CN116734086A - Anti-collision device of pipeline detection robot - Google Patents
Anti-collision device of pipeline detection robot Download PDFInfo
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- CN116734086A CN116734086A CN202311032733.9A CN202311032733A CN116734086A CN 116734086 A CN116734086 A CN 116734086A CN 202311032733 A CN202311032733 A CN 202311032733A CN 116734086 A CN116734086 A CN 116734086A
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- 238000001514 detection method Methods 0.000 title abstract description 18
- 210000001503 joint Anatomy 0.000 claims abstract description 43
- 238000007689 inspection Methods 0.000 claims description 11
- 238000001179 sorption measurement Methods 0.000 claims description 4
- 239000007769 metal material Substances 0.000 claims description 2
- 230000002035 prolonged effect Effects 0.000 abstract description 2
- 238000003032 molecular docking Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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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
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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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
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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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an anti-collision device of a pipeline detection robot, which relates to the technical field of pipeline detection robots and comprises a robot main body assembly, wherein the robot main body assembly comprises a shell, a lifting assembly is arranged in the top end of the shell, an auxiliary driving assembly in butt joint with the lifting assembly is arranged at the top end of the robot main body assembly, two pairs of driving wheels are arranged on the outer walls of two sides of the shell, and an anti-collision assembly is arranged at the bottom end of the shell; the auxiliary driving assembly comprises a driving main body contacted with the top end of the shell, a hidden groove is formed in the left and right outer surfaces of the driving main body, and U strips are assembled in the hidden groove. According to the invention, the anti-collision assembly is used for elastically protecting the robot when the robot moves forwards, and decomposing and unloading force is carried out on external force during collision, so that the collision force transmitted to the inside of the robot is weakened, the damage to the robot caused by rigid contact is effectively avoided, and the service life of the pipeline detection robot is further prolonged.
Description
Technical Field
The invention relates to the technical field of pipeline detection robots, in particular to an anti-collision device of a pipeline detection robot.
Background
The pipeline robot is one integrated system with one or several sensors and operation machine capable of walking automatically inside or outside small pipeline and with remote control or automatic computer control.
In the prior art, a certain defect exists in pipeline detection and cleaning of the pipeline robot, such as pipeline damage caused by collapse, collapsed object blocks are arranged in the pipeline, the pipeline robot is easy to collide with the pipeline when moving in the pipeline to generate damage, and the pipeline robot cannot continuously move forward to detect the internal condition of the pipeline, so that the detection work of the pipeline is indirectly reduced.
Disclosure of Invention
Based on this, the present invention aims to provide an anti-collision device of a pipeline inspection robot, so as to solve the technical problems set forth in the background.
In order to achieve the above purpose, the present invention provides the following technical solutions: the anti-collision device of the pipeline detection robot comprises a robot main body assembly, wherein the robot main body assembly comprises a shell, a lifting assembly is arranged in the top end of the shell, an auxiliary driving assembly in butt joint with the lifting assembly is arranged at the top end of the robot main body assembly, two pairs of driving wheels are arranged on the outer walls of two sides of the shell, and an anti-collision assembly is arranged at the bottom end of the shell;
the auxiliary driving assembly comprises a driving main body contacted with the top end of the shell, hidden grooves are formed in the left outer surface and the right outer surface of the driving main body, U strips are assembled in the hidden grooves, an auxiliary wheel is rotationally arranged at one end of each U strip, a driven rod is fixed at the other end of each U strip, a rotating block is rotationally connected to the end of each driven rod, a bevel ring is fixedly wrapped on the outer wall of each driven rod, an arc-shaped rack meshed with the bevel ring is arranged on the inner wall of each hidden groove, an inner rod is fixed on the inner wall of each rotating block, the outer side of the bottom end of each inner rod extends out of the corresponding rotating block to be rotationally connected with the hidden groove, a cable disc is fixedly arranged on the outer wall of each fixed point rod of each inner rod, an electric rod is mounted at the top end of each driving main body, a driven block is fixedly arranged at the telescopic end of each electric rod, and a cable rope fixedly arranged on the outer wall of each driven block;
the crashproof subassembly is including the U frame of sliding locating the shell bottom, the breach has been seted up to the front end of U frame, breach inner wall rotation is equipped with the atress board, the outer wall of U frame cup joints two sets of L frames with shell bottom mounting, the rear end of U frame is equipped with two sets of butt joint strips, two sets of in the butt joint strip front end extends to the U frame, two sets of the outer wall of butt joint strip cup joints the draw runner, two sets of be fixed with the fixed strip between the butt joint strip, be fixed with a pair of spring between fixed strip and the draw runner, two sets of the rear end rotation of butt joint strip is connected with the stock, and stock both ends and shell bottom mounting.
Preferably, the shooting device is installed on the front side of the top end of the shell, which is located at the auxiliary driving assembly, and the shooting device is composed of a U frame, a three hundred sixty degree camera and an illuminating lamp.
Preferably, a hidden groove is formed at the contact position of the top end of the driving main body and the driven block, and the stroke of the hidden groove can be used for enabling the inner rod to rotate ninety degrees.
Preferably, the upper surface of shell and lifting unit contact position department have seted up and have accomodate the groove, accomodate inslot transverse fixation has two sets of auxiliary rod, two sets of driven strip has been cup jointed to the outer wall of auxiliary rod, accomodate horizontal inner wall central point of groove puts and installs double-end motor, double-end motor's both sides output is equipped with the lead screw that runs through driven strip, the end of lead screw is through axle and accomodate inslot wall butt joint, one of them set of the both ends rotation of driven strip is connected with the support arm No. one, and another set of the both ends rotation of driven strip is connected with the support arm No. two, no. two support arm terminal rotations are equipped with the base, the top and the drive main part bottom mounting of base, two sets of No. two support arms of driven strip end connection are X form and distribute.
Preferably, the outer wall of the U frame is fixed with a U-shaped limit bar, the inner wall of the U-shaped limit bar is provided with a sliding block extending to the inside of the U frame, a travel groove is formed in the contact position of the U frame and the sliding block, a reset spring is fixed between the travel groove and the sliding block, and a butt joint groove is formed in the contact position of the rear end of the U frame and the butt joint bar.
Preferably, a driving motor is installed on the outer wall of the U-shaped strip, and the output end of the driving motor is in butt joint with the auxiliary wheel through a coupler.
Preferably, a driving motor is arranged in the shell, the driving motor is in butt joint with the driving wheel, a storage battery is arranged in the shell, and the storage battery is communicated with the driving motor, the double-headed motor and the shooting device through wires.
Preferably, a blind hole is formed in the contact position of the hidden groove and the bottom end of the inner rod, and a torsion spring extending into the blind hole is sleeved on the outer wall of the inner rod.
Preferably, the adsorption magnetic block is inlaid at the bottom end of the shell, and the U frame and the butt joint strip are both made of metal materials.
In summary, the invention has the following advantages:
1. according to the invention, the anti-collision assembly is used for elastically protecting the robot when the robot moves forwards, and decomposing and unloading force is carried out on external force during collision, so that the collision force transmitted to the inside of the robot is weakened, the damage to the robot caused by rigid contact is effectively avoided, and the service life of the pipeline detection robot is further prolonged;
2. according to the invention, the auxiliary driving component is matched with the lifting component, so that the auxiliary wheel of the robot is unfolded to be in contact with the inner wall of the pipeline, the lifting component promotes the bottom end of the robot main body to be in a suspended state, so that the robot main body can cross an obstacle in front of the pipeline, and the pipeline detection work can be continued, so that the practicability of the pipeline detection robot is further improved;
3. the folding and storage device can fold and store the auxiliary wheels unfolded at two sides of the auxiliary driving assembly, meanwhile, the lifting device is matched to reduce the horizontal height of the auxiliary wheels, and the anti-collision assembly can be stored at the bottom end of the shell, so that the auxiliary wheels are small in occupied space and convenient to carry, and meanwhile, the conditions of stretching, deformation and the like caused by contact with foreign objects are avoided, and the convenience and durability of the auxiliary wheels are improved.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a bottom perspective view of the present invention;
FIG. 3 is a top perspective view of the robotic body assembly of the present invention;
FIG. 4 is a block diagram of a lift assembly of the present invention;
FIG. 5 is a perspective view of an anti-collision set according to the present invention;
FIG. 6 is a corrosion cut-away view of the U-frame of the present invention;
FIG. 7 is a side view of an auxiliary drive unit of the present invention;
FIG. 8 is a top view of the auxiliary drive unit of the present invention;
fig. 9 is a top cut-away view of the drive body of the present invention.
In the figure: 100. a robot body assembly; 200. an auxiliary drive assembly; 300. an anti-collision assembly;
110. a housing; 120. a first support arm; 130. a second supporting arm; 140. a base; 150. a double-ended motor; 160. a driving wheel; 170. a driven bar; 180. an auxiliary lever; 190. a screw rod;
101. a storage groove;
210. a driving body; 211. hiding the groove; 220. an electric lever; 230. a driven block; 240. u strips; 250. an auxiliary wheel; 251. a drive motor; 260. a driven rod; 261. conical toothed ring; 262. an arc-shaped rack; 270. a rotating block; 280. an inner rod; 281. a cable reel; 290. a cable;
310. a U-shaped frame; 311. a notch; 312. a butt joint groove; 313. a travel groove; 320. a force-bearing plate; 330. an L frame; 340. butt joint strips; 350. a base rod; 360. a fixing strip; 370. a spring; 380. u-shaped limit strips; 381. a slide block; 382. a return spring; 390. a slide bar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
Hereinafter, an embodiment of the present invention will be described in accordance with its entire structure.
1-9, an anti-collision device of a pipeline inspection robot comprises a robot main body assembly 100, wherein the robot main body assembly 100 comprises a shell 110, a lifting assembly is arranged in the top end of the shell 110, an auxiliary driving assembly 200 which is in butt joint with the lifting assembly is arranged at the top end of the robot main body assembly 100, two pairs of driving wheels 160 are arranged on the outer walls of two sides of the shell 110, and an anti-collision assembly 300 is arranged at the bottom end of the shell 110;
the auxiliary driving assembly 200 comprises a driving main body 210 contacted with the top end of the shell 110, a hidden groove 211 is formed on the left and right outer surfaces of the driving main body 210, a U-shaped bar 240 is assembled in the hidden groove 211, an auxiliary wheel 250 is rotatably arranged in one end of the U-shaped bar 240, a driven bar 260 is fixed at the other end of the U-shaped bar 240, a rotating block 270 is rotatably connected to the end part of the driven bar 260, a bevel ring 261 is fixedly wrapped on the outer wall of the driven bar 260, an arc-shaped rack 262 which is in meshed connection with the bevel ring 261 is arranged on the inner wall of the hidden groove 211, an inner bar 280 is fixed on the inner wall of the rotating block 270, the bottom end of the inner bar 280 extends out of the bottom end of the rotating block 270 and is rotatably connected with the hidden groove 211, the top end of the inner bar 280 extends out of the top end of the rotating block 270 and into the hidden groove 211, a cable disc 281 is fixed on the outer wall of the fixed point bar of the inner bar 280, an electric bar 220 is mounted on the top end of the driving main body 210, a driven bar 230 is fixed on the telescopic end of the electric bar 220, a driven bar 230 is arranged on the outer wall of the driven bar 230, a cable 290 is fixedly connected with the outer wall of the cable disc 281, a driving motor 251 is mounted on the outer wall of the U-shaped bar 240, and the output end of the driving motor 251 is in butt joint with the auxiliary wheel 250 through a joint;
the anti-collision assembly 300 comprises a U frame 310 which is slidably arranged at the bottom end of the shell 110, a notch 311 is formed in the front end of the U frame 310, a stress plate 320 is rotatably arranged on the inner wall of the notch 311, two groups of L frames 330 which are fixed with the bottom end of the shell 110 are sleeved on the outer wall of the U frame 310, two groups of butt joint strips 340 are arranged at the rear end of the U frame 310, the front ends of the two groups of butt joint strips 340 extend into the U frame 310, sliding strips 390 are sleeved on the outer walls of the two groups of butt joint strips 340, a fixing strip 360 is fixed between the two groups of butt joint strips 340, a pair of springs 370 is fixed between the fixing strip 360 and the sliding strips 390, a base rod 350 is rotatably connected to the rear ends of the two groups of butt joint strips 340, and two ends of the base rod 350 are fixed with the bottom end of the shell 110;
the upper surface of shell 110 has seted up storage tank 101 with lifting unit contact position department, transversely be fixed with two sets of auxiliary rod 180 in storage tank 101, driven bar 170 has been cup jointed to the outer wall of two sets of auxiliary rod 180, the horizontal inner wall central point department of storage tank 101 installs double-end motor 150, the both sides output of double-end motor 150 is equipped with the lead screw 190 that runs through driven bar 170, the end of lead screw 190 is through the butt joint of axle and storage tank 101 inner wall, the both ends rotation of one set of driven bar 170 are connected with support arm 120 No. one, the both ends rotation of another set of driven bar 170 are connected with support arm 130 No. two, support arm 130 end rotation No. two is equipped with base 140, the top and the drive main part 210 bottom mounting of base 140, no. two support arm 130 of two sets of driven bar 170 end connection are X form and distribute.
Before use, the U frame 310 is pulled outwards, the U frame 310 is moved linearly and horizontally under the action of the two groups of L frames 330, when the U-shaped limit strips 380 are contacted with the L frames 330, the U frame 310 is pulled continuously, the U-shaped limit strips 380 are driven to slide and compress on the U frame 310, then the two groups of butt joint strips 340 are driven to rotate for one hundred eighty degrees by taking the base rod 350 as a rotation base point, thrust is applied to the U frame 310 in the opposite direction to move the U frame until the rear end of the U frame 310 is sleeved with the outer wall of the end part of the butt joint strip 340 and is contacted with the sliding strip 390, then the stress plate 320 is driven to rotate to a position of two hundred seventy degrees at the contact point with the notch 311, the stress plate 320 is driven to be positioned at the front end of the U frame 310 and to be vertically upwards, and further the anti-collision assembly 300 is unfolded;
then the robot is put into the pipeline to move for detection, when the stress plate 320 contacts with an obstacle in the pipeline, the U frame 310 is urged to approach the butt joint strip 340, the slide strip 390 is pushed to the outer wall of the butt joint strip 340, the slide strip 390 is matched with the fixing strip 360 to complete compression of the spring 370, the stressed external force is buffered and cooperated, and the purpose of elastic protection is achieved for the robot;
the photographing device transmits the condition of the front obstacle to the terminal through the video, the lifting assembly is manually operated to work, the double-headed motor 150 starts to work, so that the screw rods 190 at the two ends synchronously rotate, under the action of the two groups of auxiliary rods 180, the two groups of driven bars 170 horizontally move and are close to each other, and meanwhile, the first supporting arm 120 and the second supporting arm 130 at the two ends of the two groups of driven bars 170 rotate towards a state close to the vertical state, so that the auxiliary driving assembly 200 is lifted;
when the auxiliary driving assembly 200 is lifted, the electric rod 220 is controlled to extend manually through the terminal, the driven block 230 is pushed to drag the cable 290 to move, the tail end of the cable 290 drives the cable drum 281 and the inner rod 280 to rotate together, the rotating block 270 rotates around the inner rod 280 as a base point, the driven rod 260 and the U-shaped bar 240 are further driven to rotate to extend out of the hidden groove 211, the outer wall conical toothed ring 261 of the driven rod 260 rotates along the arc-shaped rack 262, the driven rod 260 and the U-shaped bar 240 rotate around the contact point with the rotating block 270, when the rotating block 270 rotates to a ninety degree position, the auxiliary wheel 250 rotates to a horizontal state under the action of the driven rod 260 and the U-shaped bar 240 and contacts with the inner wall at the transverse central axis position of the pipeline, then the lifting assembly is controlled to recover, the robot main body assembly 100 is lifted to be in a suspended state, and the driving motor 251 is controlled to provide power for the auxiliary wheel 250, so that the robot main body assembly 100 is driven to roll to pass through an obstacle in the pipeline, and the detection operation of the forward pipeline can be continued.
Referring to fig. 1, 2 and 3, a photographing device is mounted on the front side of the auxiliary driving assembly 200 at the top end of the housing 110, and the photographing device is composed of a U-frame, a three hundred sixty degree camera and an illumination lamp.
The environment inside the pipeline is shot through the three hundred sixty-degree camera, then the environment is transmitted to the terminal, and the light supplementing effect is achieved in the pipeline under the action of the illuminating lamp, so that the safety of the robot in the forward running process is guaranteed.
Referring to fig. 1 and 8, a hidden slot 211 is formed at a contact position between the top end of the driving body 210 and the driven block 230, and a stroke of the hidden slot 211 can be used for ninety degrees of rotation of the inner rod 280.
Facilitating linear movement of follower block 230 and thereby facilitating stable rotation of inner rod 280 under the influence of cable 290 and cable drum 281.
Referring to fig. 5 and 6, a U-shaped limit bar 380 is fixed on an outer wall of the U-shaped frame 310, a sliding block 381 extending into the U-shaped frame 310 is disposed on an inner wall of the U-shaped limit bar 380, a travel groove 313 is disposed at a contact position between the U-shaped frame 310 and the sliding block 381, a return spring 382 is fixed between the travel groove 313 and the sliding block 381, and a docking groove 312 is disposed at a contact position between a rear end of the U-shaped frame 310 and the docking bar 340.
Pulling the U-frame 310 causes the U-shaped stop bar 380 to contact the L-frame 330, thereby compressing the return spring 382, and thereby rotating the butt-joint bar 340 at the rear end of the U-frame 310 to finish butt-joint with each other, thereby achieving an elastic protection effect.
Referring to fig. 1, a driving motor is installed in a housing 110, the driving motor is in butt joint with a driving wheel 160, a storage battery is installed in the housing 110, and the storage battery is connected with the driving motor, the driving motor 251, a double-headed motor 150 and a photographing device through wires.
The device is free from the constraint of external wires, is beneficial to moving the pipeline conveniently and fast, and further achieves the purpose of high pipeline detection efficiency.
Referring to fig. 9, a blind hole is formed at a contact position between the hidden groove 211 and the bottom end of the inner rod 280, and a torsion spring extending into the blind hole is sleeved on the outer wall of the inner rod 280.
The torsion spring generates reverse torsion force to the rotated inner rod 280, and can automatically urge the inner rod 280 to reversely reset.
Referring to fig. 2, the bottom of the housing 110 is embedded with an adsorption magnetic block, and the U-frame 310 and the butt-joint strip 340 are made of metal.
An adsorption force is generated to the U frame 310 and the docking bar 340 slid to the bottom end of the housing 110 so as to be secured to the bottom end of the housing 110.
When in use, before use, the anti-collision assembly 300 is unfolded, so that the anti-collision assembly can buffer and unload force to the obstacle in the pipeline;
then the robot is put into the pipeline to move for detection, when the stress plate 320 contacts with an obstacle in the pipeline, the U frame 310 is urged to approach the butt joint strip 340, the slide strip 390 is pushed to the outer wall of the butt joint strip 340, the slide strip 390 is matched with the fixing strip 360 to complete compression of the spring 370, the stressed external force is buffered and cooperated, and the purpose of elastic protection is achieved for the robot;
the photographing device transmits the condition of the front obstacle to the terminal through the video, the lifting assembly is manually operated to work, the double-headed motor 150 starts to work, so that the screw rods 190 at the two ends synchronously rotate, under the action of the two groups of auxiliary rods 180, the two groups of driven bars 170 horizontally move and are close to each other, and meanwhile, the first supporting arm 120 and the second supporting arm 130 at the two ends of the two groups of driven bars 170 rotate towards a state close to the vertical state, so that the auxiliary driving assembly 200 is lifted;
when the auxiliary driving assembly 200 is lifted, the electric rod 220 is controlled to extend manually through the terminal, the driven block 230 is pushed to drag the cable 290 to move, the tail end of the cable 290 drives the cable drum 281 and the inner rod 280 to rotate together, the rotating block 270 rotates around the inner rod 280 as a base point, the driven rod 260 and the U-shaped bar 240 are further driven to rotate to extend out of the hidden groove 211, the outer wall conical toothed ring 261 of the driven rod 260 rotates along the arc-shaped rack 262, the driven rod 260 and the U-shaped bar 240 rotate around the contact point with the rotating block 270, when the rotating block 270 rotates to a ninety degree position, the auxiliary wheel 250 rotates to a horizontal state under the action of the driven rod 260 and the U-shaped bar 240 and contacts with the inner wall at the transverse central axis position of the pipeline, then the lifting assembly is controlled to recover, the robot main body assembly 100 is lifted to be in a suspended state, and the driving motor 251 is controlled to provide power for the auxiliary wheel 250, so that the robot main body assembly 100 is driven to roll to pass through an obstacle in the pipeline, and the detection operation of the forward pipeline can be continued.
Although embodiments of the invention have been shown and described, the detailed description is to be construed as exemplary only and is not limiting of the invention as the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples, and modifications, substitutions, variations, etc. may be made in the embodiments as desired by those skilled in the art without departing from the principles and spirit of the invention, provided that such modifications are within the scope of the appended claims.
Claims (9)
1. An anti-collision device of a pipeline inspection robot, comprising a robot body assembly (100), characterized in that: the robot main body assembly (100) comprises a shell (110), a lifting assembly is arranged in the top end of the shell (110), an auxiliary driving assembly (200) which is in butt joint with the lifting assembly is arranged at the top end of the robot main body assembly (100), two pairs of driving wheels (160) are arranged on the outer walls of two sides of the shell (110), and an anti-collision assembly (300) is arranged at the bottom end of the shell (110);
the auxiliary driving assembly (200) comprises a driving main body (210) contacted with the top end of the shell (110), hidden grooves (211) are formed in the left and right outer surfaces of the driving main body (210), U strips (240) are assembled in the hidden grooves (211), an auxiliary wheel (250) is rotatably arranged in one end of each U strip (240), a driven rod (260) is fixed at the other end of each U strip (240), a rotating block (270) is rotatably connected to the end of each driven rod (260), a bevel ring (261) is fixedly wrapped on the outer wall of each driven rod (260), an arc-shaped rack (262) which is in meshed connection with the bevel ring (261) is arranged on the inner wall of each hidden groove (211), an inner rod (280) is fixed on the inner wall of each rotating block (270), the bottom end of each inner rod (280) extends out of the outer side of the bottom end of each rotating block (270) to be rotatably connected with the hidden groove (211), a cable (281) is fixedly arranged on the outer wall of each inner rod (260), an electric rope fixing end (220) is arranged on the electric driven plate (220), the outer wall of the driven block (230) is provided with a cable (290) fixed with the outer wall of the cable tray (281);
the anti-collision assembly (300) comprises a U frame (310) which is arranged at the bottom end of the shell (110) in a sliding manner, a notch (311) is formed in the front end of the U frame (310), a stress plate (320) is arranged on the inner wall of the notch (311) in a rotating manner, two groups of L frames (330) which are fixed with the bottom end of the shell (110) are sleeved on the outer wall of the U frame (310), two groups of butt joint strips (340) are arranged at the rear end of the U frame (310), two groups of butt joint strips (340) extend into the U frame (310), sliding strips (390) are sleeved on the outer wall of the butt joint strips (340), a fixing strip (360) is fixed between the fixing strip (360) and the sliding strips (390), a pair of springs (370) are fixed between the fixing strip (360) and the sliding strips (390), base rods (350) are connected to the rear ends of the butt joint strips (340) in a rotating manner, and the two ends of the base rods (350) are fixed with the bottom end of the shell (110).
2. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: the top of shell (110) is located the front side of auxiliary drive subassembly (200) and installs the shooting device, and the shooting device comprises U frame and three hundred sixty degrees cameras and light.
3. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: a hidden groove (211) is formed at the contact position of the top end of the driving main body (210) and the driven block (230), and the stroke of the hidden groove (211) can be used for enabling the inner rod (280) to rotate ninety degrees.
4. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: the utility model discloses a motor, including shell (110), lifting element, support arm (170), base (140), driven bar (170), drive main part (210) bottom is fixed, two sets of No. two support arms (130) of driven bar (170) end connection are X-shaped distribution, including shell (110) upper surface and lifting element contact position department offer storage tank (101), storage tank (101) internal transverse fixation have two sets of auxiliary rod (180), two sets of driven bar (180) outer wall has cup jointed driven bar (170), storage tank (101) transverse inner wall central point department installs double-end motor (150), the both sides output of double-end motor (150) is equipped with lead screw (190) that run through driven bar (170), the end of lead screw (190) is through axle and storage tank (101) inner wall butt joint, one of which sets of driven bar (170) both ends rotation is connected with support arm (120), and another set of driven bar (170) both ends rotation is connected with No. two support arms (130) end rotation is equipped with base (140), the top of base (140) is fixed with drive main part (210).
5. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: the U-shaped limiting strip (380) is fixed on the outer wall of the U-shaped frame (310), a sliding block (381) extending to the inside of the U-shaped frame (310) is arranged on the inner wall of the U-shaped limiting strip (380), a travel groove (313) is formed in the contact position of the U-shaped frame (310) and the sliding block (381), a reset spring (382) is fixed between the travel groove (313) and the sliding block (381), and a butt joint groove (312) is formed in the contact position of the rear end of the U-shaped frame (310) and the butt joint strip (340).
6. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: the outer wall of the U-shaped strip (240) is provided with a driving motor (251), and the output end of the driving motor (251) is in butt joint with the auxiliary wheel (250) through a coupler.
7. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: the shell (110) is internally provided with a driving motor, the driving motor is in butt joint with the driving wheel (160), the shell (110) is internally provided with a storage battery, and the storage battery is connected with the driving motor, the driving motor (251), the double-headed motor (150) and the shooting device through leads.
8. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: a blind hole is formed in the contact position of the hidden groove (211) and the bottom end of the inner rod (280), and a torsion spring extending into the blind hole is sleeved on the outer wall of the inner rod (280).
9. The collision preventing apparatus of a pipeline inspection robot according to claim 1, wherein: the bottom end of the shell (110) is inlaid with an adsorption magnetic block, and the U-shaped frame (310) and the butt joint strip (340) are both made of metal materials.
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| CN202311032733.9A CN116734086B (en) | 2023-08-16 | 2023-08-16 | Anti-collision device of pipeline detection robot |
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| CN116734086B (en) | 2023-10-24 |
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Effective date of registration: 20240813 Address after: No. 34, No. 85 Fuqian Road, Zhaoyuan City, Yantai City, Shandong Province, China 265499 Patentee after: SHANDONG NORTON INSPECTION AND DETECTION Co.,Ltd. Country or region after: China Address before: No. 4101-451, Building 2, No. 35 Quan Yun Wu Road, Shenyang City, Liaoning Province, China Patentee before: Cubic Interactive Technology Development (Shenyang) Co.,Ltd. Country or region before: China |