CN110939825A - Ocean engineering is with full-automatic seabed pipeline inspection robot - Google Patents
Ocean engineering is with full-automatic seabed pipeline inspection robot Download PDFInfo
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- CN110939825A CN110939825A CN201911234990.4A CN201911234990A CN110939825A CN 110939825 A CN110939825 A CN 110939825A CN 201911234990 A CN201911234990 A CN 201911234990A CN 110939825 A CN110939825 A CN 110939825A
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- camera
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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
- 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
- F16L55/40—Constructional aspects of the body
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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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- General Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Studio Devices (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a full-automatic submarine pipeline inspection robot for ocean engineering, which comprises a walking vehicle body and a camera body frame, wherein a camera is arranged on the walking vehicle body, a camera body is arranged on the camera body frame, the camera body frame is fixedly arranged on the surface of the walking vehicle body through a base, a wheel type and crawler type combined mode is adopted as the advancing power of the walking vehicle body, walking wheels and a crawler belt are independently driven by a stepping motor, so that the walking vehicle body has enough power to walk in a submarine pipeline, 360-degree panoramic cameras are arranged on the walking vehicle body, when the walking vehicle body walks in the submarine pipeline, the condition inside the pipeline is shot by the 360-degree panoramic cameras, when the problems of corrosion, deformation, cracks and the like are generated inside the submarine pipeline, the condition inside the submarine pipeline is shot by the camera body, and the 360-degree panoramic cameras are combined with the camera body in the shooting process, the practicality of the inspection robot is stronger.
Description
Technical Field
The invention belongs to the technical field of pipeline inspection machine equipment, and particularly relates to a full-automatic submarine pipeline inspection robot for ocean engineering.
Background
In recent years, with the development of marine oil and gas resources, particularly the exploitation of deepwater and marginal oil fields, the building scale of marine engineering is getting larger and larger, and submarine pipelines are an important part of the current marine engineering, the laying method of the submarine pipelines mainly comprises a pipe dragging method and a pipe laying ship method, no matter which laying method is adopted, the laying difficulty of the submarine pipelines is very large, meanwhile, the working environment of the submarine pipelines is very severe, and in the long-term use process, corrosion, deformation, cracks, fatigue damage or potential defects inside the pipelines are easily developed into damages due to chemical corrosion, mechanical damage, crustal movement, pipeline accessory abrasion and the like, so that accidents are caused. And the submarine pipeline is located the surface of water below, and the manual work is difficult to realize the maintenance to the submarine pipeline, consequently needs to design a submarine pipeline and patrols and examines robot.
As patent application number (CN201910596497.0) discloses a robot is patrolled and examined to pipeline connection leakproofness under water, including patrolling and examining the machine body, it includes mounting bracket and intelligent system to patrol and examine the machine body, intelligent system includes camera, noise inductor, vibration inductor, control box, intelligent processing ware, control switch, power supply unit, infrared emitter, motor one and motor two, and this robot is patrolled and examined to pipeline connection leakproofness under water reasonable in design is fit for promoting, but because the submarine pipeline that the marine pipeline complexity exists patrols and examines the robot and exist following not enough:
1. the existing submarine pipeline inspection robot mostly adopts a multi-foot crawling type or a wheel type, no matter which mode is adopted, because the distance of a marine pipeline is long, the working environment of the marine pipeline is complex, when the multi-foot crawling type is adopted, the obstacle inspection robot is difficult to exceed an obstacle, and when four-wheel drive is adopted, walking is unstable, and overturning is easy to occur;
2. the existing submarine pipeline inspection robot mostly adopts a camera device to shoot an area where the robot passes, but the camera device shoots in the advancing process of the inspection robot, so that the phenomenon that the internal condition of the pipeline is not clearly shot is easily caused, meanwhile, the positions of most of the camera devices on the inspection robot are fixed, dead angles are easily caused in the pipeline during shooting, the condition of the internal part of the submarine pipeline in a worker is not completely checked, and the submarine pipeline inspection robot has great limitation.
Disclosure of Invention
The invention aims to provide a full-automatic submarine pipeline inspection robot for ocean engineering, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a full-automatic submarine pipeline inspection robot for ocean engineering comprises a walking vehicle body and a shooting body frame, wherein a camera is arranged on the walking vehicle body, a camera body is arranged on the shooting body frame, and the shooting body frame is fixedly arranged on the surface of the walking vehicle body through a base;
the two sides of a parking space of the walking vehicle body are respectively provided with a linear connecting frame, one end of the linear connecting frame is fixedly arranged on the walking vehicle body, the other end of the linear connecting frame is rotatably connected with a walking wheel, two sides of a head of the walking vehicle body are respectively provided with a V-shaped connecting frame, the top of the V-shaped connecting frame is fixedly arranged on the walking vehicle body, the bottoms of V-shaped structures at two sides of the V-shaped connecting frame are respectively provided with a driven wheel and a driving wheel, the driving wheel and the driven wheel are connected through crawler engagement, and a camera is arranged in the middle position of the head of the walking vehicle body;
the base of the shooting body frame is of a square cavity structure, a first motor is fixedly arranged on the front face of the outer portion of the base, the output end of the first motor penetrates through the base and is connected with a worm, the worm is horizontally arranged inside the base and meshed with a worm wheel in the base, the bottom surface of the worm wheel is rotatably connected to the bottom surface of the inner portion of the base through a rotating shaft, the top surface of the worm wheel is connected with a rotary table through a supporting cylinder, and the rotary table is located right above the surface of the base;
a first connecting bent arm and a second connecting bent arm are symmetrically arranged on two sides of the disc surface of the rotary disc, a second motor is fixedly arranged on the outer side surface of the first connecting bent arm, a fourth motor is fixedly arranged on the outer side surface of the second connecting bent arm, a connecting cylinder is fixedly arranged at the middle position of the first connecting bent arm and the second connecting bent arm, the end surfaces of two ends of the connecting cylinder are respectively abutted against the inner side surfaces of the first connecting bent arm and the second connecting bent arm, an output shaft of the second motor penetrates through the first connecting bent arm and is fixedly connected with the end surface of one end of the connecting cylinder, an output shaft of the fourth motor penetrates through the second connecting bent arm and is fixedly connected with the end surface of the other end of the connecting cylinder, a rotary frame is vertically arranged on the arc surface of the connecting cylinder, a supporting block is fixedly arranged on the top surface of the rotary frame;
the utility model discloses a camera, including pivot mount, cylinder, protection cover, pivot mount, support arm, output end fixedly connected with actuating lever, pivot mount is notch cuttype tubular structure, the fixed third motor that is provided with of pivot mount major part one end, the little first end fixedly connected with support arm of pivot mount, and support a section of thick bamboo and be the cylinder cavity structure, the output fixedly connected with actuating lever of motor three, the other end of actuating lever runs through the pivot mount and supports a section of thick bamboo and be connected with the camera.
As a further scheme of the invention: the ring channel has all been seted up to pivot mount notch cuttype structure inside, and the actuating lever is located the inside one end of pivot mount and is provided with the annular block with annular groove looks adaptation, the actuating lever rotates through the annular block and connects in the ring channel of pivot mount.
As a still further scheme of the invention: the other end of actuating lever is connected with bevel gear one, bevel gear one is connected with bevel gear two meshing, bevel gear two is through the fixed one end that sets up in the pivot of key-type connection, the other end of pivot is provided with bevel gear three through the key-type connection, bevel gear three is connected with bevel gear four meshing, bevel gear four is fixed to be set up on the live-rollers, and the other end of this live-rollers is connected with the camera body through the ring flange.
As a still further scheme of the invention: the camera comprises a camera body, a first protecting sleeve, a second protecting sleeve, a third protecting sleeve and a fourth protecting sleeve, wherein the first protecting sleeve and the second protecting sleeve are arranged inside the first protecting sleeve, the third protecting sleeve and the fourth protecting sleeve are arranged inside the second protecting sleeve, the first protecting sleeve and the second protecting sleeve are fixedly connected through a flange plate, the other end of the first protecting sleeve is fixedly connected to a supporting arm through a flange plate.
As a still further scheme of the invention: the inner part of the first connecting bent arm is fixedly provided with a first connecting block, the rear side face of the supporting block is fixedly provided with a second connecting block, one side of the rotating frame is vertically provided with an auxiliary rod, and two ends of the auxiliary rod are hinged to the first connecting block and the second connecting block.
As a still further scheme of the invention: the connecting cylinder is of a C-shaped structure on the arc side face, one end of the connecting block, which is located inside the connecting cylinder, is fixedly connected to an output shaft of the motor II, and the other end of the connecting block is arranged outside the connecting cylinder through an opening in the arc side face of the connecting cylinder.
As a still further scheme of the invention: the rotary disc is fixedly arranged on the support cylinder connected with the turbine through a flange plate.
As a still further scheme of the invention: the type of the second motor is completely consistent with that of the fourth motor, and the rotating directions of the second motor and the fourth motor are opposite when the second motor and the fourth motor work.
As a still further scheme of the invention: limiting plates are arranged on two sides of the top surface of the walking vehicle body, and the base of the shooting body frame is clamped in the limiting plates on two sides of the walking vehicle body.
As a still further scheme of the invention: all drive through step motor on walking wheel and the action wheel of walking automobile body, and step motor is provided with four, four step motor drives two respectively walking wheel and two the action wheel.
As a still further scheme of the invention: the camera is a 360-degree panoramic camera.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the scheme, a wheel type and crawler type combined mode is used as travelling power of a travelling vehicle body, and travelling wheels and a crawler are independently driven by a stepping motor, so that the travelling vehicle body has enough power when travelling in a submarine pipeline, the friction resistance between the submarine pipeline and the travelling vehicle body in the travelling process is reduced by a wheel type structure, the travelling speed of the travelling vehicle body in the submarine pipeline is increased, the contact area between the crawler and the submarine pipeline is increased by a crawler structure, the travelling vehicle body can travel in the submarine pipeline more stably, the travelling vehicle body is prevented from turning over, and meanwhile, when the travelling vehicle body meets an obstacle, the travelling vehicle body can rapidly pass through the rolling action of the crawler, so that the follow-up work of an inspection robot is facilitated;
2. the 360-degree panoramic camera is arranged on the walking vehicle body, when the walking vehicle body walks in the submarine pipeline, the 360-degree panoramic camera is used for shooting the condition in the pipeline, when the submarine pipeline has the problems of corrosion, deformation, cracks and the like, the first motor drives the worm to rotate, the worm and the turbine are in meshing transmission in the base, the turbine drives the turntable to rotate through the supporting cylinder, the shooting angle of the camera body in the horizontal direction is adjusted, the second motor and the fourth motor drive the rotating frame to rotate, the rotating frame rotates in the vertical direction, the driving rod of the camera body in the vertical direction is adjusted, the third motor drives the driving rod to rotate in the rotating shaft fixing frame, the first bevel gear is driven to rotate by the driving rod, and the first bevel gear is in meshing transmission with the second bevel gear, bevel gear two and the transmission of bevel gear three meshing, bevel gear three and the rotation of bevel gear four meshing to shoot the angle and carry out local adjustment to camera body, make and patrol and examine the robot and to the shooting of submarine pipeline inner wall damage department more clear, realize the sound combination of shooting in-process through 360 panoramic camera and camera body, make and patrol and examine the robot and to the inside no dead angle of shooting of submarine pipeline, patrol and examine the submarine pipeline more thoroughly, patrol and examine the practicality of robot and be stronger.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is a perspective view of a full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 2 is a front view of the full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 3 is a schematic structural view of a camera body frame in the full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 4 is a schematic structural diagram of a walking vehicle body in the full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 5 is a schematic structural diagram of a rotating frame in the full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 6 is a schematic structural diagram of a rotating shaft fixing frame in the full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 7 is a schematic structural view of a camera body rotating structure in the full-automatic submarine pipeline inspection robot for ocean engineering.
Fig. 8 is a schematic structural diagram of the inside of a base in a full-automatic submarine pipeline inspection robot for ocean engineering.
In the figure: the device comprises a walking vehicle body 1, a linear connecting frame 101, walking wheels 102, a V-shaped connecting frame 103, driven wheels 104, driving wheels 105, caterpillar tracks 106, a limiting plate 107, a camera 108, a photographic body frame 2, a first motor 201, a rotary table 202, a second motor 203, a first connecting bent arm 204, a rotary frame 205, a rotary shaft fixing frame 206, a third motor 207, a supporting arm 208, a first bevel gear 2081, a first protecting sleeve 209, a second bevel gear 2091, a third bevel gear 2092, a second protecting sleeve 210, a fourth bevel gear 2101, an annular groove 211, a fourth motor 212, a second connecting bent arm 213, a connecting cylinder 214, a supporting block 215, an auxiliary rod 216, a first connecting block 217, a second connecting block 218, a camera body 219, a base 220, a worm 221, a turbine 222, a driving rod 223 and an annular.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, in the embodiment of the invention, a full-automatic submarine pipeline inspection robot for ocean engineering includes a walking vehicle body 1 and a camera body frame 2, a camera 108 is arranged on the walking vehicle body 1, a camera body 219 is arranged on the camera body frame 2, the camera body frame 2 is fixedly arranged on the surface of the walking vehicle body 1 through a base 220, and dynamic and static combination in the shooting process is realized through the camera 108 and the camera body 219, so that the inspection robot can shoot the inside of a submarine pipeline without dead angles, the submarine pipeline inspection is more thorough, and the practicability of the inspection robot is stronger.
The two sides of the parking space of the walking vehicle body 1 are respectively provided with a straight connecting frame 101, one end of the straight connecting frame 101 is fixedly arranged on the walking vehicle body 1, the other end of the straight connecting frame 101 is rotatably connected with a walking wheel 102, two sides of the head of the walking vehicle body 1 are respectively provided with a V-shaped connecting frame 103, the top of the V-shaped connecting frame 103 is fixedly arranged on the walking vehicle body 1, the bottoms of V-shaped structures at two sides of the V-shaped connecting frame 103 are respectively provided with a driven wheel 104 and a driving wheel 105, the driving wheel 105 is meshed and connected with the driven wheel 104 through a crawler 106, the middle position of the head of the walking vehicle body 1 is provided with a camera 108, the walking vehicle body 1 adopts a wheel type and crawler type combined mode as a walking power, friction resistance in the walking process of the submarine pipeline and the walking vehicle body 1 is reduced through a wheel type structure, through the crawler-type structure, increase the area of contact of track 106 with submarine pipeline, make the walking of walking automobile body 1 in submarine pipeline more stable, avoid the walking automobile body to take place to turn on one's side, simultaneously through the crawler-type structure, when making the walking automobile body meet the barrier, through the effect of rolling of track, make walking automobile body 1 can surmount fast, be convenient for patrol and examine the follow-up work of robot.
The base 220 of the camera body frame 2 is of a square cavity structure, a first motor 201 is fixedly arranged on the front face of the outside of the base 220, the output end of the first motor 201 penetrates through the base 220 and is connected with a worm 222, the worm 222 is horizontally arranged in the base 220, the worm 222 is meshed with a worm wheel 223 in the base 220, the bottom surface of the worm wheel 223 is rotatably connected to the bottom surface of the inside of the base 220 through a rotating shaft, the top surface of the worm wheel 223 is connected with a turntable 202 through a supporting cylinder, the turntable 202 is located right above the surface of the base 220, the worm 221 is driven by the first motor 201 to rotate, the worm 221 and the worm wheel 222 are meshed and driven in the base 220, the turntable 202 is driven by the worm wheel 222 through the supporting cylinder to rotate, and therefore the adjustment of the shooting angle of the camera body 219.
A first connecting bent arm 204 and a second connecting bent arm 213 are symmetrically arranged on two sides of the disc surface of the turntable 202, a second motor 203 is fixedly arranged on the outer side surface of the first connecting bent arm 204, a fourth motor 212 is fixedly arranged on the outer side surface of the second connecting bent arm 213, a connecting cylinder 214 is fixedly arranged at the middle position between the first connecting bent arm 204 and the second connecting bent arm 213, the end surfaces of two ends of the connecting cylinder 214 are respectively abutted against the first connecting bent arm 204 and the inner side surface of the second connecting bent arm 213, an output shaft of the second motor 203 penetrates through the first connecting bent arm 204 and is fixedly connected with the end surface of one end of the connecting cylinder 214, an output shaft of the fourth motor 212 penetrates through the second connecting bent arm 213 and is fixedly connected with the end surface of the other end of the connecting cylinder 214, a rotating frame 205 is vertically arranged on the arc surface of the connecting cylinder 214, a supporting block 215 is fixedly arranged on the top surface of the rotating frame 205, and a rotating, the second motor 203 and the fourth motor 212 drive the rotating frame 205 to rotate at the same rotating speed and different rotating directions, so that the rotating frame 205 rotates in the vertical direction, and the shooting angle of the camera body 219 in the vertical direction is adjusted.
The rotating shaft fixing frame 206 is of a stepped cylindrical structure, one end of the large end of the rotating shaft fixing frame 206 is fixedly provided with a motor III 207, one end of the small end of the rotating shaft fixing frame 206 is fixedly connected with a supporting arm 208, the supporting cylinder 208 is of a cylindrical cavity structure, the output end of the motor III 207 is fixedly connected with a driving rod 223, the other end of the driving rod 223 is connected with a bevel gear I2081, the bevel gear I2081 is in meshed connection with a bevel gear II 2091, the bevel gear II 2091 is fixedly arranged at one end of the rotating shaft through a key connection, the other end of the rotating shaft is provided with a bevel gear III 2092 through a key connection, the bevel gear III 2092 is in meshed connection with a bevel gear IV 2101, the bevel gear IV 2101 is fixedly arranged on a rotating roller, the other end of the rotating roller is connected with a camera body 219, the driving rod 223 drives the first bevel gear 2081 to rotate, the first bevel gear 2081 is in meshed transmission with the second bevel gear 2091, the second bevel gear 2091 is in meshed transmission with the third bevel gear 2092, and the third bevel gear 2092 is in meshed rotation with the fourth bevel gear 2101, so that the shooting angle of the camera body 219 is locally adjusted, and the shooting of the inspection robot on the damaged part of the inner wall of the submarine pipeline is clearer.
The first bevel gear 2081 and the second bevel gear 2091 are arranged inside the first protection sleeve 209, the third bevel gear 2092 and the fourth bevel gear 2101 are arranged inside the second protection sleeve 210, the first protection sleeve 209 and the second protection sleeve 210 are fixedly connected through a flange, the other end of the first protection sleeve 209 is fixedly connected to the supporting arm 208 through a flange, the other end of the second protection sleeve 210 is connected to the camera body 219 through a flange, and the first bevel gear 2081 and the second bevel gear 2091, and the third bevel gear 2092 and the fourth bevel gear 2101 are protected through the first protection sleeve 209 and the second protection sleeve 210.
The first connecting block 217 is fixedly arranged inside the first connecting bent arm 204, the second connecting block 218 is fixedly arranged on the rear side face of the supporting block 215, the auxiliary rod 216 is vertically arranged on one side of the rotating frame 205, two ends of the auxiliary rod 216 are hinged to the first connecting block 217 and the second connecting block 218, and the rotating frame 205 is enabled to rotate more stably by the aid of the auxiliary rod 216.
The connecting cylinder 214 is of a C-shaped structure with an arc side surface, the first connecting block 217 is located inside the connecting cylinder 214, one end of the first connecting block 217 is fixedly connected to the output shaft of the second motor 203, and the other end of the first connecting block 217 is arranged outside the connecting cylinder 214 through an opening in the arc side surface of the connecting cylinder 214.
The turntable 202 is fixedly arranged on a support cylinder connected with the turbine 222 through a flange plate.
The models of the second motor 203 and the fourth motor 212 are completely the same, and the rotation directions of the second motor 203 and the fourth motor 212 are opposite during operation.
Limiting plates 107 are arranged on two sides of the top surface of the walking vehicle body 1, and the bases 220 of the shooting body frames 2 are clamped in the limiting plates 107 on two sides of the walking vehicle body 1, so that the connection of the shooting body frames 2 on the walking vehicle body 1 is more compact.
The walking wheels 102 and the driving wheels 105 of the walking vehicle body 1 are driven by stepping motors 109, four stepping motors 109 are arranged, and the four stepping motors 109 respectively drive two walking wheels 102 and two driving wheels 105, so that the walking vehicle body 1 has enough power for walking in submarine pipelines and can move in submarine pipelines in different environments for a long time.
The working principle is as follows: the four stepping motors 109 respectively drive the two walking wheels 102 and the two driving wheels 105 to enable the walking vehicle body 1 to move in the submarine pipeline, when the walking vehicle body 1 walks in the submarine pipeline, the 360-degree panoramic camera is used for shooting the condition in the pipeline, when the submarine pipeline has corrosion, deformation, cracks and other problems, the first motor 201 is used for driving the worm 221 to rotate, the worm 221 and the turbine 222 are meshed and driven in the base 220, the turbine 222 drives the turntable 202 to rotate through the supporting cylinder, so that the shooting angle of the camera body 219 in the horizontal direction is adjusted, the second motor 203 and the fourth motor 212 are used for driving the rotating frame 205 to rotate, the rotating frame 205 is rotated in the vertical direction, so that the shooting angle of the camera body 219 in the vertical direction is adjusted, and the third motor 207 is used for driving the driving rod 223 to rotate in the rotating shaft fixing frame 206, the driving rod 223 is enabled to drive the first bevel gear 2081 to rotate, the first bevel gear 2081 is in meshing transmission with the second bevel gear 2091, the second bevel gear 2091 is in meshing transmission with the third bevel gear 2092, and the third bevel gear 2092 is in meshing rotation with the fourth bevel gear 2101, so that the shooting angle of the camera body 219 is locally adjusted, the camera body 219 is enabled to shoot the broken part inside the submarine pipeline, the damaged part of the submarine pipeline is enabled to be clearer, and the dynamic and static combination in the shooting process is achieved through the 360-degree panoramic camera and the camera body.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined with full-automatic seabed pipeline to ocean engineering which characterized in that: the device comprises a walking vehicle body (1) and a shooting body frame (2), wherein a camera (108) is arranged on the walking vehicle body (1), a camera body (219) is arranged on the shooting body frame (2), and the shooting body frame (2) is fixedly arranged on the surface of the walking vehicle body (1) through a base (220);
the parking lot is characterized in that linear connecting frames (101) are respectively arranged on two sides of a parking lot of the walking vehicle body (1), one end of each linear connecting frame (101) is fixedly arranged on the walking vehicle body (1), the other end of each linear connecting frame (101) is rotatably connected with a walking wheel (102), V-shaped connecting frames (103) are respectively arranged on two sides of a vehicle head of the walking vehicle body (1), the top of each V-shaped connecting frame (103) is fixedly arranged on the walking vehicle body (1), driven wheels (104) and driving wheels (105) are respectively arranged at the bottoms of V-shaped structures on two sides of each V-shaped connecting frame (103), the driving wheels (105) are meshed with the driven wheels (104) through tracks (106), and a camera (108) is arranged in the middle position of the vehicle head of the walking vehicle body (1);
the camera shooting body frame is characterized in that a base (220) of the camera shooting body frame (2) is of a square cavity structure, a first motor (201) is fixedly arranged on the front face of the outer portion of the base (220), the output end of the first motor (201) penetrates through the base (220) to be connected with a worm (222), the worm (222) is horizontally arranged inside the base (220), the worm (222) is meshed with a turbine (223) in the base (220), the bottom surface of the turbine (223) is rotatably connected to the bottom surface of the inner portion of the base (220) through a rotating shaft, the top surface of the turbine (223) is connected with a turntable (202) through a supporting cylinder, and the turntable (202) is located right above the surface of the base (220);
a first connecting bent arm (204) and a second connecting bent arm (213) are symmetrically arranged on two sides of the disc surface of the turntable (202), a second motor (203) is fixedly arranged on the outer side surface of the first connecting bent arm (204), a fourth motor (212) is fixedly arranged on the outer side surface of the second connecting bent arm (213), a connecting cylinder (214) is fixedly arranged at the middle position of the first connecting bent arm (204) and the second connecting bent arm (213), the end surfaces at two ends of the connecting cylinder (214) are respectively abutted against the inner side surfaces of the first connecting bent arm (204) and the second connecting bent arm (213), an output shaft of the second motor (203) penetrates through the first connecting bent arm (204) and is fixedly connected with one end surface of the connecting cylinder (214), an output shaft of the fourth motor (212) penetrates through the second connecting bent arm (213) and is fixedly connected with the end surface at the other end of the connecting cylinder (214), and a rotating frame (205) is vertically arranged on the arc surface of the connecting cylinder (214, a supporting block (215) is fixedly arranged on the top surface of the rotating frame (205), and a rotating shaft fixing frame (206) is fixedly arranged on the surface of the supporting block (215);
the utility model discloses a camera, including pivot mount (206), support section of thick bamboo (208), cylinder cavity structure, the pivot mount (206) is the notch cuttype tubular structure, pivot mount (206) major part one end is fixed and is provided with motor three (207), pivot mount (206) minor part one end fixedly connected with support arm (208), and support section of thick bamboo (208) and be the cylinder cavity structure, the output fixedly connected with actuating lever (223) of motor three (207), the other end of actuating lever (223) runs through pivot mount (206) and support section of thick bamboo (208) and is connected with camera body (219) through lag one (209) and lag two (210.
2. The robot is patrolled and examined with full-automatic seabed pipeline to ocean engineering according to claim 1, characterized in that, ring channel (211) have all been seted up to pivot mount (206) notch cuttype structure inside, and actuating lever (223) are located pivot mount (206) inside one end and are provided with annular piece (2231) with ring channel (211) looks adaptation, actuating lever (223) rotate through annular piece (2231) and connect in ring channel (211) of pivot mount (206).
3. The full-automatic submarine pipeline inspection robot according to claim 1, wherein a first bevel gear (2081) is connected to the other end of the driving rod (223), the first bevel gear (2081) is in meshed connection with a second bevel gear (2091), the second bevel gear (2091) and the third bevel gear (2092) are arranged at the two ends of the rotating shaft, the third bevel gear (2092) is in meshed connection with a fourth bevel gear (2101), the fourth bevel gear (2101) is arranged on the rotating roller, and a camera body (219) is connected to the other end of the rotating roller.
4. The full-automatic submarine pipeline inspection robot for ocean engineering according to claim 3, wherein the bevel gear I (2081) and the bevel gear II (2091) are arranged inside the first protection sleeve (209), the bevel gear III (2092) and the bevel gear IV (2101) are arranged inside the second protection sleeve (210), the first protection sleeve (209) and the second protection sleeve (210) are fixedly connected through a flange, the other end of the first protection sleeve (209) is fixedly connected to the support arm (208) through a flange, and the other end of the second protection sleeve (210) is connected to the camera body (219) through a flange.
5. The full-automatic seabed pipeline inspection robot for ocean engineering according to claim 1, wherein the inside of the first connecting bent arm (204) is fixedly provided with a first connecting block (217), the rear side surface of the supporting block (215) is fixedly provided with a second connecting block (218), one side of the rotating frame (205) is vertically provided with an auxiliary rod (216), and two ends of the auxiliary rod (216) are hinged to the first connecting block (217) and the second connecting block (218).
6. The full-automatic seabed pipeline inspection robot for ocean engineering according to claim 1, wherein the connecting cylinder (214) is of a C-shaped structure with an arc side, and the first connecting block (217) is located inside the connecting cylinder (214) and is fixedly connected to the output shaft of the second motor (203), and the other end of the first connecting block (217) is arranged outside the connecting cylinder (214) through an opening in the arc side of the connecting cylinder (214).
7. The full-automatic submarine pipeline inspection robot for ocean engineering according to claim 1, wherein the turntable (202) is fixedly arranged on a support cylinder connected with the turbine (222) through a flange.
8. The full-automatic submarine pipeline inspection robot for ocean engineering according to claim 1, wherein the models of the second motor (203) and the fourth motor (212) are completely the same, and the rotation directions of the second motor (203) and the fourth motor (212) are opposite when the motors work.
9. The full-automatic submarine pipeline inspection robot for ocean engineering according to claim 1, wherein limiting plates (107) are arranged on two sides of the top surface of the walking vehicle body (1), and the bases (220) of the camera body frame (2) are clamped in the limiting plates (107) on two sides of the walking vehicle body (1).
10. The full-automatic submarine pipeline inspection robot for ocean engineering according to claim 1, wherein the walking wheels (102) and the driving wheels (105) of the walking vehicle body (1) are driven by stepping motors (109), four stepping motors (109) are arranged, and the four stepping motors (109) respectively drive the two walking wheels (102) and the two driving wheels (105).
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| CN201911234990.4A CN110939825B (en) | 2019-12-05 | 2019-12-05 | Ocean engineering is with full-automatic seabed pipeline inspection robot |
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