CN110762335A - Control method of pipeline inspection robot - Google Patents
Control method of pipeline inspection robot Download PDFInfo
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- CN110762335A CN110762335A CN201910897156.7A CN201910897156A CN110762335A CN 110762335 A CN110762335 A CN 110762335A CN 201910897156 A CN201910897156 A CN 201910897156A CN 110762335 A CN110762335 A CN 110762335A
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- Prior art keywords
- pipeline
- ball screw
- plate
- cover plate
- inspection robot
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/051—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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
Abstract
The invention provides a control method of a pipeline intelligent inspection robot, which drives a lifting plate to move upwards or downwards through a ball screw, so that the first lifting plate or the second lifting plate moves to drive a supporting arm to lift upwards and fold to be close to the ball screw or to hang downwards and open to be far away from the ball screw.
Description
Technical Field
The invention relates to the field of robots, in particular to an intelligent pipeline inspection method.
Background
The breakage, clogging, etc. of the aged pipes require regular maintenance. Due to the inner diameter of the pipeline and the limitation of the internal and external environments, the pipeline robot is usually relied on for inspection and maintenance. However, since the sizes and the installation environments of the pipelines are various, it is not practical to design different pipeline robots for each size and each type of pipeline respectively according to the inspection requirements.
The walking mode of the present pipeline robot is as follows: peristaltic movement, caterpillar movement, roller movement, legged movement, piston movement, and the like. However, these walking modes are each deficient. On one hand, the driving mode needs to design a corresponding structure according to the inner diameter size of the pipeline, and is difficult to adapt to complicated and variable pipeline structures by a unified structural design; on the other hand, many existing driving modes cannot adapt to a vertical lifting pipeline, lifting control in the vertical direction cannot be achieved, external force is needed, operation is complex, and limitation is large.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control method of a pipeline inspection robot, which optimizes the structure of the robot, utilizes electric power to drive a roller to move, and improves the trafficability, the passing speed and the vertical movement capacity of the robot by selecting a smaller wheel radius. The invention specifically adopts the following technical scheme.
In order to achieve the purpose, the control method of the pipeline inspection robot is provided, the pipeline inspection robot comprises a ball screw, a first lifting plate, a second lifting plate, a supporting arm, a roller, a walking motor, a cleaning motor and a cleaning head, and the method specifically comprises the following steps:
the method comprises the steps of firstly, acquiring the inner diameter of a pipeline obtained by the detection of an ultrasonic sensor;
secondly, driving the ball screw (9) to rotate according to the inner diameter of the pipeline, adjusting the upper and lower positions of the first lifting plate and the second lifting plate, enabling the first lifting plate and the second lifting plate to drive the supporting arm (5) to be lifted upwards and folded to be close to the ball screw (9) or to be vertically dropped downwards and unfolded to be far away from the ball screw (9), and keeping the roller (7) to be tightly abutted against the inner wall of the pipeline;
thirdly, after the roller (7) is tightly abutted to the inner wall of the pipeline, the walking motor (10) is controlled to operate, the roller (7) is driven to operate, and the pipeline inspection robot is driven to walk; meanwhile, the cleaning motor (3) is controlled to operate, the cleaning head (1) is driven to extend out of the cleaning head mounting groove and rotate axially by using the ball screw (9), and dirt on the surface of the inner wall is scraped;
fourthly, when the inner diameter of the pipeline obtained by the detection of the ultrasonic sensor is increased or decreased, correspondingly, according to the inner diameter of the pipeline, the speed ball screw (9) is driven to rotate, the first lifting plate and the second lifting plate are adjusted to move downwards or upwards, so that the first lifting plate and the second lifting plate drive the supporting arm (5) to vertically fall and open to be far away from the ball screw (9) or upwards lift and close to be close to the ball screw (9), and the roller (7) is kept to be tightly abutted to the inner wall of the pipeline all the time.
Preferably, in the third step, the method further comprises the following steps: when the walking motor (10) runs, the image transmission module (12) and the camera (13) connected to the top of the triangular plate (11) work synchronously, the camera (13) collects images in a pipeline, and the image transmission module (12) transmits the images collected by the camera (13) in a wired or wireless mode.
Preferably, the ball screw (9) is arranged in the middle of the pipeline inspection robot and is connected with a first screw nut and a second screw nut (8), wherein the first screw nut is positioned at the lower part of the ball screw (9), and the second screw nut (8) is positioned at the upper part of the ball screw (9); a first cover plate, the center of which is provided with a first screw rod through hole (19), the bottom end of the ball screw rod (9) passes through the first screw rod through hole (19) and is rotatably connected with the first cover plate; and the second cover plate is arranged above the first lifting plate, a second screw rod through hole is formed in the center of the second cover plate, and the middle part of the ball screw (9) penetrates through the second screw rod through hole and is rotatably connected with the second cover plate.
Preferably, the first lifting plate is arranged above the first cover plate, is fixedly connected with the first lead screw nut, and surrounds the circumferential outer wall of the first lead screw nut; and the second lifting plate is arranged above the second cover plate, is fixedly connected with the second lead screw nut (8), and surrounds the circumferential outer wall of the second lead screw nut (8).
Preferably, the supporting arms (5) comprise a plurality of supporting arms, the connecting end of each supporting arm (5) is respectively connected with the edge of the first cover plate or the second cover plate, each supporting arm (5) is respectively opened or closed along the radial direction of the first cover plate or the second cover plate by taking the connected edge as a rotating shaft, and the abutting end of each supporting arm (5) is further provided with a walking motor (10).
Preferably, the rollers (7) comprise a plurality of rollers, each roller (7) is respectively connected with a motor shaft of a walking motor (10) arranged at the abutting end of each supporting arm (5), and the rollers are driven by the motor shafts of the walking motors (10) to abut against the inner wall of the pipeline to rotate so as to drive the pipeline inspection robot to walk; the center of the triangular plate (11) is connected with the top end of the ball screw (9); and the driving mechanism is arranged at the bottom of the first cover plate or at the top of the triangular plate (11), is connected with the bottom end or the top end of the ball screw (9), and drives the ball screw (9) to rotate so as to push the first lifting plate and the second lifting plate to move upwards or downwards along the ball screw (9).
Preferably, the number of the support rods (6) is multiple, one end of each support rod (6) is connected with the edge of the first lifting plate or the second lifting plate, the other end of each support rod is rotatably connected with a connecting bolt (14), and the connecting bolt (14) is arranged in the middle of the support arm (5) and is perpendicular to the length direction of the support arm (5).
Preferably, the pipeline inspection robot further comprises a cleaning device mounting plate (2) connected to the bottom of the first cover plate, and comprising 4 hollow-structured pillars (4) extending upward from the top of the cleaning device mounting plate (2) and inserted into the bottom of the first cover plate, the 4 pillars (4) being uniformly arranged in a Y-shape on the top of the cleaning device mounting plate (2), wherein one pillar (4) near the center of the cleaning device mounting plate (2) is shorter than 3 pillars near the edge of the cleaning device mounting plate (2); the top of the base of the cleaning head is provided with a top plug connector which protrudes upwards, the top plug connector is plugged into the 4 pillars (4) with the hollow structures, and the base of the cleaning head is fixed at the lower part of the cleaning device mounting plate (2); the bottom of the base of the cleaning head is also or is provided with two cleaning head mounting grooves which extend outwards and are arranged in parallel oppositely; the cleaning heads (1) comprise two cleaning heads which are arranged oppositely and are parallel to each other, and the two cleaning heads (1) are respectively inserted into the cleaning head mounting grooves and extend outwards; and the cleaning motor (3) is arranged inside the base of the cleaning head and is positioned at the lower part of the cleaning device mounting plate (2) to drive the cleaning head (1) to extend out of the cleaning head mounting groove and use the ball screw (9) as axial rotation.
Preferably, the outer side end of the cleaning head (1) is provided with a semi-cylinder scraping disc, and the outer wall of the semi-cylinder abuts against the inner wall of the pipeline to scrape off dirt on the surface of the inner wall.
Preferably, the positions of the first cover plate, the second cover plate and the triangular plate (11) close to the edges are also respectively provided with a support post through hole (18), and a cover plate support post (15) is respectively arranged in the support post through holes (18) in a penetrating manner; the cover plate supporting columns (15) and the supporting arms (5) are arranged along the circumferential uniform interval of the ball screw (9) of the pipeline inspection robot.
Advantageous effects
The pipeline inspection robot adopts a roller moving mode and utilizes the principle similar to that of an automobile to control the pipeline inspection robot to operate. According to the pipeline inspection robot, the lifting plate is driven to move upwards or downwards by adopting electric drive, and the movement of the first lifting plate or the second lifting plate drives the supporting arm to be lifted upwards and folded to be close to the ball screw or to be hung downwards and unfolded to be far away from the ball screw.
Furthermore, as the accommodating space for accommodating the supporting arms and the rollers is formed by the space between the two cover plates, the overall size of the pipeline inspection robot can be reduced, and the pipeline inspection robot can be tightly abutted against the inner wall of the pipeline through the rollers with smaller radius sizes by opening or closing the supporting arms. Therefore, the pipeline inspection robot can keep certain pipeline passing performance and also have certain speed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a three-dimensional schematic view of a pipeline inspection robot of the present invention;
FIG. 2 is a principal schematic view of the pipe inspection robot of the present invention;
FIG. 3 is a bottom view of the pipeline inspection robot of the present invention;
fig. 4 is a bottom view of a cleaning device mounting plate in the pipe inspection robot;
fig. 5 is a front view of a cleaning device mounting plate in the pipe inspection robot;
fig. 6 is a schematic view of a base structure of a cleaning head in the pipe inspection robot;
fig. 7 is a schematic view of a cover plate structure in the above pipe inspection robot.
Fig. 8 is a flow chart of a control method of the present invention.
In the drawings, 1 denotes a cleaning head; 2 denotes a cleaning device mounting plate; 3 denotes a cleaning motor; 4 denotes a strut; 5 denotes a support arm; 6 denotes a stay; 7, a roller; 8 denotes a second lead screw nut; 9 denotes a ball screw; 10 denotes a walking motor; 11 denotes a set square; 12 denotes a picture transmission module; 13 denotes a camera; 14 denotes a connecting bolt; 15 denotes a cover pillar; 17 denotes a support arm connecting portion; 18 denotes a post passing hole; and 19 a screw passing hole.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1, 2 and 3 are a three-dimensional view, a front view and a bottom view, respectively, of a pipe inspection robot according to the present invention. This robot is patrolled and examined to pipeline includes:
the ball screw 9 is arranged in the middle of the pipeline inspection robot and is connected with a first screw nut and a second screw nut 8, wherein the first screw nut is positioned at the lower part of the ball screw 9, and the second screw nut 8 is positioned at the upper part of the ball screw 9;
the center of the first cover plate is provided with a first screw rod through hole 19, the bottom end of the ball screw 9 penetrates through the first screw rod through hole 19, a deep groove ball bearing is arranged in the first screw rod through hole 19, and the inner wall of the deep groove ball bearing is rotatably connected with the first cover plate; a supporting arm connecting part 17 shown in fig. 7 is arranged on the circumferential edge of the supporting arm in an outward extending manner and is used for arranging a pin rod for supporting the supporting arm to rotate;
a first lifting plate which is arranged above the first cover plate, is fixedly connected with the first lead screw nut, and surrounds the circumferential outer wall of the first lead screw nut;
the second cover plate is arranged above the first lifting plate, a second screw rod through hole is formed in the center of the second cover plate, a deep groove ball bearing is arranged in the ball screw 9 after penetrating through the second screw rod through hole, and the inner wall of the deep groove ball bearing is rotatably connected with the second cover plate; the circumferential edge of the support arm is also provided with a support arm connecting part 17 which is similar to the support arm shown in figure 7 and extends outwards and is used for arranging a pin rod for supporting the support arm to rotate;
a second lifting plate which is arranged above the second cover plate, is fixedly connected with the second lead screw nut 8 and surrounds the circumferential outer wall of the second lead screw nut 8;
the supporting arms 5 comprise a plurality of supporting arms 5, the connecting end of each supporting arm 5 is respectively connected with a pin rod arranged on the edge of the first cover plate or the second cover plate, each supporting arm 5 is respectively opened or closed along the radial direction of the first cover plate or the second cover plate by taking the pin rod on the edge connected with the supporting arm as a rotating shaft, and the abutting end of each supporting arm 5 is also respectively provided with a walking motor 10;
the rollers 7 are respectively connected with a motor shaft of a walking motor 10 arranged at the abutting end of each supporting arm 5, and the rollers 7 are driven by the motor shaft of the walking motor 10 to abut against the inner wall of the pipeline to rotate so as to drive the pipeline inspection robot to walk;
the center of the triangular plate 11 is connected with the top end of the ball screw 9; the top of the triangular plate 11 is also connected with a picture transmission module 12 and a camera 13, the camera 13 collects images in the pipeline, and the images collected by the camera are transmitted in a wired or wireless mode through the picture transmission module 12;
the driving mechanism is arranged at the bottom of the first cover plate or at the top of the triangular plate 11, is connected with the bottom end or the top end of the ball screw 9, and drives the ball screw 9 to rotate so as to push the first lifting plate and the second lifting plate to move upwards or downwards along the ball screw 9;
a plurality of support rods 6, wherein one end of each support rod 6 is connected with the edge of the first lifting plate or the second lifting plate, the other end of each support rod 6 is rotatably connected with a connecting bolt 14, and the connecting bolt 14 is arranged in the middle of the support arm 5 and is vertical to the length direction of the support arm 5; as the first lifting plate or the second lifting plate moves upwards or downwards, the first lifting plate or the second lifting plate drives the supporting arm 5 to lift upwards and fold to be close to the ball screw 9 or to hang downwards and expand to be far away from the ball screw 9.
Thus, the pipe inspection robot of the present invention can operate in such a manner as to perform an operation in a pipe, and particularly, in a pipe having a vertical or inclined angle, as shown in fig. 8. The control steps required by the operation are as follows:
the method comprises the steps of firstly, acquiring the inner diameter of a pipeline obtained by the detection of an ultrasonic sensor;
secondly, driving a speed-per-hour ball screw 9 to rotate according to the inner diameter of the pipeline, adjusting the upper and lower positions of the first lifting plate and the second lifting plate, so that the first lifting plate and the second lifting plate drive the supporting arm 5 to be lifted upwards and folded to be close to the ball screw 9 or to be hung downwards and unfolded to be far away from the ball screw 9, and keeping the roller 7 to be tightly abutted to the inner wall of the pipeline;
thirdly, after the roller 7 is tightly abutted to the inner wall of the pipeline, controlling the running motor 10 to run, driving the roller 7 to run and driving the pipeline inspection robot to run;
fourthly, when the inner diameter of the pipeline obtained by the detection of the ultrasonic sensor is increased or decreased, the speed ball screw 9 is driven to rotate correspondingly according to the inner diameter of the pipeline, the first lifting plate and the second lifting plate are adjusted to move downwards or upwards, so that the first lifting plate and the second lifting plate drive the supporting arm 5 to vertically fall downwards and open to a position far away from the ball screw 9 or lift upwards and close to the ball screw 9, and the roller 7 is kept to be tightly abutted to the inner wall of the pipeline all the time.
Pipeline inspection robot, its mainly used detects through the camera and gathers the inside situation of pipeline and provide to the outside and show. Generally speaking, the invention can also carry out simple cleaning by arranging the following devices on the robot for the common pipe blockage condition:
referring to fig. 1, the pipeline inspection robot further includes a cleaning device mounting plate 2 connected to the bottom of the first cover plate, and referring to fig. 4 and 5, the pipeline inspection robot includes 4 hollow struts 4 extending upward from the top of the cleaning device mounting plate 2 and inserted into the bottom of the first cover plate, the 4 struts 4 are uniformly arranged on the top of the cleaning device mounting plate 2 in a Y-shape, wherein one strut 4 near the center of the cleaning device mounting plate 2 is shorter than 3 struts near the edge of the cleaning device mounting plate 2;
the base of the cleaning head is provided with a top plug connector which protrudes upwards and is plugged into the insides of the 4 pillars 4 with hollow structures, and the base of the cleaning head is fixed at the lower part of the cleaning device mounting plate 2, as shown in fig. 6; the bottom of the base of the cleaning head is also or is provided with two cleaning head mounting grooves which extend outwards and are arranged in parallel oppositely;
the cleaning heads 1, as shown in fig. 3, include two cleaning heads which are arranged in opposite directions and parallel to each other, and the two cleaning heads 1 are respectively inserted into the cleaning head mounting grooves and extend outward;
and the cleaning motor 3 is arranged inside the base of the cleaning head, is positioned at the lower part of the cleaning device mounting plate 2, and is used for synchronously driving the cleaning head 1 to extend out of the cleaning head mounting groove in the third step and rotate by taking the ball screw 9 as an axial direction. The outer side end of the cleaning head 1 can be further provided with a semi-cylinder scraping disc, and the outer wall of the semi-cylinder is abutted to the inner wall of the pipeline. In the rotating process, the arc-shaped outer wall of the cleaning head 1 is abutted to the inner wall of the pipeline to clean up dirt in the pipeline and scrape off the dirt on the surface of the inner wall. In the cleaning process, similar to the fourth step of controlling the robot walking, if the inner diameter of the pipeline obtained by the detection of the ultrasonic sensor becomes larger or smaller, the cleaning motor 3 is correspondingly driven to control the extending length of the cleaning head according to the inner diameter of the pipeline so as to keep the arc-shaped outer wall of the cleaning head 1 to be abutted against the inner wall of the pipeline for cleaning.
Wherein, ultrasonic detection device can set up to one or more, it can set up respectively and patrols and examines the anterior or circumference edge of robot at the pipeline to realize the detection to the pipeline internal diameter.
Further, in order to stabilize the overall structure of the robot and accommodate the rollers of the robot, the positions, close to the edges, of the first cover plate, the second cover plate and the triangular plate 11 are respectively provided with a support post through hole 18, and a cover plate support post 15 is respectively arranged in the support post through holes 18 in a penetrating manner; the cover plate supporting columns 15 and the supporting arms 5 are arranged along the circumferential uniform interval of the ball screw 9 of the pipeline inspection robot. The supporting arm 5 and a walking motor and a roller wheel which are connected with the outer end of the supporting arm can be close to the ball screw 9 and arranged in the space between the cover plate pillars 15 when the lifting plate moves upwards and the supporting arm is pulled to shrink. From this, the holding space that holds support arm and gyro wheel that the interval formed between two apron can reduce the whole volume that the robot was patrolled and examined to the pipeline to open or draw in through the support arm and make the robot is patrolled and examined to the pipeline can realize the inseparable butt with the pipeline inner wall through the less gyro wheel of radius size. Therefore, the pipeline inspection robot can keep certain pipeline passing performance and also have certain speed.
In one implementation, the robot is further connected with a remote control unit and an image display unit to form a system capable of being used for pipeline inspection. Specifically, when the traveling motor 10 operates, the image transmission module 12 and the camera 13 connected to the top of the triangle 11 work synchronously, the camera 13 collects images in the pipeline, and the image transmission module 12 performs wired or wireless transmission on the images collected by the camera 13. And the image display unit is used for receiving the image acquired by the camera 13 and transmitted by the image transmission module 12. And the remote control unit controls the running motor 10 and the cleaning motor 3 to run, and controls the pipeline inspection robot to run and the cleaning head 1 to rotate.
In one implementation, the main components of the pipeline inspection robot, such as the cover plate support 15, the cleaning motor 3, the walking motor, the supporting arm 5, the triangular plate 11, the ball screw 9, the connecting bolt 14, the lifting plate 8, and the like, can be assembled by themselves in the following manner.
Firstly, the maximum diameter of the cover plate of the pipeline inspection robot is selected according to the minimum pipe diameter which the pipeline inspection robot needs to pass through, and the size of the triangular plate and the length of the cover plate support 15 are correspondingly selected. The cover support posts 15 are inserted into the post through holes 18 of the first cover, the second cover, and the triangle in this order to form the main structure of the robot.
The motor base is installed at the tail end of the triangular plate 11, deep groove ball bearings are installed on the middle parts of the cover plates, ball screws 9 are installed in the middle of the cover plates, connecting bolts 14 are installed in the middle of the ball screws 9, and the lifting plate 8 is fixedly connected with the connecting bolts 14 and arranged between the two cover plates and between the second cover plate and the triangular plate.
When the installation of the parts is completed, 3 supporting arms 5 are respectively installed on the two cover plates, and a traveling motor 10 and a roller 7 are respectively installed on the six supporting arms 5 to form the main body structure of the machine shown in fig. 2. Then, after the support arm 5 and the roller 7 are mounted, the support arm 5 and the lifting plate 8 are pinned by the stay 6
The robot is integrally driven, and then a cleaning device mounting plate 2 is mounted at the front end of the cover plate, and three pillars 4 of the cleaning device mounting plate 2 are exactly butted with three rectangular holes in the cover plate, so that the cleaning device is firmly fixed at the top end of the cover plate, as shown in fig. 3. After the installation of the cleaning device installation plate 2 is completed, the cleaning head 1 is installed at the tail end or the bottom of the cover plate, and the camera 13 is installed at the other end. The driving walking motor 10, the cleaning motor and the camera synchronously work, and images of different parts in the pipeline are collected and uploaded.
Therefore, the robot can adapt to different pipe diameters; the whole moving process is that the ball screw 9 is driven by the motor to lift the supporting arm 5, so that the contact wheel on the supporting arm 5 is combined with the inner wall of the pipeline, after the pipeline is supported by the robot, the rear end cleaning head 1 begins to extend out, and after the pipe wall is contacted, the cleaning head 1 begins to rotate and clean, meanwhile, the camera 13 at the front end of the robot is controlled to transmit images through the image transmission module 12, and the condition inside the pipeline is fed back.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (10)
1. The utility model provides a control method of robot is patrolled and examined to pipeline intelligence, its characterized in that, the robot is patrolled and examined to pipeline includes ball screw, first lift plate, second lift plate, support arm, gyro wheel, walking motor, clearance motor, cleaning head, and the method specifically includes following step:
the method comprises the steps of firstly, acquiring the inner diameter of a pipeline obtained by the detection of an ultrasonic sensor;
secondly, driving the ball screw (9) to rotate according to the inner diameter of the pipeline, adjusting the upper and lower positions of the first lifting plate and the second lifting plate, enabling the first lifting plate and the second lifting plate to drive the supporting arm (5) to be lifted upwards and folded to be close to the ball screw (9) or to be vertically dropped downwards and unfolded to be far away from the ball screw (9), and keeping the roller (7) to be tightly abutted against the inner wall of the pipeline;
thirdly, after the roller (7) is tightly abutted to the inner wall of the pipeline, the walking motor (10) is controlled to operate, the roller (7) is driven to operate, and the pipeline inspection robot is driven to walk; meanwhile, the cleaning motor (3) is controlled to operate, the cleaning head (1) is driven to extend out of the cleaning head mounting groove and rotate axially by using the ball screw (9), and dirt on the surface of the inner wall is scraped;
fourthly, when the inner diameter of the pipeline obtained by the detection of the ultrasonic sensor is increased or decreased, correspondingly, according to the inner diameter of the pipeline, the speed ball screw (9) is driven to rotate, the first lifting plate and the second lifting plate are adjusted to move downwards or upwards, so that the first lifting plate and the second lifting plate drive the supporting arm (5) to vertically fall and open to be far away from the ball screw (9) or upwards lift and close to be close to the ball screw (9), and the roller (7) is kept to be tightly abutted to the inner wall of the pipeline all the time.
2. The method for controlling a pipeline inspection robot according to claim 1, wherein the third step further includes the steps of: when the walking motor (10) runs, the image transmission module (12) and the camera (13) connected to the top of the triangular plate (11) work synchronously, the camera (13) collects images in a pipeline, and the image transmission module (12) transmits the images collected by the camera (13) in a wired or wireless mode.
3. The method of controlling a pipeline inspection robot according to claim 1,
the ball screw (9) is arranged in the middle of the pipeline inspection robot and is connected with a first screw nut and a second screw nut (8), wherein the first screw nut is positioned at the lower part of the ball screw (9), and the second screw nut (8) is positioned at the upper part of the ball screw (9);
a first cover plate, the center of which is provided with a first screw rod through hole (19), the bottom end of the ball screw rod (9) passes through the first screw rod through hole (19) and is rotatably connected with the first cover plate;
and the second cover plate is arranged above the first lifting plate, a second screw rod through hole is formed in the center of the second cover plate, and the middle part of the ball screw (9) penetrates through the second screw rod through hole and is rotatably connected with the second cover plate.
4. The method of controlling a pipeline inspection robot according to claim 1,
a first lifting plate which is arranged above the first cover plate, is fixedly connected with the first lead screw nut, and surrounds the circumferential outer wall of the first lead screw nut;
and the second lifting plate is arranged above the second cover plate, is fixedly connected with the second lead screw nut (8), and surrounds the circumferential outer wall of the second lead screw nut (8).
5. The method of controlling a pipeline inspection robot according to claim 1,
the supporting arms (5) comprise a plurality of supporting arms, the connecting end of each supporting arm (5) is respectively connected with the edge of the first cover plate or the second cover plate, each supporting arm (5) is respectively opened or closed along the radial direction of the first cover plate or the second cover plate by taking the connected edge as a rotating shaft, and the abutting end of each supporting arm (5) is further respectively provided with a walking motor (10).
6. The method of controlling a pipeline inspection robot according to claim 1,
the rollers (7) comprise a plurality of rollers, each roller (7) is respectively connected with a motor shaft of a walking motor (10) arranged at the abutting end of each supporting arm (5), and the rollers are driven by the motor shafts of the walking motors (10) to abut against the inner wall of the pipeline to rotate so as to drive the pipeline inspection robot to walk;
the center of the triangular plate (11) is connected with the top end of the ball screw (9);
and the driving mechanism is arranged at the bottom of the first cover plate or at the top of the triangular plate (11), is connected with the bottom end or the top end of the ball screw (9), and drives the ball screw (9) to rotate so as to push the first lifting plate and the second lifting plate to move upwards or downwards along the ball screw (9).
7. The method of controlling a pipeline inspection robot according to claim 1,
the support rods (6) comprise a plurality of support rods, one end of each support rod (6) is connected with the edge of the first lifting plate or the second lifting plate, the other end of each support rod is rotatably connected with a connecting bolt (14), and the connecting bolt (14) is arranged in the middle of the support arm (5) and is perpendicular to the length direction of the support arm (5).
8. The method for controlling a pipe inspection robot according to claim 1, wherein the pipe inspection robot further includes a cleaning device mounting plate (2) connected to the bottom of the first cover plate, including 4 pillars (4) of a hollow structure extending upward from the top of the cleaning device mounting plate (2) and inserted into the bottom of the first cover plate, the 4 pillars (4) being uniformly arranged at the top of the cleaning device mounting plate (2) in a Y-shape, wherein one pillar (4) near the center of the cleaning device mounting plate (2) is shorter than 3 pillars near the edge of the cleaning device mounting plate (2);
the top of the base of the cleaning head is provided with a top plug connector which protrudes upwards, the top plug connector is plugged into the 4 pillars (4) with the hollow structures, and the base of the cleaning head is fixed at the lower part of the cleaning device mounting plate (2); the bottom of the base of the cleaning head is also or is provided with two cleaning head mounting grooves which extend outwards and are arranged in parallel oppositely;
the cleaning heads (1) comprise two cleaning heads which are arranged oppositely and are parallel to each other, and the two cleaning heads (1) are respectively inserted into the cleaning head mounting grooves and extend outwards;
and the cleaning motor (3) is arranged inside the base of the cleaning head and is positioned at the lower part of the cleaning device mounting plate (2) to drive the cleaning head (1) to extend out of the cleaning head mounting groove and use the ball screw (9) as axial rotation.
9. The control method of the pipeline inspection robot according to claim 8, wherein a semi-cylindrical scraping disc is arranged at the outer side end of the cleaning head (1), and the outer wall of the semi-cylindrical scraping disc abuts against the inner wall of the pipeline to scrape dirt on the surface of the inner wall.
10. The control method for the pipeline inspection robot according to claim 1, wherein the positions, close to the edges, of the first cover plate, the second cover plate and the triangular plate (11) are further respectively provided with a support post through hole (18), and a cover plate support post (15) is respectively arranged in the support post through holes (18) in a penetrating manner; the cover plate supporting columns (15) and the supporting arms (5) are arranged along the circumferential uniform interval of the ball screw (9) of the pipeline inspection robot.
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| CN201910897156.7A CN110762335A (en) | 2019-09-23 | 2019-09-23 | Control method of pipeline inspection robot |
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| CN201910897156.7A CN110762335A (en) | 2019-09-23 | 2019-09-23 | Control method of pipeline inspection robot |
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Application publication date: 20200207 |