CN1695906A - Detection robot - Google Patents

Detection robot Download PDF

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Publication number
CN1695906A
CN1695906A CN 200510018933 CN200510018933A CN1695906A CN 1695906 A CN1695906 A CN 1695906A CN 200510018933 CN200510018933 CN 200510018933 CN 200510018933 A CN200510018933 A CN 200510018933A CN 1695906 A CN1695906 A CN 1695906A
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CN
China
Prior art keywords
motor
machine people
detection machine
gear
road wheel
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Granted
Application number
CN 200510018933
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Chinese (zh)
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CN100386181C (en
Inventor
石端伟
潘卫平
雷开运
邹旭
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Wuhan University WHU
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Wuhan University WHU
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Priority to CNB2005100189334A priority Critical patent/CN100386181C/en
Publication of CN1695906A publication Critical patent/CN1695906A/en
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Publication of CN100386181C publication Critical patent/CN100386181C/en
Expired - Fee Related legal-status Critical Current
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Abstract

A detecting robot suitable for moving in narrow space is composed of a main body and several running wheels. Said main body has two motors for driving said running wheels for moving foward or backward and making a turn, and the lighting lamp and two-freedom camera in stalled respectively to its both ends.

Description

Detection machine people
Technical field
The present invention relates to a kind of detection machine people, the fault detect and the foreign matter that are mainly used in nuclear power station take out.
Background technology
Often relate to thin space passage, pipeline, valve cavity, steam generator water pipe or tracheae at nuclear power station and relevant industries thereof, also has important safety means inner chamber, reactor pressure vessel has radioactivity, danger and other detection means and can not implement the cavity volume that cctv (having video to show) detects.At present, the instrument and equipment of implementing the cctv detection generally all adopts manipulator, just the Zhuan Zhi manipulator that has the cctv detection head puts in the tested cavity volume and carries out operation, and to difform cavity volume, when especially cavity volume is complex-shaped, because existing robots is difficult to turning or tune or climb very steep slopes in the thin space passage, easily there is the dead angle area that does not detect and influenced practical application.
Summary of the invention
The object of the present invention is to provide a kind of detection machine people, it can detect operation in complex-shaped or narrow passage or cavity volume.
The technical scheme that realizes the object of the invention is: a kind of detection machine people, have walking dolly and road wheel, and it is characterized in that: two ends of dolly are respectively equipped with lighting and 2DOF camera, and 2 motors link through transmission mechanism and road wheel respectively.
And, have 6 road wheels, each 3 on every limit.
And the road wheel in the middle of being positioned at is less than the road wheel at two ends.
And, 2 motors are meshed through the gear of reducer output shaft gear with dolly one end 2 live axle inboards respectively, 2 road wheels of this end link with the middle road wheel of band transmission and corresponding sides respectively, road wheel links with 2 road wheels of the band transmission and the other end respectively again in the middle of 2, camera is in bolster is hinged on support, motor links through decelerator and with band transmission and described bolster, and another motor is meshed with the shaft gear of support shaft through the reducer output shaft gear again.
And dolly is provided with manipulator.
And, described manipulator has 4 frees degree, this manipulator comprises big arm; forearm and make the jaw device of execution unit; an end and a vertical shaft of big arm link; the motor that drives big revolution of arm is meshed with the gear of vertical shaft through the reducer output shaft gear; driving wrist motor rotating links through reducer output shaft and by gear and drive link and wrist; forearm is hinged by connecting plate and wrist; motor is connected with screw mandrel through the output shaft of decelerator; screw mandrel passes wrist; bearing is housed therebetween; the coupling bar that is connected with this wire rod thread is plugged in the elongate slots of connecting plate; the motor of forearm is also connecting a screw mandrel through decelerator, and this screw mandrel is threaded with slide block, and this slide block is connected with the drive end of shear-type clamp clamp device respectively by 2 connecting rods.
And the bearing of live axle is the self sealss bearing, and wheel shaft is provided with the combined sealing structure that is made of O RunddichtringO and magnetic current clearance sealing device outward.
Advantage of the present invention is: 1. owing to adopt 2 motors to link through transmission mechanism and road wheel respectively, this robot can instruct motor simultaneously in the same way or reverse rotation, the perhaps reciprocal rotation of two motors or one of them motor stall and can walk flexibly, can realize advancing free to advance or retreatly, retreat, about turn to and pivot stud, its climbing capacity is not less than 45 degree.2. two or three bilateral driven in synchronism that constitute had therefrom both had bigger driving force, were convenient to again turn to flexibly, suited to work in particular surroundings such as narrow space.3. volume is little, in light weight, can walk in being not less than the passage of 130mm, and car body weight is not more than 8kg.4. compact overall structure, the reliability height.
Description of drawings
Fig. 1 illustrates the stereogram of appearance structure of the present invention on the whole.
Fig. 2 is the whole cutaway view that constitutes of signal.
Fig. 3 is the amplification view along Fig. 2 A-A place.
Fig. 4 is the amplification view of the big arm of manipulator.
Fig. 5 is the amplification view of manipulator forearm.
Fig. 6 is the amplification view of wheel axle sealing structure.
Fig. 7 is the amplification view at Fig. 2 B place.
The specific embodiment
With reference to Fig. 1~Fig. 7, detection machine people of the present invention, it has walking dolly 12 and road wheel 11, and its distinctive feature is: two ends of dolly 12 be respectively equipped with lighting 2,2 ', 10 and 8,2 motors 39 of 2DOF camera link through transmission mechanism and road wheel 11 respectively.
Further technical scheme can be: have 6 road wheels 11, each 3 on every limit.Suggestion: rubber rectangular teeth structures are adopted in the outer ring 49 of each road wheel 11, to strengthen its frictional force and the ability by obstacle.
And the road wheel 11 in the middle of being positioned at is less than the road wheel 11 at two ends.
Further technical scheme can also be: 2 motors 43 are meshed through the gear 47 of decelerator 44 output shaft gears 48 with dolly 12 1 ends 2 live axles 50 inboards respectively, 2 road wheels 11 of this end link with the middle road wheel 11 of band transmission 46 with corresponding sides respectively, road wheel 11 links with 2 road wheels 11 of band transmission 45 with the other end respectively again in the middle of 2, camera 8 is in bolster 33 is hinged on support 9, motor 35 links with described bolster 33 through decelerator 36 and with band transmission 34, and another motor 39 is meshed with the shaft gear 38 of support shaft through decelerator 40 output shaft gears 37 again.
Transmission preferably is with in described band transmission 34,45,46 synchronously.
Remove to implement detect and to do out of tradely,, can also set up manipulator on the dolly 12 if when also needing to take out foreign matter simultaneously from the scene.
And; Described manipulator has 4 frees degree and (sees Fig. 2; Fig. 4; Fig. 5); This manipulator comprises big arm 1; Forearm 6 and work are carried out the jaw device 7 of parts; One end and a vertical shaft 16 of big arm 1 link; Driving big arm 1 rotating motor 13 is meshed with the gear 17 of vertical shaft 16 through decelerator 14 output shaft gears 15; Drive the motor 18 of wrist 4 rotations through decelerator 19 output shafts and by gear 20; 22 and drive link 21 link with wrist 4; Forearm 6 is hinged by connecting plate 5 and wrist 4; Motor 24 is connected with screw mandrel 26 through the output shaft of decelerator 25; Screw mandrel 26 passes wrist 4; Bearing 54 (see figure 4)s are housed therebetween; The coupling bar 3 that is threaded with this screw mandrel 26 is plugged in the elongate slots 23 of connecting plate 5; The motor 27 of forearm 6 is also connecting a screw mandrel 29 through decelerator 28; This screw mandrel 29 is threaded with slide block 30, and this slide block 30 is connected with the active end 32 of shear-type clamp clamp device 7 respectively by 2 connecting rods 31.
The front end of described jaw device folder thing part can also be made the given shape of being convenient to press from both sides thing, for example tubulose etc.
During work, 1. the motor 13 of big arm 1 is meshed with vertical shaft gear 17 through decelerator 14 output shaft gears 15, and can drive big arm 1 around vertical shaft 16 rotations; 2. motor 18 drives wrist 4 and is being with forearm 6 together around big arm 1 axis rotation through decelerator 19, gear 20,22 and drive link 21; 3. motor 24 drives coupling bar 3 through decelerator 25, screw mandrel 26 and does straight reciprocating motion along screw mandrel 26, meanwhile also be plugged in the elongate slots 23 of connecting plate 5 owing to this coupling bar 3, so just the straight reciprocating motion with coupling bar 3 is converted to the elevating movement of forearm 6 around pin joint; 4. the motor 27 of forearm 6 is done straight reciprocating motion through decelerator 28 and screw mandrel 29 driving slide blocks 30, and this slide block 30 drives the action that jaw device 7 realize clamping or decontroling foreign matter by connecting rod 31.More than motion can independently be carried out also teamwork simultaneously respectively and finish and get thing.Promptly this manipulator can realize grasping, rotation (big arm around vertical shaft or forearm around big arm axle line), pitching motions such as (forearm are around pin joint), its jaw device 7 can be picked up foreign matter in tested cavity volume.
For the ease of underwater operation, described live axle 50,50 ' bearing 51 are self sealss bearing (standard component), and wheel shaft is provided with the combined sealing structure (see figure 6) that is made of O RunddichtringO 52 and magnetic current clearance sealing device 53 (its structure and principle can be consulted " mechanical engineering manual ") outward.Meanwhile, if be used for the detection of nuclear power station, each rubber ring, pad should be able to anti-nuclear radiation, for example, can adopt the phenyl room temperature vulcanized silicone rubber, each attachment screw, bolt, nut and connect the composition surface and should smear waterproof radiation hardness fluid sealant.This robot can be at≤underwater operation that 30m is dark.
In addition, described motor 13,18,24,27,35,39 can be selected servomotor, decelerator is preferably the planetary reduction gear than the big retarding ratio, because motor and decelerator can be commercially available standard components, specifically can and consult " mechanical engineering manual " coupling according to actual condition.
Car body walking and camera 8 actions can be taked to jointly control.Manipulator adopts control separately.The bus of The whole control realizes Long-distance Control by cable.Control device 41 can be located at the middle part of car body, and circuit interface 42 is positioned at its both sides.

Claims (7)

1. a detection machine people has walking dolly and road wheel, it is characterized in that: two ends of dolly are respectively equipped with lighting and 2DOF camera, and 2 motors link through transmission mechanism and road wheel respectively.
2. detection machine people according to claim 1 is characterized in that: have 6 road wheels, each 3 on every limit.
3. detection machine people according to claim 2 is characterized in that: the road wheel in the middle of being positioned at is less than the road wheel at two ends.
4. according to claim 1 or 2 or 3 described detection machine people, it is characterized in that: 2 motors are meshed through the gear of reducer output shaft gear with dolly one end 2 live axle inboards respectively, 2 road wheels of this end link with the middle road wheel of band transmission and corresponding sides respectively, road wheel links with 2 road wheels of the band transmission and the other end respectively again in the middle of 2, camera is in bolster is hinged on support, motor links through decelerator and with band transmission and described bolster, and another motor is meshed with the shaft gear of support shaft through the reducer output shaft gear again.
5. detection machine people according to claim 4, it is characterized in that: dolly is provided with manipulator.
6. detection machine people according to claim 5, it is characterized in that: described manipulator has 4 frees degree, this manipulator comprises big arm; forearm and make the jaw device of execution unit; an end and a vertical shaft of big arm link; the motor that drives big revolution of arm is meshed with the gear of vertical shaft through the reducer output shaft gear; driving wrist motor rotating links through reducer output shaft and by gear and drive link and wrist; forearm is hinged by connecting plate and wrist; motor is connected with screw mandrel through the output shaft of decelerator; screw mandrel passes wrist; bearing is housed therebetween; the coupling bar that is connected with this wire rod thread is plugged in the elongate slots of connecting plate; the motor of forearm is also connecting a screw mandrel through decelerator, and this screw mandrel is threaded with slide block, and this slide block is connected with the drive end of shear-type clamp clamp device respectively by 2 connecting rods.
7. detection machine people according to claim 6 is characterized in that: the bearing of live axle is the self sealss bearing, and wheel shaft is provided with the combined sealing structure that is made of O RunddichtringO and magnetic current clearance sealing device outward.
CNB2005100189334A 2005-06-16 2005-06-16 Detection robot Expired - Fee Related CN100386181C (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNB2005100189334A CN100386181C (en) 2005-06-16 2005-06-16 Detection robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNB2005100189334A CN100386181C (en) 2005-06-16 2005-06-16 Detection robot

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CN1695906A true CN1695906A (en) 2005-11-16
CN100386181C CN100386181C (en) 2008-05-07

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101850727A (en) * 2010-02-26 2010-10-06 湖南山河智能机械股份有限公司 Remote control wheel type mobile robot platform
US7971497B2 (en) 2007-11-26 2011-07-05 Air Products And Chemicals, Inc. Devices and methods for performing inspections, repairs, and/or other operations within vessels
WO2011162816A3 (en) * 2010-06-23 2012-02-16 Ocs Technologies, L.L.C Method and apparatus for cleaning vessels
CN102554915A (en) * 2012-01-06 2012-07-11 雷学军 Robot for taking out foreign matters from ventilation duct of air conditioner of train
CN102642207A (en) * 2012-04-12 2012-08-22 华北电力大学 Multifunctional actuator for nuclear power plant operation and control method thereof
CN105443919A (en) * 2015-12-31 2016-03-30 天津嘉格机电有限公司 Remotely controlled walking device with cable
CN105508802A (en) * 2015-12-30 2016-04-20 北京隆科兴非开挖工程股份有限公司 Wheel type pipeline detection robot asynchronous origin displacement steering mechanism
CN106885230A (en) * 2009-05-27 2017-06-23 R.布鲁克斯合伙人公司 Upper bundle steam generator checking tool
CN107042500A (en) * 2016-11-21 2017-08-15 云南电网有限责任公司电力科学研究院 The robot of various visual angles detection, control method and device
CN109213123A (en) * 2012-07-26 2019-01-15 苏州宝时得电动工具有限公司 The control method and robot system of robot
CN111673738A (en) * 2020-05-15 2020-09-18 中国第一汽车股份有限公司 Automatic guide intelligence both arms transfer robot

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4654702A (en) * 1984-11-09 1987-03-31 Westinghouse Electric Corp. Portable and collapsible pipe crawler
FR2746039B1 (en) * 1996-03-12 1998-05-22 METHOD AND DEVICE FOR CLEANING CONDUITS BY REMOTE CONTROLLED ROBOT
CN2389761Y (en) * 1999-09-15 2000-08-02 叶明� Full-automatic cleaning manipulator
CN2556639Y (en) * 2002-07-24 2003-06-18 东营柯林瑞尔科技有限责任公司 Intelligent robot for pipeline detection
KR100478681B1 (en) * 2003-07-29 2005-03-25 삼성광주전자 주식회사 an robot-cleaner equipped with floor-disinfecting function
CN1319702C (en) * 2003-10-29 2007-06-06 中国科学院自动化研究所 Movable manipulator system
CN100427226C (en) * 2004-09-17 2008-10-22 清华大学 Multifunction integrated cleaning robot for ventilation pipeline

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7971497B2 (en) 2007-11-26 2011-07-05 Air Products And Chemicals, Inc. Devices and methods for performing inspections, repairs, and/or other operations within vessels
US8616075B2 (en) 2007-11-26 2013-12-31 Air Products And Chemicals, Inc. System for performing inspections, repairs, and/or other operations within vessels
TWI491542B (en) * 2007-11-26 2015-07-11 Air Prod & Chem Devices and methods for performing inspections, repairs, and/or other operations within vessels
CN106885230A (en) * 2009-05-27 2017-06-23 R.布鲁克斯合伙人公司 Upper bundle steam generator checking tool
CN106885230B (en) * 2009-05-27 2019-06-28 R.布鲁克斯合伙人公司 Upper bundle steam generator checking tool
CN101850727A (en) * 2010-02-26 2010-10-06 湖南山河智能机械股份有限公司 Remote control wheel type mobile robot platform
WO2011162816A3 (en) * 2010-06-23 2012-02-16 Ocs Technologies, L.L.C Method and apparatus for cleaning vessels
CN103002996A (en) * 2010-06-23 2013-03-27 Ocs技术公司 Method and apparatus for cleaning vessels
CN102554915A (en) * 2012-01-06 2012-07-11 雷学军 Robot for taking out foreign matters from ventilation duct of air conditioner of train
CN102642207A (en) * 2012-04-12 2012-08-22 华北电力大学 Multifunctional actuator for nuclear power plant operation and control method thereof
CN102642207B (en) * 2012-04-12 2014-08-06 华北电力大学 Multifunctional actuator for nuclear power plant operation and control method thereof
CN109213123A (en) * 2012-07-26 2019-01-15 苏州宝时得电动工具有限公司 The control method and robot system of robot
CN105508802A (en) * 2015-12-30 2016-04-20 北京隆科兴非开挖工程股份有限公司 Wheel type pipeline detection robot asynchronous origin displacement steering mechanism
CN105443919A (en) * 2015-12-31 2016-03-30 天津嘉格机电有限公司 Remotely controlled walking device with cable
CN107042500A (en) * 2016-11-21 2017-08-15 云南电网有限责任公司电力科学研究院 The robot of various visual angles detection, control method and device
CN107042500B (en) * 2016-11-21 2018-03-23 云南电网有限责任公司电力科学研究院 The robot of various visual angles detection, control method and device
CN111673738A (en) * 2020-05-15 2020-09-18 中国第一汽车股份有限公司 Automatic guide intelligence both arms transfer robot

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Granted publication date: 20080507