CN215000208U

CN215000208U - Pipeline robot

Info

Publication number: CN215000208U
Application number: CN202120311387.8U
Authority: CN
Inventors: 王旭将; 陶益瑞; 王剑波
Original assignee: Taizhou Construction Municipal Engineering Testing Center Co ltd
Current assignee: Taizhou Construction Municipal Engineering Testing Center Co ltd
Priority date: 2021-02-03
Filing date: 2021-02-03
Publication date: 2021-12-03
Anticipated expiration: 2031-02-03

Abstract

The utility model relates to a pipeline robot relates to pipeline detection technical field, including pedestal, a plurality of rotation connect preceding pivot and the back pivot on the pedestal, set up in the gyro wheel at preceding pivot, back pivot both ends, be provided with the pivot before the drive in the pedestal and drive gyro wheel pivoted driving piece, the lower extreme of gyro wheel is the external setting of expanding towards the direction of keeping away from preceding pivot, back pivot. This application is through setting up the gyro wheel of expanding outward the form, increases the area of contact between gyro wheel and the pipe inner wall, reduces the gyro wheel and skids on the pipe inner wall to have the advantage of the pipeline robot of being convenient for walking in the pipeline.

Description

Pipeline robot

Technical Field

The application relates to the technical field of pipeline detection, in particular to a pipeline robot.

Background

At present, the pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operation machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.

Related art for example, a pipeline inspection robot that publication number is CN09710U, includes pedestal and running gear, and running gear includes preceding action wheel, preceding driven wheel, back action wheel, back driven wheel, first driving motor, second driving motor, and preceding action wheel, preceding driven wheel are established at the double-phase contralateral of pedestal front end and are connected with the first driving motor is coaxial, and back action wheel, back driven wheel are established at the double-phase contralateral of pedestal rear end and are connected with the second driving motor is coaxial.

In the above-described related art, the inventors consider that: the robot is in the pipeline during walking, and preceding action wheel on the pedestal, preceding from the axis of driving wheel, back action wheel, back from the driving wheel all parallel with the motor output shaft, because the pipeline pipe wall is the curved surface, the area of contact of gyro wheel on the pedestal and pipe wall is less for the gyro wheel skids in the pipeline easily, leads to pipeline robot walking comparatively difficult.

SUMMERY OF THE UTILITY MODEL

In order to facilitate the pipeline robot to walk in the pipeline, the purpose of this application is to provide a pipeline robot.

The application provides a pipeline robot adopts following technical scheme:

the utility model provides a pipeline robot, includes pedestal, a plurality of rotate connect in preceding pivot on the pedestal and back pivot, set up in the gyro wheel at preceding pivot, back pivot both ends, be provided with the drive in the pedestal preceding pivot drives gyro wheel pivoted driving piece, the lower extreme of gyro wheel is towards keeping away from the direction of preceding pivot, back pivot is the external setting that expands.

Through adopting above-mentioned technical scheme, when examining the pipeline, the driving piece starts, and the pivot rotates before driving to the gyro wheel that rotates before driving on the pivot rotates, and then rotates with the epaxial gyro wheel of back pivot before driving, so that the gyro wheel of expanding outward the form is traveling along pipeline inner wall, realizes the walking of pipeline robot in the pipeline. Therefore, the contact area between the roller and the inner wall of the pipeline is increased by arranging the externally-expanded roller, and the slippage of the roller on the inner wall of the pipeline is reduced, so that the pipeline robot can walk in the pipeline conveniently.

Optionally, the driving part comprises a first motor arranged in the seat body, a first worm coaxially connected to an output shaft of the first motor, and a first turbine coaxially connected to the front rotating shaft and meshed with the first worm.

By adopting the technical scheme, when the front rotating shaft is driven to rotate, the first motor is started to drive the first worm to rotate, the first worm drives the first turbine to rotate after rotating, the first turbine drives the front rotating shaft to rotate, then the front rotating shaft drives the roller in front of the seat body to rotate, and the roller in front of the seat body drives the roller in back to rotate. Meanwhile, the roller is driven to rotate reversely by the reverse rotation of the motor, so that the base body is driven to retreat in the pipeline, and the pipeline robot can conveniently advance and retreat in the pipeline.

Optionally, the first motor is a double-shaft motor, a second worm is coaxially connected to one side of the first motor, which is back to the first worm, and a second turbine meshed with the second worm is coaxially connected to the rear rotating shaft.

By adopting the technical scheme, when the first motor drives the first worm to rotate, the second worm rotates synchronously with the first worm along with the rotation of the first motor, the second worm rotates to drive the second worm gear to rotate, and the second worm gear drives the rear rotating shaft to rotate, so that the rear rotating shaft and the front rotating shaft synchronously rotate under the driving of the first motor, and the power of the pipeline robot walking in the pipeline is enhanced.

Optionally, a camera is arranged on the seat body in a rotating mode, and a second motor for driving the camera to rotate is arranged above the first motor in the seat body.

Through adopting above-mentioned technical scheme, when examining the pipeline inside, through starter motor one to drive the camera and rotate by three hundred sixty degrees, when the camera rotates the region that needs carefully to look over, stop motor one and rotate promptly, can aim at the region that needs the detection with the camera, so that the angle of camera on the horizontal direction is adjustable, thereby is convenient for adjust the detection angle of camera on the horizontal direction.

Optionally, the camera is hinged to an output shaft of the second motor, a supporting plate is fixedly connected to the output shaft of the second motor, an air cylinder is fixedly connected to the supporting plate, and an air cylinder piston rod is hinged to one end, away from the output shaft of the second motor, of the camera.

Through adopting above-mentioned technical scheme, when detecting the pipeline inside, through starting the cylinder, start the piston rod extension or shorten to drive the camera and rotate from top to bottom along vertical direction on two output shafts of motor, make the camera in the ascending angularly adjustable of vertical direction, thereby be convenient for adjust the detection angle of camera in vertical direction.

Optionally, a rotating hole for rotating the second output shaft of the motor and the cylinder piston rod is formed in the top wall of the base body, a blocking plate for blocking the rotating hole is rotatably connected in the rotating hole, the second output shaft of the motor and the cylinder piston rod penetrate through the blocking plate, and the cylinder piston rod vertically slides in the blocking plate.

Through adopting above-mentioned technical scheme, when adjusting the angle of camera level and vertical direction, motor two drives the backup pad and rotates, and then drives cylinder and camera and rotate simultaneously. Then the blocking plate rotates in the rotating hole under the rotation of the second output shaft of the motor and the piston rod of the air cylinder, so that the air cylinder can still adjust the angle of the camera in the vertical direction while the camera rotates. Therefore, the blocking plate is arranged through rotation, the blocking plate rotates along with the supporting plate to block the rotating hole, and therefore foreign matters are reduced from entering the seat body.

Optionally, a hinge point between the output shaft of the second motor and the camera is far away from the cylinder piston rod.

Through adopting above-mentioned technical scheme to increase the turned angle of camera on two output shafts of motor, and then increase the detection range of camera in vertical direction.

Optionally, a battery for the first motor and the second motor to run in a powered manner is fixedly connected to the base.

Through adopting above-mentioned technical scheme, utilize the battery to the power supply of motor one and motor two, replace the pipeline robot to pass through the on-vehicle generator of cable conductor connection. So that when the pipeline is imported not well to park around, the pipeline robot detects from taking the power to it detects to be convenient for the pipeline robot.

In summary, the present application includes at least one of the following beneficial technical effects:

the contact area between the roller and the inner wall of the pipeline is increased by arranging the outward-expanded roller, and the slippage of the roller on the inner wall of the pipeline is reduced, so that the pipeline robot can walk in the pipeline conveniently;

by arranging the first double-shaft motor, the first worm is meshed with the first turbine, and the second worm is meshed with the second turbine, so that the front rotating shaft and the rear rotating shaft synchronously rotate, and the power of the pipeline robot for walking in the pipeline is enhanced;

by arranging the motor II and the air cylinder, the angle of the camera in the vertical and horizontal directions can be adjusted, so that the detection range of the camera is enlarged;

through setting up the closure plate for the camera also can the tilting in the level pivoted, so that the closure plate rotates along with the backup pad and will rotate the hole and carry out the shutoff, thereby it is internal to reduce external impurity and get into the seat.

Drawings

Fig. 1 is a schematic overall structure diagram of an embodiment of the present application.

Fig. 2 is a schematic structural diagram for showing a driving member according to an embodiment of the present application.

FIG. 3 is a schematic structural diagram for showing a cylinder according to an embodiment of the present application.

Description of reference numerals: 1. a base body; 11. a front rotating shaft; 12. a rear rotating shaft; 13. a roller; 131. anti-skid lines; 14. a battery; 2. a housing; 21. a camera; 22. a second motor; 221. an output shaft; 23. a support plate; 24. a cylinder; 241. a piston rod; 25. rotating the hole; 251. a blocking plate; 3. a drive member; 31. a first motor; 32. a first worm; 33. a first turbine; 34. a second worm; 35. and a second turbine.

Detailed Description

The present application is described in further detail below with reference to figures 1-3.

The embodiment of the application discloses a pipeline robot.

Referring to fig. 1 and 2, a pipeline robot includes a base 1, a housing 2 fixedly connected to the base 1, and a camera 21 rotatably mounted on the housing 2. Two ends of the seat body 1 are respectively and rotatably connected with a front rotating shaft 11 and a rear rotating shaft 12, and two ends of the front rotating shaft 11 and the rear rotating shaft 12 are respectively and fixedly connected with a roller 13.

Referring to fig. 1, a plurality of anti-slip threads 131 are formed on the circumferential side wall of the roller 13, and the lower end of the roller 13 is outwardly expanded in a direction away from the front rotating shaft 11 and the rear rotating shaft 12, so as to increase the contact area between the roller 13 and the inner wall of the pipeline and reduce the slip of the roller 13 on the inner wall of the pipeline.

Referring to fig. 2, a driving part 3 for driving the front rotating shaft 11 to rotate is installed inside the seat body 1, and the driving part 3 includes a first motor 31 fixedly connected inside the seat body 1, a first worm 32 coaxially connected to an output shaft of the first motor 31, and a first worm wheel 33 coaxially connected to the front rotating shaft 11 and engaged with the first worm 32. An output shaft of the first motor 31 extends towards the front rotating shaft 11 so as to drive the first worm 32 to rotate through the rotation of the first motor 31, the first worm 32 drives the first worm wheel 33 to rotate, and the first worm wheel 33 drives the front rotating shaft 11 and the roller 13 to rotate.

Referring to fig. 2, the first motor 31 is a dual-shaft motor, and output shafts of the first motor 31 are symmetrically arranged along the width direction of the base 1. One side of the first motor 31, which is back to the first worm 32, is coaxially connected with a second worm 34, the rear rotating shaft 12 is coaxially connected with a second worm wheel 35 which is meshed with the second worm 34, and the first worm 32 and the second worm 34 are both arranged above the front rotating shaft 11 and the rear rotating shaft 12. So that the first motor 31 drives the first worm 32 to rotate and simultaneously drives the second worm 34 to rotate, and the second turbine 35 drives the rear rotating shaft 12 and the front rotating shaft 11 to synchronously rotate, so that the rear rotating shaft 12 rotates together when the first motor 31 drives the front rotating shaft 11, and the power of the pipeline robot walking in the pipeline is further enhanced.

Referring to fig. 1 and 3, a second motor 22 for driving the camera 21 to rotate is fixedly connected in the housing 2, an output shaft 221 of the second motor 22 extends vertically upwards and is hinged to a side wall of the camera 21, and a hinge point between the output shaft 221 of the second motor 22 and the camera 21 is arranged near an end of the camera 21. So as to drive the camera 21 to rotate by three hundred and sixty degrees through the rotation of the second motor 22, so as to adjust the detection angle of the camera 21 in the horizontal direction.

Referring to fig. 1 and 3, a battery 14 connected with a first motor 31 and a second motor 22 is fixedly connected above the first motor 31 in the seat body 1, so as to supply power to the first motor 31 and the second motor 22 through the battery 14, and the pipeline robot is connected with a vehicle-mounted generator through a cable instead of the pipeline robot, so that when parking around the inlet of the pipeline is not good, the pipeline robot is detected by a power supply.

Referring to fig. 1 and 3, a support plate 23 is fixedly connected to the second motor output shaft 221 in the housing 2 horizontally, an air cylinder 24 is fixedly connected to the upper surface of the support plate 23, and a piston rod 241 of the air cylinder 24 vertically extends upward and is hinged to one end of the camera 21 away from the second motor 22 output shaft 221. So that the second motor 22 drives the camera 21 to rotate, and simultaneously, the air cylinder 24 rotates on the support plate 23 together with the camera 21, and the angle of the camera 21 in the vertical direction is adjusted through the expansion and contraction of the piston rod 241 of the air cylinder 24.

Referring to fig. 1 and 3, a rotation hole 25 for rotating the output shaft 221 of the motor II 22 and the piston rod 241 of the air cylinder 24 is formed in the top wall of the housing 2, a blocking plate 251 for blocking the rotation hole 25 is rotatably connected in the rotation hole 25, the output shaft 221 of the motor II 22 and the piston rod 241 of the air cylinder 24 vertically penetrate through the blocking plate 251, and the piston rod 241 of the air cylinder 24 vertically slides in the blocking plate 251, so that the rotation hole 25 is sealed when the output shaft 221 of the motor II 22 and the piston rod 241 of the air cylinder 24 rotate, and the entering of external impurities into the housing 2 is reduced.

The implementation principle of the pipeline robot in the embodiment of the application is as follows: when the pipeline is detected, the first motor 31 is started, the first worm 32 drives the front rotating shaft 11 to rotate, the second worm 34 drives the rear rotating shaft 12 to rotate, and therefore the front rotating shaft 11 and the rear rotating shaft 12 synchronously rotate to drive the roller 13 to rotate. Meanwhile, the second motor 22 rotates to drive the camera 21, the cylinder 24 and the blocking plate 251 to rotate so as to adjust the detection angle in the horizontal direction, and then the piston rod 241 of the cylinder 24 stretches and retracts again so as to adjust the detection angle in the vertical direction, so that the inner wall of the pipeline is detected. In the whole pipeline detection process, the roller 13 is in outward expansion in the pipeline rotation to increase the contact area between the roller 13 and the inner wall of the pipeline, and reduce the slippage of the roller 13 on the inner wall of the pipeline, so that the pipeline robot can walk in the pipeline conveniently.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. A pipeline robot, characterized in that: including pedestal (1), a plurality of rotate connect in preceding pivot (11) and back pivot (12) on pedestal (1), set up in gyro wheel (13) at preceding pivot (11), back pivot (12) both ends, be provided with the drive in pedestal (1) preceding pivot (11) drive gyro wheel (13) pivoted driving piece (3), the lower extreme of gyro wheel (13) is towards keeping away from the direction of preceding pivot (11), back pivot (12) is the setting of expanding outward.

2. The pipeline robot of claim 1, wherein: the driving piece (3) comprises a first motor (31) arranged in the base body (1), a first worm (32) coaxially connected to an output shaft (221) of the first motor (31), and a first turbine (33) coaxially connected to the front rotating shaft (11) and meshed with the first worm (32).

3. The pipeline robot of claim 2, wherein: the first motor (31) is a double-shaft motor, one side of the first motor (31), back to the first worm (32), is coaxially connected with a second worm (34), and the rear rotating shaft (12) is coaxially connected with a second worm wheel (35) meshed with the second worm (34).

4. The pipeline robot of claim 2, wherein: the base body (1) is provided with a camera (21) in a rotating mode, and a second motor (22) which drives the camera (21) to rotate is arranged above the first motor (31) in the base body (1).

5. The pipeline robot of claim 4, wherein: the camera (21) is hinged to an output shaft (221) of the second motor (22), a supporting plate (23) is fixedly connected to the output shaft (221) of the second motor (22), an air cylinder (24) is fixedly connected to the supporting plate (23), and a piston rod (241) of the air cylinder (24) is hinged to one end, away from the output shaft (221) of the second motor (22), of the camera (21).

6. The pipeline robot of claim 5, wherein: the top wall of the base body (1) is provided with a rotating hole (25) for rotating an output shaft (221) of the motor II (22) and a piston rod (241) of the cylinder (24), the rotating hole (25) is rotatably connected with a blocking plate (251) for blocking the rotating hole (25), the output shaft (221) of the motor II (22) and the piston rod (241) of the cylinder (24) penetrate through the blocking plate (251), and the piston rod (241) of the cylinder (24) vertically slides in the blocking plate (251).

7. The pipeline robot of claim 5, wherein: and a hinge point of an output shaft (221) of the second motor (22) and the camera (21) is arranged far away from a piston rod (241) of the air cylinder (24).

8. The pipeline robot of claim 4, wherein: and a battery (16) for electrifying and operating the first motor (31) and the second motor (22) is fixedly connected to the base body (1).