CN115684205A - Intelligent detection device for inner wall state of section bar - Google Patents
Intelligent detection device for inner wall state of section bar Download PDFInfo
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- CN115684205A CN115684205A CN202211396654.1A CN202211396654A CN115684205A CN 115684205 A CN115684205 A CN 115684205A CN 202211396654 A CN202211396654 A CN 202211396654A CN 115684205 A CN115684205 A CN 115684205A
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Abstract
The invention provides an intelligent detection device for the state of the inner wall of a section bar, which comprises a driving mechanism, a supporting mechanism, a camera and a lifting mechanism, wherein the driving mechanism comprises a driving mechanism body and a driving mechanism body, the supporting mechanism comprises a driving mechanism body, and the lifting mechanism comprises a driving mechanism body, a supporting mechanism body, a camera and a lifting mechanism body, wherein the driving mechanism body comprises a driving mechanism body, a driving mechanism body and a lifting mechanism body, the driving mechanism body comprises a driving mechanism body, and the driving mechanism body comprises a driving mechanism body, a camera and a lifting mechanism body, and the driving mechanism body comprises a driving mechanism body, wherein the driving mechanism body is arranged on the driving mechanism body: the supporting mechanism comprises a chassis, and the chassis is connected with the driving mechanism; a driving mechanism: the device comprises a roller and a driving motor, and the roller and the driving motor drive the whole device to move; the camera is assembled and fixed with the lifting mechanism and is used for shooting the internal condition of the section bar; the lifting mechanism is arranged on the chassis and used for adjusting the height of the camera; the chassis is provided with an accommodating space for accommodating the lifting mechanism and the camera, the height after the accommodating is less than or equal to the diameter of the roller, and the inner diameter of the profile is less than or equal to the inner diameter of the profile in a full-lifting state of the camera and the lifting mechanism. According to the intelligent detection device for the inner wall state of the profile, the driving mechanism drives the profile to move inside, the camera collects the state image of the inner wall of the profile, and the detection operation of the inner wall of the profile is realized.
Description
Technical Field
The invention relates to the technical field of inner wall detection, in particular to an intelligent detection device for the inner wall state of a section.
Background
The inner wall of the section bar of the motor train unit can generate certain defects when the section bar is extruded and produced, the surface quality of the inner cavity of the section bar needs to be checked after the production is finished, the existing method for detecting the state of the inner wall of the section bar of the motor train unit mainly comprises manual detection and checking by using a handheld endoscope, the detection speed of the detection mode is low, the workload of detection personnel is high, a plurality of regions to be detected are divided into the inner cavity by the mounting base due to a plurality of through holes in the section bar, a large amount of man-hours are consumed, and the detection blind area can not cover the detection region to the full extent.
Disclosure of Invention
The invention mainly aims to solve the problems and the defects and provides the intelligent detection device for the inner wall state of the profile.
In order to achieve the purpose of the invention, the invention provides an intelligent detection device for the state of the inner wall of a section, which has the technical scheme that:
the utility model provides a section bar inner wall state intellectual detection system device, includes actuating mechanism, supporting mechanism, camera and elevating system, wherein:
the supporting mechanism comprises a chassis, and the chassis is connected with the driving mechanism;
a driving mechanism: the device comprises a roller and a driving motor, and the roller and the driving motor drive the whole device to move;
the camera is assembled and fixed with the lifting mechanism and is used for shooting the internal condition of the section bar;
the lifting mechanism is arranged on the chassis and used for adjusting the height of the camera;
the chassis is provided with an accommodating space for accommodating the lifting mechanism and the camera, the height after the accommodating is less than or equal to the diameter of the roller, and the inner diameter of the profile is less than or equal to the inner diameter of the profile in a full-lifting state of the camera and the lifting mechanism.
Further, the roller is a Mecanum wheel.
Furthermore, mecanum wheel includes planet wheel, wheel hub, wheat wheel small roller, the outer wall department of planet wheel is provided with the cleanness wheat wheel small roller surface is in order to prevent that it from advancing and driving the clean brush that dust impurity flies upward.
Further, the chassis includes preceding chassis and the back chassis through mounting bracket assembly connection, the mounting bracket includes the installation axle that sets up along automobile body length direction, preceding chassis and back chassis can be respectively around installation axle rotation.
Furthermore, the device also comprises an adjusting mechanism for adjusting the shooting direction of the camera, and the adjusting mechanism is assembled and fixed with the top of the lifting mechanism.
Furthermore, an avoidance space is arranged on the chassis when the adjusting mechanism is contained.
Furthermore, proximity switches and/or distance measuring sensors are arranged on the left side, the right side and/or the front side of the chassis.
Furthermore, elevating system includes lifing arm and elevator motor, the lifing arm pass through the interlock gear train with elevator motor is connected.
Further, the lifting arm is a lifting chain, and the accommodating space is provided with an accommodating groove for accommodating the lifting chain.
Further, the interlocking gear set and the lifting motor are arranged in the dustproof member.
In summary, the intelligent detection device for the inner wall state of the profile provided by the invention has the following technical advantages compared with the prior art:
1. the device is provided with a camera and can acquire the state image of the inner wall of the profile in real time;
2. the roller is miniaturized, and the cleaning brush is arranged, so that the normal movement of the robot can be ensured under the conditions of dust falling and accidental aluminum scraps, the translation and in-situ rotation can be realized in any direction, and the dust and impurities brought up by the roller are prevented from entering the linkage gear;
3. the lifting mechanism is miniaturized, can be hidden in the vehicle body after being contracted, and can meet the shooting requirement of the camera with the height of 150mm when being unfolded;
4. the splicing design of the front chassis and the rear chassis can meet the walking requirement of rollers in a severe detection surface environment, the interface positions of the two chassis are kept with rotational freedom by mounting shafts, wheels are prevented from slipping and suspending under special conditions (dust falling and aluminum scraps), and four rollers are ensured to be always kept in a contact state with the surface of a section when the device meets the condition that the surface of the section is uneven, so that the motion of the device is always controlled and the device runs along a specified route;
5. the whole size of the robot trolley is small, the minimum space range of 41mm can be guaranteed for detection operation, and devices with different specifications can be configured in equal proportion according to the inner diameter of a section to be detected so as to be suitable for different use scenes.
Description of the drawings:
FIG. 1: the invention relates to an overall structure schematic diagram (storage state) of an intelligent detection device for the inner wall state of a section;
FIG. 2: the invention relates to an overall structure schematic diagram (unfolding state) of an intelligent detection device for the inner wall state of a section;
FIG. 3: the invention relates to an overall structure schematic diagram of an intelligent detection device for the state of the inner wall of a section bar (the exposed state of a lifting motor);
FIG. 4: the invention relates to a structural schematic diagram of a driving mechanism in an intelligent detection device for the state of the inner wall of a section bar;
FIG. 5: the invention relates to a structural schematic diagram of a roller in an intelligent detection device for the state of the inner wall of a section bar;
FIG. 6: the structure of the lifting mechanism in the intelligent detection device for the inner wall state of the section bar is schematically shown in the figure;
FIG. 7 is a schematic view of: the invention relates to a schematic diagram of a chain storage state in an intelligent detection device for the inner wall state of a section;
FIG. 8: the invention relates to a view of a chain containing groove part in an intelligent detection device for the state of the inner wall of a section;
FIG. 9: the invention relates to a structural schematic diagram of an adjusting mechanism in an intelligent detection device for the state of the inner wall of a section bar;
FIG. 10: the invention relates to a structural schematic diagram of a chassis in an intelligent detection device for the state of the inner wall of a section;
in the figure: the device comprises a shell 1, a driving mechanism 2, a roller 21, a hub 211, a small wheat wheel 212, a cleaning brush 213, a planet wheel 214, a driving motor 22, a motor support 23, a dustproof device 24, a lifting mechanism 3, a lifting motor 31, a transmission gear set 32, a large gear 321, a small gear 322, a chain wheel 323, a lifting chain 33, a containing groove 4, a guide rail 35, an adjusting mechanism 4, a camera support 41, a horizontal steering engine 42, a fixed shaft 421, a connecting rod 422, a pitching steering engine 43, a camera 5, a laser ranging sensor 51, a signal receiving device 6, a proximity switch 7, a switch support 71, a supporting mechanism 8, a front chassis 81, an insertion groove 811, a cutting area 812, a rear chassis 82, a bend 821, an installation frame 83, a front support 831, a rear support 832, a screw rod 833, a nut 834, a top plate 9 and an installation plate 10.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description.
The invention provides an intelligent detection device for the state of the inner wall of a section bar, which comprises a driving mechanism 2, a supporting mechanism 8, a camera 5 and a lifting mechanism 3, wherein:
the supporting mechanism 8 comprises a chassis, and the chassis is connected with the driving mechanism 2;
the driving mechanism 2: comprises a roller 21 and a driving motor 22, and drives the whole device to move;
the camera 5 is assembled and fixed with the lifting mechanism 3 and shoots the internal condition of the section bar; the lifting mechanism 3 is arranged on the chassis and used for adjusting the height of the camera 5;
the chassis is provided with an accommodating space for accommodating the lifting mechanism 3 and the camera 5, the height after the accommodating is less than or equal to the diameter of the roller, and the inner diameter of the profile is less than or equal to the inner diameter of the profile in a full-lifting state of the camera 5 and the lifting mechanism 3.
The intelligent detection device for the inner wall state of the section comprises a driving mechanism 2, as shown in fig. 1 to 10, the driving mechanism 2 comprises a roller 21 driven by a driving motor 22 to drive the whole device to move, further, the roller 21 adopts a Mecanum wheel driven in all directions, translation and in-situ rotation in any direction can be realized, the conditions that impurities such as easy slipping, dust falling in different degrees, accidental aluminum scraps and the like exist in the section are considered, and the roller 21 is made of silica gel to ensure normal movement of the device. In this embodiment, four mecanum wheels are provided, two of the wheels are driving wheels and connected with the driving motor 22, the other two wheels are driven wheels, the driving wheels are driven by the driving motor 22 to rotate, the two driven wheels synchronously roll, and the device is balanced and stabilized, so that the device is moved in practical application, the diameter and the number of the mecanum wheels are determined according to the inner diameter of the section bar, and the device can be stably driven to operate. Further, in this embodiment, as shown in fig. 3, each mecanum wheel is provided with a driving motor 22, the driving motor 22 is mounted to the mecanum wheel through a motor bracket 23, the motor bracket 23 is L-shaped, the driving motor 22 is mounted on the top of the horizontal side plate, the vertical side plate is located inside the mecanum wheel, and a through hole is formed in the middle upper portion of the vertical side plate, after passing through the through hole, an output shaft of the driving motor 22 is connected to an axial hole of the mecanum wheel to drive the mecanum wheel to rotate, and a limiting structure and a fastening structure are disposed between the output shaft of the driving motor 22 and the axial hole of the mecanum wheel to prevent the output shaft of the driving motor 22 from being separated from the mecanum wheel during movement, or the output shaft from idling in the axial hole. The driving motor 22 may be a reduction motor, the output shaft is connected to the mecanum wheel through a reduction gear set and a connecting rod, and the tail portion (the end with the output shaft) of the driving motor 22, the reduction gear set and the connecting rod are disposed on the reduction dustproof device 24 to prevent dust from entering. In this embodiment, each mecanum wheel is provided with a driving motor 22 for synchronous driving, and the four wheels are driving wheels, so that the effective movement of the device can be effectively ensured.
The mecanum wheel adopts a self-cleaning mode and comprises an outer hub 211, a small roller 21221 of the wheat wheel and a planetary wheel 214 of an inner ring, wherein the planetary wheel 214 comprises a first gear and a second gear which are concentrically arranged, the first gear is provided with external teeth, the second gear is provided with internal teeth, the central shaft of the first gear is connected with the output shaft of the driving motor 22, three small gears 322 are evenly arranged between the first gear and the second gear, and each small gear 322 is simultaneously meshed with the first gear and the second gear. The wheat wheel small roller 21221 is arranged on the outer ring of the second gear, and is fixed with the hub 211 through the rolling shaft, and can rotate on the outer ring of the second gear, the main body structure of the wheat wheel small roller 21221 is made of silica gel, the cleaning brush 213 is arranged on the outer ring of the second gear, and impurities such as dust and aluminum scraps brought in the moving process are automatically cleaned, so that the impurities are prevented from being stained on the wheat wheel small roller 21221 after being brought up, and the wheat wheel small roller 21221 is damaged by the impurities or enters the rolling shaft, the driving motor 22 and the output shaft of the driving motor 22 along the rolling shaft, and the whole driving mechanism 2 is damaged.
The supporting mechanism 8 includes a chassis, and the driving mechanism 2 may be fixed to the chassis by overlapping the lateral side plate of the motor bracket 23 with the chassis, such as welding or fastening by bolts, or further, may be fixed to the chassis by a dust-proof device 24 outside the motor, so as to assemble and fix the driving mechanism 2 and the supporting mechanism 8 with each other. The chassis comprises a front chassis 81 and a rear chassis 82 which are separately arranged, as shown in the orientation of fig. 10, a slot 811 is arranged at the center line of the front end (the left side direction of fig. 10 is front and rear) of the front chassis 81 along the advancing direction of the device, the left side and the right side of the slot 811 are cut in an L shape, a blank space formed after cutting by a mecanum wheel of the driving mechanism 2 through a motor bracket 23 or a dustproof device 24 is fixed with the front chassis 81, and a cutting area 812 provides an avoiding space for assembling with the driving device, so that the whole width of the device is reduced. The rear end of the front chassis 81 is assembled and fixed with the front end of the rear chassis 82, the rear end of the front chassis 81 is generally in a convex shape and correspondingly, the front end of the rear chassis 82 is in a concave shape correspondingly, the convex structure of the rear end of the front chassis 81 is inserted into the concave part of the front end of the rear chassis 82, the mounting frame 83 comprises a front support 831 and a rear support 832, which are respectively arranged on the front chassis 81 and the rear chassis 82, the front support 831 and the rear support 832 are plate-shaped, through holes are correspondingly arranged on the upper parts of the front support 831 and the rear support 832, mounting shafts are inserted into the two through holes, so that the front chassis and the rear chassis are assembled into an integral structure, the mounting shafts can be screws 833, and after sequentially passing through the through holes on the front support 831 and the rear support 832, the two ends are respectively fastened and limited by nuts 834. After assembly, a certain gap is reserved between the front chassis 81 and the rear chassis 82, and the screw 833 is used for keeping the rotational freedom degree of the interface position, so that the four rollers 21 are always kept in a contact state with the surface of the section bar when the device encounters the condition that the surface of the section bar is uneven in the moving process, the operation of the device is always controlled, and the device can run according to a specified route. Further, the front support 831 and the rear support 832 may be respectively welded to the corresponding chassis surface, or may be integrally formed and arranged along the center line of the device in the traveling direction. When the chassis is integrally formed with the chassis, taking the front chassis 81 as an example, two sides of a center line of a convex part at the rear end of the front chassis 81 are respectively cut, the cut part is bent upwards 821 to form a front bracket 831, a through hole for the screw rod 833 to pass through is arranged at the upper part of the front bracket 831, and correspondingly, the front end of the rear chassis 82 is similarly cut and bent 821 to form a rear bracket 832. The width of the rear chassis 82 is smaller than the body width of the front chassis 81 and is the same as the width of the front chassis 81 after cutting both sides of the front end thereof, so that the front and rear widths are the same after mounting the mecanum wheels. The rear end of the rear chassis 82 is bent 821 upward for protecting the elevating mechanism 3 and the camera 5 mounted on the chassis.
In order to enable the device to be suitable for detecting the inner walls of sectional materials with different diameters and different structures, the height of the camera 5 is adjusted through the lifting mechanism 3, the lifting mechanism 3 comprises a lifting motor 31 and a lifting arm for driving the camera 5 to ascend and descend, the lifting arm can be a scissor mechanism, as also shown in fig. 6 to 8, a chain structure is adopted, an output shaft of the lifting motor 31 is assembled and fixed with a linkage gear set 32, the linkage gear set 32 comprises a large gear 321, a small gear 322 and a chain wheel 323 which are meshed with each other, the large gear 321 is coaxially fixed with the output shaft of the lifting motor 31, the small gear 322 is meshed with the large gear 321 and is coaxially fixed with the chain wheel 323, a plurality of connecting teeth are arranged on the periphery of the chain wheel 323, the connecting teeth are inserted into insertion holes of the lifting chain 33, the driving motor 22 acts to drive the large gear 321 to rotate, the small gear 322 meshed with the large gear 321 reduces the rotating speed and drives the coaxially fixed chain wheel 323 to rotate, and the lifting chain 33 is driven to drive the camera 5 at the front end to ascend and descend through the forward and reverse rotation of the lifting motor 31.
The lifting motor 31 is fixed to one side of the front chassis 81 by a bracket, the sprocket 323 is located at the side of the bottom of the slot 811 at the front end of the front chassis 81, the lifting start position of the lifting chain 33 is located right behind the bottom of the slot 811, and the center line of the lifting chain 33 coincides with the center line of the front chassis 81 after the lifting chain 33 is stored. After the lifting chain 33 drives the camera 5 to descend to the lowest position, the lifting chain 33 is stored on the front chassis 81, as shown in fig. 7 and 8, the chain storage groove 34 is arranged on the front chassis 81, the guide rail 35 is arranged in the storage groove 34, the guide rail 35 is generally set to be similar to a needle shape in a shape of a Chinese character hui, the lifting chain 33 is stored along the guide rail 35 in a rotating mode, the storage volume of the lifting chain 33 on the chassis is reduced, the overall length of the device is further reduced, the chain is stored neatly and orderly by arranging the guide rail 35, and the links of the lifting chain 33 are prevented from being hooked together and cannot lift normally.
Further, the accommodating groove 34 includes two vertical side plates which are arranged at intervals and fixed by bolts, the guide rail 35 is arranged between the two side plates, and the side portion of the guide rail 35 can be fixed with the inner sides of the side plates for supporting the guide rail 35. The top of the receiving groove 34 is opened or closed by a protection plate, a notch for the lifting chain 33 to go in and out of and lift is arranged at the front end of the protection plate, a chain wheel 323 is arranged below the notch, and the central shaft of the chain wheel 323 passes through the side plate and then is connected with a pinion 322. The front end of the accommodating groove 34 is positioned right behind the groove bottom of the insertion groove 811 at the front end of the front chassis 81, the large gear 321, the small gear 322 and the lifting motor 31 are arranged outside a side plate at one side of the accommodating groove 34, a transverse arm at the bottom of the L-shaped support is fixed with the top surface of the front chassis 81, the lifting motor 31 is fixed with the outer side of the L-shaped support, the large gear 321 is correspondingly arranged at the inner side of the L-shaped support, and an output shaft of the lifting motor 31 passes through a longitudinal side arm of the L-shaped support and then is fixed with the center of the large gear 321. The lower part of the rear side of the side plate of the containing groove 34 is provided with a mounting groove, a switch bracket 71 is inserted into the mounting groove and fixed with the containing groove 34, a proximity switch 7 is arranged on the switch bracket 71 and used for detecting the distance between the side part of the device and the inner wall of the section bar, and the collision between the device and the side wall of the section bar is avoided by controlling the advancing direction of the device according to the detected distance. The proximity switch 7 is fixed with the side part of the accommodating groove 34 through the switch bracket 71, and the proximity switch 7 is not directly fixed with the chassis, so that the inaccurate detection result caused by the vibration of the chassis can be effectively prevented. Correspondingly, set up laser rangefinder sensor 51 on camera 5 or guiding mechanism 4, detect the distance between camera 5 and the section bar lateral wall in the advancing direction, through rangefinder sensor and proximity switch 7, realize device welt walking, walking range finding, guarantee the stability and the position feedback of walking route, prevent to produce the collision with the section bar inner wall. Further, at least one proximity switch 7 may be provided on each side, and two or more proximity switches may be provided, and may be fixed to the side of the storage groove 34 by the switch bracket 71, or may be fixed to the storage groove 34 by the L-shaped bracket of the lift motor 31. In practical application, the laser distance measuring sensor and/or the proximity switch 7 can be installed on the device according to requirements.
Further, the device also comprises a top plate 9, the top plate 9 is similar to the front bottom plate in structure, the front end of the top plate is provided with an insertion groove 811, the accommodating groove 34 is positioned in the insertion groove 811, and the top of the accommodating groove 34 is higher than the top for a certain distance, so that the accommodating groove 34 is internally provided with a sufficient accommodating space. The front end of the top plate 9 is flush with the transverse edges of the L-shaped cutting areas 812 at the two sides of the front end of the front chassis 81, or slightly backward, and can cover the lifting motor 31, the linkage gear set 32 and other structures between the front chassis 81 and the top plate 9, so that the dust raised in the walking process is prevented from entering the chain, the linkage gear set 32 and the lifting motor 31 and causing damage to related parts. The rear end of the top plate 9 is generally in a convex shape and is positioned above the rear chassis 82, and the rear end of the top plate 9 and the upward bent part 821 at the tail part of the rear chassis 82 can be provided with other necessary structures such as a signal connecting device and the like.
Still further, the device still includes shell 1, and shell 1 can be U type casing, and the opening is down, covers roof 9 after and fixes with the top of chassis, with elevating system 3 whole sealed up, further protects elevating system 3. In practical application, the top plate 9 is not required to be arranged, the shell 1 and the chassis are directly fixed with each other, and an accommodating space for accommodating the lifting mechanism 3 is formed between the shell 1 and the chassis. The lateral part of the shell 1 is correspondingly provided with a hollow-out area, so that the proximity switch 7 is exposed, and the distance between the device and the lateral wall can be effectively detected. The lateral part of shell 1 still can be provided with the handle, the depressed area etc. that the operating personnel of being convenient for held, or shell 1 includes through the left and right sides two parts of structural connection such as bolt, torsional spring, or fold paper, and is fixed with the chassis joint, through detaining the fretwork district of moving one side, can open one side of casing. Similarly, a hollow area is provided at the top notch position of the housing 1 corresponding to the accommodating groove 34 for the lifting chain 33 to go in and out. Or, the two sides of the top plate 9 are connected with side plates through structures such as hinges, the bottoms of the side plates are connected with the chassis, and the top plate 9 and the side plates form the shell 1 of the device. The shell and the chassis are mutually fixed to form dustproof members of the lifting motor 31 and the linkage gear set 32, dust and impurities brought up in the moving process of the roller 21 are prevented from damaging the lifting mechanism, in practical application, the dustproof members can be independently arranged at the lifting motor 31 and the linkage gear set 32, the structure of the dustproof members is not required and limited, and the dustproof members can be realized.
Limiting structures are arranged between the head and the tail ends of the lifting chain 33 and the chain wheel 323 to prevent the lifting chain 33 from being separated from the chain; the front end at lifting chain 33 is fixed to camera 5, by lifting chain 33 adjustment camera 5's longitudinal position, camera 5 is fixed with lifting chain 33's front end through camera support 41, camera support 41 includes two horizontal arms and a vertical arm, two horizontal arms are reverse respectively to be fixed at the both ends of a vertical arm, and form "Z" type structure, a horizontal arm that horizontal position is higher is fixed with lifting chain 33 top, camera 5 is fixed to the top surface of a lower horizontal arm. The camera 5 can be a 360-degree dead-angle-free monitoring camera 5 to comprehensively detect the overall condition of the inner wall of the profile, also as in this embodiment, the camera 5 can also adopt a common camera 5 with a certain observation angle, the detection direction of the camera 5 is adjusted through the adjusting mechanism 4, specifically, the adjusting mechanism 4 comprises a horizontal steering engine 42 and a pitching steering engine 43, the horizontal steering engine 42 is fixed at the bottom of a transverse arm with a lower position, an output shaft passes through the transverse arm and then is fixed with a mounting plate 10 at the bottom of the camera 5, specifically, the output shaft passes through the transverse arm and then is fixed with a fixed shaft, the fixed shaft is connected with the mounting plate 10 through a connecting rod, the horizontal steering engine 42 rotates, the connecting rod drives the camera 5 to rotate along the horizontal direction through the fixed shaft, the detection angle of the horizontal direction is adjusted, in this embodiment, the horizontal steering engine 42 can drive the camera 5 to rotate 270 along the horizontal direction, so as to fully detect the condition of the horizontal direction. Further, an output shaft of the pitching steering engine 43 is connected with the mounting plate 10, and the mounting plate 10 is driven to drive the camera 5 to rotate for 180 degrees in the longitudinal direction, so that the detection angle in the longitudinal direction is adjusted.
When the camera is stored (the lifting chain 33 is completely descended), the slot 811 at the front end of the front chassis 81 forms a storage avoidance area of the adjusting device, the camera support 41 and the horizontal steering engine 42 at the bottom of the support are positioned in the slot 811, the distance between the chassis and the bottom surface of the Mecanum wheel is adjusted by setting the height of the longitudinal side plate of the motor support 23 and/or the fixing position of the dustproof device 24 and the chassis, and the height of the horizontal steering engine 42 is adjusted, so that after the camera is stored, a certain distance is reserved between the bottom surface of the horizontal steering engine 42 and the bottom surface of the inner wall of the section bar, the rolling of the Mecanum wheel is not influenced or interfered, the height of the camera support 41, the height of the fixing shaft and the height of the connecting rod are adjusted, so that after the camera is stored, the top height of the camera 5 is not higher than the top of the Mecanum wheel, and the overall height of the device after the camera is stored is reduced. By arranging the avoidance area for accommodating the adjusting mechanism 4 on the front chassis 81, the adjusting mechanism 4 and the camera 5 are prevented from being accumulated on the front chassis 81 after being accommodated, and the height of the whole device after being accommodated is increased. After the lifting chain 33 is completely accommodated in the accommodating groove 34, the camera bracket 41 is higher, the top surface of the transverse arm fixed with the lifting chain 33 is overlapped with the top of the accommodating groove 34, the accommodating position of the lifting chain 33 is limited, the lifting chain 33 is prevented from being excessively accommodated, furthermore, a groove can be arranged at the top of the accommodating groove 34, the transverse arm is accommodated in the groove, and the top surface is flush with the top surface of the accommodating groove. This horizontal arm extends forward, crosses behind other structures that lie in preceding chassis 81, and vertical arm is downward, makes guiding mechanism 4 and camera 5 accomodate the front end on chassis 81 in the front, and when camera 5 and guiding mechanism 4 were highly great, the slot 811 formation of preceding chassis 81 front end was accomodate and is dodged the district, and the messenger accomodates the back, and camera 5's top and the top parallel and level of accomodating groove 34 or be slightly less than and accomodate the groove 34 top. Furthermore, after the camera 5 is stored, the camera is located at the foremost end of the whole device and protrudes out of the range limited by the front chassis 81, and is optimally flush with the front end surfaces of the two front rollers 21 or protrudes out of the front end surfaces of the two front rollers 21, so that the detection of the inner wall can be still carried out in the stored state.
It should be noted that the intelligent detection device for the inner wall of the profile provided by the present invention further includes a control terminal, the signal receiving device 6 is disposed on the device, and the signal receiving device 6 can be disposed at a position between the top of the back bend 821 of the rear chassis 82 and the top plate 9 as described above, so as to receive the control signal emitted by the controller. The signal receiving device 6 is electrically connected or signal-connected with the driving mechanism 2, the lifting mechanism 3 and the adjusting mechanism 4, and respectively controls the driving motor 22 to act according to the signal types by using the received control signals, so as to drive the whole device to move, control the lifting motor 31 to act, control the height of the camera 5, control the horizontal steering engine 42 and/or the pitching motor to act, adjust the detection angle and the direction of the camera 5, and simultaneously control the on-off of the camera 5. Or the controller is directly connected with the electric devices through signals, and the controller directly controls the actions of the electric devices. The signals detected by the proximity switch 7 and the position sensor can be directly or indirectly transmitted to a controller, and the controller controls and adjusts the traveling direction of the device according to a preset program.
Considering that section bar overall structure is less, the inner space is limited, detection device needs the miniaturization, require whole size, actuating mechanism 2, elevating system 3 part to carry out corresponding dimensional adjustment, and carry out the arrangement of accomodating, rationally dodge as described earlier on, in order to reduce whole size, the whole size steerable of the device that this embodiment provided is within length 150mm, the width is 94mm, height (camera 5 descends and accomodates the back) is 37mm, can effectively detect the inner chamber that the inner chamber height is less than 41mm, the difference in height between inner chamber height and the device height can guarantee that the device can not block in the die cavity, equally, there should also be reasonable size difference in device width and die cavity width direction. The diameter of the roller 21 is as small as possible, and the chassis is lower than the central shaft of the roller 21 through the support, after the lifting mechanism 3 is descended and stored, the camera 5 and the maximum height of the lifting mechanism 3 are less than or equal to the diameter of the roller 21, under the state that the lifting mechanism 3 is lifted completely (the camera 5 is lifted to the maximum and comprises the adjustment of the pitching angle), the height of the camera 5 and the lifting mechanism 3 is less than or equal to the inner diameter of the section to be detected, the detection device can effectively detect the section with the diameter of the roller 21 less than or equal to the inner diameter (height) of the section less than or equal to the total lifting height and the width of the section less than or equal to the width of the section, as described above, reasonable size differences should exist between the optimal inner cavity height and device height and between the device width and the width direction of the cavity, the device is prevented from being clamped in the cavity, so that one detection device can simultaneously detect the inner shapes of various sections with different specifications, and the detection angle can still be adjusted under the state that the camera 5 is descended completely and stored through the arrangement of the horizontal steering engine 42 and the pitching steering engine 43 respectively and the avoidance area of the slot 811 of the front chassis 81. When the device is applied on site, a plurality of detection devices with different specifications and sizes can be configured according to the inner diameter of a common section bar and the size relation between the reference device and the inner diameter of the section bar, and the detection devices are used for detecting different section bars. By arranging the adjusting mechanism 4, the inner wall of a single cavity can be detected at different angles, and when a branch cavity is arranged in the cavity, the branch cavity can be effectively detected within a certain range without extending into the branch cavity.
During the in-service use, the device enters into the section bar inner chamber at the port of section bar inner chamber, because section bar port department is provided with structures such as mount pad usually, the opening size is less, during the entering, lift chain 33, camera 5 is in descending, accomodate the state, the whole height of device is minimum this moment, guarantee that the device passes through the port smoothly and enters into inside the section bar, after entering into the inside wide position of opening of section bar, control elevator motor 31 action, camera 5 rises, and through the angle of adjustment mechanism 4 adjustment camera 5, effectively detect the section bar inner wall, it explains that, for guaranteeing that camera 5 detection range does not have the dead angle, need to detect again after lifting mechanism 3 rises. The camera 5 transmits the acquired detection image to the control terminal in real time, and the control terminal can display the detection image in real time and store, export and record the detection image.
In summary, the intelligent detection device for the inner wall state of the profile provided by the invention has the following technical advantages compared with the prior art:
1. the device is provided with a camera 5, and can acquire the state image of the inner wall of the profile in real time;
2. the roller 21 is miniaturized, and the cleaning brush 213 is arranged, so that the normal movement of the robot can be ensured under the conditions of dust falling and accidental aluminum scrap, the translation and the in-situ rotation can be realized in any direction, and the dust and impurities brought up by the roller 21 are prevented from entering the linkage gear;
3. the lifting mechanism 3 is miniaturized, can be hidden in a vehicle body after being contracted, and can meet the shooting requirement that the camera 5 needs 150mm in height when being unfolded;
4. the chassis adopts the splicing design of the front chassis 81 and the rear chassis 82, the walking requirement of rollers under the severe detection surface environment can be met, the interface positions of the two chassis are kept with the rotational freedom degree through the mounting shaft, the wheels are prevented from slipping and suspending under special conditions (dust falling and aluminum scraps), and the four rollers 21 are ensured to be always kept in a contact state with the surface of the section when the device meets the condition that the surface of the section is uneven, so that the motion of the device is always controlled and the device can run according to a specified route;
5. the whole size of the robot trolley is small, the minimum space range of 41mm can be guaranteed for detection operation, and devices with different specifications can be configured in equal proportion according to the inner diameter of a section to be detected so as to be suitable for different use scenes.
Similar solutions can be derived as described above in connection with the given solution content. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
1. The utility model provides a section bar inner wall state intellectual detection system device which characterized in that: comprises a driving mechanism, a supporting mechanism, a camera and a lifting mechanism, wherein,
the supporting mechanism comprises a chassis, and the chassis is connected with the driving mechanism;
a driving mechanism: the device comprises a roller and a driving motor, and the roller and the driving motor drive the whole device to move;
the camera is assembled and fixed with the lifting mechanism and is used for shooting the internal condition of the section bar;
the lifting mechanism is arranged on the chassis and used for adjusting the height of the camera;
the chassis is provided with an accommodating space for accommodating the lifting mechanism and the camera, the height after the accommodating is less than or equal to the diameter of the roller, and the inner diameter of the profile is less than or equal to the inner diameter of the profile in a full-lifting state of the camera and the lifting mechanism.
2. The intelligent detection device for the state of the inner wall of the section bar of claim 1, which is characterized in that: the roller is a Mecanum wheel.
3. The intelligent detection device for the state of the inner wall of the section bar of claim 2, characterized in that: the Mecanum wheel comprises a planet wheel, a wheel hub and a small wheat wheel roller, wherein a cleaning brush for cleaning the surface of the small wheat wheel roller so as to prevent the small wheat wheel roller from driving dust and impurities to fly upwards in the process of advancing is arranged on the outer wall of the planet wheel.
4. The intelligent detection device for the state of the inner wall of the section bar of claim 1, which is characterized in that: the chassis includes preceding chassis and the back chassis through mounting bracket assembled joint, the mounting bracket includes the installation axle that sets up along automobile body length direction, preceding chassis and back chassis can be respectively around the installation axle is rotatory.
5. The intelligent detection device for the state of the inner wall of the section bar of claim 1, which is characterized in that: the camera shooting device is characterized by further comprising an adjusting mechanism for adjusting the shooting direction of the camera, and the adjusting mechanism is assembled and fixed with the top of the lifting mechanism.
6. The intelligent detection device for the state of the inner wall of the section bar of claim 5, wherein: and an avoiding space for accommodating the adjusting mechanism is arranged on the chassis.
7. The intelligent detection device for the state of the inner wall of the section bar of claim 1, which is characterized in that: proximity switches and/or distance measuring sensors are arranged on the left side, the right side and/or the front side of the chassis.
8. The intelligent detection device for the state of the inner wall of the section bar of any one of claims 1 to 7, wherein: the lifting mechanism comprises a lifting arm and a lifting motor, and the lifting arm is connected with the lifting motor through a linkage gear set.
9. The intelligent detection device for the state of the inner wall of the section bar of claim 8, wherein: the lifting arm is a lifting chain, and the accommodating space is provided with an accommodating groove for accommodating the lifting chain.
10. The intelligent detection device for the state of the inner wall of the section bar of claim 8, wherein: the linkage gear set and the lifting motor are arranged in the dustproof component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211396654.1A CN115684205A (en) | 2022-11-09 | 2022-11-09 | Intelligent detection device for inner wall state of section bar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211396654.1A CN115684205A (en) | 2022-11-09 | 2022-11-09 | Intelligent detection device for inner wall state of section bar |
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| CN115684205A true CN115684205A (en) | 2023-02-03 |
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| CN202211396654.1A Pending CN115684205A (en) | 2022-11-09 | 2022-11-09 | Intelligent detection device for inner wall state of section bar |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116559171A (en) * | 2023-03-22 | 2023-08-08 | 盐城工学院 | Petrochemical storage tank wall detection device |
| CN116660478A (en) * | 2023-07-26 | 2023-08-29 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Automatic detection robot for heat exchange tube |
| CN116952962A (en) * | 2023-07-12 | 2023-10-27 | 成都瑞波科材料科技有限公司 | Coating device, detection method and coating process equipment |
-
2022
- 2022-11-09 CN CN202211396654.1A patent/CN115684205A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116559171A (en) * | 2023-03-22 | 2023-08-08 | 盐城工学院 | Petrochemical storage tank wall detection device |
| CN116952962A (en) * | 2023-07-12 | 2023-10-27 | 成都瑞波科材料科技有限公司 | Coating device, detection method and coating process equipment |
| CN116660478A (en) * | 2023-07-26 | 2023-08-29 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Automatic detection robot for heat exchange tube |
| CN116660478B (en) * | 2023-07-26 | 2023-09-22 | 成都市特种设备检验检测研究院(成都市特种设备应急处置中心) | Automatic detection robot for heat exchange tube |
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