CN208778994U - A kind of intelligence tubular service robot - Google Patents
A kind of intelligence tubular service robot Download PDFInfo
- Publication number
- CN208778994U CN208778994U CN201821291902.5U CN201821291902U CN208778994U CN 208778994 U CN208778994 U CN 208778994U CN 201821291902 U CN201821291902 U CN 201821291902U CN 208778994 U CN208778994 U CN 208778994U
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- machined
- pedestal
- circular grooves
- embedded
- service robot
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Abstract
The utility model discloses a kind of intelligent tubular service robots, including pedestal, the base upper surface is machined with rectangular aperture, front and rear sides surface is machined with No.1 circular groove in the rectangular aperture, the rotating electric machine of round end level is embedded in one of them described No.1 circular groove, swivel bearing is installed in No.1 circular groove described in another one, support rod is fitted on the swivel bearing, supporting block is fixedly installed between the rotating electric machine and support rod, supporting block left end front and rear surfaces are machined with section, No. two circular grooves are machined on each section, LED energy-saving lamp is embedded in each No. two circular grooves, the supporting block left-hand face is machined with No. three circular grooves, camera is embedded in No. three circular grooves, angular transducer is equipped in the support rod, institute It states base upper surface rear end and is machined with No. four circular grooves.The utility model has the beneficial effects that of simple structure and strong practicability.
Description
Technical field
The utility model relates to intelligent tubular service robot field, especially a kind of intelligent tubular service machine
People.
Background technique
Robot is to automatically control machine (Robot) to be commonly called as, automatically control machine include all simulation human behaviors or
The machinery (such as robot dog, Doraemon etc.) of thought and simulation other biological.Robot be advanced integral traffic control opinion, mechano-electronic,
Computer, material and bionic product.There is important use in the fields such as industry, medicine, agricultural, construction industry even military affairs
On the way.It can not only receive mankind commander, but also can run the program of preparatory layout, can also formulate according to artificial intelligence technology
Principle program action, its task is to assist or replace the work of human work, such as production industry, construction industry, or dangerous
Work.
207609914 U of Chinese patent literature CN discloses a kind of tubular service robot, which passes through installation mud
Cleaner avoids so that robot can clear up the barriers such as the mud encountered during pipeline advances in time when in use
Tubular service robot can not be advanced by barrier obstruction, improve device practicability.But when robot detects in above-mentioned patent,
Due to being influenced by pipeline inner ring border and being limited by rotation angle of camera, camera shooting dead angle can be generated, it is normal to influence staff
Judgement.
At this stage, robot has been introduced to replace worker to complete the work of relatively hazardous or cumbersome situation in many fields,
The use of robot, greatly improves work efficiency, while also reducing certain particular job for the shadow of worker's health
Ring, for example, during pipe detection, traditional form detection needs worker by virtue of experience to detect, or stop work remove pipeline into
Row detection, either any mode all has uncertainty, influences normal pipeline and uses, at the same can be because of detection error caused by
Therefore greatly harm to solve the above-mentioned problems, it is necessary to design a kind of intelligent tubular service robot.
Utility model content
Purpose of the utility model is to solve the above problems, devise a kind of intelligent tubular service robot.
Realize that above-mentioned purpose the technical solution of the utility model is, a kind of intelligence tubular service robot, including pedestal,
The base upper surface is machined with rectangular aperture, and front and rear sides surface is machined with No.1 circular groove in the rectangular aperture,
The rotating electric machine of round end level is embedded in one of them described No.1 circular groove, No.1 circle described in another one is recessed
Swivel bearing is installed in slot, support rod is fitted on the swivel bearing, fixed peace between the rotating electric machine and support rod
Equipped with supporting block, supporting block left end front and rear surfaces are machined with section, and No. two circles are machined on each section
Groove, each No. two circular grooves are interior to be embedded with LED energy-saving lamp, and it is recessed that the supporting block left-hand face is machined with No. three circles
Slot is embedded with camera in No. three circular grooves, is equipped with angular transducer in the support rod, after the base upper surface
End is machined with No. four circular grooves, is embedded with air borne sensor in No. four circular grooves, the chassis left side surface is fixed
It is welded with push plate, left end is equipped with detection of obstacles sensor in the push plate, and the base upper surface left end is machined with No. five circles
Connected in star, No. five circular grooves are interior to be embedded with displacement sensor, and the base lower surface rear and front end is machined with multiple
No. six circular grooves, the interior automatically controlled telescopic rod downward embedded with telescopic end of each No. six circular grooves are each described automatically controlled
Telescopic rod telescopic end is fixedly welded with driving wheel, and the base lower surface is equipped with driving motor, is equipped with battery in the pedestal,
The base upper surface is equipped with control switch, is fixedly installed with wiring board in the pedestal, is packaged with monolithic on the wiring board
Machine, wireless module and memory module, the single-chip microcomputer output are connected separately with rotating electric machine, LED energy-saving lamp, camera, electricity
Control telescopic rod, driving motor, wireless module and memory module input terminal, the single-chip microcomputer input respectively with angular transducer,
Air borne sensor, detection of obstacles sensor, displacement sensor, battery are connected with control switch output end.
Sealing joint strip is filled in each No. six circular grooves.
The wiring board upper surface is machined with two pairs of screw holes, and fixing bolt, the route are fitted in each screw hole
Plate is fixed in pedestal by two pairs of fixing bolts.
Each LED energy-saving lamp outer end and be located at No. two circular grooves in transparent protective shield is installed.
The equal coated with protective film in chassis outer side surface.
The driving wheel number is 8.
Utilize a kind of intelligent tubular service robot of the technical solution of the utility model production, easy to operate, cost
Cheap, this product reduces influence of the complex environment to testing result inside pipeline, and device height has controllability, and
Camera realizes multi-angle rotatably, greatly improves the authenticity that robot detects its pipeline internal environment, side
Just effectively, it is suitble to promote the use of.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of intelligent tubular service robot described in the utility model；
Fig. 2 is a kind of side view of intelligent tubular service robot described in the utility model；
Fig. 3 is a kind of front view of intelligent tubular service robot described in the utility model；
In figure, 1, pedestal；2, rotating electric machine；3, swivel bearing；4, supporting block；5, LED energy-saving lamp；6, camera；7, angle
Spend sensor；8, air borne sensor；9, push plate；10, detection of obstacles sensor；11, displacement sensor；12, automatically controlled telescopic rod；
13, driving wheel；14, driving motor；15, battery；16, control switch；17, wiring board；18, single-chip microcontroller；19, wireless module；
20, memory module.
Specific embodiment
The utility model is specifically described with reference to the accompanying drawing, as shown in Figure 1-3, a kind of intelligence tubular service machine
Device people, including pedestal 1,1 upper surface of pedestal are machined with rectangular aperture, and front and rear sides surface processes in the rectangular aperture
There is No.1 circular groove, the rotating electric machine 2 of round end level is embedded in one of them described No.1 circular groove, wherein another
Swivel bearing 3 is installed in a No.1 circular groove, support rod, the rotating electric machine 2 are fitted on the swivel bearing 3
Supporting block 4 is fixedly installed between support rod, the 4 left end front and rear surfaces of supporting block are machined with section, each described to cut
It is machined with No. two circular grooves on face, LED energy-saving lamp 5 is embedded in each No. two circular grooves, the supporting block 4 is left
Side surface is machined with No. three circular grooves, and camera 6 is embedded in No. three circular grooves, is equipped with angle in the support rod
Sensor 7, the 1 upper surface rear end of pedestal are machined with No. four circular grooves, pass in No. four circular grooves embedded with air
Sensor 8,1 left-hand face of pedestal are fixedly welded with push plate 9, and left end is equipped with detection of obstacles sensor 10 in the push plate 9,
The 1 upper surface left end of pedestal is machined with No. five circular grooves, is embedded with displacement sensor 11, institute in No. five circular grooves
It states 1 lower surface rear and front end of pedestal and is machined with multiple No. six circular grooves, be embedded with and stretch in each No. six circular grooves
The downward automatically controlled telescopic rod 12 in contracting end, each automatically controlled 12 telescopic end of telescopic rod are fixedly welded with driving wheel 13, the pedestal 1
Lower surface is equipped with driving motor 14, and battery 15 is equipped in the pedestal 1, and 1 upper surface of pedestal is equipped with control switch 16, institute
It states and is fixedly installed with wiring board 17 in pedestal 1, single-chip microcontroller 18, wireless module 19 and memory module are packaged on the wiring board 17
20,18 output end of single-chip microcontroller is connected separately with rotating electric machine 2, LED energy-saving lamp 5, camera 6, automatically controlled telescopic rod 12, driving
20 input terminal of motor 14, wireless module 19 and memory module, 18 input terminal of single-chip microcontroller respectively with angular transducer 7, air
Sensor 8, detection of obstacles sensor 10, displacement sensor 11, battery 15 are connected with 16 output end of control switch；Each
Sealing joint strip is filled in No. six circular grooves；17 upper surface of wiring board is machined with two pairs of screw holes, each spiral shell
Fixing bolt is fitted in hole, the wiring board 17 is fixed in pedestal 1 by two pairs of fixing bolts；Each LED energy conservation
5 outer end of lamp and be located at No. two circular grooves in transparent protective shield is installed；The equal coated with protective film of 1 outer surface of pedestal；Institute
Stating 13 numbers of driving wheel is 8.
The characteristics of the present embodiment is that pedestal 1 plays the role of carrying whole device, and four pairs of driving wheels 13 can drive dress
Operation is set, driving motor 14 can be used for controlling the work of driving wheel 13, swivel bearing is arranged in the rectangular aperture processed on pedestal 1
Support rod is fitted on 3, fixed supporting block 4 can pass through the band of rotating electric machine 2 between 2 round end of support rod and rotating electric machine
It moves and moves up and down, facilitate device to observe pipeline inside information condition, angular transducer 7 is wherein provided in support rod, can be used for detecting
Supporting block 4 rotates angle, to realize the purpose that control supporting block 4 rotates, a pair of of LED energy-saving lamp 5 plays the role of illumination,
Particularly, a pair of of transparent protective shield can play the role of protecting LED energy-saving lamp 5, prolong its service life, camera 6 plays
The effect of camera shooting, air borne sensor 8 can play the role of detecting composition of air and quality in pipeline, and personnel monitoring is facilitated to manage
Barrier in device anterior approach can be purged by the setting of gas-condition in road, push plate 9, and avoiding, which influences device, moves ahead,
And detection of obstacles sensor 10 can be used for detecting barrier existing for front, preferably push plate to be utilized to clear up barrier,
The setting of displacement sensor 11 can effectively understand the forward distance of device, and four pairs of automatically controlled telescopic rods 12 can drive about 13 driving wheel
It is flexible, play the role of 1 height of adjustment base, so that pipeline conditions observed by lower turn of camera 6 are more effective, battery
15 can provide energy for device, and control switch 16 can be used for the operation of control device, and wiring board 17 plays encapsulation and controls first device
The effect of part, wherein single-chip microcontroller 18 plays the role of control device work, and the data that wireless module 19 can detect device are believed
Breath carries out wireless transmission, and staff is facilitated to understand situation in pipeline, and memory module 20 is then used to store information, each six
The sealing joint strip filled in number circular groove plays the role of fixed automatically controlled telescopic rod 12, and two pairs of fixing bolts can be by wiring board
17 are fixed in pedestal 1, avoid its shaking, and the substance in pipeline has an impact pedestal 1 in order to prevent, in 1 outside table of pedestal
Face coated with protective film.Easy to operate, cheap, this product reduces influence of the complex environment to testing result inside pipeline,
There is its device height controllability and camera to realize multi-angle rotatably, greatly improve robot to it
The authenticity of pipeline internal environment detection easily and effectively is suitble to promote the use of.
In the present embodiment, single-chip microcontroller 18 is installed first at the present apparatus free time, model selects STC89C58RD+,
By the output end of the model single-chip microcontroller 18 by conducting wire respectively with rotating electric machine 2, LED energy-saving lamp 5, camera 6, automatically controlled telescopic rod
12, driving motor 14, wireless module 19 are connected with the input terminal of memory module 20, then by the input terminal of the model single-chip microcontroller 18
By conducting wire respectively with angular transducer 7, air borne sensor 8, detection of obstacles sensor 10, displacement sensor 11, battery
15 and the output end of control switch 16 be electrical connected, after those skilled in the art are programmed by single-chip microcontroller 18, the fully controllable each electricity of system
The job order of device, the specific working principle is as follows: pedestal 1 plays the role of carrying whole device, and four pairs of driving wheels 13 can
Driving device operation, driving motor 14 can be used for controlling driving wheel 13 and work, and in the present apparatus, the rectangle processed on pedestal 1 is opened
It is fitted with support rod on setting swivel bearing 3 in mouthful, fixed supporting block 4 can between 2 round end of support rod and rotating electric machine
It is moved up and down by the drive of rotating electric machine 2, device is facilitated to observe pipeline inside information condition, wherein the angled biography of setting in support rod
Sensor 7 can be used for detecting supporting block 4 and rotate angle, by data information transfer to single-chip microcontroller 18, to be controlled using single-chip microcontroller 18
The rotation of supporting block 4 processed, a pair of of LED energy-saving lamp 5 play the role of illumination, and particularly, a pair of of transparent protective shield can play guarantor
The effect for protecting LED energy-saving lamp 5, prolongs its service life, camera 6 plays the role of camera shooting, can be in time by the image of shooting
Information is transmitted to client by wireless module 19, and air borne sensor 8 can play composition of air and the work of quality in detection pipeline
With under the control of single-chip microcontroller 18, passing information to client using wireless module 19, analyzed for staff, push plate 9 sets
The barrier in device anterior approach can be purged by setting, and avoiding, which influences device, moves ahead, and detection of obstacles sensor 10 can
For detecting barrier existing for front, preferably push plate to be utilized to clear up barrier, the setting of displacement sensor 11 can have
Effect understands the forward distance of device, and under the control of single-chip microcontroller 18, detection data passes to client by wireless module 19, and four
About 13 driving wheel can be driven flexible automatically controlled telescopic rod 12, play the role of 1 height of adjustment base, so that under camera 6
Pipeline conditions observed by turning are more effective, and battery 15 can provide energy for device, and control switch 16 can be used for control device
Operation, wiring board 17 plays the role of encapsulating single-chip microcontroller 18, wireless module 19 and memory module 20, wherein single-chip microcontroller 18
Play the role of control device work, the data information that wireless module 19 can detect device carries out wireless transmission, facilitates work
Make personnel and understands situation in pipeline, and memory module 20 is then for storing information, in the present apparatus, in each No. six circular grooves
The sealing joint strip of filling plays the role of fixed automatically controlled telescopic rod 12, and wiring board 17 can be fixed on pedestal by two pairs of fixing bolts
In 1, its shaking is avoided, the substance in pipeline has an impact pedestal 1 in order to prevent, in 1 outer surface coated with protective film of pedestal.
Above-mentioned technical proposal only embodies the optimal technical scheme of technical solutions of the utility model, the technology of the art
Personnel embody the principles of the present invention to some variations that some of them part may be made, and belong to the utility model
Protection scope within.
Claims (6)
1. a kind of intelligence tubular service robot, including pedestal (1), which is characterized in that pedestal (1) upper surface is machined with
Rectangular aperture, front and rear sides surface is machined with No.1 circular groove in the rectangular aperture, one of them described No.1 is round
It is embedded with the rotating electric machine (2) of round end level in groove, rotary shaft is installed in No.1 circular groove described in another one
It holds (3), support rod is fitted on the swivel bearing (3), is fixedly installed with support between the rotating electric machine (2) and support rod
Block (4), supporting block (4) left end front and rear surfaces are machined with section, it is recessed that No. two circles are machined on each section
Slot, each No. two circular grooves are interior to be embedded with LED energy-saving lamp (5), and supporting block (4) left-hand face is machined with No. three circles
Connected in star, No. three circular grooves are interior to be embedded with camera (6), is equipped with angular transducer (7) in the support rod, the bottom
Seat (1) upper surface rear end is machined with No. four circular grooves, is embedded with air borne sensor (8) in No. four circular grooves, described
Pedestal (1) left-hand face is fixedly welded with push plate (9), and the interior left end of the push plate (9) is equipped with detection of obstacles sensor (10), institute
It states pedestal (1) upper surface left end and is machined with No. five circular grooves, be embedded with displacement sensor (11) in No. five circular grooves,
Pedestal (1) the lower surface rear and front end is machined with multiple No. six circular grooves, is embedded in each No. six circular grooves
The automatically controlled telescopic rod (12) for having telescopic end downward, each automatically controlled telescopic rod (12) telescopic end are fixedly welded with driving wheel
(13), pedestal (1) lower surface is equipped with driving motor (14), is equipped with battery (15) in the pedestal (1), the pedestal
(1) upper surface is equipped with control switch (16), is fixedly installed with wiring board (17) in the pedestal (1), on the wiring board (17)
It is packaged with single-chip microcontroller (18), wireless module (19) and memory module (20), single-chip microcontroller (18) output end is connected separately with rotation
It rotating motor (2), LED energy-saving lamp (5), camera (6), automatically controlled telescopic rod (12), driving motor (14), wireless module (19) and deposits
Store up module (20) input terminal, single-chip microcontroller (18) input terminal respectively with angular transducer (7), air borne sensor (8), barrier
Detection sensor (10), displacement sensor (11), battery (15) are connected with control switch (16) output end.
2. a kind of intelligent tubular service robot according to claim 1, which is characterized in that each No. six circles
Sealing joint strip is filled in groove.
3. a kind of intelligent tubular service robot according to claim 1, which is characterized in that on the wiring board (17)
Surface is machined with two pairs of screw holes, and fixing bolt is fitted in each screw hole, and the wiring board (17) passes through two pairs of fixed spiral shells
Bolt is fixed in pedestal (1).
4. a kind of intelligent tubular service robot according to claim 1, which is characterized in that each LED energy conservation
Lamp (5) outer end and be located at No. two circular grooves in transparent protective shield is installed.
5. a kind of intelligent tubular service robot according to claim 1, which is characterized in that on the outside of the pedestal (1)
The equal coated with protective film in surface.
6. a kind of intelligent tubular service robot according to claim 1, which is characterized in that the driving wheel (13) is a
Number is 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291902.5U CN208778994U (en) | 2018-08-10 | 2018-08-10 | A kind of intelligence tubular service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821291902.5U CN208778994U (en) | 2018-08-10 | 2018-08-10 | A kind of intelligence tubular service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208778994U true CN208778994U (en) | 2019-04-23 |
Family
ID=66156596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821291902.5U Expired - Fee Related CN208778994U (en) | 2018-08-10 | 2018-08-10 | A kind of intelligence tubular service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208778994U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110360408A (en) * | 2019-07-29 | 2019-10-22 | 武汉特瑞升电子科技有限公司 | A kind of mobile gas pipe detection device |
| CN111251310A (en) * | 2020-01-14 | 2020-06-09 | 华尔嘉（泉州）机械制造有限公司 | Intelligent humanoid security robot system based on double-wheel balance car |
| CN112278211A (en) * | 2020-10-29 | 2021-01-29 | 国网山西省电力公司大同供电公司 | Accurate navigation intelligent inspection robot for cable pipe gallery water environment |
-
2018
- 2018-08-10 CN CN201821291902.5U patent/CN208778994U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110360408A (en) * | 2019-07-29 | 2019-10-22 | 武汉特瑞升电子科技有限公司 | A kind of mobile gas pipe detection device |
| CN111251310A (en) * | 2020-01-14 | 2020-06-09 | 华尔嘉（泉州）机械制造有限公司 | Intelligent humanoid security robot system based on double-wheel balance car |
| CN112278211A (en) * | 2020-10-29 | 2021-01-29 | 国网山西省电力公司大同供电公司 | Accurate navigation intelligent inspection robot for cable pipe gallery water environment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20191205 Address after: 430212 No. 299, culture Avenue, Jiangxia District, Hubei, Wuhan Co-patentee after: Wuhan don bass Technology Engineering Co., Ltd. Patentee after: HANKOU UNIVERSITY Address before: Room 11, Room 18, Unit 18, Huicheng A, Longan Port, 38 Minyuan Road, Donghu New Technology Development Zone, Wuhan City, Hubei Province Patentee before: Wuhan don bass Technology Engineering Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190423 Termination date: 20190810 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |