CN214889742U - Screw-propelled water supply pipeline detection robot - Google Patents
Screw-propelled water supply pipeline detection robot Download PDFInfo
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- CN214889742U CN214889742U CN202121100303.2U CN202121100303U CN214889742U CN 214889742 U CN214889742 U CN 214889742U CN 202121100303 U CN202121100303 U CN 202121100303U CN 214889742 U CN214889742 U CN 214889742U
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Abstract
The utility model discloses a propeller-propelled water supply pipeline detection robot, which comprises a robot propeller cabin, a robot control cabin and a connecting structure; the robot propeller cabin and the robot control cabin are connected through a connecting structure; the propeller cabin sprays water to generate propulsive force for the robot to walk in the pipeline, the control cabin is provided with the three-axis magnetic field meter and the underwater sound pickup, the three-axis magnetic field meter detects the damage condition of the pipe wall according to the change of the magnetic field in the pipeline, and the underwater sound pickup acquires the leakage point of the pipeline. The robot is equipped with the docking station, can install camera or other sensors additional at the control cabin front end, acquires information such as image in the pipeline in real time. The robot utilizes the umbilical cable that the propeller rear end is connected to realize the power supply and with the host computer communication, judges whether there is the damage in the pipeline through the data of processing acquisition.
Description
Technical Field
The utility model relates to a pipeline detection area especially relates to a can get into pipeline robot who takes pressure water supply pipe.
Background
The urban water supply system is an important lifeline project, and once the water supply capacity is reduced or fails due to various reasons, the normal production and living order of the city can be seriously influenced. The water supply pipeline is affected by various complex factors such as pipes, joint types, laying environment, water conveying quality and the like, and the problems of corrosion, scaling, joint cracking, sand hole leakage points and the like can be inevitably caused. At present, the length of a water supply pipe network in Beijing city is nearly ten thousand kilometers, the average annual pipe network maintenance and first-aid repair task is more than 5 thousand, and the pressure of the pipe network maintenance task is huge. The traditional pipeline detection is implemented by professional personnel, the workload is large, the efficiency is low, and the defects that personnel at certain positions of the pipeline cannot reach and monitor the pipeline exist. Therefore, in order to solve the existing related problems, an automatic detection device capable of directly entering the interior of a pressure water supply pipeline is urgently needed.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a screw propulsive water supply pipe inspection robot adopts the method that magnetic field and sound leakage combined together to detect the pipeline. The robot is internally provided with a 3-axis acceleration sensor and a 3-axis gyroscope, a 32-bit singlechip collects sensor data in real time and controls the pose of the robot, so that the robot can stably walk in a pipeline and adapt to a severe underwater working environment. The robot can expand installation camera and other sensors, information such as the image in the real-time acquisition pipeline. The collected information of magnetic field, leakage sound, image, etc. is converted and transmitted to an external upper computer along with the umbilical cable by using the optical fiber.
A water supply pipeline detection robot propelled by a propeller comprises a robot propeller cabin, a robot control cabin and a connecting structure; the robot propeller cabin and the robot control cabin are connected through a connecting structure; the robot propeller cabin consists of a propeller cabin front cover 3, a propeller cabin duct 4, a propeller cabin rear cover 5, a supporting outer wheel 8, a propeller electric control PCB14, a waterproof motor 15, a propeller 16 and a motor fixing seat 17; the propeller cabin duct 4 is a main body part of the robot propeller cabin, and a propeller cabin front cover 3 and a propeller cabin rear cover 5 are arranged at the front end and the rear end of the propeller cabin duct 4; the two propellers 16 are sequentially arranged on a central axis in the propeller cabin duct 4, and the propellers 16 are driven by a waterproof motor 15; the waterproof motor 15 is arranged on the motor fixing seat 17 and is arranged in the propeller cabin duct 4, and the waterproof motor 15 is driven and regulated by the propeller electric-regulation PCB 14; the propeller electric-regulation PCB14 is arranged in a closed waterproof space formed by the propeller cabin front cover 3 and the propeller cabin culvert 4; the supporting outer wheel 8 is arranged on the propeller cabin rear cover 5 and the propeller cabin duct 4.
The robot control cabin consists of a control cabin body 1, a control cabin end cover 2, a water pressure sensor 9, a PCB fixing frame 10, a control and signal processing PCB11 and a control cabin end cover sealing ring 12; the control cabin body 1 is a main body part of the robot control cabin, and the control cabin end cover 2 is directly inserted and sealed at an opening of an inner cavity of the control cabin body 1; the control and signal processing PCB11 is inserted on the PCB fixing frame 10, and the PCB fixing frame 10 is inserted in the inner cavity of the control cabin body 1; the water pressure sensor 9 is arranged on a through hole on the end surface of the control cabin body 1; the control cabin end cover sealing ring 12 is installed in a sealing groove on the control cabin end cover 2.
The connecting structure consists of a cabin body connecting spring 6, a waterproof cable 7 and a waterproof threading gland head 13; the cabin body connecting spring 6 is respectively fixed on the front cover 3 of the propeller cabin and the end cover 2 of the control cabin; the waterproof cable 7 is connected with the propeller electric adjusting PCB14 and the control and signal processing PCB 11; the waterproof threading glan head 13 is arranged at the joint of the cabin body connecting spring 6 and the control cabin end cover 2 and the cabin body connecting spring 6 and the front cover 3 of the propeller cabin.
The control cabin body 1, the control cabin end cover 2, the propeller cabin front cover 3, the propeller cabin duct 4 and the propeller cabin rear cover 5 are made of aluminum alloy.
The control and signal processing PCB11 contains a three-axis magnetic field sensor, a three-axis acceleration sensor, a three-axis gyroscope, an embedded controller, and a network signal interface circuit.
And flow guide holes are formed in the side wall of the propeller cabin duct 4 and the propeller cabin rear cover 5.
A docking station 18 is arranged in the middle of the end part of the control cabin body 1, and the docking station 18 can be used for mounting a camera or a sensor cabin body in an extensible mode.
And the control cabin body 1 and the control cabin end cover 2 are provided with the supporting outer wheel 8.
One or more technical solutions provided in the embodiments of the present application have at least the following advantages or effects:
the water supply pipeline detection robot realizes pipeline detection by adopting a leakage detection mode of collecting a magnetic field and listening to leakage sound. The robot can also be additionally provided with a camera or more sensor cabins in the docking station to acquire images and other environmental data in the pipeline in real time. The water supply pipeline detection robot is controlled by a 32-bit single chip microcomputer, the pose information of a machine body is acquired through 3-axis acceleration and 3-axis gyroscope sensors, then a coaxial contrarotating propeller is controlled to generate axial thrust and torque, and finally the robot can walk stably.
Drawings
The drawings that are required in the description of the embodiments will be described below. The drawings described below are only an embodiment of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is an oblique view of the embodiment of the present application.
FIG. 2 is an oblique cross-sectional view of a propeller pod in an embodiment of the present application.
FIG. 3 is an oblique sectional view of the control cabin in the embodiment of the present application.
FIG. 4 is a front view of the embodiment of the present application.
FIG. 5 is a left side view of the embodiment of the present application.
FIG. 6 is a top view of an embodiment of the present invention.
FIG. 7 is a right side view of the embodiment of the present application.
FIG. 8 is a torque diagram of the overall structure of the present embodiment on a central axis.
In the drawings 1-4 and 5, 1 is a control cabin body, 2 is a control cabin end cover, 3 is a propeller cabin front cover, 4 is a propeller cabin duct, 5 is a propeller cabin rear cover, 6 is a cabin body connecting spring, 7 is a waterproof cable, 8 is a supporting outer wheel, 9 is a water pressure sensor, 10 is a PCB fixing frame, 11 is a control and signal processing PCB, 12 is a control cabin end cover sealing ring, 13 is a waterproof threading glan head, 14 is a propeller electric adjusting PCB, 15 is a waterproof motor, 16 is a propeller, 17 is a motor fixing seat, and 18 is a docking station.
Detailed Description
The utility model relates to a screw propulsive water supply pipe inspection robot, its method that adopts magnetic field and sound leakage to combine together detects the pipeline. The robot is internally provided with a 3-axis acceleration sensor and a 3-axis gyroscope, a 32-bit singlechip collects sensor data in real time and controls the pose of the robot, so that the robot can stably walk in a pipeline and can adapt to an underwater severe working environment. The robot can be provided with a camera in an expanded mode, image information in the pipeline is collected in real time, and the collected information such as magnetic field, sound leakage, images and the like is transmitted to an external upper computer along with an umbilical cable through conversion and utilization of optical fibers.
As a preferred embodiment of the scheme, the robot propeller cabin consists of a propeller cabin front cover, a propeller cabin duct, a propeller cabin rear cover, a supporting outer wheel, a propeller electric control PCB, a waterproof motor, a propeller and a motor fixing seat; the 2 propellers are arranged on the central axis of the propeller cabin duct in a front-back manner, and the propellers are arranged on the waterproof motor and are directly driven by the waterproof motor; the 2 waterproof motors are respectively arranged on the rear wall of the propeller cabin duct and the motor fixing seat, and the motors are driven and regulated by the PCB through the propeller electric regulation; the propeller electric control PCB is arranged in a closed waterproof space formed by a propeller cabin front cover and a propeller cabin culvert, and a control signal line is transmitted through a via hole on the propeller cabin culvert and is encapsulated by waterproof glue; flow guide holes are formed in the side wall of the propeller cabin duct and the rear cover of the propeller cabin; the supporting outer wheels are installed on the propeller cabin rear cover and the propeller cabin duct.
As a preferred embodiment of the scheme, the robot control cabin consists of a control cabin body, a control cabin end cover, a supporting outer wheel, a water pressure sensor, a PCB fixing frame, a control and signal processing PCB, a control cabin end cover sealing ring and a docking station; the control and signal processing PCB comprises hardware such as a 3-axis magnetic field sensor, a 3-axis acceleration sensor, a 3-axis gyroscope, an embedded controller, a network signal interface circuit and the like; the control and signal processing PCB is inserted on the PCB fixing frame, and the PCB fixing frame is inserted in the inner cavity of the cabin body of the control cabin; the water pressure sensor is arranged on a through hole on the end face of the cabin body of the control cabin and can be directly contacted with external pressure fluid of the robot; the control cabin end cover sealing ring is arranged in a sealing groove on the control cabin end cover, and the control cabin end cover is directly inserted and seals an opening of an inner cavity of the control cabin body; the docking station can be provided with a camera or more sensor cabins in an extensible mode; the supporting outer wheels are also arranged on the control cabin body and the control cabin end cover.
As the preferred embodiment of the scheme, the connecting structure between the robot cabin bodies consists of cabin body connecting springs, waterproof cables and waterproof threading glan heads; the cabin body connecting springs are respectively fixed on the front cover of the propeller cabin and the end cover of the control cabin, so that the mechanical connection between the propeller cabin and the control cabin of the robot is realized; the waterproof cable is connected with the propeller electric control PCB and the control and signal processing PCB, so that the electric connection between the robot propeller cabin and the control cabin is realized; the waterproof threading glan head provides sealed waterproof for the cabin body routing through hole.
As the preferred embodiment of this scheme, the robot utilizes the umbilical cord that propeller cabin back lid is connected to realize the power supply and with host computer communication, and the umbilical cord also is as the safety rope of robot under emergency simultaneously.
As a preferred embodiment of the scheme, a robot shell consisting of a control cabin body, a control cabin end cover, a propeller cabin front cover, a propeller cabin duct and a propeller cabin rear cover is made of aluminum alloy, and standard components such as a cabin body connecting spring, a threading gland head, screws and nuts are made of stainless steel. The robot has the overall dimension of 325mm multiplied by 80mm, and the shell can meet the pressure-resistant requirement of 0.5MPa water pressure.
As the preferred embodiment of the scheme, the robot is suitable for a working scene of a pressure water supply pipeline with an inner diameter of 100mm or more.
As the preferred embodiment of this scheme, 2 screw of robot can independently control, realize that the robot advances in the pipeline, moves backward, rolls along the axial etc. and move.
As the preferred embodiment of the scheme, the robot is positioned at the bottom of the pipeline when moving in the pipeline, the propeller cabin sprays water to generate propelling force, the robot slides in the pipeline by utilizing the supporting wheels at the lower part of the vehicle body without rigid contact of all the supporting wheels and the pipe wall, and the robot is suitable for large-scale pipe diameter change.
The technical solution of the present invention will be fully described with reference to the accompanying drawings.
As shown in fig. 1 to 8, a propeller-propelled water supply pipeline inspection robot structure is largely composed of a propeller cabin and a control cabin 2.
As shown in fig. 1, the connection structure between the robot cabins is composed of a cabin connection spring 6, a waterproof cable 7 and a waterproof threading glan head 13; the cabin body connecting springs 6 are respectively fixed on the front cover 3 of the propeller cabin and the end cover 2 of the control cabin, so that the mechanical connection between the propeller cabin and the control cabin of the robot is realized. Because the flexible connection of the springs is used between the robot cabin bodies, the robot has more degrees of freedom in movement in the pipeline, and the capability of adapting to the change of the appearance and the pipe diameter of the pipeline is improved; the waterproof cable 7 is connected with the propeller electric control PCB14 and the control and signal processing PCB11, so that the electric connection between the robot propeller cabin and the control cabin is realized; the waterproof threading glan head 13 provides sealing and waterproof for the cabin routing through hole.
As shown in fig. 2, the propeller cabin is composed of a propeller cabin front cover 3, a propeller cabin duct 4, a propeller cabin rear cover 5, a supporting outer wheel 8, a propeller electric-regulation PCB14, a waterproof motor 15, a propeller 16 and a motor fixing seat 17. The 2 waterproof motors 15 are arranged on the central axis of the propeller cabin duct 4 in a front-back mode and are respectively fixed on the rear wall of the propeller cabin duct 4 and the motor fixing seat 17, and the motors are driven and regulated by the propeller electric-regulation PCB 14; one of the propellers 16 connected with the 2 motors is a positive propeller, and the other propeller is a negative propeller and is directly driven by the motors; the propeller electric-control PCB14 is arranged in a closed waterproof space formed by the propeller cabin front cover 3 and the propeller cabin culvert 4, the space is encapsulated by waterproof glue, and a control signal wire penetrates out of a through hole on the propeller cabin culvert 4 and is connected with the waterproof motor 15; the side wall of the propeller cabin duct 4 and the propeller cabin rear cover 5 are provided with flow guide holes, and the flow guide holes are used for sucking and spraying water flow by the propeller to generate propelling force; and the supporting outer wheel 8 is arranged on the propeller cabin rear cover 5 and the propeller cabin duct 4 and supports the propeller cabin to walk in the pipeline.
As shown in fig. 3, the robot control cabin consists of a control cabin body 1, a control cabin end cover 2, a supporting outer wheel 8, a water pressure sensor 9, a PCB fixing frame 10, a control and signal processing PCB11, a control cabin end cover sealing ring 12 and a docking station 18; the control and signal processing PCB11 is divided into an upper block and a lower block, and comprises hardware such as a 3-axis magnetic field sensor, a 3-axis acceleration sensor, a 3-axis gyroscope, an embedded controller, a network signal interface circuit and the like. The embedded controller is a 32-bit singlechip, embedded system software is transplanted, and the embedded controller can acquire and transmit back pipeline environment information in real time and control the motion and pose of the robot in the pipeline; the control and signal processing PCB11 is inserted on the PCB fixing frame 10, and the PCB fixing frame is inserted in the inner cavity of the control cabin body 1; the water pressure sensor 9 is arranged on a through hole on the end surface of the control cabin body 1 and is used for directly measuring the water pressure in the pipeline; the control cabin end cover sealing ring 12 is arranged in a sealing groove on the control cabin end cover 2, and the control cabin end cover 2 is directly inserted into and seals an opening of an inner cavity of the control cabin body 1; the docking station 18 can be used for mounting a camera or more sensor cabins in an extensible mode; the supporting outer wheel 8 is also arranged on the control cabin body 1 and the control cabin end cover 2.
As shown in fig. 4, a docking station 18 is left in the front of a control cabin of a propeller-propelled water supply pipeline detection robot, and only a small number of screws are needed to install expansion equipment, such as a waterproof camera or more sensor cabins, so that the detection capability of the robot on the environment in the pipeline is further improved.
As shown in fig. 8, a propeller-propelled water supply pipeline detects the torque experienced by a robot propeller pod. Using a propeller as a propeller, the rotating propeller generates a moment about the drive shaft while generating a propulsive force in the direction of the drive shaft. If this moment is not balanced, i.e. if Σ M is not satisfied, 0, this can lead to a disturbance of the robot movement, resulting in an uncontrolled roll about the central axis of the fuselage. In order to solve this problem, the present pipeline robot uses a coaxial contra-rotating propeller. When the propeller is in operation, 1 propellerThe positive and 1 negative propellers rotate in opposite directions, producing the moment M in FIG. 8p1And Mp2And the 2 opposite moments are mutually offset, so that the stability of the robot around the shaft gesture is ensured. In consideration of practical application, due to manufacturing difference and the like, the torque generated by the coaxial contrarotating propeller is not strictly compensated, and the residual small unbalanced torque can be completely supported by the friction torque M between the outer wheel and the pipe wallr1And Mr2And (6) balancing. In addition, partial vortex is eliminated by the blade reversal of the coaxial contrarotating propeller 2 group, the working efficiency is higher compared with that of a single propeller, and therefore the coaxial contrarotating propeller is used for the pipeline robot propeller.
Wherein, 2 propellers of the robot can be independently controlled. When the positive propeller rotates anticlockwise and the negative propeller rotates clockwise to generate thrust, the robot moves forwards; when the positive propeller rotates clockwise and the negative propeller rotates anticlockwise to generate pulling force, the robot retreats; when the positive paddle and the negative paddle rotate anticlockwise, clockwise moment is generated, and the robot rolls clockwise around the central shaft; when the positive paddle and the negative paddle rotate clockwise, counterclockwise moment is generated, and the robot rolls counterclockwise around the central axis. Therefore, the robot can not only move forwards and backwards in a water pipe, but also flexibly realize the turning-over action, realize the functions of posture correction, getting rid of difficulties and the like, and has stronger adaptability to the working environment.
The robot utilizes an umbilical cable connected with a propeller cabin rear cover to realize power supply and communicate with an upper computer, and an operator can acquire information in a pipeline in real time through the upper computer and control the motion of the robot. Meanwhile, the umbilical cable is also used as a safety rope of the robot in an emergency, the umbilical cable can be pulled to take the robot out of a pipeline in an accident, and blockage is avoided.
The robot shell consisting of the control cabin body, the control cabin end cover, the propeller cabin front cover, the propeller cabin duct and the propeller cabin rear cover is made of aluminum alloy, and standard components such as the cabin body connecting spring, the threading gland head, the screw nut and the like are made of stainless steel. The robot has the overall dimension of 325mm multiplied by 80mm, and the shell can meet the pressure-resistant requirement of 0.5MPa water pressure. The robot is suitable for working scenes with pressure water supply pipelines with the inner diameter of 100mm or more.
The robot is positioned at the bottom of the pipeline when moving in the pipeline, the propeller cabin sprays water to generate propelling force, the robot slides in the pipeline by utilizing the supporting wheels at the lower part of the vehicle body without rigid contact of all the supporting wheels and the pipe wall, and therefore the robot can adapt to large-range pipe diameter change. The supporting wheels of the robot are uniformly distributed on the end face of each cabin body at intervals of 36-degree angles, and can be used as guide wheels when the robot passes through a bent pipe, so that the robot is guided to smoothly pass through the bent pipe. In addition, because the supporting wheel shafts are symmetrically distributed on the circumference of the circular cabin body, the robot does not have the problem of dumping, and the phenomenon of blocking a water pipe is not easy to occur.
In summary, the above description is only a few embodiments, not all embodiments, of the present invention. Based on the embodiments of the present invention, any person skilled in the art can use the disclosed technical content to make modified or slightly modified equivalent embodiments without departing from the scope of the technical solution of the present invention. Any modification, equivalent replacement and modification made to the above embodiments without departing from the spirit and principle of the present invention belong to the protection scope of the present invention.
Claims (7)
1. A water supply pipeline detection robot propelled by a propeller is characterized by comprising a robot propeller cabin, a robot control cabin and a connecting structure; the robot propeller cabin and the robot control cabin are connected through a connecting structure;
the robot propeller cabin consists of a propeller cabin front cover (3), a propeller cabin duct (4), a propeller cabin rear cover (5), a supporting outer wheel (8), a propeller electric control PCB (14), a waterproof motor (15), a propeller (16) and a motor fixing seat (17); the propeller cabin duct (4) is a main body part of the robot propeller cabin, and a propeller cabin front cover (3) and a propeller cabin rear cover (5) are arranged at the front end and the rear end of the propeller cabin duct (4); the two propellers (16) are sequentially arranged on a central axis in the propeller cabin duct (4), and the propellers (16) are driven by a waterproof motor (15); the waterproof motor (15) is arranged on the motor fixing seat (17) and is arranged in the propeller cabin duct (4), and the waterproof motor (15) is driven and regulated by the propeller electric-regulation PCB (14); the propeller electric-regulation PCB (14) is arranged in a closed waterproof space formed by the propeller cabin front cover (3) and the propeller cabin culvert (4); the supporting outer wheels (8) are arranged on the propeller cabin rear cover (5) and the propeller cabin duct (4);
the robot control cabin consists of a control cabin body (1), a control cabin end cover (2), a water pressure sensor (9), a PCB fixing frame (10), a control and signal processing PCB (11) and a control cabin end cover sealing ring (12); the control cabin body (1) is a main body part of the robot control cabin, and the control cabin end cover (2) is directly inserted and seals an opening of an inner cavity of the control cabin body (1); the control and signal processing PCB (11) is inserted on a PCB fixing frame (10), and the PCB fixing frame (10) is inserted in an inner cavity of the control cabin body (1); the water pressure sensor (9) is arranged on a through hole on the end surface of the control cabin body (1); and the control cabin end cover sealing ring (12) is arranged in a sealing groove on the control cabin end cover (2).
2. A screw-propelled water supply pipeline inspection robot as claimed in claim 1, wherein the connection structure is composed of a cabin body connection spring (6), a waterproof cable (7), and a waterproof threading glan head (13); the cabin body connecting spring (6) is respectively fixed on the front cover (3) of the propeller cabin and the end cover (2) of the control cabin; the waterproof cable (7) is connected with the propeller electric adjusting PCB (14) and the control and signal processing PCB (11); the waterproof threading glan head (13) is arranged at the joint of the cabin body connecting spring (6) and the control cabin end cover (2) and the cabin body connecting spring (6) and the front cover (3) of the propeller cabin.
3. The screw-propelled water supply pipeline inspection robot according to claim 1, wherein the control cabin body (1), the control cabin end cover (2), the propeller cabin front cover (3), the propeller cabin duct (4) and the propeller cabin rear cover (5) are made of aluminum alloy.
4. A propeller-propelled water supply pipeline inspection robot as set forth in claim 1, wherein said control and signal processing PCB (11) contains three-axis magnetic field sensors, three-axis acceleration sensors, three-axis gyroscopes, embedded controllers, and network signal interface circuitry.
5. A screw-propelled water supply pipeline inspection robot as claimed in claim 1, wherein flow guide holes are provided in the side wall of the propeller cabin duct (4) and the propeller cabin rear cover (5).
6. A screw-propelled water supply pipeline inspection robot as claimed in claim 1, characterized in that a docking station (18) is mounted in the middle of the end of the control cabin body (1), said docking station (18) being capable of mounting a camera or a sensor cabin body in an extended manner.
7. A screw-propelled water supply pipeline inspection robot as claimed in claim 1, wherein the support outer wheels (8) are mounted on the control cabin body (1) and the control cabin end cover (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121100303.2U CN214889742U (en) | 2021-05-21 | 2021-05-21 | Screw-propelled water supply pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121100303.2U CN214889742U (en) | 2021-05-21 | 2021-05-21 | Screw-propelled water supply pipeline detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN214889742U true CN214889742U (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121100303.2U Active CN214889742U (en) | 2021-05-21 | 2021-05-21 | Screw-propelled water supply pipeline detection robot |
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| CN (1) | CN214889742U (en) |
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2021
- 2021-05-21 CN CN202121100303.2U patent/CN214889742U/en active Active
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