CN113124261B - An attitude control structure of the head of a water supply pipeline leak detection robot - Google Patents

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

An attitude control structure of the head of a water supply pipeline leak detection robot

technical field

The invention relates to the technical field of robots, in particular to a head posture control structure of a water supply pipeline leak detection robot.

Background technique

Pipeline transportation is the most basic mode of transportation such as tap water and natural gas. The underground of every city is covered with pipes extending in all directions. However, as the use time increases, the pipeline will be corroded and damaged, which will cause waste of resources. Therefore, the pipeline needs to be repaired in time. The traditional mining sampling detection method is very time-consuming and labor-intensive, so the pipeline robot came into being. The emergence of pipeline robots makes pipeline inspection more convenient and accurate.

At present, most of the pipeline robots use a steel structure, which is simple and accurate in control, but also has some defects, such as relatively large volume and low degree of freedom. These defects make the rigid structure of the pipeline robot inapplicable in small pipelines. The emergence of snake-like robots solves the difficulty of pipe robots working in narrow pipes. The snake-like robot has a compact structure and high degree of freedom, and its center of gravity is always kept at the lowest position, so it is very stable during operation, and there is no need to worry about overturning. However, due to the special structural properties of the snake-shaped robot, the motor that drives the snake-shaped robot to change its posture is installed at the connection of each joint, so the waterproof performance of the motor is very demanding in the high-pressure environment of urban water pipes. This would make the serpentine pipe robot cost prohibitive.

In order to make the pipeline robot work normally in high-pressure and narrow tap water pipelines, a head posture control structure of a water supply pipeline leak detection robot is invented. It can change the posture of the robot head in the special environment of narrow and high pressure, and achieve the functions of turning and detecting the pipe wall through the camera.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the current situation that most pipeline robots are bulky and have low degrees of freedom and cannot be waterproof, and are not suitable for narrow and high-pressure liquid pipelines. Aiming at this problem, an attitude control structure of the head of a water supply pipeline leak detection robot is designed. The structure adopts rope drive software structure, which has high flexibility, large working space, waterproof and high pressure resistance, and low design cost. Its specific technical solutions are as follows:

A head posture control structure of a water supply pipeline leak detection robot, characterized in that the robot comprises:

The vision cabin and the control cabin, together with the vision cabin and the control cabin, serve as the head attitude control structure of the entire pipeline robot.

A spring connecting the vision cabin and the control cabin, the springs are fixed at both ends.

The cable, which is placed in the middle of the spring, is used for data and power transmission between the vision cabin and the control cabin.

The string protection hose is a latex hose.

A transparent tempered glass plate, the transparent tempered glass plate is installed at one end of the vision cabin.

The control circuit board is fixed in the control cabin, and is respectively connected to the driving motor, the power supply, and the camera.

Drive motors, the four drive motors are installed inside the control cabin, and are connected with strings taken from the vision cabin.

The pull rope, which is fixed inside the vision cabin, passes through the latex hose to the control cabin and is connected to the drive motor.

A guide disc that protects the hose through a spring and four strings.

A ferrule adapter used to seal a cable or latex hose at both ends.

Support wheels, the support wheels are evenly installed on both sides of the vision cabin and the control cabin, wherein the vision cabin has support wheels only on the side close to the control cabin.

The camera is fixed inside the vision cabin and connected with the cable.

The LED circuit board is installed in the vision cabin and connected to the control cabin through cables like the camera.

Further, there are two layers of sealing protection at the joints on both sides of the vision cabin, and O-rings are used for protection.

Further, the cover and the shell of the vision cabin and the control cabin are fixed by nuts and screws.

Further, a thin spring is added to the string protection hose to protect the hose from being crushed by high pressure, and also to protect the string from being cut when stretched in the hose.

Further, the string is connected with the output shaft of the driving motor, and is used to change the length of the string to change the posture of the robot head.

Further, a rubber gasket is used between the ferrule adapter and the robot to ensure tightness.

Description of drawings

The accompanying drawings forming a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached image:

1 is a schematic diagram of a head position 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 cabin according to an embodiment of the present invention;

3 is an exploded view of a control cabin according to an embodiment of the present invention;

4 is a schematic diagram of a string protection hose according to an embodiment of the present invention;

5 is a schematic diagram of a ferrule adapter according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the installation of four drive motors according to an embodiment of the present invention;

7 is a schematic diagram of the installation of a single drive motor according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of changing a posture according to an embodiment of the present invention.

In the figure: 1. Visual cabin for the posture control structure of the head of the water supply pipeline leak detection robot; 2. Control cabin for the posture control structure of the head of the water supply pipeline leak detection robot; 3. Spring; 4. Cable; 5. Support wheel; 6. Guide plate; 7. String protection hose; 8. Ferrule adapter 1; 9. Transparent tempered glass plate; 10. Front cover of vision cabin; 11. Sealed O-ring groove; 12. Main body of vision cabin; 13. LED Light-emitting circuit board; 14. Back cover of vision cabin; 15. Camera; 16. Pull rope; 17. Card sleeve adapter 2; 18. Spool; 19. Deceleration stepper motor; 20. Main control chip circuit board; 21. Control back cover.

Detailed ways

The present invention will be described in detail below with reference to the accompanying drawings.

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, not

used to define the present invention.

As shown in FIG. 1 , the described structure for controlling the posture of the head of a water supply pipeline leak detection robot includes a visual cabin 1 for the posture control structure of the head of a leak detection robot for water supply pipelines; Cabin 2; Spring 3; Cable 4; Support Wheel 5; Guide Plate 6; String Protection Hose 7; Ferrule Adapter 8; Transparent Tempered Glass Plate 10; LED Lighting Circuit Board 13; Camera 15; 18; deceleration stepper motor 19; main control chip circuit board 20; the robot is small in size and can work in narrow pipes; the connection adopts a software structure, making it more flexible to change the attitude; the attitude change adopts a rope-driven continuum structure, Thereby, the working space of the robot head is larger; the protective hose outside the pull rope ensures the problem of waterproof and pressure resistance;

It is characterized in that the structure includes a vision cabin 1 with an attitude control structure for the head of a water supply pipeline leak detection robot. As shown in Figure 2, the vision cabin consists of a vision cabin front cover 10, a transparent tempered glass sheet 9, a vision cabin main body 12, and LED lighting. The circuit board 13, the camera 15, and the rear cover 14 of the vision cabin are composed. Among them, two sealing O-ring grooves are designed at the joints of the front cover 10 of the vision cabin, the main body 12 of the vision cabin and the rear cover of the vision cabin for sealing, and they are all assembled with screws and nuts; The cover 10 is fastened on the main body 12 of the head section; the camera 15 is fixed inside the rear cover 14 of the vision cabin; the LED light-emitting circuit board 12 is fixed on the camera; the rear cover 14 of the vision cabin has 5 holes all over, four of which are used to install strings The ferrule adapter 8 of the protective hose 7 is left with a ferrule adapter 17 for installing the cable 7, and the installation is shown in Figure 5;

The control cabin 2 of the head posture control structure of the leak detection robot for the water supply pipeline has only the rear cover 21. The design of the rear cover 21 is the same as that of the vision cabin, and both include 4 ferrule adapters 8 and 1 ferrule adapter 17 ;

There are four driven deceleration stepper motors inside the control cabin, as shown in Figure 7, each deceleration stepper motor is installed as a whole by a motor fixing plate and a motor fixing buckle, and a cable shaft 18 is installed on the motor output shaft;

As shown in Fig. 6, in order to solve the problem of narrow space, the four drive motors 19 are arranged in a crisscross manner, and the double-layer stacking is installed inside the control cabin;

As shown in Figure 3, the control cabin is also equipped with a main control chip circuit board 20, which is used to drive the motor 19 and control the LED light-emitting circuit board 13. The main control chip circuit board is also responsible for communicating with the computer host computer, receiving and sending instructions.

The spring 3 is connected to both ends of the attitude control structure, and is fixed at the center of the circle at both ends through the slot; the cable 4 is pierced in the middle of the spring, and the cable 4 penetrates the casing for power and signal transmission, and is sealed and fixed on the robot shell through the ferrule adapter 17 up; four thin ropes are evenly distributed around the spring to protect the hose 7, and the hose is sealed and fixed on the robot shell by the ferrule adapter 8; as shown in Figure 4, there are thin springs inside the hose to protect the hose and prevent the rope from being pulled Cut the hose made of latex, and the thin spring can also protect the hose from being crushed by high pressure and not easy to pull the rope. One end of the pull rope 16 is fixed inside the vision cabin, and the other end is connected to the spool of the drive motor of the control cabin; the guide plate 6 is a disc with one large hole and four small holes, and the large hole is used to connect with the spring. The small hole is mainly used to restrain the driving rope.

As shown in FIG. 8 , after receiving the command, the main control chip circuit board 20 drives the deceleration stepper motor 19, and the four motors rotate different numbers of turns according to different commands, so that the length of the pull rope is different, and then the posture of the head is changed. . The guide plate plays the role of restraining the pull rope, and the spring has a supporting force and can be elastically deformed to play a supporting role.

When moving, the robot always keeps its center of gravity at the lowest point, and it runs stably and is not easy to overturn; and the robot adds the characteristics of a continuum robot, replacing rigid branches and rigid kinematic joints with moving branches with continuous deformation characteristics. The robot's attitude control mechanism has the characteristics of high flexibility, high flexibility and large working space.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (5)

1. A water supply pipeline leak detection robot head position attitude control structure is characterized in that: the structure comprises a water supply pipeline leak detection robot head position attitude control structure visual cabin (1), a water supply pipeline leak detection robot head position attitude control structure Control cabin(2), spring(3), cable(4), string protection hose(7), ferrule adapter 1(8), LED light-emitting circuit board(13), pull rope(16), ferrule The adapter 2 (17), the bobbin (18) and the deceleration stepper motor (19); the spring (3) is fixed on both ends of the attitude control structure of the head part of the leak detection robot of the water supply pipeline, and is passed through the ferrule adapter 2 (17) They are fixed in the vision cabin (1) and the control cabin (2) respectively; the installation method of the string protection hose (7) is the same as that of the spring (3), using the ferrule adapter 1 (8), the string protection hose ( 7) and the cable (4) pass through the housing of the attitude control structure, and use the ferrule adapter 1 (8) and the ferrule adapter 2 (17) for sealing and fixing; four deceleration stepper motors (19) Installed inside the control cabin (2); the pull rope (16) is fixed on the vision cabin (1) through the string protection hose (7) at one end, and the other end is fixed on the spool (18) of the deceleration stepper motor (19), The decelerating stepper motor (19) works to drive the bobbin (18), winds the pull rope (16), and the length of the pull rope (16) changes so as to change the posture of the head; In the structural design, the structure of the continuum robot is introduced, and the "neck" of the attitude control structure is designed as a rope-driven continuum; the continuum robot is composed of a rigid body called a guide plate and an elastic body called a spine; an open A disc with 1 large hole and 4 small holes is used as a guide plate (6), the large hole is used to connect with the spring (3), and the small hole is used to constrain the driving cable (16) and the string protection hose ( 7); the elastic body selects the spring (3); it is designed to use a group of four pull ropes (16) evenly distributed around the center of the circle as the drive to pass through the guide plate (6), and the elastic body is bent by tightening or loosening the ropes. Deformation to achieve the transformation of the head posture; two guide discs (6) are added between the head and the tail, and there are three single joints between the guide discs and a single joint called the continuum robot; There is a thread matching the spring (3) in the middle large hole of the guide plate (6), so that the guide plate (6) is tightly clamped on the spring (3); The sealing of the cover and the main body of the visual cabin (1) and the control cabin (2) of the control structure adopts the double sealing design of horizontal and vertical, which can work under high pressure underwater; The vision cabin is composed of a vision cabin front cover (10), a transparent tempered glass sheet (9), a vision cabin main body (12), an LED light-emitting circuit board (13), a camera (15), and a vision cabin rear cover (14); Two sealing O-ring grooves are designed at the joints of the front cover (10), the main body of the vision cabin (12) and the rear cover of the vision cabin for sealing; the transparent tempered glass sheet (9) is buckled by the front cover of the vision cabin (10). On the main body (12) of the vision cabin; the camera (15) is fixed inside the rear cover (14) of the vision cabin; the LED light-emitting circuit board (13) is fixed on the camera; the rear cover (14) of the vision cabin is provided with five holes, wherein Four ferrule adapters (8) for attaching the string protection hose (7), leaving one ferrule adapter 2 (17) for mounting the cable (4). 2. A water supply pipeline leak detection robot head position control structure according to claim 1, characterized in that: the material of the string protection hose (7) is a latex hose; a thin spring is added inside the hose for protection . 3. The head position control structure of a water supply pipeline leak detection robot according to claim 2, characterized in that: a decelerating stepper motor (19) and a spool (18) are used to pull and release the pull rope. 4 . The head posture control structure of a water supply pipeline leak detection robot according to claim 3 , wherein the four drive motors are arranged in a crisscross manner, and are double-layered and installed inside the control cabin. 5 . 5. The head position control structure of a water supply pipeline leak detection robot according to claim 4, characterized in that 10 supports are installed on one side or both sides of the visual cabin (1) and the control cabin (2) of the control structure Wheels (5), evenly distributed around the circumference.

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