CN215410839U - Pipeline surveying robot - Google Patents
Pipeline surveying robot Download PDFInfo
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- CN215410839U CN215410839U CN202121171429.9U CN202121171429U CN215410839U CN 215410839 U CN215410839 U CN 215410839U CN 202121171429 U CN202121171429 U CN 202121171429U CN 215410839 U CN215410839 U CN 215410839U
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- pipeline
- rotating wheel
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Abstract
The utility model relates to a pipeline surveying robot, which comprises a robot main body, a camera fixed on the front side of the robot main body through a mounting bracket, support rods respectively arranged on the left side and the right side of the bottom of the robot main body, a rotating wheel support frame with one end rotatably connected with the support rods, a rotating wheel rotatably connected to the other end of the rotating wheel support frame, a driving piece for driving the rotating wheel to move along the curved wall on the inner side of a pipeline, and an angle adjusting assembly, wherein the camera is fixed on the front side of the robot main body through the mounting bracket; according to the utility model, the movement mechanism of the robot is designed into a splayed shape, so that the robot can be supported on the pipe wall and can move along the curved wall on the inner side of the pipeline, and compared with a single-wheel movement mechanism in the prior art, the robot has higher stability, thereby effectively improving the accuracy of a surveying result; meanwhile, the opening angle between the rotating wheels is adjusted by arranging the angle adjusting assembly, so that the device can be suitable for pipeline surveying work with different inner diameters and curvatures, and the application range is wider.
Description
Technical Field
The utility model relates to the technical field of robot design and manufacture, in particular to a pipeline surveying robot.
Background
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 operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.
Pipeline survey robot is one kind of pipeline robot, and it is used for detecting the in service behavior of pipeline, including the inside condition such as whether have the emergence corruption or damage of detection pipeline to guarantee the security of pipeline use, avoid the emergence accident.
However, when the existing pipeline surveying robot detects a circular pipeline, a single-wheel motion mechanism is generally adopted, and the stability is poor.
Therefore, there is a need to provide a new technical solution to overcome the above-mentioned drawbacks.
SUMMERY OF THE UTILITY MODEL
It is an object of the present invention to provide a pipeline surveying robot that effectively solves the above-mentioned technical problems.
In order to achieve the purpose of the utility model, the following technical scheme is adopted:
a pipeline surveying robot comprising:
a robot main body;
a camera: the front side of the robot main body is fixed through a mounting bracket;
supporting the rods: the left side and the right side of the bottom of the robot main body are respectively arranged;
runner support frame: one end of the supporting rod is rotatably connected with the supporting rod, and the supporting rod swings left and right by taking the supporting rod as a center to form an included angle with the supporting rod;
rotating wheel: the rotating wheel support is rotatably connected to the other end of the rotating wheel support frame and is tangent to the curved wall on the inner side of the pipeline;
a driving part: the rotating wheel is fixedly connected with the rotating wheel supporting frame and is driven to move along the curved wall on the inner side of the pipeline, and the robot main body is driven to move forwards;
and, the angle adjustment assembly: and the included angle between the rotating wheel support frames and the support rods is changed between the rotating wheel support frames on the two sides of the robot main body.
Preferably, two supporting rods are arranged on two sides of the bottom of the robot main body respectively, and the rotating wheel supporting frame and the rotating wheels correspond to the supporting rods one to one.
Preferably, a connecting rod is fixedly arranged between the two runner support frames positioned on the same side of the robot main body.
Preferably, the angle adjustment assembly includes:
driving a motor: the base is fixedly arranged at the bottom of the robot main body;
ball screw: the driving end of the driving motor is fixedly connected with the driving end of the driving motor;
moving blocks: the ball screw is connected with the ball screw in a sliding manner, through grooves are formed in one side of the ball screw opposite to the connecting rod, and a fixing rod is fixedly arranged between the inner side walls of two sides of each through groove;
and, a hinge rod: one end of the connecting rod is rotatably connected with the connecting rod, and the other end of the connecting rod is rotatably connected with the fixing rod.
Preferably, the outer side of the ball screw is sleeved with a telescopic protective sleeve.
Preferably, the number of the cameras is 4, and the 4 cameras are distributed at equal intervals along the outer circumferential direction of the mounting bracket.
Compared with the prior art, the utility model has the following beneficial effects:
according to the utility model, the movement mechanism of the robot is designed into a splayed shape, so that the robot can be supported on the pipe wall and can move along the curved wall on the inner side of the pipeline, and compared with a single-wheel movement mechanism in the prior art, the robot has higher stability, thereby effectively improving the accuracy of a surveying result; meanwhile, the opening angle between the rotating wheels is adjusted by arranging the angle adjusting assembly, so that the device can be suitable for pipeline surveying work with different inner diameters and curvatures, and the application range is wider.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
FIG. 1 is a schematic structural diagram of a pipeline survey robot according to the present invention;
FIG. 2 is a rear view of a pipeline survey robot provided by the present invention;
FIG. 3 is a front view of a pipeline survey robot provided by the present invention;
fig. 4 is a cross-sectional view taken along the plane a-a in fig. 3.
Numerical description in the figures:
1. a robot main body; 2. a camera; 3. a support bar; 4. a rotating wheel support frame; 5. a rotating wheel; 6. an angle adjustment assembly; 61. a drive motor; 62. a ball screw; 63. a moving block; 64. a hinged lever; 65. fixing the rod; 66. a telescopic protective sleeve;
7. a control module; 8. mounting a bracket; 9. a connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
In the description of the present invention, it is to be understood that the terms "central," "lateral," "longitudinal," "front," "rear," "left," "right," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the utility model and for simplicity in description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the scope of the utility model. When an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
A pipeline surveying robot according to the present invention will be described more fully with reference to the accompanying drawings.
As shown in fig. 1 to 4, the present invention provides a pipeline surveying robot, which includes a robot main body 1, a camera 2, a support bar 3, a wheel 5 support frame 4, a wheel 5, a driving member, and an angle adjusting assembly 6.
Wherein, the internally mounted of robot main part 1 has control module 7, and installs installing support 8 on its leading flank, camera 2 installs on installing support 8.
The supporting rods 3 are symmetrically arranged on the left side and the right side of the bottom surface of the robot main body 1 respectively and are vertically arranged.
The top end of the supporting frame 4 of the rotating wheel 5 is hinged with the lower end of the supporting rod 3, and the supporting frame can swing left and right by taking the supporting rod 3 as a center. Under the initial state, runner 5 support frame 4 of robot main part 1 both sides is "eight" font setting, runner 5 support frame 4 with have certain contained angle between bracing piece 3, this contained angle specifically is 150 degrees.
The rotating wheel 5 is rotatably connected to the lower end of a supporting frame 4 of the rotating wheel 5 and is tangent to the inner curved wall of the pipeline to be surveyed. The driving part is preferably a servo motor, is mounted on the supporting frame 4 of the rotating wheel 5, and drives the corresponding rotating wheel 5 to rotate, so as to drive the robot main body 1 to move forward.
The angle adjusting assembly 6 is located at the middle position of the bottom of the robot main body 1 and used for adjusting the angle between the supporting frame 4 and the supporting rod 3 of the rotating wheels 5, and further changing the opening angle between the rotating wheels 5 on two sides of the robot main body 1 so as to adapt to pipelines with different inner diameters.
According to the utility model, the movement mechanism of the robot is designed into a splayed shape, so that the robot can be supported on the pipe wall and can move along the curved wall on the inner side of the pipeline, and compared with a single-wheel movement mechanism in the prior art, the robot has higher stability, thereby effectively improving the accuracy of a surveying result; meanwhile, the opening angle between the rotating wheels 5 is adjusted by arranging the angle adjusting assembly 6, so that the device can be suitable for pipeline surveying work with different inner diameters and curvatures, and the application range is wider.
Specifically, in this embodiment, the left side and the right side of the bottom of the robot main body 1 are respectively provided with two support rods 3, and four support rods 3 are distributed in a matrix. The rotating wheels 5 and the supporting frames 4 are in one-to-one correspondence with the supporting rods 3, the rotating wheels 5 and the supporting frames 5 are located on the same side of the robot body 1, and connecting rods 9 are fixedly arranged between the rotating wheels 5 and the supporting frames 4. The two rotating wheels 5 are respectively arranged on the left side and the right side of the robot main body 1, so that the stability of the robot main body 1 in motion can be further improved.
The angle adjusting assembly 6 includes a driving motor 61, a ball screw 62, a moving block 63, and a hinge lever 64.
Specifically, the main body of the driving motor 61 is installed inside the robot main body 1, and a driving shaft thereof extends out of the bottom surface of the robot main body 1 and is rotatably connected with the bottom surface of the robot main body 1 through a seal bearing.
The ball screw 62 is fixedly connected to the end part of the driving end of the driving motor 61; the moving block 63 is connected with the ball screw 62 in a sliding manner, through grooves are formed in the left side and the right side of the moving block 63, and a fixing rod 65 is fixedly arranged between the front side wall and the rear side wall of each through groove; the left end of the hinge rod 64 is rotatably connected with the connecting rod 9, the right end of the hinge rod is rotatably connected with the fixing rod 65, and the left side and the right side of the moving block 63 are both provided with two hinge rods 64.
When the robot is used, the driving motor 61 is started to drive the ball screw 62 to rotate, and then the moving block 63 is driven to move upwards or downwards, so that the angle between the hinge rod 64 and the fixed rod 65 and the connecting rod 9 can be changed, and then the supporting frame 4 of the rotating wheel 5 can be driven to swing, and the angle between the rotating wheels 5 on the two sides of the robot main body 1 can be changed.
In addition, in the present embodiment, a telescopic protective sleeve 66 is sleeved on the outer side of the ball screw 62, and is used for protecting the ball screw 62, so as to prolong the service life of the ball screw 62.
Meanwhile, in the embodiment, in order to improve the accuracy of the detection result, 4 cameras 2 are provided, and the 4 cameras 2 are distributed at equal intervals along the outer circumferential direction of the mounting bracket 8, so that the pipeline can be surveyed from four directions, namely, up, down, left and right, and the accuracy is high.
It should be noted that, a control module 7 is installed inside the robot body, and the driving member, the camera 2 and the angle adjusting assembly 6 are all connected to the control module for controlling the robot to perform movement and surveying.
The standard parts used in the utility model can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the accompanying drawings, the specific connection mode of each part adopts conventional means such as bolts, rivets, welding and the like mature in the prior art, the machinery, parts and equipment adopt conventional models in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described, and the content not described in detail in the specification belongs to the prior art known by persons skilled in the art.
Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model.
Claims (6)
1. A pipeline surveying robot, characterized by: the method comprises the following steps:
a robot main body;
a camera: the front side of the robot main body is fixed through a mounting bracket;
supporting the rods: the left side and the right side of the bottom of the robot main body are respectively arranged;
runner support frame: one end of the supporting rod is rotatably connected with the supporting rod, and the supporting rod swings left and right by taking the supporting rod as a center to form an included angle with the supporting rod;
rotating wheel: the rotating wheel support is rotatably connected to the other end of the rotating wheel support frame and is tangent to the curved wall on the inner side of the pipeline;
a driving part: the rotating wheel is fixedly connected with the rotating wheel supporting frame and is driven to move along the curved wall on the inner side of the pipeline, and the robot main body is driven to move forwards;
and, the angle adjustment assembly: and the included angle between the rotating wheel support frames and the support rods is changed between the rotating wheel support frames on the two sides of the robot main body.
2. A pipeline surveying robot according to claim 1, characterized by: two supporting rods are arranged on two sides of the bottom of the robot main body respectively, and the rotating wheel supporting frame and the rotating wheels correspond to the supporting rods one to one.
3. A pipeline surveying robot according to claim 2, characterized by: and a connecting rod is fixedly arranged between the two runner support frames positioned on the same side of the robot main body.
4. A pipeline surveying robot according to claim 3, characterized by: the angle adjustment assembly includes:
driving a motor: the base is fixedly arranged at the bottom of the robot main body;
ball screw: the driving end of the driving motor is fixedly connected with the driving end of the driving motor;
moving blocks: the ball screw is connected with the ball screw in a sliding manner, through grooves are formed in one side of the ball screw opposite to the connecting rod, and a fixing rod is fixedly arranged between the inner side walls of two sides of each through groove;
and, a hinge rod: one end of the connecting rod is rotatably connected with the connecting rod, and the other end of the connecting rod is rotatably connected with the fixing rod.
5. A pipeline surveying robot according to claim 4, characterized by: and a telescopic protective sleeve is sleeved on the outer side of the ball screw.
6. A pipeline surveying robot according to claim 1 or 5, characterized by: the camera is equipped with 4, and 4 the camera is along the outer circumferencial direction of installing support is the interval distribution equally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121171429.9U CN215410839U (en) | 2021-05-28 | 2021-05-28 | Pipeline surveying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121171429.9U CN215410839U (en) | 2021-05-28 | 2021-05-28 | Pipeline surveying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215410839U true CN215410839U (en) | 2022-01-04 |
Family
ID=79677598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121171429.9U Expired - Fee Related CN215410839U (en) | 2021-05-28 | 2021-05-28 | Pipeline surveying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215410839U (en) |
-
2021
- 2021-05-28 CN CN202121171429.9U patent/CN215410839U/en not_active Expired - Fee Related
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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 |
Granted publication date: 20220104 |
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| CF01 | Termination of patent right due to non-payment of annual fee |