CN112025669A - Pipe gallery inspection robot with adjustable wheelbase - Google Patents
Pipe gallery inspection robot with adjustable wheelbase Download PDFInfo
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- CN112025669A CN112025669A CN202010712946.6A CN202010712946A CN112025669A CN 112025669 A CN112025669 A CN 112025669A CN 202010712946 A CN202010712946 A CN 202010712946A CN 112025669 A CN112025669 A CN 112025669A
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- walking base
- inspection robot
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- base
- crawler
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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Abstract
The invention provides a pipe gallery inspection robot with an adjustable axle distance. The pipe rack inspection robot with the adjustable wheelbase comprises a walking base, wherein four crawler wheels are mounted on the walking base, each two crawler wheels are a crawler wheel group, a crawler is sleeved on each crawler wheel group, a wheelbase adjusting device is mounted on the walking base, and the wheelbase adjusting device is matched with the crawler; a rotating platform device mounted on a top side of the walking base; a robotic arm assembly mounted on a top side of the rotary platform device; and the mounting platform is rotatably mounted at the top end of the mechanical arm assembly and is used for mounting various sensors. The pipe rack inspection robot with the adjustable wheelbase has the advantages of being capable of conducting line inspection, high-speed information transmission, autonomous navigation and multi-sensor information fusion.
Description
Technical Field
The invention relates to the technical field of buildings, in particular to a pipe gallery inspection robot with an adjustable axle distance.
Background
The utility model relates to a city underground comprehensive pipe gallery, be exactly "city underground pipeline utility corridor", also known as "common ditch", build a tunnel space in the city underground promptly, collect various pipelines such as municipal administration, electric power, communication, gas, plumbing to be equipped with access hole, hoist and mount mouth and monitoring system, implement unified planning, design, construction and management. The appearance of zip fastener road can be avoided effectively in the utility tunnel of underground city. After the construction, only wiring needs to be carried out inside, and the road does not need to be dug repeatedly. The city has been beautified in utility tunnel's construction, moves the cable conductor into the underground, has avoided aerial spider web, makes city construction clean and tidy orderly.
At present, the traditional comprehensive pipe gallery inspection method is mainly realized by manpower and a small amount of environment monitors. But because utility tunnel road journey is long, and the closure is strong, the structure is many, and the communication is inconvenient, not only causes workman intensity of labour big, and work efficiency and detection precision are low. Simultaneously, underground pipe gallery environment is complicated, the cable also often arouses the conflagration because of natural aging, corruption or gnawing of toy is bitten easily, and generally there is radioactive pollutant in the air of pipe gallery, in case the accident appears, will cause very big threat to patrolling and examining personnel's personal safety.
Therefore, there is a need to provide a new pipe gallery inspection robot with an adjustable wheelbase to solve the above technical problems.
Disclosure of Invention
The invention aims to provide a wheelbase-adjustable pipe rack inspection robot which can perform line inspection, high-speed information transmission, autonomous navigation and multi-sensor information fusion.
In order to solve the technical problem, the pipe gallery inspection robot with the adjustable wheelbase provided by the invention comprises: the crawler belt wheel assembly comprises a walking base, wherein four crawler wheels are arranged on the walking base, each two crawler wheels are a crawler belt wheel assembly, a crawler belt is sleeved on each crawler belt wheel assembly, a wheel base adjusting device is arranged on the walking base, and the wheel base adjusting device is matched with the crawler belt;
a rotating platform device mounted on a top side of the walking base;
a robotic arm assembly mounted on a top side of the rotary platform device;
the mounting platform is rotatably mounted at the top end of the mechanical arm assembly and is used for mounting various sensors;
the automatic superfine dry powder extinguishing device is installed on the top side of the walking base and is connected with a pipeline, a spray head is installed at one end of the pipeline, and the spray head is fixed on the top side of the installation platform.
Preferably, the wheel base adjusting device comprises a double-shaft motor, the double-shaft motor is installed in the walking base, a rotating shaft is installed on an output shaft of the double-shaft motor, and one end of the rotating shaft, which is far away from the double-shaft motor, extends to the outside of the walking base and is provided with an elastic tightening device.
Preferably, the elastic belt tightening device comprises a shell, two buffer grooves are formed in the shell, sliding rods are slidably mounted in the buffer grooves, one ends of the two sliding rods extend out of the buffer grooves and are connected with the same connecting seat, a supporting crawler wheel is rotatably connected to the connecting seat and is matched with the crawler belt, a piston is mounted at the other end of each sliding rod, and the piston is connected with the inner wall of the buffer groove in a sliding and sealing mode;
be connected with the universal driving shaft that runs through the walking base between two shells, universal driving shaft and shell rotate to be connected, be equipped with the confession on the walking base the arc through-hole that the universal driving shaft runs through and the universal driving shaft can remove in the radial major axis direction of arc through-hole, the cover is equipped with the bearing and the bearing is arranged in the arc through-hole and the diameter that the radial minor axis size of arc through-hole equals the bearing on the universal driving shaft, be connected with the arc rack in the arbitrary one end of universal driving shaft, the tooth of arc rack is down to and with arc rack toothing's gear, the gear is connected with the servo motor on the walking base, servo motor fixes in one of them side in the both sides of walking base, it has the arc guiding hole and the axial lead coincidence of arc guiding hole and arc through-hole still to open one side of walking base, arc rack part is.
Preferably, a spring is installed in the buffer slot, one end of the spring is fixedly connected with the inner wall of one side of the buffer slot, and the other end of the spring is fixedly connected with the piston.
Preferably, the rotary platform device comprises a motor, the motor is installed in the walking base, a rotating rod is installed on an output shaft of the motor, the top end of the rotating rod extends to the outside of the walking base and is provided with a placing table, and the mechanical arm assembly is installed on the top side of the placing table.
Preferably, a plurality of rolling balls are arranged on the top side of the walking base in a rolling manner, the rolling balls are positioned below the placing table, and the rolling balls are in contact with the placing table.
Preferably, a transmission module and a steering module are installed in the walking base, and the transmission module and the steering module are connected with the plurality of crawler wheels.
Preferably, the mounting platform is provided with a camera, a lighting lamp, an infrared detector, a temperature sensor, a humidity sensor, a smoke detector and an ultrasonic flaw detection probe.
Preferably, a wireless communication module, a GPS positioning module and a control module are installed in the walking base, and the walking base, the rotating platform device, the mounting platform, the superfine dry powder automatic fire extinguishing device and the wireless communication module are all connected with the control module.
Preferably, the wireless communication module is connected with a monitoring control center, and the monitoring control center exchanges information with the control module through the wireless communication module.
Compared with the related art, the pipe gallery inspection robot with the adjustable wheelbase has the following beneficial effects:
the invention provides a pipe rack inspection robot with an adjustable axle distance, which adopts an inspection mode of the pipe rack inspection robot, can change the limitation of the traditional monitoring mode, breaks through the limitation of personnel inspection on time and environment requirements, and realizes the inspection and control of the whole area and the whole time of a pipe rack; the inspection robot is provided with various signal acquisition devices, and a pre-detection technology is combined to realize working condition early warning in the pipe gallery, so that post-processing is changed into precaution, an early warning mechanism is enhanced, and maintenance interruption is reduced or avoided; the shape of the track can be changed by adopting the wheel base adjusting device, the track can stably advance in adaptation to various terrain conditions, and key technologies such as automatic obstacle avoidance control, line inspection and fault location, high-speed information transmission, autonomous navigation and multi-sensor information fusion are integrated.
Drawings
Fig. 1 is a schematic structural diagram of a pipe gallery inspection robot with an adjustable wheelbase according to a preferred embodiment of the invention;
FIG. 2 is a schematic view of the elastic band tightening device shown in FIG. 1;
FIG. 3 is a schematic structural view of the wheelbase adjusting device shown in FIG. 1;
FIG. 4 is a schematic structural view of the rotary stage apparatus shown in FIG. 1;
FIG. 5 is a control block diagram of the wheelbase adjustable pipe gallery inspection robot provided by the invention;
fig. 6 is an enlarged structural view of a portion a of fig. 1.
Reference numbers in the figures: 1. the device comprises a walking base, 2, crawler wheels, 3, a crawler, 4, a wheel base adjusting device, 41, a double-shaft motor, 42, a rotating shaft, 43, a shell, 44, a buffer groove, 45, a piston, 46, a sliding rod, 47, a spring, 48, a connecting seat, 5, a supporting crawler wheel, 6, a rotating platform device, 61, a motor, 62, a rotating rod, 63, a placing platform, 7, a mechanical arm assembly, 8, an installation platform, 9, an ultra-fine dry powder automatic fire extinguishing device, 10, a pipeline, 11 and a spray head.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
Referring to fig. 1-5, the pipe gallery inspection robot with adjustable wheelbase includes: the crawler belt wheel assembly comprises a walking base 1, wherein four crawler wheels 2 are mounted on the walking base 1, each two crawler wheels 2 are a crawler belt wheel assembly, a crawler belt 3 is sleeved on each crawler belt wheel assembly, a wheel base adjusting device 4 is mounted on the walking base 1, and the wheel base adjusting device 4 is matched with the crawler belt 3;
a rotating platform device 6, wherein the rotating platform device 6 is installed on the top side of the walking base 1;
a robot arm assembly 7, said robot arm assembly 7 being mounted on a top side of said rotating platform means 6;
the mounting platform 8 is rotatably mounted at the top end of the mechanical arm assembly 7, and the mounting platform 8 is used for mounting various sensors;
the automatic fire extinguishing device 9 is characterized in that the automatic fire extinguishing device 9 is installed on the top side of the walking base 1, a pipeline 10 is connected to the automatic fire extinguishing device 9, a spray head 11 is installed at one end of the pipeline 10, and the spray head 11 is fixed on the top side of the installation platform 8.
The wheel base adjusting device 4 comprises a double-shaft motor 41, the double-shaft motor 41 is installed in the walking base 1, a rotating shaft 42 is installed on an output shaft of the double-shaft motor 41, and the rotating shaft 42 is far away from one end of the double-shaft motor 41 and extends to the outside of the walking base 1 and is provided with an elastic tightening device.
Elasticity belt tightening device includes shell 43, two dashpot 44 have been seted up on the shell 43, slidable mounting has slide bar 46 in dashpot 44, two slide bar 46's one end all extends to be connected with same connecting seat 48 outside dashpot 44, it is connected with support athey wheel 5 to rotate on the connecting seat 48, support athey wheel 5 with track 3 looks adaptation, piston 45 is installed to slide bar 46's the other end, piston 45 with dashpot 44's inner wall sliding seal connects.
The support crawler wheel 5 is rotated in an axial direction about the rotary shaft 42 to form a triangle, so that the wheel base is short.
A spring 47 is installed in the buffer groove 44, one end of the spring 47 is fixedly connected with the inner wall of one side of the buffer groove 44, and the other end of the spring 47 is fixedly connected with the piston 45.
Secondly, as shown in fig. 1 and fig. 6, a linkage shaft 49 penetrating through the walking base is connected between two outer shells 43, the linkage shaft and the outer shells are rotatably connected and rotatably connected through a bearing and the like, an arc-shaped through hole 10 for the linkage shaft to penetrate through is arranged on the walking base 1, the linkage shaft can move in the radial long axis direction of the arc-shaped through hole, a bearing 11 is sleeved on the linkage shaft and is arranged in the arc-shaped through hole, the radial short axis dimension of the arc-shaped through hole is equal to the diameter of the bearing, an arc-shaped rack 12 is connected at any end of the linkage shaft, the teeth of the arc-shaped rack face downwards, a gear 13 meshed with the arc-shaped rack is connected with a servo motor 14 on the walking base, the servo motor is fixed on one of two sides of the walking base, an arc-shaped guide hole 15 is arranged on one side of the walking base provided with the servo motor, and, the arc-shaped rack part is placed in the arc-shaped guide hole, and the remaining part is engaged with the gear 13.
A connecting sleeve sleeved on the linkage shaft is arranged at the lower side of the arc-shaped rack 12, and a shaft sleeve is arranged between the connecting sleeve and the linkage shaft and is rotatably connected with the connecting sleeve and the linkage shaft.
The two-shaft motor 41 and the servo motor 14 can run synchronously or asynchronously, so as to achieve the purpose of swinging the shell 43 and shorten the wheel base.
The servo motor 14 starts to drive the gear to rotate, the arc-shaped rack 12 is limited by the arc-shaped guide hole 15, the arc-shaped guide hole 15 can move along the radial length direction of the arc-shaped guide hole at the moment, the radial length of the arc-shaped guide hole 15 is larger than that of the arc-shaped rack 12, the arc-shaped rack 12 moves to drive the linkage shaft 49 to move in the arc-shaped through hole, the moving synchronization performance of the two-side axle distance adjusting device 4 can be improved, the accuracy of meshing of the crawler belt 3 and the crawler wheels is ensured, the timeliness of power transmission is ensured, and the walking stability of the robot is ensured.
Furthermore, a limiting ring is arranged at the notch of one end of the buffer groove 44 close to the connecting seat 48, a plurality of V-shaped grooves which are uniformly distributed in the circumferential direction are arranged on the inner wall of the limiting ring, V-shaped guide parts which are inserted into the V-shaped grooves one by one are arranged on the outer wall of the sliding rod 46, and the V-shaped guide parts are distributed along the axial direction of the sliding rod 46. The V-shaped groove and the V-shaped guide portion can form a circumferential restriction, and can prevent the slide bar 46 from shaking due to a gap left between the slide bar and the buffer groove 44, and ensure the service life of the piston 45.
Secondly, be equipped with the ring channel in piston 45's circumference to and set up and keep away from a plurality of intercommunication grooves of connecting seat 48 one end outer fringe at piston 45, ring channel and intercommunication groove intercommunication, simultaneously, be equipped with lubricated butter respectively in the ring channel and in the intercommunication groove, in order to ensure piston's life, and self-lubricate ability.
As shown in fig. 1 and 4, the rotary platform device 6 includes a motor 61, the motor 61 is installed in the traveling base 1, a rotating rod 62 is installed on an output shaft of the motor 61, a top end of the rotating rod 62 extends out of the traveling base 1 and is installed with a placing table 63, and the robot arm assembly 7 is installed on a top side of the placing table 63.
A plurality of balls are roll-mounted on the top side of the traveling base 1, the balls are located below the placing table 63, and the balls are in contact with the placing table 63.
A transmission module and a steering module are installed in the walking base 1, and the transmission module and the steering module are connected with the crawler wheels 2.
Install camera, light, infrared detection instrument, temperature sensor, humidity transducer, smoke detector and ultrasonic inspection probe on mounting platform 8, camera and light are used for carrying out image acquisition and gather and patrol and examine real-time video, and infrared detection instrument is used for carrying out combustible gas and detects, and humidity, temperature and smoke detection in temperature sensor, humidity transducer and the smoke detector were used for the piping lane environment detect, and ultrasonic inspection probe is used for detecting a flaw to the pipeline.
The walking base is characterized in that a wireless communication module, a GPS positioning module and a control module are installed in the walking base 1, and the walking base 1, the rotating platform device 6, the mounting platform 8, the superfine dry powder automatic fire extinguishing device 9 and the wireless communication module are all connected with the control module.
The wireless communication module is connected with a monitoring control center, and the monitoring control center exchanges information with the control module through the wireless communication module.
Compared with the related art, the pipe gallery inspection robot with the adjustable wheelbase has the following beneficial effects:
the invention provides a pipe rack inspection robot with an adjustable axle distance, which adopts an inspection mode of the pipe rack inspection robot, can change the limitation of the traditional monitoring mode, breaks through the limitation of personnel inspection on time and environment requirements, and realizes the inspection and control of the whole area and the whole time of a pipe rack; the inspection robot is provided with various signal acquisition devices, and a pre-detection technology is combined to realize working condition early warning in the pipe gallery, so that post-processing is changed into precaution, an early warning mechanism is enhanced, and maintenance interruption is reduced or avoided; the shape of the track can be changed by adopting the wheel base adjusting device, the track can stably advance in adaptation to various terrain conditions, and key technologies such as automatic obstacle avoidance control, line inspection and fault location, high-speed information transmission, autonomous navigation and multi-sensor information fusion are integrated.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. Piping lane inspection robot with adjustable wheel base, its characterized in that includes:
the crawler belt wheel assembly comprises a walking base, wherein four crawler wheels are mounted on the walking base, each two crawler wheels are a crawler belt wheel assembly, a crawler belt is sleeved on each crawler belt wheel assembly, and a wheel base adjusting device is mounted on the walking base and is matched with the crawler belt;
a rotating platform device mounted on a top side of the walking base;
a robotic arm assembly mounted on a top side of the rotary platform device;
the mounting platform is rotatably mounted at the top end of the mechanical arm assembly and is used for mounting various sensors;
the automatic superfine dry powder extinguishing device is installed on the top side of the walking base and is connected with a pipeline, a spray head is installed at one end of the pipeline, and the spray head is fixed on the top side of the installation platform.
2. The pipe rack inspection robot according to claim 1, characterized in that the wheel base adjusting device comprises a double-shaft motor, the double-shaft motor is installed in the walking base, a rotating shaft is installed on an output shaft of the double-shaft motor, and one end of the rotating shaft, which is far away from the double-shaft motor, extends to the outside of the walking base and is provided with an elastic tightening device.
3. The pipe rack inspection robot with the adjustable wheel base according to claim 2, characterized in that the elastic belt tightening device comprises a housing, two buffer grooves are formed in the housing, slide rods are slidably mounted in the buffer grooves, one ends of the two slide rods extend out of the buffer grooves and are connected with the same connecting seat, a supporting crawler wheel is rotatably connected to the connecting seat, the supporting crawler wheel is matched with the crawler, a piston is mounted at the other end of each slide rod, and the piston is connected with the inner wall of the buffer groove in a sliding and sealing manner;
be connected with the universal driving shaft that runs through the walking base between two shells, universal driving shaft and shell rotate to be connected, be equipped with the confession on the walking base the arc through-hole that the universal driving shaft runs through and the universal driving shaft can remove in the radial major axis direction of arc through-hole, the cover is equipped with the bearing and the bearing is arranged in the arc through-hole and the diameter that the radial minor axis size of arc through-hole equals the bearing on the universal driving shaft, be connected with the arc rack in the arbitrary one end of universal driving shaft, the tooth of arc rack is down to and with arc rack toothing's gear, the gear is connected with the servo motor on the walking base, servo motor fixes in one of them side in the both sides of walking base, it has the arc guiding hole and the axial lead coincidence of arc guiding hole and arc through-hole still to open one side of walking base, arc rack part is.
4. The pipe rack inspection robot according to claim 3, characterized in that a spring is installed in the buffer tank, one end of the spring is fixedly connected with the inner wall of one side of the buffer tank, and the other end of the spring is fixedly connected with the piston.
5. The pipe rack inspection robot according to claim 1, characterized in that the rotating platform device comprises a motor, the motor is installed in the walking base, a rotating rod is installed on an output shaft of the motor, the top end of the rotating rod extends out of the walking base and is provided with a placing table, and the mechanical arm assembly is installed on the top side of the placing table.
6. The pipe rack inspection robot with the adjustable wheel base according to claim 5, characterized in that a plurality of rolling balls are roll-mounted on the top side of the walking base and located below the placing table, and the rolling balls are in contact with the placing table.
7. The pipe rack inspection robot with the adjustable wheel base according to claim 1, characterized in that a transmission module and a steering module are installed in the walking base, and the transmission module and the steering module are connected with a plurality of crawler wheels.
8. The pipe rack inspection robot with the adjustable wheelbase according to claim 1, wherein a camera, a lighting lamp, an infrared detector, a temperature sensor, a humidity sensor, a smoke detector and an ultrasonic flaw detection probe are mounted on the mounting platform.
9. The pipe rack inspection robot according to claim 1, wherein a wireless communication module, a GPS positioning module and a control module are installed in the walking base, and the walking base, the rotary platform device, the installation platform, the superfine dry powder automatic fire extinguishing device and the wireless communication module are all connected with the control module.
10. The pipe rack inspection robot according to claim 9, wherein the wireless communication module is connected with a monitoring control center, and the monitoring control center exchanges information with the control module through the wireless communication module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010712946.6A CN112025669B (en) | 2020-07-22 | 2020-07-22 | Pipe gallery inspection robot with adjustable wheelbase |
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|---|---|---|---|
| CN202010712946.6A CN112025669B (en) | 2020-07-22 | 2020-07-22 | Pipe gallery inspection robot with adjustable wheelbase |
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| CN112025669B CN112025669B (en) | 2021-06-29 |
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Cited By (3)
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| CN112683174A (en) * | 2021-01-19 | 2021-04-20 | 南京力霸起重设备机械有限公司 | Crane metal part safety detection monitoring system and method based on Internet of things |
| CN112843285A (en) * | 2020-12-31 | 2021-05-28 | 同方威视技术股份有限公司 | Killing device, storage box and killing method |
| CN113018734A (en) * | 2021-03-19 | 2021-06-25 | 东北林业大学 | Crawler-type intelligent forest fire inspection emergency powder spraying robot |
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| CN113018734A (en) * | 2021-03-19 | 2021-06-25 | 东北林业大学 | Crawler-type intelligent forest fire inspection emergency powder spraying robot |
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| CN112025669B (en) | 2021-06-29 |
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