CN118081838A - Zero-clearance precise transmission assembly of detection head mechanical arm of natural gas field inspection robot - Google Patents
Zero-clearance precise transmission assembly of detection head mechanical arm of natural gas field inspection robot Download PDFInfo
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- CN118081838A CN118081838A CN202410489147.5A CN202410489147A CN118081838A CN 118081838 A CN118081838 A CN 118081838A CN 202410489147 A CN202410489147 A CN 202410489147A CN 118081838 A CN118081838 A CN 118081838A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 57
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 title claims abstract description 28
- 238000007689 inspection Methods 0.000 title claims abstract description 28
- 239000003345 natural gas Substances 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000012544 monitoring process Methods 0.000 claims abstract description 26
- 238000001125 extrusion Methods 0.000 claims description 33
- 238000003825 pressing Methods 0.000 claims description 17
- 238000009825 accumulation Methods 0.000 claims description 13
- 230000007704 transition Effects 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 230000006978 adaptation Effects 0.000 claims description 11
- 239000000523 sample Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 210000001503 joint Anatomy 0.000 abstract description 2
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The invention relates to the field of robots, in particular to a gapless precise transmission assembly of a detection head mechanical arm of a natural gas field inspection robot, which comprises an adjusting mechanism, a central ring, a driving mechanism and a driving mechanism, wherein the adjusting mechanism is used for adjusting the azimuth of camera shooting monitoring; a monitoring mechanism for monitoring natural gas leakage; the transmission mechanism is used for precisely rotating the whole device; the monitoring mechanism is rotationally connected to two sides of the adjusting mechanism, the bottom of the adjusting mechanism is fixedly connected with the transmission mechanism through the center ring, the natural gas field inspection robot detects a gapless precise transmission component of the head mechanical arm, and the sander can clear oxide or chips on the surface of the butt joint pipe through the connection pipe and the detection head in the rotating process, so that the effect of increasing the compactness between transmission parts is achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a gapless precise transmission assembly of a detection head mechanical arm of a natural gas field inspection robot.
Background
The zero-clearance precise transmission is a mechanical transmission mode, and aims to eliminate or minimize the clearance in a transmission system so as to realize high-precision and high-reliability motion transmission.
In the traditional mechanical transmission, due to the existence of gaps among parts, transmission errors, vibration, noise and other problems can be caused, and the precision and the performance of the system are affected. The gapless precise transmission adopts special design and manufacturing process, so that the parts in the transmission system have almost no gaps, and the transmission precision and stability are improved.
The following problems exist for the gapless precise transmission assembly of the existing robot detection head mechanical arm: 1. under the rainy condition, a small amount of rainwater drops into the equipment to cause damage, and meanwhile, the condition that the rainwater falls on a camera to interfere with subsequent monitoring is caused; 2. the rotation between the driving members may generate noise or wear due to the generation of the gap.
Disclosure of Invention
The present invention is directed to a device for reducing the gap between driving members and the generation of noise and friction, so as to solve the above-mentioned problems.
In order to achieve the above purpose, the present invention provides the following technical solutions: the gapless precise transmission assembly of the detection head mechanical arm of the natural gas field inspection robot comprises an adjusting mechanism, a central ring and a driving mechanism, wherein the adjusting mechanism is used for adjusting the azimuth of the camera monitoring and is fixedly connected to the bottom of the adjusting mechanism;
a monitoring mechanism for monitoring natural gas leakage;
The transmission mechanism is used for precisely rotating the whole device;
The monitoring mechanism is rotationally connected to two sides of the adjusting mechanism, and the bottom of the adjusting mechanism is fixedly connected with the transmission mechanism through a center ring;
The monitoring mechanism comprises a camera, the outside and the adjustment mechanism of camera rotate to be connected, the top fixedly connected with ponding frame of camera, the inside fixedly connected with tip piece of ponding frame, the outside fixedly connected with drainage tube of ponding frame, the through-hole has been seted up to one side that the drainage tube is close to the ponding frame, can pull the rainwater and make it pass through the through-hole through the tip piece, follow the drainage tube again and discharge afterwards to play the outward transport to the rainwater, avoid the too much effect of contact with the camera of rainwater, the top fixedly connected with universal seat of drainage tube, the inside rotation of universal seat is connected with infrared probe.
Preferably, the adjustment mechanism comprises a detection head, the bottom and the center ring fixed connection of the detection head, the bilateral symmetry of the detection head is provided with coupling assembling, the top fixedly connected with first adjusting part of detection head, the arc hole has been seted up at the top of detection head, the inside sliding connection in arc hole has No. two adjusting parts.
Preferably, the connecting assembly comprises a connecting pipe, the outside at the detection head is connected to connecting pipe fixed connection, the inside fixedly connected with toughness pad of connecting pipe, the inboard extrusion adaptation of toughness pad has a connecting rod, and under the condition that robot normally patrols, a connecting rod is received spacing and the centre gripping of two upper and lower centre gripping arms, consequently rotates the camera of connecting in the connecting rod outside and just can be stable deflection from top to bottom to the inspection to the place, the outside and the camera rotation of a connecting rod are connected, the outside fixedly connected with ring rail of a connecting rod, the outside rotation of ring rail is connected with the center ball, the outside fixedly connected with elastic sheet of center ball, the outside fixedly connected with at the inner wall of connecting pipe of elastic sheet.
Preferably, the first adjusting component comprises a top frame, the top frame is fixedly connected with the top of the detection head, the top of the top frame is fixedly connected with a hydraulic rod, the sliding end of the hydraulic rod is inserted at the top of the detection head and extends into the detection head, the bottom of the hydraulic rod is fixedly connected with a transition block, the outer side of the transition block is fixedly connected with a curved surface block, and the outer side of the curved surface block is extrusion-fitted with a clamping piece.
Preferably, the clamping piece comprises an inner patch, the inner patch is fixedly connected to the inner side of the detection head, one side of the inner patch, which is far away from the detection head, is fixedly connected with a first magnet and a fixed rail, the upper side and the lower side of the fixed rail are both slidably fitted with clamping arms, the surface, which is contacted with the clamping arms, of the curved surface block is a curved surface, one end, which is close to the first magnet, of the clamping arms is fixedly connected with a second magnet, one end, which is far away from the second magnet, of the clamping arms is in extrusion fit with the curved surface block, the second magnet, which is fixedly connected to the clamping arms, is in repulsive force with the first magnet, so that the reset action on the clamping arms is realized through repulsive force of the two magnets when the clamping arms are extruded without the curved surface block, the outer side of the clamping arms is fixedly connected with a double-headed rod, the inner side of the clamping arms is in extrusion fit with a notch block, and the inner end of the branch connecting rod is fixedly connected with a notch block.
Preferably, the second adjusting component comprises a pressing rod, the pressing rod is slidably matched with the inner side of the arc-shaped hole, and high friction is arranged between the pressing rod and the arc-shaped hole, so that the pressing rod is required to move downwards or along the arc-shaped hole through external transmission equipment or manpower, the bottom of the pressing rod is fixedly connected with a center column, the outer side of the center column is fixedly connected with a triangular block, and one side, away from the center column, of the triangular block is matched with the opening block in a pressing mode.
Preferably, one side of triangular block is kept away from to the center pillar fixedly connected with slider, the both ends symmetry of slider is provided with the magnetic sheet, and wherein is the adsorption affinity between No. two magnetic pieces and the magnetic sheet to play the spacing effect to the center pillar, the outside slip fit of slider has interior rail, interior rail fixed connection is in the outside of transition piece, the inside of interior rail is fixedly connected with No. one magnetic piece and No. two magnetic pieces respectively.
Preferably, the transmission mechanism comprises a middle pipe, the top and the center ring fixed connection of middle pipe, the bottom of middle pipe rotates and is connected with the bottom pipe, the inside fixed mounting of bottom pipe has drive assembly, the inside fixedly connected with cardboard of middle pipe, the outside threaded connection of cardboard has the threaded rod, the inner of threaded rod rotates and is connected with the pad that pastes the ring, rotates the threaded rod inwards through operating personnel for the pad that rotates with the inner and be connected will inwards move along the inside of middle pipe, and paste the ring and will receive consequently extrudees and make its bottom hug closely at the top of bottom pipe, in order to play preliminary closely laminating effect to two driving pieces, paste the inside of ring slip adaptation at the middle pipe, the bottom and the bottom pipe extrusion adaptation of pad.
Preferably, the transmission assembly comprises a transmission rail, the transmission rail is fixedly connected to the inner side of the bottom pipe, an extrusion block is slidably arranged in the transmission rail, a stress block is extruded and matched on one side of the extrusion block away from the transmission rail, a cross rod is fixedly connected to one side of the stress block away from the extrusion block, and a semicircular ring is fixedly connected to one end of the cross rod away from the stress block.
Preferably, the internally mounted of semicircle ring has square cushion, one side extrusion adaptation that square cushion kept away from semicircle ring has the takeover, takeover fixed connection is in the bottom of intermediate tube, the bottom extrusion adaptation of takeover has the sander, can contact with the sander through the bottom of takeover, and take place pivoted in-process at the takeover, and the sander can clear away oxide or piece on butt joint pipe surface to play the effect of increasing compactness between the driving medium, the bottom fixedly connected with of sander rolls over the pole, the one end fixedly connected with loop bar that rolls over the pole and keep away from the sander, loop bar fixed connection is in the outside of extrusion piece.
Compared with the prior art, the invention has the beneficial effects that:
1. when rainwater is impacted on the ponding frame, the tip block fixedly connected inside the ponding frame can pull the rainwater and enable the rainwater to pass through the through hole, and then the rainwater is discharged from the drainage tube, so that the effect of outwards conveying the rainwater and avoiding excessive rainwater from contacting with the camera is achieved.
2. Through the downwardly moving of triangular block and extrude the opening piece, the opening piece that will follow closely is twisted about the center ball as the fulcrum, and the branch connecting rod that is connected with the opening piece then can extrude elastic slice and toughness pad respectively and realize the deflection to the camera simultaneously, finally plays and lets the camera deflect towards the central part of detecting the head, causes two camera focuses to observe the condition that the external world takes place more accurately.
3. Through remove the depression bar along the arc hole to the innermost and then move downwards, the triangle piece will carry out backward extrusion to the opening piece at this moment, finally makes two cameras outwards deflect in order to enlarge the effect of monitoring scope.
4. The operator rotates the threaded rod inwards to enable the ring-sticking piece rotationally connected with the inner end to move inwards along the inner part of the middle pipe, and the ring-sticking piece is extruded and enabled to be tightly attached to the top of the bottom pipe, so that the effect of tightly attaching the two transmission pieces is achieved.
5. The bottom of takeover is with the sander contact, and take over and detect the first pivoted in-process, the sander can clear away oxide or piece on the takeover surface to play the effect of increasing the compactness between the driving medium, still play noise reduction and wearing and tearing effect in addition.
Drawings
Fig. 1 is an external structural schematic diagram of a gapless precision transmission assembly of a detection head mechanical arm of a natural gas field inspection robot.
Fig. 2 is a schematic structural view of the monitoring mechanism of the present invention.
Fig. 3 is a schematic structural view of the adjusting mechanism of the present invention.
Fig. 4 is a schematic cross-sectional view of the connection assembly of the present invention.
Fig. 5 is a schematic structural diagram of a first adjusting component of the present invention.
Fig. 6 is a schematic view of the clamping structure of the present invention.
Fig. 7 is a schematic structural diagram of a second adjusting assembly according to the present invention.
Fig. 8 is a schematic structural view of the transmission mechanism of the present invention.
Fig. 9 is an enlarged schematic view of the structure of fig. 8 a according to the present invention.
FIG. 10 is a schematic cross-sectional view of a transmission assembly of the present invention.
In the figure: 1. an adjusting mechanism; 2. a monitoring mechanism; 3. a center ring; 4. a transmission mechanism; 21. a camera; 22. a water accumulation frame; 23. a tip block; 24. a drainage tube; 25. a through hole; 26. a universal seat; 27. an infrared probe; 11. a detection head; 12. a connection assembly; 13. a first adjusting component; 14. an arc-shaped hole; 15. a second adjusting component; 121. a connecting pipe; 122. a malleable pad; 123. a branch connecting rod; 124. a circular rail; 125. a center ball; 126. an elastic sheet; 131. a top frame; 132. a hydraulic rod; 133. a transition block; 134. a curved surface block; 135. a clamping member; 1351. an inner patch; 1352. a magnet number one; 1353. rail fixing; 1354. a clamping arm; 1355. a magnet number two; 1356. a double-headed stem; 1357. a notch block; 151. a compression bar; 152. a center column; 153. triangular blocks; 154. an inner rail; 155. a first magnetic block; 156. a second magnetic block; 157. a slide block; 158. a magnetic sheet; 41. a middle tube; 42. a bottom tube; 43. a transmission assembly; 44. a clamping plate; 45. a threaded rod; 46. pasting a ring piece; 431. conveying rails; 432. extruding a block; 433. a stress block; 434. a cross bar; 435. a semicircular ring; 436. square soft pad; 437. connecting pipe; 438. a sander; 439. folding the rod; 430. a loop bar.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, under the precondition of no conflict, new embodiments can be formed by any combination of the embodiments or technical features described below, and it should be understood that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 10, the present invention provides a technical solution: as shown in fig. 1,2, 3 and 4, the camera comprises an adjusting mechanism 1, wherein the adjusting mechanism 1 is used for adjusting the azimuth of camera monitoring, and a center ring 3 is fixedly connected to the bottom of the adjusting mechanism 1;
a monitoring mechanism 2, wherein the monitoring mechanism 2 is used for monitoring natural gas leakage;
A transmission mechanism 4, the transmission mechanism 4 being used for precise rotation of the whole device;
the monitoring mechanism 2 is rotationally connected to two sides of the adjusting mechanism 1, and the bottom of the adjusting mechanism 1 is fixedly connected with the transmission mechanism 4 through the center ring 3.
The monitoring mechanism 2 comprises a camera 21, the outer side of the camera 21 is rotationally connected with the adjusting mechanism 1, a water accumulation frame 22 is fixedly connected to the top of the camera 21, a tip block 23 is fixedly connected to the inner side of the water accumulation frame 22, a drainage tube 24 is fixedly connected to the outer side of the water accumulation frame 22, a through hole 25 is formed in one side, close to the water accumulation frame 22, of the drainage tube 24, a universal seat 26 is fixedly connected to the top of the drainage tube 24, an infrared probe 27 is rotationally connected to the inner side of the universal seat 26, in rainy weather, when rainwater impinges on the water accumulation frame 22, the tip block 23 fixedly connected to the inner side of the water accumulation frame 22 pulls the rainwater and enables the rainwater to pass through the through hole 25, and then the rainwater is discharged from the drainage tube 24, so that the outwards conveying of the rainwater is achieved, the effect of contact between excessive rainwater and the camera 21 is avoided, and meanwhile the universal seat 26 fixedly connected to the top of the drainage tube 24 can deflect the infrared probe 27 at any angle.
The adjustment mechanism 1 includes detecting head 11, detects the bottom and the central ring 3 fixed connection of head 11, and the bilateral symmetry that detects head 11 is provided with coupling assembling 12, and the top fixedly connected with of detecting head 11 is adjusting part 13 No. one, and arc hole 14 has been seted up at the top of detecting head 11, and the inside sliding connection in arc hole 14 has No. two adjusting parts 15.
The connecting assembly 12 comprises a connecting pipe 121, the connecting pipe 121 is fixedly connected to the outer side of the detecting head 11, a flexible pad 122 is fixedly connected to the inner side of the connecting pipe 121, a branch connecting rod 123 is extruded and adapted to the inner side of the flexible pad 122, in addition, under the condition that the robot normally patrols, the branch connecting rod 123 is limited and clamped by an upper clamping arm 1354 and a lower clamping arm 1354, therefore, the camera 21 which is rotationally connected to the outer side of the branch connecting rod 123 can stably deflect up and down so as to facilitate the field inspection, the outer side of the branch connecting rod 123 is rotationally connected with the camera 21, a ring rail 124 is fixedly connected to the outer side of the branch connecting rod 123, a central ball 125 is rotationally connected to the outer side of the ring rail 124, an elastic sheet 126 is fixedly connected to the outer side of the central ball 125, and the outer side of the elastic sheet 126 is fixedly connected to the inner wall of the connecting pipe 121.
As shown in fig. 5,6 and 7, the first adjusting component 13 comprises a top frame 131, the top frame 131 is fixedly connected to the top of the detecting head 11, a hydraulic rod 132 is fixedly connected to the top of the top frame 131, a sliding end of the hydraulic rod 132 is inserted into the top of the detecting head 11 and extends into the detecting head, a transition block 133 is fixedly connected to the bottom of the hydraulic rod 132, a curved surface block 134 is fixedly connected to the outer side of the transition block 133, and a clamping piece 135 is extrusion-fitted to the outer side of the curved surface block 134.
The clamping piece 135 comprises an inner patch 1351, the inner patch 1351 is fixedly connected to the inner side of the detection head 11, a first magnet 1352 and a fixed rail 1353 are fixedly connected to one side of the inner patch 1351 far away from the detection head 11, clamping arms 1354 are slidably fitted to the upper side and the lower side of the fixed rail 1353, a second magnet 1355 is fixedly connected to one end of the clamping arms 1354 close to the first magnet 1352, one end of the clamping arms 1354 far away from the second magnet 1355 is in extrusion fit with the curved surface block 134, then the hydraulic rod 132 is started, the transition block 133 connected with the sliding end at the bottom of the transition block moves downwards along the curved surface block 134, then the curved surface block 134 extrudes the clamping arms 1354, the surface of the curved surface block 134, which contacts the clamping arms 1354, is a curved surface, so that the stressed clamping arms 1354 slide along the direction of the fixed rail 1353 towards the inner patch 1, the branch connecting rod 123 is not limited and fixed by the clamping arms 1354, meanwhile, the supporting connecting rod 123 is supported by the elastic sheet 126 and the ductile pad 122 at the moment, the second magnet 1355 fixedly connected to the clamping arm 1354 is in repulsive relation with the first magnet 1352, so that the restoring action of the clamping arm 1354 is realized by repulsive force of the two magnets when the clamping arm 1354 is extruded by the non-curved surface block 134, the outer side of the clamping arm 1354 is fixedly connected with the double-headed rod 1356, the inner side of the clamping arm 1354 is matched with the supporting connecting rod 123 in an extrusion way, the inner end of the supporting connecting rod 123 is fixedly connected with the notch block 1357, the pressing rod 151 is inserted into the detecting head 11 by using external equipment, at the moment, the center post 152 fixedly connected to the bottom of the pressing rod 151 moves downwards along with the triangular block 153, then the triangular block 153 extrudes the notch block 1357, the pressed notch block 1357 is twisted by taking the center ball 125 as a pivot, meanwhile, the supporting rod 123 connected with the notch block 1357 respectively extrudes the elastic sheet 126 and the ductile pad 122 to deflect the camera 21, so that the camera 21 can deflect towards the central part of the detection head 11, and the situation that the external appearance happens can be accurately observed due to the focusing of the two cameras 21.
Similarly, the pressing rod 151 moves to the innermost end along the arc hole 14 and then moves downwards, and at this time, the triangular block 153 can reversely squeeze the notch block 1357, so that the two cameras 21 can deflect outwards, and the monitoring range can be enlarged. Wherein the compression bar 151 has high friction with the arc-shaped hole 14, so that the compression bar 151 needs to be driven by external transmission equipment or manpower to move downwards or along the arc-shaped hole 14, and the second magnetic block 156 and the magnetic sheet 158 have adsorption force to limit the central column 152
The second adjusting component 15 comprises a pressing rod 151, the pressing rod 151 is slidably matched with the inner side of the arc-shaped hole 14, the bottom of the pressing rod 151 is fixedly connected with a center column 152, the outer side of the center column 152 is fixedly connected with a triangular block 153, one side, away from the center column 152, of the triangular block 153 is in extrusion fit with a notch block 1357, one side, away from the triangular block 153, of the center column 152 is fixedly connected with a sliding block 157, two ends of the sliding block 157 are symmetrically provided with magnetic sheets 158, the outer side of the sliding block 157 is slidably matched with an inner rail 154, the inner rail 154 is fixedly connected with the outer side of the transition block 133, and the inner side of the inner rail 154 is fixedly connected with a first magnetic block 155 and a second magnetic block 156 respectively.
As shown in fig. 8, 9 and 10, the transmission mechanism 4 comprises a middle tube 41, the top of the middle tube 41 is fixedly connected with the central ring 3, the bottom of the middle tube 41 is rotationally connected with a bottom tube 42, a transmission assembly 43 is fixedly installed inside the bottom tube 42, a clamping plate 44 is fixedly connected inside the middle tube 41, a threaded rod 45 is connected with the outer side of the clamping plate 44 in a threaded manner, a ring pasting piece 46 is rotationally connected with the inner end of the threaded rod 45, an operator rotates the threaded rod 45 inwards, the ring pasting piece 46 rotationally connected with the inner end moves inwards along the inner part of the middle tube 41, and the ring pasting piece 46 is extruded and tightly attached to the bottom of the bottom tube 42, so that the tight attaching effect of the two transmission pieces is achieved, the ring pasting piece 46 is slidingly matched inside the middle tube 41, and the bottom of the ring pasting piece 46 is in extrusion fit with the bottom tube 42.
The transmission assembly 43 comprises a conveying rail 431, the conveying rail 431 is fixedly connected to the inner side of the bottom pipe 42, an extrusion block 432 is slidably matched in the conveying rail 431, a stress block 433 is extruded and matched on one side of the extrusion block 432 away from the conveying rail 431, a cross rod 434 is fixedly connected on one side of the stress block 433 away from the extrusion block 432, a semicircular ring 435 is fixedly connected to one end of the cross rod 434 away from the stress block 433, a square soft cushion 436 is arranged in the semicircular ring 435, a connecting pipe 437 is extruded and matched on one side of the square soft cushion 436 away from the semicircular ring 435, the connecting pipe 437 is fixedly connected to the bottom of the middle pipe 41, a sander 438 is extruded and matched on the bottom end of the connecting pipe 437, the extrusion block 432 is moved upwards along the conveying rail 431 through external equipment, the extrusion block 432 can squeeze the stress block 433, the cross bar 434 connected with the other side of the force-bearing block 433 can respectively carry the semicircular ring 435 and the square cushion 436 to be extruded, the square cushion 436 extruded by the cross bar 434 can be clung to the connection pipe 437 to play a role in gapless transmission between transmission parts, meanwhile, in the process of deflection of the middle pipe 41, the connection pipe 437 fixedly connected with the bottom of the middle pipe is contacted with the sander 438, and then in the process of rotation of the connection pipe 437, the sander 438 can remove oxides or fragments on the surface of the connection pipe 437, thereby playing a role in increasing tightness between transmission parts, the bottom of the sander 438 is fixedly connected with the folding rod 439, one end of the folding rod 439, far away from the sander 438, is fixedly connected with the annular rod 430, and the annular rod 430 is fixedly connected with the outer side of the extrusion block 432.
The invention is used when in use: firstly, when rainwater impinges on the water accumulation frame 22, the pointed block 23 fixedly connected to the inside of the water accumulation frame 22 pulls the rainwater and makes the rainwater pass through the through hole 25, and then the rainwater is discharged from the drainage tube 24, and meanwhile, the universal seat 26 fixedly connected to the top of the drainage tube 24 can deflect the infrared probe 27 at any angle. In addition, in the case of normal inspection of the robot, the supporting link 123 is limited and clamped by the upper and lower clamping arms 1354, so that the camera 21 connected to the outer side of the supporting link 123 can be stably deflected up and down.
The hydraulic lever 132 is then actuated so that the transition piece 133 connected to its bottom sliding end moves down with the curved piece 134, whereupon the curved piece 134 presses against the holding arm 1354, and the stressed holding arm 1354 slides along the rail 1353 in the direction of the inner patch 1351, while the support rod 123 is not restrained and secured by the holding arm 1354, while the support rod 123 is now supported by the resilient tab 126 and the resilient pad 122. Then, the compression bar 151 is inserted into the detection head 11 through external equipment, at this time, the center column 152 fixedly connected to the bottom of the compression bar 151 moves downwards with the triangular block 153, then the triangular block 153 extrudes the opening block 1357, the pressed opening block 1357 is twisted by taking the center ball 125 as a fulcrum, and meanwhile, the branch connecting rod 123 connected with the opening block 1357 extrudes the elastic sheet 126 and the ductile pad 122 respectively to deflect the camera 21.
By rotating the threaded rod 45 inward by an operator, the ring-attaching piece 46 rotatably connected to the inner end moves inward along the inner portion of the middle tube 41, the ring-attaching piece 46 is pressed and the bottom of the ring-attaching piece is tightly attached to the top of the bottom tube 42, in addition, the pressing block 432 is moved upward along the conveying rail 431 by external equipment, then the pressing block 432 presses the force-bearing block 433, the cross bar 434 connected to the other side of the force-bearing block 433 presses the semicircular ring 435 and the square cushion 436 respectively, meanwhile, in the process of deflecting the middle tube 41, the connection tube 437 fixedly connected to the bottom of the middle tube is contacted with the sander 438, and then the sander 438 removes oxides or scraps on the surface of the connection tube 437.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, but various modifications can be made by those skilled in the art without inventive effort from the above concepts, and all modifications are within the scope of the present invention.
Claims (10)
1. Zero clearance precision transmission subassembly of robot detection head arm is patrolled and examined in natural gas field, its characterized in that includes:
the device comprises an adjusting mechanism (1), wherein the adjusting mechanism (1) is used for adjusting the direction of shooting monitoring and a center ring (3) fixedly connected to the bottom of the adjusting mechanism (1);
a monitoring means (2), the monitoring means (2) being for monitoring natural gas leakage;
A transmission mechanism (4), wherein the transmission mechanism (4) is used for precisely rotating the whole device;
the monitoring mechanism (2) is rotationally connected to two sides of the adjusting mechanism (1), and the bottom of the adjusting mechanism (1) is fixedly connected with the transmission mechanism (4) through the center ring (3);
The monitoring mechanism (2) comprises a camera (21), the outer side of the camera (21) is rotationally connected with the adjusting mechanism (1), a water accumulation frame (22) is fixedly connected to the top of the camera (21), a pointed block (23) is fixedly connected to the inner part of the water accumulation frame (22), a drainage tube (24) is fixedly connected to the outer side of the water accumulation frame (22), a through hole (25) is formed in one side, close to the water accumulation frame (22), of the drainage tube (24), a universal seat (26) is fixedly connected to the top of the drainage tube (24), and an infrared probe (27) is rotationally connected to the inner part of the universal seat (26).
2. The gapless precision transmission assembly of a natural gas field inspection robot inspection head manipulator of claim 1, wherein: adjustment mechanism (1) are including detecting head (11), the bottom and the center ring (3) fixed connection of detecting head (11), the bilateral symmetry of detecting head (11) is provided with coupling assembling (12), the top fixedly connected with of detecting head (11) is adjusting subassembly (13) No. one, arc hole (14) have been seted up at the top of detecting head (11), the inside sliding connection of arc hole (14) has No. two adjusting parts (15).
3. The gapless precision transmission assembly of the inspection head mechanical arm of the natural gas field inspection robot according to claim 2, wherein: coupling assembling (12) are including connecting pipe (121), the outside at detecting head (11) of connecting pipe (121) fixed connection, the inside fixedly connected with toughness pad (122) of connecting pipe (121), the inboard extrusion adaptation of toughness pad (122) has a connecting rod (123), the outside and the camera (21) of a connecting rod (123) rotate and are connected, the outside fixedly connected with ring rail (124) of a connecting rod (123), the outside rotation of ring rail (124) is connected with center ball (125), the outside fixedly connected with elastic sheet (126) of center ball (125), the outside fixedly connected with of elastic sheet (126) is at the inner wall of connecting pipe (121).
4. The gapless precision transmission assembly of the inspection head mechanical arm of the natural gas field inspection robot according to claim 2, wherein: the first adjusting component (13) comprises a top frame (131), the top frame (131) is fixedly connected with the top of the detection head (11), the top of the top frame (131) is fixedly connected with a hydraulic rod (132), the sliding end of the hydraulic rod (132) is inserted into the top of the detection head (11) and extends into the detection head, a transition block (133) is fixedly connected to the bottom of the hydraulic rod (132), a curved surface block (134) is fixedly connected to the outer side of the transition block (133), and a clamping piece (135) is extruded and matched with the outer side of the curved surface block (134).
5. The gapless precision transmission assembly of the inspection head mechanical arm of the natural gas field inspection robot of claim 4, wherein: clamping piece (135) are including interior paster (1351), interior paster (1351) fixed connection is in the inboard of detecting head (11), one side that detects head (11) was kept away from to interior paster (1351) is fixedly connected with magnet (1352) and is decided rail (1353) respectively, the equal slip adaptation in upper and lower both sides of deciding rail (1353) has clamping arm (1354), clamping arm (1354) is close to magnet (1352) one end fixedly connected with magnet (1355) No. two, clamping arm (1354) keep away from magnet (1355) one end and curved surface piece (134) extrusion adaptation, clamping arm (1354) outside fixedly connected with bipitch (1356), clamping arm (1354) inboard and branch connecting rod (123) extrusion adaptation, the inner fixedly connected with opening piece (1357) of branch connecting rod (123).
6. The gapless precision transmission assembly of the inspection head mechanical arm of the natural gas field inspection robot according to claim 2, wherein: the second adjusting component (15) comprises a pressing rod (151), the pressing rod (151) is slidably matched with the inner side of the arc-shaped hole (14), a center column (152) is fixedly connected to the bottom of the pressing rod (151), a triangular block (153) is fixedly connected to the outer side of the center column (152), and one side, far away from the center column (152), of the triangular block (153) is matched with the opening block (1357) in an extrusion mode.
7. The gapless precision transmission assembly of the inspection head mechanical arm of the natural gas field inspection robot of claim 6, wherein: one side fixedly connected with slider (157) of triangular block (153) is kept away from to center post (152), the both ends symmetry of slider (157) is provided with magnetic sheet (158), the outside slip of slider (157) is fit with interior rail (154), interior rail (154) fixed connection is in the outside of transition piece (133), the inside of interior rail (154) is fixedly connected with magnetic path (155) and No. two magnetic paths (156) respectively.
8. The gapless precision transmission assembly of a natural gas field inspection robot inspection head manipulator of claim 1, wherein: the transmission mechanism (4) comprises a middle pipe (41), the top of the middle pipe (41) is fixedly connected with a center ring (3), the bottom of the middle pipe (41) is rotationally connected with a bottom pipe (42), a transmission assembly (43) is fixedly arranged in the bottom pipe (42), a clamping plate (44) is fixedly connected to the middle pipe (41), a threaded rod (45) is connected to the outer side of the clamping plate (44) in a threaded manner, a ring-sticking piece (46) is rotationally connected to the inner end of the threaded rod (45), the ring-sticking piece (46) is slidably matched in the middle pipe (41), and the bottom of the ring-sticking piece (46) is in extrusion fit with the bottom pipe (42).
9. The gapless precision drive assembly of a natural gas field inspection robot inspection head manipulator of claim 8, wherein: the transmission assembly (43) comprises a conveying rail (431), the conveying rail (431) is fixedly connected to the inner side of the bottom pipe (42), an extrusion block (432) is slidably matched with the conveying rail (431), a stress block (433) is extruded and matched on one side, far away from the conveying rail (431), of the extrusion block (433), a cross rod (434) is fixedly connected on one side, far away from the extrusion block (432), of the stress block (433), and one end, far away from the stress block (433), of the cross rod (434), of the extrusion block (433), is fixedly connected with a semicircular ring (435).
10. The gapless precision drive assembly of a natural gas field inspection robot inspection head manipulator of claim 9, wherein: the internally mounted of semicircle ring (435) has square cushion (436), one side extrusion adaptation that semicircle ring (435) was kept away from to square cushion (436) has takeover (437), the bottom of takeover (437) fixed connection in intermediate tube (41), the bottom extrusion adaptation of takeover (437) has sander (438), the bottom fixedly connected with of sander (438) rolls over pole (439), the one end fixedly connected with ring pole (430) that sander (438) was kept away from to roll over pole (439), ring pole (430) fixed connection is in the outside of extrusion piece (432).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410489147.5A CN118081838B (en) | 2024-04-23 | Zero-clearance precise transmission assembly of detection head mechanical arm of natural gas field inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410489147.5A CN118081838B (en) | 2024-04-23 | Zero-clearance precise transmission assembly of detection head mechanical arm of natural gas field inspection robot |
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| CN118081838B CN118081838B (en) | 2024-06-28 |
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