CN214604417U - Miniature magnetic adsorption endoscopic climbing detection robot - Google Patents
Miniature magnetic adsorption endoscopic climbing detection robot Download PDFInfo
- Publication number
- CN214604417U CN214604417U CN202120755654.0U CN202120755654U CN214604417U CN 214604417 U CN214604417 U CN 214604417U CN 202120755654 U CN202120755654 U CN 202120755654U CN 214604417 U CN214604417 U CN 214604417U
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- motor
- vehicle body
- endoscopic
- magnetic material
- connecting rods
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Abstract
The utility model provides a micro magnetic adsorption endoscopic climbing detection robot, which comprises four leg wheel structures, two vehicle bodies, two connecting rods, a plurality of permanent magnetic material wheels, a camera and a controller; the first ends of the two connecting rods are pivoted, and the outer sides of the first ends of the connecting rods are provided with permanent magnet material wheels; the second ends of the two connecting rods are respectively connected with the first ends of the two vehicle bodies through a first motor; the second end of each vehicle body is connected with the two-leg wheel structure through a second motor, and the outer side of the second end of each vehicle body is provided with a permanent magnetic material wheel; one end of each leg wheel structure, which is far away from the vehicle body, is connected with a permanent magnetic material wheel through a third motor. The utility model discloses a miniature magnetic adsorption endoscopic climbing detection robot, which can climb over the inside of equipment without disassembling the equipment, and can carry out preliminary inspection on the equipment in an image acquisition mode, so that the subsequent detection has more purposiveness; the time and cost for equipment damage inspection are reduced.
Description
Technical Field
The utility model relates to a complicated mechanical equipment detection device field especially relates to an peep in miniature magnetism adsorbs and climb detection robot more.
Background
The existing mechanical equipment maintenance mode is to disassemble the equipment and then maintain the equipment. Most of procedures are realized through manual operation, and due to the consideration of the operation safety, internal parts of equipment need to be overhauled, the consumed time is too long, the production efficiency is influenced, and huge economic loss is caused.
Disclosure of Invention
In order to overcome the defects in the prior art, the utility model provides a miniature magnetic adsorption endoscopic climbing detection robot, which can climb over the internal space of the equipment without disassembling complex mechanical equipment, and can perform preliminary inspection on the equipment in an image acquisition mode to find out parts possibly damaged, so that the subsequent detection is more purposeful; the damage to the equipment, the time and the cost of the inspection are reduced.
In order to achieve the purpose, the utility model provides a miniature magnetic adsorption endoscopic climbing detection robot, which comprises four leg wheel structures, two vehicle bodies, two connecting rods, a plurality of permanent magnetic material wheels, a camera and a controller; the first ends of the two connecting rods are pivoted, and the permanent magnetic material wheel is arranged on the outer side of the first ends of the connecting rods; the second ends of the two connecting rods are respectively connected with the first ends of the two vehicle bodies through first motors; the second end of each vehicle body is connected with a two-leg wheel structure through a second motor, and the outer side of the second end of each vehicle body is provided with the permanent magnetic material wheel; one end of each leg wheel structure, which is far away from the vehicle body, is connected with one permanent magnetic material wheel through a third motor; the camera and the controller are mounted on the vehicle body; the controller is electrically connected with the leg wheel structure, the camera, the first motor, the second motor and the third motor.
Preferably, the leg wheel structure comprises a first connecting part, a telescopic motor, a steering engine and a second connecting part; the first end of the first connecting part is connected with the vehicle body through the second motor; the second end of the first connecting part is connected with the steering engine through the telescopic motor; the steering engine is connected between the telescopic motor and the first end of the second connecting part; the second end of the second connecting part is connected with the permanent magnet material wheel through the third motor; the telescopic motor and the steering engine are electrically connected with the controller.
Preferably, the vehicle further comprises an auxiliary light source, wherein the auxiliary light source is mounted on the vehicle body and connected with the controller.
Preferably, a rubber protective sleeve is sleeved outside the permanent magnet material wheel.
Preferably, the camera adopts a rotatable infrared high-definition camera.
The utility model discloses owing to adopted above technical scheme, make it have following beneficial effect:
the utility model has the advantages that the leg wheel structure, the two vehicle bodies, the two connecting rods and the plurality of permanent magnetic material wheels are matched, so that the leg wheel structure has small volume and flexible movement, can move in the inner space of complex mechanical equipment, and has good obstacle crossing and crossing functions; the adoption of the permanent magnetic material wheel depends on magnetic adhesion, and the permanent magnetic material wheel is used for walking on internal parts of the complex equipment. Through the cooperation of camera and controller, can realize the picture collection and the transmission on equipment inner space and surface, at the rotatable formula infrared ray high definition digtal camera of automobile body installation to the auxiliary light source is installed, can carry out image acquisition to equipment inside under the condition of dark.
Drawings
Fig. 1 is the utility model discloses miniature magnetic adsorption peeps in and climbs detection robot's schematic structure view.
Detailed Description
The following description of the preferred embodiment of the present invention will be given in detail with reference to the accompanying drawings, fig. 1, so as to better understand the functions and features of the present invention.
Referring to fig. 1, a micro magnetic adsorption endoscopic climbing detection robot according to an embodiment of the present invention includes four leg wheel structures 1, two vehicle bodies 2, two connecting rods 3, a plurality of permanent magnetic material wheels 4, a camera, and a controller; the first ends of the two connecting rods 3 are pivoted, and the outer sides of the first ends of the connecting rods 3 are provided with permanent magnet material wheels 4; the second ends of the two connecting rods 3 are respectively connected with the first ends of the two vehicle bodies 2 through first motors; the second end of each vehicle body 2 is connected with the two-leg wheel structure 1 through a second motor, and the outer side of the second end of each vehicle body 2 is provided with a permanent magnetic material wheel 4; one end of each leg wheel structure 1, which is far away from the vehicle body 2, is connected with a permanent magnetic material wheel 4 through a third motor; the camera and the controller are arranged on the vehicle body 2; the controller is electrically connected with the leg wheel structure 1, the camera, the first motor, the second motor and the third motor.
The leg wheel structure 1 comprises a first connecting part 11, a telescopic motor 12, a steering engine 13 and a second connecting part 14; the first end of the first connecting part 11 is connected with the vehicle body 2 through a second motor; the second end of the first connecting part 11 is connected with a steering engine 13 through a telescopic motor 12; the steering engine 13 is connected between the telescopic motor 12 and the first end of the second connecting part 14; the second end of the second connecting part 14 is connected with the permanent magnetic material wheel 4 through a third motor; the telescopic motor 12 and the steering engine 13 are electrically connected with a controller.
The vehicle further comprises an auxiliary light source which is arranged on the vehicle body 2 and connected with the controller.
The permanent magnetic material wheel 4 is sleeved with a rubber protective sleeve.
The camera adopts the rotatable formula infrared ray high definition digtal camera.
The utility model discloses peep in miniature magnetism adsorbs and climb detection robot uses leg wheel combined mechanism, and leg wheel structure 1 is connected with automobile body 2 through the second motor to the drive, every leg wheel structure 1 all can swing alone. The wheel adopts permanent magnetism material wheel 4, has the rubber protective sheath, can make automobile body 2 realize the magnetism and adsorb on complicated mechanical equipment inner part to do not harm the equipment part, even the dolly can not drop under the circumstances of trouble or outage. The wheels are driven by a direct current speed reducing motor, so that the trolley can move in the inner space of the equipment, and the two trolley bodies 2 are symmetrical and have the same function and support bidirectional movement.
In the moving process of the robot, if the robot meets the high-low terrain, the permanent magnet material wheel 4 on the outer side of the first end of the connecting rod 3 is lifted up by the telescopic motor 12 to complete the high-low terrain crossing.
If meet protruding obstacle, open automobile body 2 through first motor and second motor, through flexible motor 12 compensation distance, adsorb the adhesion obstacle surface through permanent magnet material wheel 4, accomplish snakelike climbing.
In addition, the permanent magnetic material wheels 4 at one end of the pair of leg wheel structures 1 far away from the vehicle body 2 are matched with the permanent magnetic material wheels 4 at the outer side of the second end of the vehicle body 2 and adsorbed on the surface of the vertical wall body. Raise connecting rod 3 through first motor and second motor afterwards, make the permanent magnetic material wheel 4 in the outside of the first end of connecting rod 3 adsorb at the roof horizontal plane, rethread first motor and second motor adsorb the roof with the permanent magnetic material wheel 4 of another pair of leg wheel structure 1 one end of keeping away from automobile body 2, accomplish the shape of falling L and climb over, are applicable to complicated topography.
The robot is 180mm long, 90mm wide and high.
The detection of the robot is a highly automated control throughout the work process. The movement of the trolley in the complex mechanical equipment can be remotely controlled by workers.
1. The robot is placed on the surface of a part in the complex mechanical equipment by an operator, the part is adsorbed on the ferromagnetic part through the adsorption device, and then the operator controls the motor through the touch screen to finish the horizontal movement of the robot.
2. After the robot reaches the designated position, the camera is started, and image information of the surface of the internal part of the equipment is collected and sent to an operator for analysis.
The robot sends the surface image information of the internal parts of the equipment, an operator can obtain the position needing key detection after analyzing the surface image information, and then the robot is taken out and the next step of maintenance is carried out after the complex mechanical equipment is integrally detected.
On the existing established integral system, the robot can move in the robot and acquire image information under the condition of not disassembling related complex mechanical equipment, so that the time and manpower resources consumed by disassembly and integral detection can be greatly reduced, and the working efficiency and the economic benefit are improved. The robot has high degree of freedom and miniature volume, is suitable for various complex adsorbable terrains, and is suitable for narrow and small environments or environments needing to climb over.
The present invention has been described in detail with reference to the embodiments shown in the drawings, and those skilled in the art can make various modifications to the present invention based on the above description. Therefore, certain details of the embodiments should not be construed as limitations of the invention, which are intended to be covered by the following claims.
Claims (5)
1. A miniature magnetic adsorption endoscopic climbing detection robot is characterized by comprising four leg wheel structures, two vehicle bodies, two connecting rods, a plurality of permanent magnetic material wheels, a camera and a controller; the first ends of the two connecting rods are pivoted, and the permanent magnetic material wheel is arranged on the outer side of the first ends of the connecting rods; the second ends of the two connecting rods are respectively connected with the first ends of the two vehicle bodies through first motors; the second end of each vehicle body is connected with a two-leg wheel structure through a second motor, and the outer side of the second end of each vehicle body is provided with the permanent magnetic material wheel; one end of each leg wheel structure, which is far away from the vehicle body, is connected with one permanent magnetic material wheel through a third motor; the camera and the controller are mounted on the vehicle body; the controller is electrically connected with the leg wheel structure, the camera, the first motor, the second motor and the third motor.
2. The micro magnetic adsorption endoscopic climbing detection robot according to claim 1, wherein the leg wheel structure comprises a first connecting part, a telescopic motor, a steering engine and a second connecting part; the first end of the first connecting part is connected with the vehicle body through the second motor; the second end of the first connecting part is connected with the steering engine through the telescopic motor; the steering engine is connected between the telescopic motor and the first end of the second connecting part; the second end of the second connecting part is connected with the permanent magnet material wheel through the third motor; the telescopic motor and the steering engine are electrically connected with the controller.
3. The micro magnetic-adsorption endoscopic crawling detection robot according to claim 1, further comprising an auxiliary light source mounted on the vehicle body and connected to the controller.
4. The micro magnetic-adsorption endoscopic climbing detection robot according to claim 1, wherein a rubber protective sleeve is sleeved outside the permanent magnetic material wheel.
5. The micro magnetic-adsorption endoscopic crawling detection robot according to claim 1, wherein the camera is a rotatable infrared high-definition camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120755654.0U CN214604417U (en) | 2021-04-12 | 2021-04-12 | Miniature magnetic adsorption endoscopic climbing detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120755654.0U CN214604417U (en) | 2021-04-12 | 2021-04-12 | Miniature magnetic adsorption endoscopic climbing detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214604417U true CN214604417U (en) | 2021-11-05 |
Family
ID=78401862
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120755654.0U Expired - Fee Related CN214604417U (en) | 2021-04-12 | 2021-04-12 | Miniature magnetic adsorption endoscopic climbing detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214604417U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023199032A1 (en) * | 2022-04-11 | 2023-10-19 | University Of Leeds | A climbing robot |
-
2021
- 2021-04-12 CN CN202120755654.0U patent/CN214604417U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023199032A1 (en) * | 2022-04-11 | 2023-10-19 | University Of Leeds | A climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211105 |