CN211779670U

CN211779670U - Pipeline crawling robot

Info

Publication number: CN211779670U
Application number: CN201921522099.6U
Authority: CN
Inventors: 杜树旺; 陶志成; 杨邦出; 余建军; 陈志培
Original assignee: Zhijiang College of ZJUT
Current assignee: Zhijiang College of ZJUT
Priority date: 2019-09-09
Filing date: 2019-09-09
Publication date: 2020-10-27
Anticipated expiration: 2029-09-09

Abstract

The utility model discloses a pipeline crawling robot, which comprises an image acquisition part, a robot main body, an arm mechanism and a positioning system; the robot comprises a robot body, an image acquisition part, an arm mechanism and a robot body, wherein the image acquisition part is used for recognizing targets and obstacles in the walking process of the robot, the robot body is used as a robot bearing structure and is used for being connected with other structures, and the arm mechanism drives the robot to move in a pipeline. The pipeline crawling robot realizes the work of polling, repairing and the like on the special space of the pipeline, is provided with a positioning system, only one crank is used in a large arm driving mechanism in an arm mechanism to drive four large arms to move simultaneously, the compactness of the mechanism is increased, the movement coordination of the large arms of the robot is ensured, and the robot is beneficial to keeping the stability and balance of the gravity center in the wet and slippery pipe wall; when the pipeline crawling robot faces different pipe diameters inside the pipeline, the robot can pass through the pipelines with different pipe diameters by changing the bending amount of the small arms.

Description

Pipeline crawling robot

Technical Field

The utility model relates to the technical field of robot, especially, relate to a pipeline robot of crawling.

Background

Pipeline robot of crawling a special type robot, often be used for the narrow and small pipeline space that human body can't get into to carry out the operation, carry out dangerous work in the adverse circumstances and the toxic environment that the people can't adapt to. Pipeline robot of crawling can detect and restore etc. to the pipeline in abominable environment for the human beings, and pipeline robot of crawling can walk along the pipeline inner wall inside the pipeline, and pipeline robot of crawling can carry a variety of sensor and operating means simultaneously, and the staff can be controlled pipeline robot of crawling through control in the pipeline outside and carry out multiple operations such as a series of pipeline detection, restoration. With the rapid development of the robot, the research on the pipeline crawling robot is emphasized by all countries around the world, and meanwhile, the application research on the pipeline crawling robot is more and more mature.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at to prior art not enough provides a pipeline robot of crawling.

The purpose of the utility model is realized through the following technical scheme: a pipeline crawling robot comprises an image acquisition part, a robot main body, an arm mechanism and a positioning system;

the image acquisition part comprises a camera, a pitching mechanism and a steering mechanism, wherein the camera and the pitching mechanism are fixed on the steering mechanism, the camera is connected with the steering mechanism through the pitching mechanism, the pitching mechanism is used for enabling the camera to ascend or descend, and the steering mechanism is used for enabling the camera and the pitching mechanism to rotate 180 degrees;

the robot main body is used as a robot bearing structure and comprises a front cover plate and a rear cover plate, wherein an annular bearing support, a needle bearing, an eccentric weight and a gyroscope are arranged on the rear cover plate; the bearing support is in interference fit with an outer ring of the needle bearing, an inner ring of the needle bearing is in interference fit with an eccentric weight block, the eccentric weight block is annular and can perform rotary motion through the needle bearing, a semicircular balancing weight is arranged in the eccentric weight block, and a gyroscope is arranged on the balancing weight block;

the arm mechanism comprises a large arm, a power rod, a small arm, a screw rod motor, a screw rod, a connector and a large arm driving mechanism;

the large arm is provided with a sliding groove and is connected with the small arm through a rotating hinge, the screw rod motor is fixedly connected with the screw rod, the screw rod and one end of the connector form a screw pair, the other end of the connector is fixedly connected with the power rod, and the small arm is connected with the power rod through a pin;

the large arm driving mechanism comprises a sliding block, a moving bracket, an optical axis seat, a connecting rod and a crank; the crank and the optical axis seat are arranged on a front cover plate of the robot main body, the crank is connected with the connecting rod through a hinge, the connecting rod is connected with the optical axis through the optical axis seat, the optical axis is fixedly connected with the motion bracket, and the optical axis seat form a moving pair; the sliding block is T-shaped in section and matched with the sliding groove on the large arm, and the moving bracket is hinged with the sliding block;

the positioning system adopts a differential GPS, and comprises a differential GPS reference station with known accurate three-dimensional coordinates and a GPS navigator, and the differential GPS reference station and the GPS navigator simultaneously receive GPS satellite signals.

Further, the crank is a circular crank; the cross section of the crank is I-shaped, through holes are formed in the two sides of the crank and distributed on a straight line, and the crank is connected with the connecting rod through a hinge.

Furthermore, the sliding grooves on the large arms are T-shaped sliding grooves and are symmetrically distributed on the cross sections of the large arms.

Furthermore, in the large arm driving mechanism, the number of the motion supports, the number of the optical axis seats and the number of the connecting rods are two, the motion supports are symmetrically arranged relative to the crank, and each motion support is connected with two large arms.

Furthermore, the pipeline crawling robot is also provided with a bottom roller part, the bottom roller part comprises a driving wheel, a universal wheel a, a universal wheel b, a roller base and a roller base bogie, and the driving wheel, the universal wheel a and the universal wheel b are all arranged on the roller base; the roller base and the small arm are connected into a rotating pair through a roller base bogie.

Further, the roller base has still linked firmly universal wheel a spring and universal wheel b spring, universal wheel a spring and universal wheel b spring other end have linked firmly universal wheel a holder and universal wheel b holder respectively, universal wheel a holder and universal wheel b holder are connected with universal wheel a and universal wheel b.

The utility model has the advantages that: the pipeline crawling robot realizes the inspection, repair and other works of the pipeline in the special space and is provided with a positioning system. The large arm driving mechanism of the pipeline crawling robot only uses one crank to drive four large arms to move simultaneously, so that the compactness of the mechanism is increased, the arrangement of power devices is reduced, the movement coordination of the large arms of the robot is ensured, the robot is favorable for keeping the stability and balance of the gravity center in a wet and slippery pipe wall, the design of a logic circuit is reduced, and the complexity of a robot system is reduced; when the pipeline crawling robot faces different pipe diameters inside the pipeline, the bending amount of the small arms is changed through the adjusting screw rod motor, and the robot can pass through the pipelines with different pipe diameters.

Drawings

Fig. 1 is a general schematic diagram of the present invention;

fig. 2 is a general schematic view of the back of the present invention;

FIG. 3 is a schematic view of the arm mechanism of the present invention;

fig. 4 is a schematic cross-sectional view of the boom of the present invention;

FIG. 5 is a schematic view of the bottom rollers of the present invention;

in the figure, 1, a camera; 2. a pitch mechanism; 3. a steering mechanism; 4. a front cover plate; 5. a rear cover plate; 6. a large arm; 7. a power rod; 8. a small arm; 9. a chute; 10. a slider; 11. a motion bracket; 12. an optical axis; 13. a light axis seat; 14. a connecting rod; 15. a crank; 16. a bearing support; a needle bearing; 18. an eccentric weight; 19. a gyroscope; 20. a screw motor; 21. a connector; 22. rotating the hinge; 23. a roller base bogie; 24. a universal wheel a spring; 25. a universal wheel a retainer; 26. a universal wheel a; 27. universal wheel b spring; 28. a universal wheel b holder; 29. a universal wheel b; 30. an encoder; 31. a driving wheel; 32. a roller base; 33. a screw rod; 34. a driving wheel motor.

Detailed Description

The following describes the embodiments of the present invention in further detail with reference to the accompanying drawings.

As shown in fig. 1, a pipeline crawling robot includes an image acquisition part, a robot main body, an arm mechanism and a positioning system;

the image acquisition part is used for identifying targets and obstacles in the walking process of the robot and comprises a camera 1, a pitching mechanism 2 and a steering mechanism 3, wherein the camera 1 and the pitching mechanism 2 are fixed on the steering mechanism 3, the camera 1 is used for acquiring image information in a pipeline to detect the surrounding environment of the robot, the camera 1 is connected with the steering mechanism 3 through the pitching mechanism 2, the pitching mechanism 2 is used for enabling the camera 1 to ascend or descend, the up-and-down swinging position of the camera 1 is changed, the acquisition range of the camera 1 is enlarged, the steering mechanism 3 is used as a base structure of the image acquisition part and can enable the camera 1 and the pitching mechanism 2 to rotate 180 degrees, and the identification range of the pipeline crawling robot is wider;

as shown in fig. 2, the robot main body is used as a robot bearing structure and is used for connecting other structures, and comprises a front cover plate 4 and a rear cover plate 5, wherein an annular bearing bracket 16, a needle bearing 17, an eccentric weight 18 and a gyroscope 19 are arranged on the rear cover plate 5; the bearing support 16 is in interference fit with an outer ring of the needle bearing 17, an inner ring of the needle bearing 17 is in interference fit with the eccentric weight 18, the eccentric weight 18 is annular, can perform rotary motion through the needle bearing 17, is internally provided with a semicircular balancing weight, is provided with a gyroscope 19, and can reduce the influence of rotary offset of the robot on the measurement precision of the gyroscope 19 caused by topographic features;

as shown in fig. 3-4, the arm mechanism drives the robot to move in the pipeline, and includes a large arm 6, a power rod 7, a small arm 8, a lead screw motor 20, a lead screw 33, a connector 21 and a large arm driving mechanism;

the cross-section symmetric distribution of big arm 6 has two T font spouts 9, and one of them is as keeping the station, strengthens the use commonality of big arm 6 of robot, and big arm 6 links to each other through rotatory hinge 22 and forearm 8, rotatory hinge 22 does not provide main power by itself, only plays the effect of connecting, lead screw motor 20 links firmly with lead screw 33, lead screw 33 forms the screw pair with the one end of connector 21, the other end and the power pole 7 of connector 21 link firmly, forearm 8 and power pole 7 pass through the pin junction. The screw rod motor 20 controls the positions of the connector 21 and the power rod 7 by controlling the rotation amount of the screw rod 33, and finally realizes the control of the small arm 8; when the robot faces different pipe diameters in the pipeline, the bending amount of the small arm 8 is changed by adjusting the lead screw motor 20, so that the robot can pass through the pipelines with different pipe diameters;

the large arm driving mechanism comprises a sliding block 10, a moving bracket 11, an optical axis 12, an optical axis seat 13, a connecting rod 14 and a crank 15; the crank 15 and the optical axis seat 13 are arranged on the front cover plate 4 of the robot main body, and the crank 15 is a circular crank, so that the diameter of the shaft diameter is increased, and the reliability of the mechanism is enhanced; the section of the crank 15 is I-shaped, through holes are formed in two sides of the crank 15, are distributed on a straight line, and are connected with the connecting rod 14 through hinges; the crank 15 is connected with the connecting rod 14 through a hinge, the connecting rod 14 is connected with the optical axis 12 through the optical axis seat 13, the connecting rod 14 can transmit the driving force of the crank 15 to the optical axis 12 through the hinge, the optical axis 12 is fixedly connected with the moving support 11, and the optical axis 12 and the optical axis seat 13 form a moving pair for restraining the movement of the moving support 11 so that the movement can only move along the direction vertical to the center line of the robot; the cross section of the sliding block 10 is T-shaped and is matched with the sliding groove 9 on the large arm 6, and the moving support 11 is hinged with the sliding block 10 and used for ensuring that the sliding block 10 cannot move radially when being matched with the sliding groove 9; in the large arm driving mechanism, the number of the motion supports 11, the number of the optical axes 12, the number of the optical axis seats 13 and the number of the connecting rods 14 are two, the two large arms 6 are symmetrically arranged about the crank 15, the motion supports 11 are connected with the two large arms 6, and only one crank 15 is used in the large arm driving mechanism to drive the four large arms to move simultaneously, so that the arrangement of power devices is reduced, the compactness of the mechanism is improved, the robot is facilitated to keep the stability and balance of the center of gravity in a wet and slippery pipe wall, the design of a logic circuit is reduced, and the complexity of a robot system is reduced.

As shown in fig. 5, the pipeline crawling robot further has a bottom roller part, the bottom roller part comprises a driving wheel 31, a universal wheel a26, a universal wheel b29, a roller base 32 and a roller base bogie 23, the driving wheel 31, the universal wheel a26 and the universal wheel b29 are all mounted on the roller base 32, and the driving wheel 31 is driven by a driving wheel motor 34 to realize the forward and backward movement of the pipeline crawling robot; roller base 32 is connected through roller base bogie 23 with forearm 8 and is the revolute pair, forearm 8 can drive the rotatory realization of roller base bogie 23 roller base 32 and action wheel 31 turn to, roller base bogie 23 cooperation action wheel 31 can realize that the pipeline crawls the robot and crawls along pipeline axis direction, can also provide the drive power along the motion of circumferential direction for the robot, when the pipeline crawls the robot focus and takes place the skew, roller base bogie 23 cooperation action wheel 31 can realize the overall posture adjustment of robot to reduce the pipeline and crawl the possibility that the robot topples in the pipeline.

Still linked firmly universal wheel a spring 24 and universal wheel b spring 27 on the gyro wheel base 32, the universal wheel a spring 24 and the universal wheel b spring 27 other end have linked firmly universal wheel a holder 25 and universal wheel b holder 28 respectively, universal wheel a holder 25 and universal wheel b holder 28 are connected with universal wheel a26 and universal wheel b 29.

When the pipeline crawling robot meets an obstacle in the crawling process, the universal wheel a spring 24 and the universal wheel b spring 27 can reduce damage to a mechanical system of the robot caused by the obstacle crossing; when the pipeline crawling robot changes self gesture, universal wheel a spring 24 and universal wheel b spring 27 can compensate the axial displacement and the radial deflection of pipeline crawling robot for pipeline crawling robot can paste the pipe wall better, increases the contact area of pipeline crawling robot and pipeline, and then increases the stability of robot motion in-process. The universal wheel a-holder 25 and the universal wheel b-holder 28 can provide an adaptive steering function for the universal wheel a26 and the universal wheel b 29.

The positioning system adopts a differential GPS, and comprises a differential GPS reference station with known accurate three-dimensional coordinates and a GPS navigator, and the differential GPS reference station and the GPS navigator simultaneously receive GPS satellite signals. Firstly, a differential GPS reference platform with known accurate three-dimensional coordinates is utilized to obtain pseudo-range correction or position correction, then the pseudo-range correction or the position correction is sent to a GPS navigator in real time or in advance, and measurement data of the GPS navigator is corrected, so that the GPS positioning accuracy is improved, and accurate positioning is realized.

The above-mentioned embodiments are provided for explaining the present invention, not for limiting the present invention, and any modifications and changes made to the present invention are within the spirit of the present invention and the scope of the claims and fall within the scope of the present invention.

Claims

1. A pipeline crawling robot is characterized by comprising an image acquisition part, a robot main body, an arm mechanism and a positioning system;

the positioning system adopts a differential GPS and comprises a differential GPS reference station and a GPS navigator, and the differential GPS reference station and the GPS navigator simultaneously receive GPS satellite signals.

2. The pipeline crawling robot of claim 1, wherein the crank is a circular crank; the cross section of the crank is I-shaped, through holes are formed in the two sides of the crank and distributed on a straight line, and the crank is connected with the connecting rod through a hinge.

3. The pipeline crawling robot of claim 1, wherein the chutes on the large arms are T-shaped chutes and are symmetrically distributed on the cross section of the large arms.

4. The pipe crawling robot of claim 1, wherein the driving mechanism with large arms comprises two moving supports, two optical axes, two optical axis bases and two connecting rods, which are symmetrically arranged with respect to the crank, and two large arms are connected to each moving support.

5. The pipeline crawling robot of claim 1, further comprising a bottom roller part, wherein the bottom roller part comprises a driving wheel, a universal wheel a, a universal wheel b, a roller base and a roller base bogie, and the driving wheel, the universal wheel a and the universal wheel b are all mounted on the roller base; the roller base and the small arm are connected into a rotating pair through a roller base bogie.

6. The pipeline crawling robot of claim 5, wherein the roller base is further fixedly connected with a universal wheel a spring and a universal wheel b spring, the other ends of the universal wheel a spring and the universal wheel b spring are respectively fixedly connected with a universal wheel a holder and a universal wheel b holder, and the universal wheel a holder and the universal wheel b holder are connected with a universal wheel a and a universal wheel b.