CN113124261B - Head pose control structure of water supply pipeline leak detection robot - Google Patents
Head pose control structure of water supply pipeline leak detection robot Download PDFInfo
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- CN113124261B CN113124261B CN202110421120.9A CN202110421120A CN113124261B CN 113124261 B CN113124261 B CN 113124261B CN 202110421120 A CN202110421120 A CN 202110421120A CN 113124261 B CN113124261 B CN 113124261B
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- cabin
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/954—Inspecting the inner surface of hollow bodies, e.g. bores
- G01N2021/9548—Scanning the interior of a cylinder
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/15—Leakage reduction or detection in water storage or distribution
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
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- General Physics & Mathematics (AREA)
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Abstract
The invention discloses a water supply pipeline leak detection robot head pose control structure, which relates to the technical field of robots and comprises the following components: the vision cabin, control cabin, spring, cable, supporting wheel, positioning disk, string protection hose, cutting ferrule adapter, transparent toughened glass board, sealed O type circle groove, LED luminescent circuit board, camera, stay cord, spool, speed reduction step motor, main control chip circuit board. The attitude control structure can work in an underwater high-pressure environment, the characteristics of a continuum robot are added, the attitude of the robot is changed by using a rope drive, the problems that the existing underwater high-pressure pipe network leak detection robot is rare, the working space is insufficient, the robot is not flexible enough and the like are solved, the structure has the characteristics of high flexibility, high flexibility and large working space, and meanwhile, the structural design is reasonable and simple, so that the structure is easy to realize and is suitable for popularization and application.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a water supply pipeline leak detection robot head pose control structure.
Background
Pipeline transportation is the most basic transportation mode of tap water, natural gas and the like, and pipelines which are communicated with the ground are distributed in all cities. However, as the service life increases, the pipeline is corroded and damaged, and resources are wasted. Therefore, the pipeline needs to be overhauled in time. The traditional excavation sampling detection method is time-consuming and labor-consuming, so that the pipeline robot is produced at the same time. The pipeline robot enables pipeline detection to be more convenient and accurate.
At present, pipeline robot adopts rigid structure mostly, and this kind of structural control is simple and accurate, but also has some defects simultaneously, like the bulk ratio is bigger, the degree of freedom is low etc.. These drawbacks make rigid-structured pipeline robots impractical for use in small pipelines. The advent of serpentine robots has solved the difficulty of pipeline robots working in narrow pipelines. The snake-shaped robot has compact structure and high degree of freedom, the gravity center of the snake-shaped robot is always kept at the lowest position, the snake-shaped robot is very stable in operation, and the problem of overturning is not needed. However, the snake-shaped robot has a special structural property that a motor for driving the change of the posture of the snake-shaped robot is arranged at the joint of each joint, so that great requirements are made on the waterproof performance of the motor in the high-pressure environment of the urban tap water pipeline. This can result in a serpentine pipe robot that is cost prohibitive.
In order to ensure that the pipeline robot can work normally in a high-pressure narrow tap water pipeline, the invention provides a head position and posture control structure of a water supply pipeline leak detection robot. The posture of the robot head can be changed in a narrow and high-pressure special environment, and the functions of turning and detecting the pipe wall through the camera are achieved.
Disclosure of Invention
The invention aims to solve the problems that most pipeline robots have large sizes, low freedom degree and cannot prevent water and are not suitable for narrow and high-pressure liquid pipelines at present. Aiming at the problem, a head pose control structure of the water supply pipeline leak detection robot is designed. The structure adopts the rope to drive the software structure, and the flexibility ratio is high, and workspace is big, can waterproof and high pressure resistant and design cost is low. The specific technical scheme is as follows:
the utility model provides a water supply pipe leak hunting robot head position appearance control structure which characterized in that, the robot includes:
the visual cabin and the control cabin are jointly used as the whole head posture control structure of the whole pipeline robot.
And the spring is connected with the vision cabin and the control cabin and is fixed at two ends.
And the cable is arranged in the middle of the spring and is used for data and power transmission of the vision cabin and the control cabin.
The string protection hose is a latex hose.
The transparent toughened glass plate is installed at one end of the vision cabin.
And the control circuit board is fixed in the control cabin and is respectively connected with the driving motor, the power supply and the camera.
And the four driving motors are arranged in the control cabin and connected with the thin ropes connected from the vision cabin.
And the pull rope is fixed in the vision cabin and penetrates through the latex hose to reach the control cabin to be connected with the driving motor.
And the guide disc penetrates through the spring and the four thin rope protection hoses.
The cutting ferrule adapter, the cutting ferrule adapter is used for fixing cable or latex hose seal at both ends.
The supporting wheels are uniformly distributed and installed on two sides of the vision cabin and the control cabin, and only one side of the vision cabin close to the control cabin is provided with the supporting wheels.
The camera is fixed in the vision cabin and connected with the cable.
And the LED circuit board is arranged in the vision cabin and is connected with the control cabin through a cable like the camera.
Furthermore, two layers of sealing protection are arranged at the joints of two sides of the vision cabin, and an O-shaped sealing ring is used for protection.
Further, the vision cabin and the cover of the control cabin are fixed with the shell by using nuts and screws.
Further, the cord protection hose incorporates a thin spring to protect the hose from collapse due to high pressure, and also to protect the cord from tearing when stretched in the hose.
Further, the string is connected with an output shaft of the driving motor for changing the length of the string so as to change the head posture of the robot.
Further, use the rubber gasket to guarantee the leakproofness between cutting ferrule adapter and the robot.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are included to illustrate an exemplary embodiment of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic diagram of a head pose control structure of a water supply pipeline leak detection robot according to an embodiment of the present invention;
FIG. 2 is an exploded view of a vision pod of an embodiment of the present invention;
FIG. 3 is an exploded view of a control pod according to an embodiment of the present invention;
FIG. 4 is a schematic view of a cord protection hose in accordance with an embodiment of the present invention;
figure 5 is a schematic diagram of a ferrule adapter according to an embodiment of the present invention;
FIG. 6 is a schematic view of an embodiment of the present invention showing four drive motor installations;
FIG. 7 is a schematic view of a single drive motor installation of an embodiment of the present invention;
FIG. 8 is a schematic diagram of changing postures according to an embodiment of the present invention.
In the figure: 1. the water supply pipeline leak detection robot head pose control structure visual cabin; 2. the water supply pipeline leak detection robot head pose control structure controls the cabin; 3. a spring; 4. a cable; 5. a support wheel; 6. a guide plate; 7. a string protection hose; 8. a cutting sleeve adapter 1; 9. a transparent tempered glass plate; 10. a vision chamber front cover; 11. sealing the O-shaped ring groove; 12. a vision capsule body; 13. an LED light-emitting circuit board; 14. a vision chamber rear cover; 15. a camera; 16. pulling a rope; 17. a cutting sleeve adapter 2; 18. a bobbin; 19. a deceleration stepping motor; 20. a main control chip circuit board; 21. and a control cabin rear cover.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the scope of the invention
For the purpose of defining the invention.
As shown in fig. 1, the water supply pipeline leak detection robot head pose control structure comprises a water supply pipeline leak detection robot head pose control structure visual cabin 1; the water supply pipeline leak detection robot head pose control structure controls the cabin 2; a spring 3; a cable 4; a support wheel 5; a guide plate 6; a string protection hose 7; a ferrule adapter 8; a transparent tempered glass plate 10; an LED light-emitting circuit board 13; a camera 15; a pull cord 16; a bobbin 18; a deceleration stepping motor 19; a main control chip circuit board 20; the robot has small volume and can work in a narrow pipeline; the connection part adopts a soft body structure, so that the posture is changed more flexibly; the posture change adopts a rope-driven continuum structure, so that the working space of the head of the robot is larger; the protection hose outside the pull rope ensures the waterproof and pressure-resistant problems;
the visual cabin is characterized by structurally comprising a visual cabin 1 of a water supply pipeline leak detection robot head pose control structure, and as shown in figure 2, the visual cabin is composed of a visual cabin front cover 10, a transparent toughened glass sheet 9, a visual cabin main body 12, an LED light-emitting circuit board 13, a camera 15 and a visual cabin rear cover 14. Wherein, two sealing O-shaped ring grooves are designed at the joints of the vision cabin front cover 10, the vision cabin main body 12 and the vision cabin rear cover for sealing, and the two sealing O-shaped ring grooves are assembled by screws and nuts; the transparent toughened glass plate 8 is buckled on the head section main body 12 by a vision cabin front cover 10; the camera 15 is fixed inside the vision cabin rear cover 14; the LED light-emitting circuit board 12 is fixed on the camera; the vision cabin back cover 14 is distributed with 5 holes, wherein four of the clamping sleeve adapters 8 are used for installing the string protection hose 7, and the rest is provided with a clamping sleeve adapter 17 for installing the cable 7, and the installation implementation is shown in fig. 5;
the control cabin 2 of the water supply pipeline leak detection robot head pose control structure only has a rear cover 21, the design of the rear cover 21 is the same as that of the visual cabin, and the control cabin comprises 4 ferrule adapters 8 and 1 ferrule adapter 17;
the control cabin is internally provided with four driven speed reduction stepping motors, as shown in fig. 7, each speed reduction stepping motor is integrally installed by a motor fixing plate and a motor fixing buckle, and a spool 18 is installed on an output shaft of each motor;
as shown in fig. 6, in order to solve the problem of narrow space, four driving motors 19 are installed inside the control cabin in a crisscross manner in a double-layer overlapping manner;
as shown in fig. 3, the control cabin is further provided with a main control chip circuit board 20 for driving the motor 19 and controlling the LED light-emitting circuit board 13, and the main control chip circuit board is further responsible for communicating with a computer upper computer, receiving and sending instructions.
The spring 3 is connected with two ends of the attitude control structure and is fixed at the circle centers of the two ends through a groove; a cable 4 penetrates through the middle of the spring, the cable 4 penetrates through the shell to transmit electric power and signals, and the clamping sleeve adapter 17 is used for sealing and fixing the shell of the robot; 4 strings are uniformly distributed around the spring to protect the hose 7, and the hose is sealed and fixed on the robot shell by a clamping sleeve adapter 8; as shown in FIG. 4, the hose is protected by the thin spring inside, so that the pulling rope is prevented from cutting the hose made of latex, and the thin spring can also protect the hose from being collapsed due to high pressure and is inconvenient to pull by the pulling rope. One end of the pull rope 16 is fixed in the vision cabin, and the other end is connected to a spool of a driving motor of the control cabin; the guide disc 6 is a disc provided with 1 big hole and 4 small holes, the big hole is used for connecting with a spring, and the small holes are mainly used for restraining a driving pull rope.
As shown in fig. 8, after receiving the command, the main control chip circuit board 20 drives the deceleration stepping motor 19, and the four motors rotate for different turns according to different commands, so that the lengths of the pull ropes are different, and the posture of the head is changed. The guide disc plays a role in restraining the pull rope, and the spring has supporting force and can elastically deform to play a supporting role.
The robot always keeps the gravity center at the lowest during movement, and the robot runs stably and is not easy to overturn; and the robot is added with the characteristics of a continuum robot, and a moving branched chain with continuous deformation characteristics replaces a rigid branched chain and a rigid moving joint. The posture control mechanism of the robot has the characteristics of high flexibility, high flexibility and large working space.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. The utility model provides a water supply pipe leak hunting robot head position appearance control structure which characterized in that: the structure comprises a water supply pipeline leak detection robot head pose control structure visual cabin (1), a water supply pipeline leak detection robot head pose control structure control cabin (2), a spring (3), a cable (4), a thin rope protection hose (7), clamping sleeve adapters 1 and 8, an LED light-emitting circuit board (13), a pull rope (16), a clamping sleeve adapter 2 and 17, a thread shaft (18) and a speed reduction stepping motor (19); the springs (3) are fixed at two ends of a head pose control structure of the water supply pipeline leak detection robot and are respectively fixed on the vision cabin (1) and the control cabin (2) through the clamping sleeve adapters 2 (17); the installation mode of the thin rope protection hose (7) is the same as that of the spring (3), a clamping sleeve adapter 1(8) is used, the thin rope protection hose (7) and the cable (4) penetrate through a shell of the attitude control structure, and the clamping sleeve adapter 1(8) and the clamping sleeve adapter 2(17) are selected for sealing and fixing; four speed reducing stepping motors (19) are arranged inside the control cabin (2); one end of a pull rope (16) penetrates through a thin rope protection hose (7) and is fixed on the visual cabin (1), the other end of the pull rope (16) is fixed on a spool (18) of a speed reduction stepping motor (19), the speed reduction stepping motor (19) works to drive the spool (18) to wind the pull rope (16), and the length of the pull rope (16) is changed so that the head posture is changed;
the structure of a continuum robot is introduced in the structural design, and the neck of the attitude control structure is designed into a rope-driven continuum; the continuum robot is composed of a rigid body called a guide disc and an elastic body called a spine; a disc with 1 big hole and 4 small holes is used as a guide disc (6), the big hole is used for connecting with a spring (3), and the small holes are used for restraining a driving pull rope (16) and a thin rope protection hose (7); the elastic body is a spring (3); a group of four pull ropes (16) which are uniformly distributed around the circle center are used as a drive to penetrate through the guide disc (6), and the elastic body is bent and deformed by tightening or loosening the ropes so as to achieve the transformation of the head posture; two guide discs (6) are arranged in the middle of the head and the tail, and a single joint of the continuum robot is formed between the guide discs and the guide discs, and three single joints are formed;
threads matched with the spring (3) are arranged in a large hole in the middle of the guide disc (6), so that the guide disc (6) is tightly clamped on the spring (3);
the vision cabin (1) of the control structure and the cover and the main body of the control cabin (2) are sealed by adopting a transverse and longitudinal double-sealing design, and can work under high pressure water;
the visual cabin consists of a visual cabin front cover (10), a transparent toughened glass sheet (9), a visual cabin main body (12), an LED light-emitting circuit board (13), a camera (15) and a visual cabin rear cover (14); wherein two sealing O-shaped ring grooves are designed at the joints of the vision cabin front cover (10), the vision cabin main body (12) and the vision cabin rear cover for sealing; the transparent toughened glass sheet (9) is buckled on the visual cabin main body (12) by a visual cabin front cover (10); the camera (15) is fixed inside the vision cabin rear cover (14); the LED light-emitting circuit board (13) is fixed on the camera; the vision cabin rear cover (14) is provided with five holes, wherein four clamping sleeve adapters (8) are used for installing the string protection hose (7), and the other clamping sleeve adapters 2 and 17 are used for installing the cable (4).
2. The water supply pipeline leak detection robot head pose control structure according to claim 1, characterized in that: the material of the string protection hose (7) is a latex hose; and a thin spring is added inside the hose for protection.
3. The water supply pipeline leak detection robot head pose control structure according to claim 2, characterized in that: the pull rope is pulled and released by adopting a speed-reducing stepping motor (19) and a bobbin (18).
4. The water supply pipeline leak detection robot head pose control structure according to claim 3, wherein: the four driving motors are arranged in a cross mode, and are arranged inside the control cabin in a double-layer overlapping mode.
5. The water supply pipeline leak detection robot head pose control structure according to claim 4, wherein: one side or two sides of the vision cabin (1) and the control cabin (2) of the control structure are provided with 10 supporting wheels (5) which are uniformly distributed according to the circumference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110421120.9A CN113124261B (en) | 2021-04-19 | 2021-04-19 | Head pose control structure of water supply pipeline leak detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110421120.9A CN113124261B (en) | 2021-04-19 | 2021-04-19 | Head pose control structure of water supply pipeline leak detection robot |
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| CN113124261A CN113124261A (en) | 2021-07-16 |
| CN113124261B true CN113124261B (en) | 2022-09-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114382987B (en) * | 2022-01-18 | 2023-04-25 | 长江生态环保集团有限公司 | Urban drainage pipeline detection and repair device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101548320B1 (en) * | 2015-03-27 | 2015-09-07 | 수자원기술 주식회사 | Pipe Mapping Prove Apparatus for searching Pipe Route Position |
| CN204901203U (en) * | 2015-08-31 | 2015-12-23 | 浙江树人大学 | Water supply line inner wall sniffing robot |
| CN105485471B (en) * | 2015-12-29 | 2017-05-31 | 燕山大学 | Worm type pipeline climbing robot |
| CN106838543A (en) * | 2017-03-27 | 2017-06-13 | 合肥科的星测控科技有限公司 | A kind of robot for environment detection in city water pipeline |
| CN209803023U (en) * | 2019-03-12 | 2019-12-17 | 李�根 | rural minor diameter water supply pipeline robot of detecting a flaw |
| CN110154009B (en) * | 2019-06-14 | 2020-09-15 | 泉州市中知信息科技有限公司 | Bionical snake-shaped robot |
| CN110368619B (en) * | 2019-07-12 | 2021-02-19 | 东南大学溧阳研究院 | Intelligent fire extinguishing device based on bionic flexible arm |
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