CN202171094U - Wheel-type endoscopic robot - Google Patents
Wheel-type endoscopic robot Download PDFInfo
- Publication number
- CN202171094U CN202171094U CN2011202743509U CN201120274350U CN202171094U CN 202171094 U CN202171094 U CN 202171094U CN 2011202743509 U CN2011202743509 U CN 2011202743509U CN 201120274350 U CN201120274350 U CN 201120274350U CN 202171094 U CN202171094 U CN 202171094U
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- wheel
- robot
- drive unit
- support
- wheeled
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Abstract
The utility model discloses a wheel-type endoscopic robot comprising a main body support, a first lifting support, a second lifting support, and an auxiliary support, which are used to form a four-bar linkage. The main body support is connected with a driving device. One end of the first lifting support is connected with a rear part of the main body support, and the other end of the first lifting support is connected with a rear part of the auxiliary support. One end of the second lifting support is connected with a front part of the main body support, and the other end of the second lifting support is connected with a front part of the auxiliary support. Driving devices are also provided in the utility model, and wheels are disposed on two sides of the driving devices. A camera is disposed on the auxiliary support. A signal wire connected with the cameral and the driving devices are also provided in the utility model. When the wheel-type endoscopic robot is in use, the vertical height of the cameral can be adjusted, and the camera can stay in the horizontal status, thereby the blond spot can be prevented, when the camera is working. By using the climbing auxiliary device, the climbing can be more stable. Two driving devices are provided in the utility model, and are convenient to dismount, thereby the replacement of wheels or the adjustment of wheels can be facilitated according to the shapes of the driving devices, and the expansibility of wheels can be higher.
Description
Technical field
The utility model relates to robot, relate in particular to a kind of be used for that pipeline surveys in peep robot.
Background technique
Pipeline robot is a kind ofly can or outside walk, carry the apparatus for work that one or more accomplish the associated conduit operations automatically along pipe interior; Such as devices such as camera, sensing means, soldering installation, anti-corrosion spray device, operator, spray gun, brushes, so that in the process of producing, construct, safeguarding, accomplish relevant pipeline operations.
Pipeline robot can be divided into by the energy resource supply mode has cable robot and no cable robot; Cable robot is arranged owing to use cable to connect robot and peripheral control unit; When robot walks in pipeline in tow hawser advance; Its shortcoming is when robot climbs or when clearing the jumps, and hawser can rub with tube wall.The wheel of pipeline robot is inconvenient to dismantle in the existing technology, and the expansivity of its wheel is not high.
The model utility content
The technical problem that the utility model will solve is, to hawser in the existing technology can rub with tube wall, the not high defective of wheel expansivity, provide a kind of and peep robot in wheeled.
The utility model solves the technological scheme that its technical problem adopted: comprise main body rack, drive unit, the first rising support, second rising support and the auxiliary stand of forming quadratic crank mechanism, said main body rack and said drive unit are hinged; The said first rising support, one end and said main body rack rear portion is hinged, the other end and said auxiliary stand rear portion are hinged, the said second rising support, one end and said main body rack front portion is hinged, the other end and said auxiliary stand front portion are hinged; Also comprise drive unit, said drive unit both sides are equipped with wheel, on the said auxiliary stand camera are installed; Said camera, drive unit are provided with the signaling line that is connected with them.
In the utility model is wheeled, peep in the robot, the said first rising support and the second rising stent length equate.
In the utility model is wheeled, peep in the robot, said auxiliary stand is provided with head shell, and it is inner that said camera is installed in said head shell.
In the utility model is wheeled, peep in the robot, on the said auxiliary stand light source is installed.
In the utility model is wheeled, peep in the robot, said head shell both sides are provided with stiffening rib.
In the utility model is wheeled, peep in the robot; Said main body rack rear portion is connected with the climbing auxiliary device; Said climbing auxiliary device and said main body rack are movably connected, said climbing auxiliary device comprise support be installed in said support both sides auxiliary wheel.
In the utility model is wheeled, peep in the robot; Said drive unit comprises two drive units that structure is identical; First drive unit drive the wheel installed in said first drive unit outside,, second drive unit drive the wheel installed in said second drive unit outside.
In the utility model is wheeled, peep in the robot, said climbing auxiliary device end is connected with water-proof connector, and said water-proof connector is connected with waterproof and drags line, and said signaling line is installed in said waterproof and drags in the line.
In the utility model is wheeled, peep in the robot, also comprise the wheel hub that is used to install wheel, in the said wheel waterproof grommet is installed.
The utility model; Has following beneficial effect: peep in the robot in the utility model is wheeled; Main body rack, the first rising support, the second rising support and auxiliary stand are formed four bar linkage mechanisms, and main body rack is fixed, and is equivalent to frame; The first rising support and the second rising support are equivalent to rocking bar, and auxiliary stand is equivalent to connecting rod.During use, can regulate the vertical height of the camera on the auxiliary stand, not have blind spot when making camera work.
Climbing auxiliary device and the said main body rack of peeping robot in the utility model is wheeled are movably connected; The support both sides are separately installed with first auxiliary wheel, second auxiliary wheel; When robot climbs; Avoid water-proof connector and drag line and inner-walls of duct, ground to rub, make climbing more steady.
The drive unit of peeping robot in the utility model is wheeled comprises two drive units that structure is identical, and is for convenience detach, helps making the expansivity of wheel higher according to the profile of drive unit more wheel change, adjustment wheel.
Description of drawings
To combine accompanying drawing and embodiment that the utility model is described further below, in the accompanying drawing:
Fig. 1 is the utility model embodiment's a stereogram;
Fig. 2 is the utility model embodiment's a plan view;
Fig. 3 is the utility model embodiment's a plan view;
Fig. 4 is the utility model embodiment's a front elevation;
Fig. 5 is the side view in when climbing among the utility model embodiment;
Fig. 6 is the complete section figure that overlooks direction of drive unit among the utility model embodiment;
Fig. 7 is the partial enlarged drawing of drive unit among the utility model embodiment.
Embodiment
For the purpose, technological scheme and the advantage that make the utility model is clearer,, the utility model is further elaborated below in conjunction with accompanying drawing and embodiment.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
Shown in Fig. 1-4; Peep in the robot in the utility model is wheeled; Installing drive device, the first rising support 201, the second rising support 202 and auxiliary stand 21 on main body rack 10, main body rack 10, the first rising support 201, the second rising support 202 and auxiliary stand 21 are formed four bar linkage mechanisms.Main body rack 10 is fixed, and is equivalent to frame; The first rising support, 201 1 ends and said main body rack 10 rear portions are adopted and are flexibly connected; The other end and said auxiliary stand 21 rear portions are adopted and are flexibly connected; Flexible connection is adopted in the second rising support, 202 1 ends and said main body rack 10 anterior flexible connection, the other end and said auxiliary stand 21 front portions of adopting; Wherein, the first rising support 201 and the second rising support 202 are equivalent to rocking bar, and auxiliary stand 21 is equivalent to connecting rod.The mode that flexibly connects connects such as pin.
The effect of auxiliary stand 21 has 2 points: the first, as connecting rod, connect the first rising support 201, the second rising support 202;
The second, related accessories is installed, such as operation object, ancillary item etc.
Camera 231, head shell 232 are installed on auxiliary stand, camera 231 is installed in the head shell 232.Camera 232 can rotate by 360 degree, adopts the high zoom design, makes clear picture.Light source 22 is installed on auxiliary stand, and light source 22 makes in the pipeline bright, to improve the two sides quality that camera 231 is taken.The quantity of light source 22 and type can be selected as required, select two light sources 22 in the present embodiment for use.Light source 22 is fastenedly connected on auxiliary stand 21 with camera 231 usefulness screws.
The stiffening rib 24 that is used for fixing said head shell 232 is installed on auxiliary stand, make head shell 232 fixing firmly.
Peep robot in the utility model is wheeled owing to adopt link design, during use, the manual tune first rising support 201, the second rising support 202, to realize:
First; Because first the equal in length to the degree support 201 and the second rising support 202; Regulate linkage mechanism and can make head shell 232 be in level all the time,, do not have blind spot when making camera 231 work so that the camera 231 that is installed on the auxiliary stand 21 remains horizontal state;
The second, the height of adjustment fuselage, carry out different amount shooting, can keep away the lower obstacle and make camera can photograph more image at a distance.
Peep robot in the utility model is wheeled and also wrap the signaling line that is connected with camera 231, drive unit 30, be used for also comprising the guide line of accessory drive to the peripheral control unit transmission signal; Signaling line and guide line are installed in waterproof and drag line 43 inside; Drag line 43 through water-proof connector connection climbing auxiliary device and waterproof.
As shown in Figure 5; Peep robot in the utility model is wheeled and also comprise the climbing auxiliary device that is installed in main body rack 10 rear portions; Said climbing auxiliary device and said main body rack 10 are movably connected; Said climbing auxiliary device comprises the support that is used to install wheel, and the support both sides are separately installed with first auxiliary wheel 411, second auxiliary wheel 412.The diameter of first auxiliary wheel 411 and second auxiliary wheel 412 is littler than the diameter of wheel, and when robot walked in the plane, first auxiliary wheel 411 did not contact with ground with second auxiliary wheel 412; When robot climbs; First auxiliary wheel 411 contacts with ground with second auxiliary wheel 412; Because first auxiliary wheel 411 and second auxiliary wheel 412 have certain distance with ground, avoid water-proof connector 42 and drag line 43 and inner-walls of duct, ground to rub, make climbing more steady.
Shown in Fig. 6-7; The drive unit of peeping robot in the utility model is wheeled comprises two drive units that structure is identical; Be respectively first drive unit 301, second drive unit 302; First drive unit drives first wheel 381, second wheel, 382, the second drive units and drives the 3rd wheel 383, the 4th wheel 384.First drive unit 301, second drive unit 302 are installed in the both sides of main body rack 10 respectively, and be for convenience detach, helps making the expansivity of wheel higher according to the profile of drive unit more wheel change, adjustment wheel.
Particularly, in first drive unit 301, the 311 output rotation motions of first motor pass to second gear 33 through first gear 32; Second gear 33 is fastenedly connected with axle 35 usefulness pin, and synchronous pulley 34 is connected with axle 35 pins, and wheel hub 390 usefulness screws are fastenedly connected on axle 35, and tire is clamped on the wheel hub 390; When second gear 33 rotates, drive axle 35 and rotate synchronously, axle 35 drives synchronous pulley 34 and rotates synchronously with wheel hub 390, drives tyre rotation, rotates to drive second wheel 382; Transmit motion to simultaneously synchronously on the synchronizing wheel with 36 the other ends with 36 synchronously, again through axle and wheel hub by tyre rotation, driving 381 rotations of first wheel,
In like manner, second motor 312 in second drive unit 302 drives the rotation of the 3rd wheel 383, the 4th wheel 384.Through controlling first motor 311, second motor 312, realize the motion of advancing or retreating.In the utility model, wheel is installed on the wheel hub, and waterproof grommet is installed in the wheel, carries out wheel to prevent water.Adopt four-wheel drive; Can be used under water, road such as meadow, sand ground, mire, abrupt slope; Be the robot of peeping detection in a pipeline, be suitable for the caliber scope, can be used for silt, sewage, poison gas etc. and dislike the slightly detection of environment at 350mm to 2000mm applicable to big caliber.
Peep in the utility model is wheeled in the drive unit of robot; First wheel 381, second wheel 382 that first motor 311 drives are first group of wheel; The 3rd wheel 383, the 4th wheel 384 that second motor 312 drives are second group of wheel, can select to dismantle wherein one group of wheel or two groups of wheels; The shell of drive unit is quick detachable, convenient other element that adds.
Should be understood that, concerning those of ordinary skills, can improve or conversion, and all these improvement and conversion all should belong to the protection domain of the utility model accompanying claims according to above-mentioned explanation.
Claims (9)
1. peep robot in wheeled for one kind, it is characterized in that:
Comprise main body rack (10), the first rising support (201), the second rising support (202) and the auxiliary stand (21) of forming quadratic crank mechanism, said main body rack (10) and said drive unit are hinged; The said first rising support (201) one ends and said main body rack (10) rear portion is hinged, the other end and said auxiliary stand (21) rear portion are hinged, anterior hinged, the other end of the said second rising support (202) one ends and said main body rack (10) and said auxiliary stand (21) are anterior hinged;
Also comprise drive unit, said drive unit both sides are equipped with wheel, and camera (231) is installed on the said auxiliary stand (21); Said camera (231), drive unit (30) are provided with the signaling line that is connected with them.
2. according to claim 1ly peep robot in wheeled, it is characterized in that the said first rising support (201) and second rising support (202) equal in length.
3. according to claim 2ly peep robot in wheeled, it is characterized in that said auxiliary stand (12) is provided with head shell (232), said camera (231) is installed in said head shell (232) inside.
4. according to claim 3ly peep robot in wheeled, it is characterized in that, light source (22) is installed on the said auxiliary stand (12).
5. according to claim 4ly peep robot in wheeled, it is characterized in that said head shell (232) both sides are provided with stiffening rib (24).
6. according to claim 1ly peep robot in wheeled; It is characterized in that; Said main body rack (10) rear portion is connected with the climbing auxiliary device; Said climbing auxiliary device and said main body rack (10) are movably connected, and said climbing auxiliary device comprises support and the auxiliary wheel (411,412) that is installed in said support both sides.
7. according to claim 1ly peep robot in wheeled; It is characterized in that; Said drive unit comprises two drive units that structure is identical; First drive unit (301) drives the wheel (381,382) that install in said first drive unit (301) outside, and second drive unit (302) drives the wheel (383,384) that install in said second drive unit (302) outside.
8. according to claim 1ly peep robot in wheeled; It is characterized in that; Said climbing auxiliary device end is connected with water-proof connector (42), and said water-proof connector (42) is connected with waterproof and drags line (43), and said signaling line is installed in said waterproof and drags in the line (43).
9. peep robot according to any claim among the claim 1-8 is described in wheeled, it is characterized in that, also comprise the wheel hub that is used to install wheel, in the said wheel waterproof grommet is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202743509U CN202171094U (en) | 2011-07-29 | 2011-07-29 | Wheel-type endoscopic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202743509U CN202171094U (en) | 2011-07-29 | 2011-07-29 | Wheel-type endoscopic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202171094U true CN202171094U (en) | 2012-03-21 |
Family
ID=45829290
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202743509U Expired - Fee Related CN202171094U (en) | 2011-07-29 | 2011-07-29 | Wheel-type endoscopic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202171094U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104534222A (en) * | 2014-12-15 | 2015-04-22 | 郑州新力光电技术有限公司 | Pipeline crawler equipped with focusing mechanism |
| CN104653945A (en) * | 2014-10-27 | 2015-05-27 | 唐山开诚电控设备集团有限公司 | Mineral pipeline detection robot |
| CN105318140A (en) * | 2015-11-10 | 2016-02-10 | 北京自动化控制设备研究所 | Pipeline robot for urban drainage network pipe |
| CN105650405A (en) * | 2015-12-30 | 2016-06-08 | 北京隆科兴非开挖工程股份有限公司 | All-direction cruising and photographing mechanism and wheel type pipeline detecting robot |
| CN108317336A (en) * | 2018-01-24 | 2018-07-24 | 肖香福 | A kind of pipe detection device that stable structure facility carries |
| CN109780368A (en) * | 2019-02-19 | 2019-05-21 | 北京交通大学 | Sewage conduct band water based on pneumatic drive mechanism detects robot |
| CN113431984A (en) * | 2021-06-17 | 2021-09-24 | 中广核研究院有限公司 | Pipeline crawling device |
-
2011
- 2011-07-29 CN CN2011202743509U patent/CN202171094U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104653945A (en) * | 2014-10-27 | 2015-05-27 | 唐山开诚电控设备集团有限公司 | Mineral pipeline detection robot |
| CN104534222A (en) * | 2014-12-15 | 2015-04-22 | 郑州新力光电技术有限公司 | Pipeline crawler equipped with focusing mechanism |
| CN105318140A (en) * | 2015-11-10 | 2016-02-10 | 北京自动化控制设备研究所 | Pipeline robot for urban drainage network pipe |
| CN105650405A (en) * | 2015-12-30 | 2016-06-08 | 北京隆科兴非开挖工程股份有限公司 | All-direction cruising and photographing mechanism and wheel type pipeline detecting robot |
| CN108317336A (en) * | 2018-01-24 | 2018-07-24 | 肖香福 | A kind of pipe detection device that stable structure facility carries |
| CN109780368A (en) * | 2019-02-19 | 2019-05-21 | 北京交通大学 | Sewage conduct band water based on pneumatic drive mechanism detects robot |
| CN113431984A (en) * | 2021-06-17 | 2021-09-24 | 中广核研究院有限公司 | Pipeline crawling device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120321 Termination date: 20180729 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |