CN111059410A

CN111059410A - Micro-miniature pipeline detection robot

Info

Publication number: CN111059410A
Application number: CN201911389367.6A
Authority: CN
Inventors: 胡建; 赵龙飞
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-04-24

Abstract

The invention discloses a micro-miniature pipeline detection robot which comprises a robot main body, wherein an adjusting mechanism for changing a camera shooting angle and a plurality of traveling mechanisms for moving the robot are arranged on the robot main body, the adjusting mechanism comprises a working box, a first motor and a second motor are installed in the working box, a driving shaft of the second motor is connected with a U-shaped seat, a resistance rotating rod is arranged at the top end of the U-shaped seat, a fixed rod is welded on the resistance rotating rod, an output shaft of the first motor is connected with the side wall of the fixed rod through a connecting rod, and a camera shooting device is arranged at the upper end of the fixed rod. The invention has novel structure and compact device, is suitable for detecting the micro-miniature pipeline, can change the rotation angle, the pitch angle and the elevation angle of the camera, can detect the pipeline condition of the top wall of the pipeline or the position of the robot, and simultaneously adopts a plurality of groups of walking mechanisms, compared with a crawler-type robot, not only reduces the volume, but also can better pass through the corner of the pipeline.

Description

Micro-miniature pipeline detection robot

Technical Field

The invention relates to the technical field of robot design and manufacture, in particular to a micro-miniature pipeline detection robot.

Background

Various pipelines are ubiquitous in industrial production and daily life, materials with fluid properties such as water, gas, oil, powder and other chemical raw materials are conveyed through the pipelines, pipeline faults such as blockage, corrosion, cracks and the like can reduce the efficiency of material transmission, potential safety hazards are caused, and even major safety accidents are caused.

The functions of the existing pipeline detection robot are gradually improved, and in order to improve the detection accuracy, the flexibility of a camera device configured on the robot is also gradually improved, for example, in the pipeline detection robot described in CN201721267046.5, the rotation of the camera device in the same horizontal plane and the up-and-down movement of the camera device in the same vertical plane are realized by a first servo motor, a second servo motor, a threaded rod, a first gear, a second gear and other devices, although the problem of adjusting the height and the angle of the camera is solved, the change of the pitch angle of a camera is limited, the visual angle can only be parallel to the camera, the close-range detection of the pipeline where the robot is located cannot be realized, the use of the robot in the actual detection work has certain limitation, on the other hand, the designed robot advancing mode is crawler type advancing, in the actual production, the size of the crawler type robot is large, the robot cannot enter a micro-miniature pipeline, if the pipeline is wet and slippery, the advancing force of the robot is insufficient, the crawler-type robot is not easy to change the direction, and the robot is easy to clamp in the pipeline when passing through a curve, so that economic loss is caused, and therefore the micro-miniature pipeline detection robot is provided.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a micro-miniature pipeline detection robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a microminiature pipeline detection robot, includes the robot main part, be equipped with in the robot main part and be used for changing the adjustment mechanism of angle of making a video recording and be used for a plurality of running gear that the robot removed, it includes the work box to adjust the structure, install first motor and second motor on the inside wall of work box and the interior diapire respectively, there is the U-shaped seat drive shaft of second motor through the coupling joint, the top of U-shaped seat is equipped with the resistance bull stick, and the welding has the dead lever on the resistance bull stick, the dead lever is circular-arc, the output shaft of first motor passes through the lateral wall of L shape connecting rod and dead lever and links to each other, the upper end welding of dead lever has the support column, and the support column runs through the roof and the fixedly connected.

Preferably, the camera device comprises a camera and a plurality of ultrasonic sensors which are symmetrically arranged.

Preferably, each running gear all includes upper limb festival and low limbs festival, every the upper limb festival all is equipped with the install bin that is used for driving the upper limb festival motion with robot main part lateral wall junction, every the upper limb festival is equipped with transmission with the junction of corresponding low limbs festival.

Preferably, every all be equipped with the third motor in the install bin, every the equal fixedly connected with worm of output of third motor, and the meshing has the worm wheel on the worm, every the upper limb festival all runs through the install bin that corresponds and with worm wheel fixed connection, the welding has a plurality of stoppers on the lateral wall of robot main part, every the part that the upper limb festival is located the corresponding install bin outside all rotates to be connected on the stopper that the position is corresponding.

Preferably, every the lower extreme of lower limb festival all is equipped with damping device, every damping device all is including being located spring and the stopper that corresponds the lower limb festival, every the bottom of stopper all is equipped with the slider, and the bottom of slider runs through the diapire that corresponds the lower limb festival and is connected with the shock attenuation ball.

Preferably, every transmission all includes that two rotate the piece and be located two transmission boxes that rotate between the piece, every links to each other with the upper limbs festival all be equipped with the driving gear in the rotation piece, every links to each other with the lower limbs festival all be equipped with driven gear in the rotation piece, every the second gear is all installed at the middle part of transmission box, and the both sides of second gear mesh respectively has first gear, and two first gears mesh with corresponding driving gear, driven gear respectively mutually.

Preferably, each of the sliders is made of a teflon material having a self-lubricating property, and each of the damping balls is made of a polyurethane material.

The invention has the beneficial effects that:

1. through setting up the adjustment mechanism who comprises devices such as first motor, the second motor, the U-shaped seat, the resistance bull stick, the connecting rod, the dead lever, when needs camera device redirecting, drive the U-shaped seat through the second motor and rotate and make camera device at the coplanar internal rotation, when the angle of pitch of camera device is adjusted to needs, rotate the connecting rod through first motor, the connecting rod drives the resistance bull stick at the U-shaped seat internal rotation through the dead lever again, make the support column rotate for the axis around a resistance bull stick, realize the change of the angle of pitch of camera device.

2. Through setting up devices such as third motor, worm wheel, when the worm wheel rotated and drives the worm motion, the upper limbs festival of robot can be in order to rotate along the pivot, and similar insect upper limbs lifts upwards, through the crisscross motion of multiunit running gear, can realize the removal of robot, and the worm wheel and worm can reach great velocity ratio with less size, reduces the volume of robot.

3. Through setting up devices such as driving gear, driven gear, first gear, second gear, the driving gear rotates and makes driven gear rotate in step, can realize the drive of upper limb festival to the low limbs festival, makes the low limbs festival collude inwards or outwards, can support the pipeline inner wall of different diameters.

4. When the multi-legged robot walks, the toe contacts with the ground to generate impact, when the impact force is too large, the stability and the structural rigidity of the whole mechanism are greatly influenced, the double-buffering elastic structure is added at the toe, when the toe impacts the ground with acceleration, the shock absorption ball firstly plays a buffering role, is made of polyurethane materials, has the characteristic of three-dimensional delay restoration, is suitable for the shock absorption of the feet of various robots, and can reduce the impact force to the minimum by using spring buffering as a second buffering mechanism.

5. Through setting up the slider that has self-lubricating performance polytetrafluoroethylene made, its coefficient of friction is very little, consequently slides also very little of the resistance that receives in the spout, prevents that the slider from blocking in the spout and leading to the spring buffer mechanism malfunctioning.

In conclusion, the invention has novel structure and compact device, is suitable for micro-miniature pipeline detection, can change the rotation angle, the depression angle and the elevation angle of the camera, can detect the pipeline condition of the top wall of the pipeline or the position of the robot, and simultaneously adopts a plurality of groups of walking mechanisms, compared with a crawler-type robot, not only reduces the volume, but also can better pass through the corner of the pipeline.

Drawings

Fig. 1 is a schematic structural view of a micro-miniature pipeline detection robot according to the present invention;

FIG. 2 is a schematic structural diagram of an adjusting mechanism in a micro-miniature pipeline inspection robot according to the present invention;

FIG. 3 is a schematic structural diagram of an installation box part in a micro-miniature pipeline inspection robot according to the present invention;

FIG. 4 is a schematic structural view of a damping device at a lower limb joint of a micro-miniature pipeline detection robot according to the present invention;

FIG. 5 is a schematic structural view of a joint between an upper limb joint and a lower limb joint of a micro-miniature pipeline detection robot according to the present invention;

fig. 6 is a schematic structural diagram of a transmission device in a micro-miniature pipeline detection robot according to the present invention.

In the figure: the robot comprises a camera 1, a connecting rod 2, a fixing rod 3, a robot main body 4, a first motor 5, a resistance rotating rod 6, a mounting box 7, an 8U-shaped seat, an upper limb section 9, a rotating part 10, a coupling 11, a second motor 12, a transmission box 13, a working box 14, a lower limb section 15, a support column 16, a rotating shaft 17, a worm gear 18, a worm 19, a third motor 20, a transmission shaft 21, a protection box 22, a driving gear 23, a first gear 24, a second gear 25, a driven gear 26, a camera 101, an ultrasonic sensor 102, a spring 151, a limiting block 152, a sliding block 153 and a damping ball 154.

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.

Referring to fig. 1-6, a micro-miniature pipeline detection robot comprises a robot main body 4, an adjusting mechanism for changing a camera angle and a plurality of traveling mechanisms for moving the robot are arranged on the robot main body 4, the adjusting mechanism comprises a working box 14, a first motor 5 and a second motor 12 are respectively arranged on the inner side wall and the inner bottom wall of the working box 14, a driving shaft of the second motor 12 is connected with a U-shaped seat 8 through a coupling 11, a resistance rotating rod 6 is arranged at the top end of the U-shaped seat 8, and the resistance rotating rod 6 is welded with a fixed rod 3, the fixed rod 3 is arc-shaped, the output shaft of a first motor 5 is connected with the side wall of the fixed rod 3 through an L-shaped connecting rod 2, two parts of the L-shaped connecting rod 2 can horizontally rotate relatively, but can not rotate vertically, the supporting column 16 is welded at the upper end of the fixing rod 3, and the supporting column 16 penetrates through the top wall of the working box 14 and is fixedly connected with the camera device 1.

In the invention, the camera device 1 comprises a camera 101 and a plurality of ultrasonic sensors 102 which are symmetrically arranged, the ultrasonic sensors 102 are used for judging whether obstacles exist around and the distance between the obstacles and the robot, and a winder for winding and unwinding a cable, a control chip for controlling the robot to move and an attitude sensor are also arranged in the robot main body 4.

Each walking mechanism comprises an upper limb section 9 and a lower limb section 15, a mounting box 7 used for driving the upper limb section 9 to move is arranged at the joint of each upper limb section 9 and the side wall of the robot main body 4, and a transmission device is arranged at the joint of each upper limb section 9 and the corresponding lower limb section 15.

All be equipped with third motor 20 in every install bin 7, the equal fixedly connected with worm 19 of the output of every third motor 20, and the meshing has worm wheel 18 on the worm 19, worm and worm wheel transmission can obtain great velocity ratio with the volume of petite, reduce the volume of robot, every upper limb festival 9 all runs through corresponding install bin 7 and with worm wheel 18 fixed connection, the welding has a plurality of stoppers on the lateral wall of robot main part 4, every upper limb festival 9 is located the equal rotation of part that corresponds the install bin 7 outside and connects on the stopper that the position is corresponding.

The lower extreme of every lower limb festival 15 all is equipped with damping device, and every damping device all includes spring 151 and stopper 152 that are located corresponding lower limb festival 15, and the bottom of every stopper 152 all is equipped with slider 153, and the diapire that corresponds lower limb festival 15 is run through to the bottom of slider 153 and is connected with shock attenuation ball 154.

Every transmission all includes two rotation pieces 10 and is located two transmission boxes 13 that rotate between the piece 10, every rotation piece 10 that links to each other with upper limbs festival 9 all is equipped with driving gear 23 in, every rotation piece 10 that links to each other with lower limbs festival 15 all is equipped with driven gear 26, second gear 25 is all installed at the middle part of every transmission box 13, and the both sides of second gear 25 have meshed first gear 24 respectively, and two first gears respectively with corresponding driving gear 23, driven gear 26 meshes mutually, through a plurality of gear engagement, can increase the length that lower limbs festival 15 extends, be applicable to different diameter pipelines, and in the pipeline of small pipe footpath, can retract through rotation piece 10 and reduce the volume of robot.

Each sliding block 153 is made of polytetrafluoroethylene material with self-lubricating property, each damping ball 154 is made of polyurethane material, and the lower limb joint 15 and the joint connection part can be effectively protected through a double damping device.

When the invention is used, a detection robot enters a pipeline from a pipe orifice, the condition of the internal environment of the pipeline, namely a pipe body, is detected through the camera 101, the distance between the detection robot and an obstacle is judged through the ultrasonic sensor 102, thereby adjusting the advancing speed and the advancing direction, when the condition in the multi-direction pipeline needs to be shot, the U-shaped seat 8 is driven to rotate through the second motor 12, so that the camera device 1 rotates in the same plane by taking the diameter of the output shaft of the second motor 12 as the axis, meanwhile, the fixed rod 3 and the resistance rotating shaft 6 rotate around the axis of the resistance rotating shaft 6 through the connecting rod 5, the connecting rod 2 is L-shaped and is divided into two parts, the two parts only can relatively move in the same plane, and the other parts can not relatively rotate in any direction, therefore, the bending angle and the elevation angle of the camera device 1 can be controlled by controlling the rotating angle of the second motor 12, the robot is not limited to the detection parallel direction any more, the detection of the upper part or the lower part of the position of the robot is realized, and the robot has a wider visual angle in practical application;

when the robot moves forwards or backwards, one pair of the walking mechanisms moves, the other one or two pairs of the walking mechanisms do not move, a third motor 20 in the moving walking mechanism rotates to enable a worm 19 to drive a worm wheel 18 to rotate, the worm wheel 18 is fixedly connected with an upper limb joint 9 through a transmission shaft 21, so that the upper limb joint 9 can move upwards or downwards in the vertical direction, meanwhile, the upper limb joint 9 is rotatably arranged on a fixed block on the side wall of the robot main body 4 through a rotating shaft 17, the supporting force is increased, the influence of the weight of a load on the rotation of the worm wheel 18 is avoided, a counter bore is formed in the top wall of the mounting box 7, the top end of the worm 19 is rotatably arranged in the counter bore, the movement between the worm wheel 18 and the worm 19 is not influenced by the inclination angle of the mounting box 7 in the moving process of the robot, and the robot;

the upper limb joint 9 and the lower limb joint 15 are connected with the rotating part 10 through a plurality of gears, after the upper limb joint 9 is lifted, the driving gear 23 rotates, force is transmitted through the plurality of gears, so that the lower limb joint 15 is driven to change in angle, similar walking action is realized, and the walking process of the robot is formed by alternate movement of a plurality of groups of walking mechanisms;

when the robot walks, the lower limb joint 15 is in contact with the ground to generate impact, the impact force is excessive, the stability and the structural rigidity of the whole mechanism are affected, the connecting piece is easy to wear and tear, the robot is scrapped or the robot turns on the side, the damping ball 154 made of polyurethane material and the spring 2 play a damping role together, and the walking stability and the service life of the robot are ensured.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. The utility model provides a microminiature pipeline detection robot, includes robot main part (4), its characterized in that, be equipped with the adjustment mechanism who is used for changing the angle of making a video recording and be used for a plurality of running gear that the robot removed on robot main part (4), it includes work box (14) to adjust the structure, install first motor (5) and second motor (12) in work box (14), the drive shaft of second motor (12) is connected with U-shaped seat (8), the top of U-shaped seat (8) is equipped with resistance bull stick (6), and the welding has dead lever (3) on resistance bull stick (6), the output shaft of first motor (5) passes through connecting rod (2) and links to each other with the lateral wall of dead lever (3), the upper end of dead lever (3) is equipped with camera device (1).

2. The microminiature pipeline detecting robot according to claim 1, wherein each walking mechanism comprises an upper limb section (9) and a lower limb section (15), a mounting box (7) for driving the upper limb section (9) to move is arranged at the joint of each upper limb section (9) and the side wall of the robot main body (4), and a transmission device is arranged at the joint of each upper limb section (9) and the corresponding lower limb section (15).

3. The microminiature pipeline detecting robot according to claim 2, wherein a third motor (20) is arranged in each mounting box (7), an output end of each third motor (20) is fixedly connected with a worm (19), a worm wheel (18) is meshed on the worm (19), and each upper limb joint (9) penetrates through the corresponding mounting box (7) and is fixedly connected with the worm wheel (18).

4. The microminiature pipeline detecting robot according to claim 2, wherein the lower end of each lower limb joint (15) is provided with a damping device, each damping device comprises a spring (151) and a limiting block (152) which are positioned in the corresponding lower limb joint (15), the bottom of each limiting block (152) is provided with a sliding block (153), and the bottom end of each sliding block (153) penetrates through the bottom wall of the corresponding lower limb joint (15) and is connected with a damping ball (154).