CN208311788U - A kind of wheeled pipeline detecting and sampling robots - Google Patents
A kind of wheeled pipeline detecting and sampling robots Download PDFInfo
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- CN208311788U CN208311788U CN201820460200.9U CN201820460200U CN208311788U CN 208311788 U CN208311788 U CN 208311788U CN 201820460200 U CN201820460200 U CN 201820460200U CN 208311788 U CN208311788 U CN 208311788U
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Abstract
A kind of wheeled pipeline detecting and sampling robots, including robot body, control unit and the sensor unit being connect with control unit, image acquisition units, walking unit and picking unit, robot body includes driving shell, nonrigid connector, driven shell and crawl support, image acquisition units include camera, and camera is connect with control unit；Walking unit includes driving mechanism and follower, and sensor unit includes infrared distance sensor and pressure sensor, and infrared distance sensor is distributed in the right side of the servo motor a in driving shell and driven shell, and pressure sensor is fixed on the bottom of servo motor a；Control unit includes control chip, controls integrated chip communication unit and is connect by wireless communication mode with host computer；Picking unit includes servo motor b and clamping limb.The robot has an extremely strong traveling-capability in elbow energy, and the variable-angle of idler wheel, while can detecting real-time pipeline be abnormal and sampling to increase the adhesive force with pipeline.
Description
Technical field
The utility model relates to robot fields, and in particular to a kind of wheeled pipeline detecting and sampling robots.
Background technique
Pipe robot is a kind of novel robot, can be along walking in pipeline, moreover it is possible to which carry sensors are completed
The electro-mechanical system of operation in pipeline, by walking mechanism, signal transmitting, dynamic transfer system, internal recognition detection system,
The composition such as control system.Pipe robot has the characteristics that small in size, low energy consumption, and being able to enter common mechanical system cannot be introduced into
Small space in, have a wide range of applications in fields such as industrial detection, optical engineering, nuclear industry and biomedicines.
The mobile form of pipe robot mainly has mobile piston, wriggling movable type, caterpillar band mobile, sufficient leg-type mobile
It is several with idler wheel movement.Piston movable type is driving force by the pressure difference that its head and the tail both ends tube fluid is formed, with flowing in pipe
The flowing of body travels forward, the disadvantage is that obstacle climbing ability and cornering power are poor；The advantages of caterpillar band mobile is that the area that lands is big, easily
Biggish adhesive force is generated, however its volume is not easy to minimize greatly, turning radius is big and structure is complicated, and crawler belt is easy to loosen；It is compacted
Moving mobile disadvantage is that movement speed is slow, and control is complicated；The shortcomings that sufficient leg-type mobile is that structure and control are complicated, walking speed
Degree is slow；The advantage of idler wheel movable type is that movement speed is fast, and turning is easy and structure is simple, is easily minimized, when using more wheel modes
Tractive force increases with wheel number and is increased, the disadvantage is that the area that lands is small, maintains certain adhesive force difficulty.
Utility model content
The utility model to solve the above-mentioned problems, devises a kind of wheeled pipeline detecting and sampling robots, the machine
People improves on the basis of idler wheel movable type, not only has the advantages that the mobile movement speed of roller type is fast, structure is simple,
Also there is extremely strong traveling-capability in elbow energy, the angle of idler wheel can change with the variation of internal diameter of the pipeline to increase and pipeline
Adhesive force, while the robot can also monitor the inner case Real-time Feedback of pipeline into host computer and to foreign matter in pipeline
It is sampled.
In order to achieve the above technical purposes, reach above-mentioned technical effect, the utility model is real by the following technical programs
Existing:
A kind of wheeled pipeline detecting and sampling robots, it is characterised in that: including robot body, control unit and with control
Sensor unit, image acquisition units, walking unit and the picking unit of unit connection processed, wherein
The robot body includes driving shell, nonrigid connector, driven shell and crawl support, driving shell and driven shell
The both ends of nonrigid connector are individually fixed in, the other end of driven shell is fixed with crawl support；
The image acquisition units include camera, and camera is fixed at the front end center of crawl support, camera
It is connect with control unit；
The walking unit includes driving mechanism and follower, and driving mechanism includes the servo being fixed in driving shell
Motor a, overhanging arm, brushless motor and driving wheel, brushless motor are fixed in driving wheel and are connected by overhanging arm and servo motor a
It connects, follower includes servo motor a, overhanging arm and driven wheel, and driven wheel is connect by overhanging arm with servo motor a；
The sensor unit includes infrared distance sensor and pressure sensor, and infrared distance sensor is distributed in drive
The right side of servo motor a on dynamic shell and driven shell, pressure sensor are fixed on the bottom of servo motor a；
The control unit include control chip, control integrated chip communication unit and by wireless communication mode with it is upper
Position machine connection；
The picking unit includes servo motor b and clamping limb, and clamping limb is fixed on servo motor b, servo motor b
It is fixed on crawl support and is connect with control unit.
Preferably, the nonrigid connector is metal bellows.
Preferably, the control unit is also connect with battery.
Preferably, the wireless communication protocol of the control unit and host computer is IEEE802.11.
The beneficial effects of the utility model are: the robot improves on the basis of idler wheel movable type, not only have
The advantage that the mobile movement speed of roller type is fast, structure is simple also has extremely strong traveling-capability in elbow energy, and the angle of idler wheel can
Change with the variation of internal diameter of the pipeline to increase the adhesive force with pipeline, while the robot can also be by the inside feelings of pipeline
Condition Real-time Feedback is monitored into host computer and is sampled to foreign matter in pipeline.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is the surface structure schematic diagram of wheeled pipeline detecting and sampling robots；
Fig. 2 is the schematic diagram of internal structure of wheeled pipeline detecting and sampling robots；
Fig. 3 is the structure principle chart of wheeled pipeline detecting and sampling robots.
In attached drawing, parts list represented by the reference numerals are as follows:
1- control unit, 2- sensor unit, 3- image acquisition units, 4- walking unit, 5- picking unit, 6- electric power storage
Pond, 7- host computer；11- communication unit, 21- infrared distance sensor, 22- pressure sensor, 31- camera, 41- servo motor
A, 42- brushless motor, 43- driving wheel, 44- driven wheel, 45- overhanging arm, 51- servo motor b, 52- clamping limb；101- driving
Shell, 102- nonrigid connector, the driven shell of 103-, 104- grab support.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
Refering to fig. 1 shown in -3, a kind of wheeled pipeline detecting and sampling robots, including robot body, 1 and of control unit
Sensor unit 2, image acquisition units 3, walking unit 4, picking unit 5 and the battery 6 being connect with control unit 1, it is described
Robot body include driving shell 101, nonrigid connector 102, driven shell 103 and crawl support 104, nonrigid connector 102
For metal bellows, driving shell 101 and driven shell 103 are individually fixed in the both ends of nonrigid connector 102, driven shell 103 it is another
One end is fixed with crawl support 104；
The image acquisition units 3 include camera 31, and camera 31 is fixed on the front end center of crawl support 104
Place, camera 31 are connect with control unit 1；
The walking unit 4 includes driving mechanism and follower, and driving mechanism includes being fixed on watching in driving shell
Motor a41, overhanging arm 45, brushless motor 42 and driving wheel 43 are taken, brushless motor 42 is fixed in driving wheel 43 and by overhanging
Arm 45 is connect with servo motor a41, and follower includes servo motor a41, overhanging arm 45 and driven wheel 44, and driven wheel 44 passes through
Overhanging arm 45 is connect with servo motor a41；
The sensor unit 2 includes infrared distance sensor 21 and pressure sensor 22, infrared distance sensor 21
It is distributed in the right side of the servo motor a in driving shell 101 and driven shell 103, pressure sensor 22 is fixed on servo motor a41's
Bottom；
The control unit 1 includes control chip, controls integrated chip communication unit 11 and passes through wireless communication mode
It is connect with host computer 7；
The picking unit 5 includes servo motor b51 and clamping limb 52, and clamping limb 52 is fixed on servo motor b51,
Servo motor b51 is fixed on crawl support 104 and connect with control unit 1.
Control unit 1 in the present embodiment controls chip using 32 bit CPUs with ARM Cortex-M3 kernel
STM32F207ZG connects as main control chip, and by extending out after SRAM with the Ethernet interface of infrared camera, communication unit
It connects；
The image acquisition units 3 are used as camera sensing device using OV7670 chip, transmission speed for 30 frames/
Second, output highest picture quality is the video of VGA format, it is determining with the interface of STM32F207ZG, can greatly shorten program
Development cycle；
The communication unit 11 uses DP83848C chip, which supports the Ethernet of IEEE802.11 standard agreement
Interface can save more I/O pins and go output PWM wave；
The servo motor a41 selects SGMAH-08A type servo motor a, and the rotor inertia of servo motor a is smaller,
Achievable anxious acceleration, anxious deceleration or emergency stop etc. require, and have more accurate position and speed controlling function, can be driving wheel 43
Accurate power output is provided with driven wheel 44；It is the 120W DC servo motor of Maxon that servo motor b51, which selects power, is watched
The movements such as the achievable rotation of picking unit, swing arm, the clamping that motor b51 and clamping limb 52 form are taken to realize sample man in pipeline
Make.
When the robot walks in the duct, the infrared distance sensor 22 in driving shell 101 and driven shell 103 can be distinguished
The vertical range and driven shell 103 of the driving shell 101 and tube wall that measure and the vertical range information of tube wall are transmitted to control unit 1
In, the servo motor a41 respectively driven in driving shell 101 and driven shell 103 is done into angle tune after the reception information of control unit 1
It is whole, swing overhanging arm 45 to the left or to the right, with keep adhesive force between driving wheel 43 and driven wheel 44 and tube wall namely
Frictional force works as pipeline since the size of the normal pressure between adhesive force and driving wheel 43 and driven wheel 44 and tube wall is positively correlated
Caliber when becoming smaller, the normal pressure between driving wheel 43 and driven wheel 44 and tube wall increases, and positive pressure value will pass through pressure at this time
Sensor 22 is transmitted in control unit 1, control unit 1 will replace servo motor 41 do angle adjustment make overhanging arm 45 to the left or
Person swings to the right, and component of the adhesive force by positive pressure value along tube wall direction provides at this time；When pipeline turns round, driven shell
103 are introduced into bend, are connected between driven shell 103 and driving shell 101 by metal bellows, which can
Reduced curved radius to guarantee that the robot is smooth excessively curved.
During the Robot pipeline is advanced, camera 31 can be by the situation real-time Transmission inside pipeline to control
In unit 1, will through wireless communication the video pictures of shooting be transmitted with the communication unit 11 in control unit 1 by integrating
It into host computer 7, is studied so that host computer 7 monitors, while monitoring personnel can be according to the picture that camera 31 is shot to the machine
People controls；Monitoring personnel, which can be issued by the wireless communication between host computer 7 and communication unit 11 to control unit 1, advances
Perhaps the instruction control unit 1 retreated receives the advance for driving the rotating forward of brushless motor 42 or reversion to realize robot after instruction
Or it retreats；Monitoring personnel can issue sampling instruction to robot using host computer 7 simultaneously, and control unit 1 receives sampling instruction
Afterwards driving servo motor b do rotate, the operation of swing arm and clamping.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one of the utility model
In embodiment or example.In the present specification, schematic expression of the above terms be not necessarily referring to identical embodiment or
Example.Moreover, particular features, structures, materials, or characteristics described can be in any one or more embodiment or examples
In can be combined in any suitable manner.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory
The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably
The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this
Utility model.The utility model is limited only by the claims and their full scope and equivalents.
Claims (4)
1. a kind of wheeled pipeline detecting and sampling robots, it is characterised in that: including robot body, control unit and with control
Sensor unit, image acquisition units, walking unit and the picking unit of unit connection, wherein
The robot body includes driving shell, nonrigid connector, driven shell and crawl support, and driving shell and driven shell are distinguished
The both ends of nonrigid connector are fixed on, the other end of driven shell is fixed with crawl support；
The image acquisition units include camera, and camera is fixed at the front end center of crawl support, red camera with
Control unit connection；
The walking unit includes driving mechanism and follower, and driving mechanism includes the servo motor being fixed in driving shell
A, overhanging arm, brushless motor and driving wheel, brushless motor are fixed in driving wheel and are connect by overhanging arm with servo motor a,
Follower includes servo motor a, overhanging arm and driven wheel, and driven wheel is connect by overhanging arm with servo motor a；
The sensor unit includes infrared distance sensor and pressure sensor, and infrared distance sensor is distributed in driving shell
With the right side of the servo motor a on driven shell, pressure sensor is fixed on the bottom of servo motor a；
The control unit includes control chip, controls integrated chip communication unit and passes through wireless communication mode and host computer
Connection；
The picking unit includes servo motor b and clamping limb, and clamping limb is fixed on servo motor b, and servo motor b is fixed
It is connect on crawl support and with control unit.
2. a kind of wheeled pipeline detecting according to claim 1 and sampling robots, it is characterised in that: the elasticity is even
Junctor is metal bellows.
3. a kind of wheeled pipeline detecting according to claim 1 and sampling robots, it is characterised in that: the control list
Member is also connect with battery.
4. a kind of wheeled pipeline detecting according to claim 1 and sampling robots, it is characterised in that: the control list
The wireless communication protocol of member and host computer is IEEE 802.11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820460200.9U CN208311788U (en) | 2018-04-03 | 2018-04-03 | A kind of wheeled pipeline detecting and sampling robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820460200.9U CN208311788U (en) | 2018-04-03 | 2018-04-03 | A kind of wheeled pipeline detecting and sampling robots |
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| CN208311788U true CN208311788U (en) | 2019-01-01 |
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| CN201820460200.9U Active CN208311788U (en) | 2018-04-03 | 2018-04-03 | A kind of wheeled pipeline detecting and sampling robots |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | The pipe robot that can be screwed on, grab and detect |
| CN109625821A (en) * | 2019-01-09 | 2019-04-16 | 中铁第四勘察设计院集团有限公司 | A kind of flexible self-reacting device and pipe-line system of Cold Chain Logistics pipeline machine for collecting load |
| CN109846448A (en) * | 2019-03-20 | 2019-06-07 | 刘振威 | The snake-shaped robot of Airway Diseases diagnosis and interventional therapy |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN111618821A (en) * | 2020-05-10 | 2020-09-04 | 廊坊市智恒机器人科技有限公司 | Environment detection sampling robot |
| CN113203000A (en) * | 2021-04-30 | 2021-08-03 | 杭州申昊科技股份有限公司 | Pipeline robot based on defect detection |
| CN113459091A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot system and robot control system |
| CN113459092A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot and robot system |
-
2018
- 2018-04-03 CN CN201820460200.9U patent/CN208311788U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109625821A (en) * | 2019-01-09 | 2019-04-16 | 中铁第四勘察设计院集团有限公司 | A kind of flexible self-reacting device and pipe-line system of Cold Chain Logistics pipeline machine for collecting load |
| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | The pipe robot that can be screwed on, grab and detect |
| CN109630806B (en) * | 2019-02-21 | 2024-02-27 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
| CN109846448A (en) * | 2019-03-20 | 2019-06-07 | 刘振威 | The snake-shaped robot of Airway Diseases diagnosis and interventional therapy |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN111408588B (en) * | 2020-03-31 | 2021-07-27 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN111618821A (en) * | 2020-05-10 | 2020-09-04 | 廊坊市智恒机器人科技有限公司 | Environment detection sampling robot |
| CN113203000A (en) * | 2021-04-30 | 2021-08-03 | 杭州申昊科技股份有限公司 | Pipeline robot based on defect detection |
| CN113459091A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot system and robot control system |
| CN113459092A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot and robot system |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190524 Address after: 650228 Office No. 606-32, Building A1, Yunshui Road, Dabanqiao Street, Central Yunnan New District, Kunming City, Yunnan Province Patentee after: Yunnan Xintengyuan Technology Co., Ltd. Address before: 650000 1-4 floors of 42 blocks, 39 Churchang West Road, Wuhua District, Kunming City, Yunnan Province Patentee before: Kunming Star Public Science and Technology Incubator Co., Ltd. |
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| TR01 | Transfer of patent right |