CN211175898U - Electric centering crawling robot - Google Patents
Electric centering crawling robot Download PDFInfo
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- CN211175898U CN211175898U CN201921605997.8U CN201921605997U CN211175898U CN 211175898 U CN211175898 U CN 211175898U CN 201921605997 U CN201921605997 U CN 201921605997U CN 211175898 U CN211175898 U CN 211175898U
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Abstract
The utility model discloses an electric centering crawling robot, which comprises a connecting rod, a lens body arranged at the tail end of the connecting rod and a crawling device arranged on the connecting rod, and is characterized in that the crawling device comprises 3 groups of supporting mechanisms distributed along the circumference of the connecting rod at equal intervals, each supporting mechanism comprises a first supporting piece and a second supporting piece which are fixedly arranged on the connecting rod through a fixing clamping ring, and the first supporting piece and the second supporting piece are arranged in a crossed manner; the tail ends of the first supporting piece and the second supporting piece are respectively provided with a roller; the first supporting piece is connected with the corresponding roller through a micro motor. The utility model discloses can be applicable to the detection of vertical pipeline, stability is high, has effectively avoided the condition of rocking or turning on one's side because of the clear crawler that causes of the pipeline internal conditions, has improved the stability of crawler, guarantees to shoot the effect.
Description
Technical Field
The utility model relates to an industry endoscope equipment technical field, concretely relates to electronic robot of crawling between two parties.
Background
In many industrial fields, the interior of a pipeline, a container or a cavity needs to be detected to know the internal condition, and such detection generally adopts a crawler trolley to carry detection instruments such as video, ultrasound, thickness measurement, eddy current and the like to enter the interior of the pipeline, the container or the cavity and transmit the detected information to the outside. Among them, the video probe is the most commonly used device, and can transmit the image inside the environment to be measured to the outside more directly. The existing crawler is mainly based on a trolley type, when the trolley runs and meets sundries, the condition of shaking or overturning can occur, so that an endoscope is unstable, a shot picture is not clear, the accurate judgment of the condition in a pipeline is influenced, particularly for a vertical pipeline or a cavity to be detected, the trolley type crawler cannot be used, and at the moment, some auxiliary equipment is required to be adopted to keep the stability of the endoscope.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at prior art not enough, provide a stability height, the convenient electronic robot of crawling between two parties of motion, avoided rocking or the condition of turning on one's side because of the clear crawler that causes of the pipeline internal conditions, improved the stability of crawler, guarantee to shoot the effect.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
an electric centering crawling robot comprises a connecting rod, a lens body arranged at the tail end of the connecting rod and a crawler arranged on the connecting rod, wherein the crawler comprises 3 groups of supporting mechanisms which are distributed at equal intervals along the circumference of the connecting rod, each supporting mechanism comprises a first supporting piece and a second supporting piece which are fixedly arranged on the connecting rod through fixing clamping rings respectively, and the first supporting pieces and the second supporting pieces are arranged in a crossed mode; the tail ends of the first supporting piece and the second supporting piece are respectively provided with a roller; the first supporting piece is connected with the roller correspondingly arranged by a micro motor;
the first supporting piece comprises two first supporting plates which are arranged in parallel; the lower ends of the two first supporting plates are respectively and fixedly arranged on two sides of the micro motor, the upper ends of the two first supporting plates are hinged and connected with the hinged pieces through pin shafts, and the other ends of the hinged pieces are fixed on any fixing clamp ring.
According to the technical scheme, in the crawling process of the crawler, 3 supporting mechanisms are positioned on the inner wall of the pipeline in an equilateral triangle shape, so that the lens body is positioned in the middle of the whole device, the smoothness of the lens body is increased, the crawler is prevented from shaking or turning over when encountering bulges or depressions, and the shooting quality of the lens body is ensured; the micro motor drives the roller on the first support piece to rotate, the roller on the second support piece is driven to rotate due to the fact that the first support piece and the second support piece are arranged in a crossed mode, and the roller is driven by the micro motor, so that the device is more convenient to move; two first backup pads set up in micro motor's both sides, make the device structure compacter, and the appearance is neat and orderly, avoids too many edges and corners to cause operating personnel's accidental injury.
Preferably, the second supporting member is a second supporting plate which is arranged independently, the second supporting plate is inserted between the two first supporting plates and is arranged to intersect with the first supporting plates, and the upper end of the second supporting plate is connected with the other fixing clamping ring through a hinge. The first supporting piece is inserted into the middle of the second supporting piece, so that the whole device is simpler in appearance and reasonable in design.
Preferably, the second supporting member is a second supporting plate separately provided, and the second supporting member is located outside the first supporting member and intersects with the first supporting member. This way the installation is more convenient.
Preferably, at least one mounting hole is oppositely arranged on the two first supporting plates of the first supporting piece, and a strip-shaped fixing hole is arranged on the second supporting plate; the first supporting piece and the second supporting piece are fixed through the mounting holes and the fixing holes respectively by the connecting pieces.
The height of the supporting mechanism is manually adjusted by adjusting the relative positions of the mounting hole and the fixing hole, so that the crawler is suitable for detecting equal-diameter pipelines with different sizes.
Preferably, an elliptical camera shell is arranged at the front end of the mirror body, a detection camera is arranged in the camera shell, a circular detection window is arranged on the front side of the camera shell, and a lens of the detection camera is arranged in the detection window; 2 spotlight holes are arranged on the camera shell and positioned on the outer side of the detection window, and laser positioning lamps are respectively arranged in the spotlight holes.
The mirror body sets up the front end at the crawler, surveys the camera setting in the camera casing, sets up laser positioning lamp on the camera casing, can throw out laser ray in the visual range of camera, when surveying the camera and causing the image and actually have the error because of environmental problem, light problem or focusing problem etc. the thing can be regarded as the reference, judges actual conditions according to formation of image, corrects the visual error.
Preferably, the wavelength of the laser positioning lamp is 532nm or 635 nm; the spot of the laser positioning lamp projected to the 10m position is less than phi 10mm x 15 mm. The laser positioning lamp can use a point-shaped light spot, a word line light spot or a cross line light spot.
Preferably, the connecting rod is of a hollow structure, an electronic signal interface used for being correspondingly connected with external equipment is arranged at the tail end of the connecting rod, and a circuit in the mirror body and a control line in the camera shell penetrate through the connecting rod and are correspondingly and electrically connected with the electronic signal interface.
The electronic signal interface can be correspondingly connected with external equipment through a cable, the external equipment can comprise a display, an external controller or a control switch, an external power supply and the like, and the display can acquire the picture shot by the detection camera in real time; an external power supply is used to power the endoscope. The devices, control methods and connection methods which are not described here can be implemented by using devices, control methods and connection methods which are conventional in the art.
The utility model has the advantages that:
1. the utility model can ensure the stability of the lens body, and realize the height adjustment of the supporting mechanism by adjusting the relative position of the mounting hole and the fixing hole, so that the crawler is suitable for equal-diameter cavities or pipelines with different sizes; 3 groups of supporting mechanisms are arranged at equal intervals, so that the lens body is stably positioned in the middle of the device, and the crawling robot can stably move in a vertical pipeline;
2. the micro motor drives the roller to rotate, so that the crawling robot can move more conveniently without manual pushing, and the crawling robot is suitable for detection of longer pipelines;
3. the detection camera is arranged in the camera shell, the laser positioning lamp is arranged on the camera shell, and the reference ray can be projected in the visible range of the detection camera and used for correcting the visual error of the picture shot by the detection camera, so that the detection result is more accurate;
4. the utility model discloses can guarantee that the detection camera shoots the picture clear, stable, avoid rocking or turning on one's side, safe and reliable more, application scope is wider.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
fig. 3 is a schematic structural view of the first support member.
In the figure: the camera lens comprises a connecting rod 1, a lens body 2, a fixed clamping ring 3, a first supporting plate 4, a second supporting plate 5, a roller 6, a mounting hole 7, a fixing hole 8, a micro motor 9, a connecting piece 10, an electronic signal interface 11, an articulated element 12, a camera shell 13, a detection window 14 and a laser positioning lamp 15.
Detailed Description
The invention is further described with reference to the following figures and examples.
As shown in fig. 1-3, an electric centrally crawling robot includes a connecting rod 1, a lens body 2 disposed at the end of the connecting rod 1, and a crawler disposed on the connecting rod 1, where the crawler includes 3 groups of support mechanisms equidistantly distributed along the circumference of the connecting rod 1, the support mechanisms include a first support member and a second support member respectively fixedly disposed on the connecting rod 1 through a fixing snap ring 3, and the first support member and the second support member are disposed in a crossed manner; the tail ends of the first supporting piece and the second supporting piece are respectively provided with a roller 6; the first supporting piece is connected with the corresponding roller 6 through a micro motor 9.
The first supporting piece comprises two first supporting plates 4 which are arranged in parallel, and at least one mounting hole 7 is formed in the two first supporting plates 4 oppositely; the lower ends of the two first supporting plates 4 are respectively and fixedly arranged on two sides of the micro motor 9, the upper ends of the two first supporting plates are hinged with the hinged parts 12 through pin shafts, and the other ends of the hinged parts 12 are fixed on any fixing clamp ring 3.
The second supporting piece is a second supporting plate 5 which is arranged independently, and a strip-shaped fixing hole 8 is formed in the second supporting plate 5; the upper end of the second supporting plate 5 is connected with the other fixing snap ring 3 through a hinge 12.
There are two types of mounting methods between the second support plate 5 and the first support plate 4: one is that the second supporting plate 5 is inserted between the two first supporting plates 4, and then fixed by the connecting piece 10 through the mounting hole 7 on the first supporting plate 4 and the fixing hole 8 on the second supporting plate 5; the other method is to directly fix the second support plate 5 on one side of the first support plate 4 and then fix the second support plate 5 by the connecting piece 10 through the mounting hole 7 on the first support plate 4 and the fixing hole 8 on the second support plate 5.
An oval camera shell 13 is arranged at the front end of the lens body 2, a detection camera is arranged in the camera shell 13, a circular detection window 14 is arranged on the front side of the camera shell 13, and a lens of the detection camera is arranged in the detection window 14; 2 spotlight holes are arranged on the camera shell 13 and positioned on the outer side of the detection window 14, and laser positioning lamps 15 are respectively arranged in the spotlight holes. The wavelength of the laser positioning lamp 15 is 532nm or 635 nm; the spot of the laser positioning lamp 15 projected to 10 meters is less than phi 10mm x 15 mm.
The connecting rod 1 is of a hollow structure, an electronic signal interface 11 used for being correspondingly connected with external equipment is arranged at the tail end of the connecting rod 1, and a circuit in the mirror body 2 and a control line in the camera shell 13 penetrate through the connecting rod 1 and are correspondingly and electrically connected with the electronic signal interface 11.
The utility model discloses the theory of operation of robot of crawling: when the crawling mirror is used, the height of the supporting mechanism is adjusted according to the diameter of a pipeline, then the crawling robot is placed into the pipeline to be tested, the rollers on the crawling device are attached to the inner wall of the pipeline, and the front mirror body is guaranteed to be stably kept in the center of the pipeline; the roller is driven by the micro motor to move forwards along the inner wall of the pipeline; when the detection camera at the front end works, the laser positioning lamp can project laser rays in the visual range of the camera, and when the detection camera has errors with the reality due to environmental problems, light problems, focusing problems and the like, the detection camera can be used as a reference to judge the actual situation according to imaging and correct the visual errors.
The apparatus elements referred to in the above embodiments are conventional apparatus elements unless otherwise specified, and the structural arrangements, operations, or controls referred to in the above embodiments are conventional in the art unless otherwise specified.
Finally, the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting, and other modifications or equivalent replacements made by the technical solutions of the present invention by those of ordinary skill in the art should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.
Claims (7)
1. An electric centering crawling robot comprises a connecting rod, a lens body arranged at the tail end of the connecting rod and a crawling device arranged on the connecting rod, and is characterized in that the crawling device comprises 3 groups of supporting mechanisms which are distributed at equal intervals along the circumference of the connecting rod, each supporting mechanism comprises a first supporting piece and a second supporting piece which are fixedly arranged on the connecting rod through fixing clamping rings respectively, and the first supporting pieces and the second supporting pieces are arranged in a crossed mode; the tail ends of the first supporting piece and the second supporting piece are respectively provided with a roller; the first supporting piece is connected with the roller correspondingly arranged by a micro motor;
the first supporting piece comprises two first supporting plates which are arranged in parallel; the lower ends of the two first supporting plates are respectively and fixedly arranged on two sides of the micro motor, the upper ends of the two first supporting plates are hinged and connected with the hinged pieces through pin shafts, and the other ends of the hinged pieces are fixed on any fixing clamp ring.
2. The electric centered crawling robot according to claim 1, wherein the second support member is a separately arranged second support plate, the second support plate is inserted between the two first support plates and is intersected with the two first support plates, and the upper end of the second support plate is connected with the other fixed snap ring through a hinge.
3. The electric central crawling robot of claim 1, wherein said second support is a second support plate separately disposed and intersecting with said first support.
4. The electric centered crawling robot according to claim 2 or 3, wherein at least one mounting hole is oppositely arranged on the two first supporting plates of the first supporting member, and a fixing hole in a long strip shape is arranged on the second supporting plate; the first supporting piece and the second supporting piece are fixed through the mounting holes and the fixing holes respectively by the connecting pieces.
5. The electric centered crawling robot according to claim 1, wherein an elliptical camera housing is arranged at the front end of the mirror body, a detection camera is arranged in the camera housing, a circular detection window is arranged at the front side of the camera housing, and a lens of the detection camera is installed in the detection window; 2 spotlight holes are arranged on the camera shell and positioned on the outer side of the detection window, and laser positioning lamps are respectively arranged in the spotlight holes.
6. The electric centered crawling robot of claim 5, wherein the laser positioning light has a wavelength of 532nm or 635 nm; the spot of the laser positioning lamp projected to the 10m position is less than phi 10mm x 15 mm.
7. The electric centered crawling robot according to claim 5, wherein the connecting rod is a hollow structure, an electronic signal interface for corresponding connection with an external device is arranged at the tail end of the connecting rod, and a line in the mirror body and a control line in the camera housing both pass through the connecting rod and are correspondingly and electrically connected with the electronic signal interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921605997.8U CN211175898U (en) | 2019-09-25 | 2019-09-25 | Electric centering crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921605997.8U CN211175898U (en) | 2019-09-25 | 2019-09-25 | Electric centering crawling robot |
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| Publication Number | Publication Date |
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| CN211175898U true CN211175898U (en) | 2020-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921605997.8U Active CN211175898U (en) | 2019-09-25 | 2019-09-25 | Electric centering crawling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116400491A (en) * | 2023-06-08 | 2023-07-07 | 苏州英示测量科技有限公司 | Industrial endoscope and defect image capturing method |
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2019
- 2019-09-25 CN CN201921605997.8U patent/CN211175898U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116400491A (en) * | 2023-06-08 | 2023-07-07 | 苏州英示测量科技有限公司 | Industrial endoscope and defect image capturing method |
| CN116400491B (en) * | 2023-06-08 | 2023-10-27 | 苏州英示测量科技有限公司 | Industrial endoscope and defect image capturing method |
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