CN213929974U - Novel spiral wheel type miniature pipeline detection robot - Google Patents
Novel spiral wheel type miniature pipeline detection robot Download PDFInfo
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- CN213929974U CN213929974U CN202022505474.5U CN202022505474U CN213929974U CN 213929974 U CN213929974 U CN 213929974U CN 202022505474 U CN202022505474 U CN 202022505474U CN 213929974 U CN213929974 U CN 213929974U
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Abstract
The utility model provides a novel spiral wheel type micro pipeline detection robot, which comprises a robot main body, wherein the robot main body adopts a sectional structure and comprises a front axle drive, a support part, a detection part and a rear axle drive; the front axle drive is hinged to the detection part through a second universal joint coupler, the detection part is fixedly connected with the supporting part, and the supporting part is hinged to the rear axle drive through a first universal joint coupler. The pipeline detection device is simple and reliable in structure and convenient to use, exploration work inside the pipeline can be completed, and problems existing inside the pipeline can be detected in time.
Description
Technical Field
The utility model relates to a miniature pipeline is surveyed and is overhauld technical field, concretely relates to novel wheeled miniature pipeline of spiral surveys robot.
Background
The pipeline is visible everywhere in industrial production, can be said the blood vessel of industrial production, but along with the going on of industrial production, the pipeline all can appear the loss, and some losses can be through the technical staff regularly tour discovery damage position at the pipeline outer wall, but some damage appears in inside the pipeline, and the manual work of industry pipeline usually is difficult to get into to the tube coupling is numerous, and general instrument can't get into or fine walking wherein oneself, just so hardly surveys complete pipeline condition. So at present need one kind can stride across the pipeline robot of bend smoothly, help people to accomplish the exploration work of pipeline, for the engineer provides accurate pipeline data, the engineer just so can in time maintain the change to the pipeline, guarantees going on smoothly of industrial production's safety, avoids causing great personnel because the pipeline damages, financial impaired. The pipeline robot can solve a plurality of comprehensive problems in reality, has good economic and social benefits and also solves the safety problem of people operation.
SUMMERY OF THE UTILITY MODEL
In order to overcome the problems existing in the prior art, the utility model aims to solve the technical problem that a novel wheeled miniature pipeline detection robot is provided, which is not only simple in structure and reliable and convenient to use, but also can complete the exploration work inside the pipeline and detect out the problem existing inside the pipeline in time.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: a novel spiral wheel type micro pipeline detection robot comprises a robot main body, wherein the robot main body adopts a sectional structure and comprises a front axle drive, a supporting part, a detection part and a rear axle drive; the front axle drive is hinged to the detection part through a second universal joint coupler, the detection part is fixedly connected with the supporting part, and the supporting part is hinged to the rear axle drive through a first universal joint coupler.
The front axle drive includes front axle spring wheel, front axle swiveling wheel and first motor, front axle swiveling wheel fixed mounting is at the output shaft of first motor, and the multiunit front axle spring wheel equipartition is installed on the outer circumference of front axle swiveling wheel.
The supporting part comprises a supporting rotating wheel and supporting spring wheels, and a plurality of groups of supporting spring wheels are uniformly arranged on the outer circumference of the supporting rotating wheel.
The detection part comprises an ultrasonic sensor and a third motor, the ultrasonic sensor is arranged on an output shaft of the third motor, and the ultrasonic sensor is connected with the first motor through a second universal joint coupler.
The rear axle drive comprises a rear axle rotating wheel, rear axle spring wheels and a second motor, the rear axle rotating wheel is fixedly arranged on an output shaft of the second motor, and a plurality of groups of rear axle spring wheels are uniformly distributed on the outer circumference of the rear axle rotating wheel; the second motor and the first motor driven by the front axle adopt a symmetrical installation mode, the double-motor installation mode enables the main body of the robot to have large driving force, and when the robot meets an obstacle, the double motors can realize differential speed and maintain stability in the process of traveling.
Front axle spring wheel and rear axle spring wheel of rear axle drive all distribute on the right-hand spiral line that the inclination is 25~35 degrees, and multiunit spring wheel symmetric distribution can be fine aligning to make the robot in the in-process of traveling, the center of whole robot is on an axis all the time.
The front axle drive's first motor and rear axle drive's second motor are all installed on corresponding motor installation axle, first motor support body links to each other with detecting part's ultrasonic sensor through second universal joint shaft coupling, detecting part's third motor support body links to each other with supporting the swiveling wheel, it links to each other with the rear axle swiveling wheel through first universal joint shaft coupling and second motor to support the swiveling wheel, makes through two universal joint shaft couplings not great or the great diaxon constant angular velocity continuous gyration of axial displacement at same axis or axis dog-ear to transmit torque and motion reliably.
Key grooves are processed in the center of the disks of the front axle rotating wheel driven by the front axle and the rear axle rotating wheel driven by the rear axle, and the key grooves are respectively in key fit with the main shafts of the first motor and the second motor and transmit torque.
Pressure sensors are respectively arranged on the front axle spring wheel driven by the front axle and the rear axle spring wheel driven by the rear axle, and the output power of the first motor and the output power of the second motor are actively adjusted to realize differential advancing according to the pressure change transmitted back by the pressure sensors, so that the stability of the detection condition of the detector is ensured to the greatest extent under the condition of no truck.
The utility model discloses there is following beneficial effect:
1. the utility model discloses a robot main part adopts the segmental design, and the main part comprises front axle part, detection part, support section and rear axle part, adopts the symmetry design can possess the good condition of striding over the return bend, and bi-motor mounting means can make robot drive power big, and when meetting the barrier, the bi-motor can realize the differential, maintains the stability on the way of marcing.
2. Three groups of spring wheels are uniformly distributed on the circumference of the rotating wheel, and the spring wheels are symmetrically distributed to play a good role in aligning, so that the center of the whole robot is always on one axis in the driving process of the robot. No matter what environment the mechanism meets, can both keep the stability of marcing like this, again under such operating condition, the detection device of robot can stable work, and it is relatively accurate to survey gained data.
3. The spring wheel is provided with a pressure sensor which can transmit pressure change in real time, actively adjust the output power of the motor and realize differential advancing. Therefore, the stability of the detection condition of the detector can be ensured to the maximum extent under the condition of no truck, and the exploration work on the internal condition of the pipeline can be well finished.
4. A raised key slot is designed on the rotating wheel and is arranged in the disc, so that the rotating wheel can be prevented from axially rotating in the disc, and the motor torque can be transmitted to the rotating wheel. The probe detection range of the ultrasonic sensor is ensured to cover the ring surface of the pipeline.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a front view of the present invention.
Fig. 2 is a first perspective three-dimensional view of the present invention.
Fig. 3 is a second perspective three-dimensional view of the present invention.
In the figure: the device comprises a front axle spring wheel 1, a front axle rotating wheel 2, a first motor 3, an ultrasonic sensor 4, a supporting spring wheel 5, a supporting rotating wheel 6, a rear axle rotating wheel 7, a rear axle spring wheel 8, a second motor 9, a first universal joint coupler 10, a third motor 11, a second universal joint coupler 12, a pressure sensor 13 and a key groove 14.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Example 1:
referring to fig. 1-3, a novel spiral wheel type micro pipeline detection robot comprises a robot main body, wherein the robot main body adopts a sectional structure and comprises a front axle drive, a supporting part, a detection part and a rear axle drive; the front axle drive is hinged to the detection part through a second universal joint coupler 12, the detection part is fixedly connected with the support part, and the support part is hinged to the rear axle drive through a first universal joint coupler 10. The utility model discloses an adopt foretell detection robot, not only simple structure is reliable and convenient to use, can also accomplish the inside exploration work of pipeline, in time detects out the inside problem that exists of pipeline. In the specific use process, the whole robot can be driven to walk smoothly in the pipeline through front axle driving and rear axle driving, the robot can be ensured to adapt to a turning or bent pipeline through the first universal joint coupler 10 and the second universal joint coupler 12, and the adaptability of the robot is enhanced.
Further, the front axle drive includes front axle spring wheel 1, front axle swiveling wheel 2 and first motor 3, front axle swiveling wheel 2 fixed mounting is at the output shaft of first motor 3, the multiunit 1 equipartition of front axle spring wheel is installed on the outer circumference of front axle swiveling wheel 2. Can be used for driving front axle swiveling wheel 2 through foretell front axle drive and rotate, in the concrete working process, through first motor 3 drive front axle swiveling wheel 2, drive front axle spring wheel 1 through front axle swiveling wheel 2 and realize its walking at the pipeline inner wall.
Further, the supporting part comprises a supporting rotating wheel 6 and supporting spring wheels 5, and a plurality of groups of supporting spring wheels 5 are uniformly distributed on the outer circumference of the supporting rotating wheel 6. The supporting part can be used for supporting the detection part and can rotate under the action of a front axle drive and a rear axle drive. In addition, the device can be provided with other types of detection equipment to realize different detection requirements.
Further, the detection part comprises an ultrasonic sensor 4 and a third motor 11, the ultrasonic sensor 4 is installed on an output shaft of the third motor 11, and the ultrasonic sensor 4 is connected with the first motor 3 through a second universal joint coupler 12. The working condition of the interior of the pipeline can be surveyed in real time through the detection part, and signals are transmitted to an operator. In the working process, the third motor 11 drives the ultrasonic sensor 4 to rotate, and the annular detection of the pipeline is further realized. The detection range of the probe covers the ring surface of the pipeline.
Further, the rear axle drive comprises a rear axle rotating wheel 7, rear axle spring wheels 8 and a second motor 9, the rear axle rotating wheel 7 is fixedly arranged on an output shaft of the second motor 9, and a plurality of groups of rear axle spring wheels 8 are uniformly distributed on the outer circumference of the rear axle rotating wheel 7; the second motor 9 and the first motor 3 driven by the front axle adopt a symmetrical installation mode, the double-motor installation mode enables the driving force of the robot main body to be large, and when the robot meets an obstacle, the double motors can realize differential speed and maintain stability in the process of traveling. Can be used for driving rear axle swiveling wheel 7 through foretell rear axle drive, and then drive whole robot at the inside walking of pipeline, in the course of the work, through second motor 9 drive rear axle spring wheel 8, and then make rear axle spring wheel 8 contact with the pipeline inner wall, finally realize its walking.
Furthermore, front axle spring wheel 1 of front axle drive and rear axle spring wheel 8 of rear axle drive all distribute on the right-hand spiral line that the inclination is 25~35 degrees, and multiunit spring wheel symmetric distribution can be fine the aligning to make the robot in the in-process of traveling, the center of whole robot is on an axis all the time.
Further, front axle spring wheel 1 of front axle drive and rear axle spring wheel 8 of rear axle drive all distribute on the right-hand spiral line that the inclination is 30 degrees, through adopting the spiral to arrange, have guaranteed that the robot can advance or retreat the walking along the pipeline inner wall.
Further, the first motor 3 of front axle drive and the second motor 9 of rear axle drive are all installed on corresponding motor installation axle, first motor 3 supporter links to each other with detection part's ultrasonic sensor 4 through second universal joint coupler 12, detection part's third motor 11 supporter links to each other with supporting swiveling wheel 6, supporting swiveling wheel 6 links to each other with rear axle swiveling wheel 7 through first universal joint coupler 10 and second motor 9, makes not great or the great diaxon constant angular velocity continuous gyration of axial displacement at same axis or axis through two universal joint couplers to transmit torque and motion reliably.
Further, key grooves 14 are formed in the center of the circular discs of the front axle rotating wheel 2 driven by the front axle and the rear axle rotating wheel 7 driven by the rear axle, and the key grooves 14 are respectively in key fit with the main shafts of the first motor 3 and the second motor 9 and transmit torque.
Further, pressure sensors 13 are respectively arranged on the front axle spring wheel 1 driven by the front axle and the rear axle spring wheel 8 driven by the rear axle, and the output power of the first motor 3 and the output power of the second motor 9 are actively adjusted to realize differential advancing according to the pressure change returned by the pressure sensors 13 through the front axle spring wheel 1 and the rear axle spring wheel 8, so that the detection condition of the detector is guaranteed to be stable to the greatest extent under the condition of no truck.
Example 2:
the use method for detecting the interior of the pipeline by adopting the novel spiral wheel type miniature pipeline detection robot comprises the following steps:
the method comprises the following steps: the first motor 3 and the second motor 9 of the front axle drive and the rear axle drive are started, the drive connecting rod can transmit torque to the front axle rotating wheel 2 and the rear axle rotating wheel 7, the front axle rotating wheel 2 and the rear axle rotating wheel 7 synchronously drive the front axle spring wheel 1 and the rear axle spring wheel 8 on the outer circumference of the front axle rotating wheel to be contacted with the inner wall of the pipeline, so that the robot can cross obstacles in the pipeline and can supplement positive pressure in time, if the robot is required to retreat, only the direction of current applied to the motors needs to be changed, and the robot can move reversely;
step two: when the spiral wheel type micro pipeline detection robot meets the condition that the residual on the inner wall of the pipeline is aged and the residual scraps fall off due to the transportation of residues, the output power of the first motor 3 and the output power of the second motor 9 are actively adjusted according to the pressure change returned by the driving upper pressure sensor 13, so that differential advancing is realized, the stability of the detection condition of the detector can be ensured to the maximum extent under the condition of no truck, and the exploration work of the internal condition of the pipeline can be well completed;
step three: in the advancing process of the spiral wheel type miniature pipeline detection robot, the third motor 11 of the detection part starts to operate, the ultrasonic sensor 4 is started, the internal condition of the pipeline is detected through the detection head of the ultrasonic sensor 4, and a signal is transmitted to an operator through the sensor, so that the internal condition of the pipeline can be surveyed in real time.
Claims (9)
1. The utility model provides a novel wheeled miniature pipeline detection robot of spiral which characterized in that: the robot comprises a robot main body, wherein the robot main body adopts a sectional structure and comprises a front axle drive, a supporting part, a detecting part and a rear axle drive; the front axle drive is hinged to the detection part through a second universal joint coupler (12), the detection part is fixedly connected with the supporting part, and the supporting part is hinged to the rear axle drive through a first universal joint coupler (10).
2. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: the front axle drive comprises a front axle spring wheel (1), a front axle rotating wheel (2) and a first motor (3), wherein the front axle rotating wheel (2) is fixedly installed on an output shaft of the first motor (3), and a plurality of groups of front axle spring wheels (1) are uniformly installed on the outer circumference of the front axle rotating wheel (2).
3. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: the supporting part comprises a supporting rotating wheel (6) and supporting spring wheels (5), and a plurality of groups of supporting spring wheels (5) are uniformly distributed on the outer circumference of the supporting rotating wheel (6).
4. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: the detection part comprises an ultrasonic sensor (4) and a third motor (11), the ultrasonic sensor (4) is installed on an output shaft of the third motor (11), and the ultrasonic sensor (4) is connected with the first motor (3) through a second universal joint coupler (12).
5. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: the rear axle drive comprises a rear axle rotating wheel (7), rear axle spring wheels (8) and a second motor (9), the rear axle rotating wheel (7) is fixedly arranged on an output shaft of the second motor (9), and a plurality of groups of rear axle spring wheels (8) are uniformly distributed and arranged on the outer circumference of the rear axle rotating wheel (7); the second motor (9) and the first motor (3) driven by the front axle are symmetrically installed, the main body of the robot is large in driving force due to the double-motor installation mode, and when an obstacle is met, the double motors can realize differential speed and maintain stability in the process of traveling.
6. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: front axle spring wheel (1) of front axle drive and rear axle spring wheel (8) of rear axle drive all distribute on the right-handed helix that the inclination is 25~35 degrees, and multiunit spring wheel symmetric distribution can fine aligning to make the robot in the in-process of traveling, the center of whole robot is on an axis all the time.
7. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: the front axle drive's first motor (3) and rear axle drive's second motor (9) all install on corresponding motor installation axle, first motor (3) supporter links to each other through second universal joint shaft coupling (12) and detection part's ultrasonic sensor (4), detection part's third motor (11) supporter links to each other with supporting swiveling wheel (6), it links to each other with rear axle swiveling wheel (7) through first universal joint shaft coupling (10) and second motor (9) to support swiveling wheel (6), makes through two universal joint shaft couplings not great or the great diaxon constant angular velocity continuous gyration of axial displacement at same axis or axis dog-ear to transmit torque and motion reliably.
8. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: the front axle rotating wheel (2) of the front axle drive and the rear axle rotating wheel (7) of the rear axle drive are provided with key grooves (14) in the center of the circular discs, and the key grooves (14) are respectively matched with the main shafts of the first motor (3) and the second motor (9) in a key mode and transmit torque.
9. The novel spiral wheel type micro pipeline detection robot as claimed in claim 1, wherein: pressure sensors (13) are respectively arranged on the front axle spring wheel (1) driven by the front axle and the rear axle spring wheel (8) driven by the rear axle, and the output power of the first motor (3) and the output power of the second motor (9) are actively adjusted according to the pressure change returned by the pressure sensors (13) to realize differential advancing so as to ensure the stability of the detection condition of the detector to the maximum extent under the condition of no truck.
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| CN202022505474.5U CN213929974U (en) | 2020-11-03 | 2020-11-03 | Novel spiral wheel type miniature pipeline detection robot |
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| CN202022505474.5U CN213929974U (en) | 2020-11-03 | 2020-11-03 | Novel spiral wheel type miniature pipeline detection robot |
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| CN112413281A (en) * | 2020-11-03 | 2021-02-26 | 三峡大学 | Novel spiral wheel type miniature pipeline detection robot and use method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112413281A (en) * | 2020-11-03 | 2021-02-26 | 三峡大学 | Novel spiral wheel type miniature pipeline detection robot and use method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: BOLI TECHNOLOGY (HUBEI) Co.,Ltd. Assignor: CHINA THREE GORGES University Contract record no.: X2022980017328 Denomination of utility model: A new type of spiral wheel micro pipe detection robot Granted publication date: 20210810 License type: Exclusive License Record date: 20221009 |
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| EE01 | Entry into force of recordation of patent licensing contract |