent integrated management system for inspecting a smart pipe rack robot according to claim 1, wherein: the piston (502) is a cylinder, the outer diameter of the cylinder is smaller than the inner aperture of the through hole of the shell (501) and larger than the inner diameters of openings at two ends of the through hole.

3. The intelligent integrated management system for inspecting a smart pipe rack robot according to claim 1, wherein: and a plurality of vertical bars are uniformly arranged on the outer cylindrical surface of the piston (502) along the direction of the central axis of the piston and surround the central axis of the piston, and the maximum outer diameter of the piston (502) is equal to the inner aperture of the through hole of the shell (501).

4. The intelligent integrated management system for inspecting a smart pipe rack robot according to claim 1, wherein: the outer diameter of the top plug (703) is equal to the inner diameter of the inner cavity (101) of the cylinder (1); the outer diameter of the top plug (703) is larger than the maximum aperture of the lower end opening of the cylinder (1).

5. The intelligent integrated management system for inspecting a smart pipe rack robot according to claim 1, wherein: the two hinged sides of the intermediate sheet (10) are not adjacent; the hinged end side surface of the tail piece (11) is not adjacent to the triangular tooth end side surface.