CN215807164U - Running gear with visual identification function - Google Patents
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- CN215807164U CN215807164U CN202121517690.XU CN202121517690U CN215807164U CN 215807164 U CN215807164 U CN 215807164U CN 202121517690 U CN202121517690 U CN 202121517690U CN 215807164 U CN215807164 U CN 215807164U
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Abstract
The utility model relates to a running gear with visual identification function, comprising: the engine base is fixedly sleeved on the shaft lever; the spring seat is matched and concentric with the shaft rod; the spring is sleeved on the shaft lever, and two ends of the spring are respectively fixed with the spring seat and one end of the shaft lever, which is far away from the base; one end of each main connecting rod is rotatably connected with the base, and the other end of each main connecting rod is connected with the driving wheel through a driving mechanism; one end of each auxiliary connecting rod is rotatably connected with the spring seat, the other end of each auxiliary connecting rod is rotatably provided with a driven wheel, and the middle part of each auxiliary connecting rod is correspondingly and rotatably connected with the middle part of each main connecting rod; the visual identification module is arranged on the shaft lever and used for acquiring image information of the pipe wall of the pipeline and identifying the image; and the main control unit is respectively and electrically connected with the visual identification module and the driving mechanism. The beneficial effects are that: the single spring is adopted for control, the external tension is the same, the axle center stability of the travelling mechanism is guaranteed in the travelling process of the pipeline, the blocking condition is avoided, and the travelling mechanism can be applied to pipelines with different inner diameters.
Description
Technical Field
The utility model relates to the field of pipeline equipment maintenance, in particular to a travelling mechanism with a visual identification function.
Background
The maintenance, cleaning and protection treatment of the interior of a pipe with a small pipe diameter (80-400mm) and high added value (a conveying pipeline and a special-purpose pipeline) is an industrial problem, the pipeline has high requirements on the state of inner wall substances, for example, the last-time conveying substances need to be cleaned when the conveying substances are replaced, and if stubborn impurities generated in the conveying process bring risks to the operation of the whole system, the cleaning and protection operation needs to be carried out on the interior of the pipe at regular intervals.
For this needs carry out the operation with the help of the pipeline robot that corresponds, and the traveling device that traditional pipeline robot adopted has three group's walking wheel hub, and three group's walking wheel hub's tension is through three group spring compression independent control to realize the multi-pipe footpath self-adaptation, but this mechanism is because the nonconformity of spring pressure, can't realize the robot at the inside stability of walking process of pipeline, and easy off-centre causes the mechanism card to die.
In addition, the conventional walking device does not have a visual recognition function, and when the walking device walks in a pipeline, it is difficult to know whether the walking device moves to a position to be processed.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the present invention is to provide a traveling mechanism with a visual recognition function, so as to overcome the above-mentioned deficiencies in the prior art.
The technical scheme for solving the technical problems is as follows: a travel mechanism having a visual recognition function, comprising:
the engine base is fixedly sleeved on the shaft lever;
the spring seat is matched and concentric with the shaft rod;
the spring is sleeved on the shaft lever, and two ends of the spring are respectively fixed with the spring seat and one end of the shaft lever, which is far away from the base;
one end of each main connecting rod is rotatably connected with the base, and the other end of each main connecting rod is connected with the driving wheel through a driving mechanism;
one end of each auxiliary connecting rod is rotatably connected with the spring seat, the other end of each auxiliary connecting rod is rotatably provided with a driven wheel, and the middle part of each auxiliary connecting rod is correspondingly and rotatably connected with the middle part of each main connecting rod;
the visual identification module is arranged on the shaft lever and used for acquiring image information of the pipe wall of the pipeline and identifying the image;
and the main control unit is respectively and electrically connected with the visual identification module and the driving mechanism.
The utility model has the beneficial effects that:
the spring seat can slide back and forth along the shaft rod, if the spring is compressed in the sliding process, the spring provides reaction force for the spring seat, the included angle between the main connecting rod and the auxiliary connecting rod is changed by the axial force, so that a driven wheel arranged at the tail end of the auxiliary connecting rod and a driving wheel arranged at the tail end of the main connecting rod have radial external force, the radial external force acts on the inner wall of the pipeline to provide friction force for walking, meanwhile, the walking mechanism can be applied to pipelines with various different inner diameters by the spring, the single spring is adopted for control, the external tension is the same, the axle center stability of the walking mechanism is ensured in the pipeline walking process, and the blocking condition is avoided;
the visual recognition module captures images inside the pipeline, calculates relative coordinates of abnormal parts relative to the origin of coordinates of the travelling mechanism according to reflection differences of light such as a smooth surface, a rusted surface and an oil stain surface and the like through image recognition, comparison and analysis, and sends coordinate instructions to the main control unit, and the main control unit sends instructions to the driving mechanism to drive the whole mechanism to travel and travel to a specified position.
On the basis of the technical scheme, the utility model can be further improved as follows.
Further, the drive mechanism includes:
the motor base is fixed at the end part of the main connecting rod;
the motor is arranged on the motor base and is electrically connected with the main control unit;
the bearing assembly is arranged on the motor base;
the power shaft is fixed with an inner ring of a bearing in the bearing assembly, and two ends of the power shaft are respectively fixed with a driving wheel;
and the transmission chain is respectively connected with the power shaft and the output shaft of the motor.
Adopt above-mentioned further beneficial effect to do: the independent control of the driving unit is realized by combining transmission chain transmission, equipment faults do not influence each other, and accessories are easy to replace.
Further, the drive chain comprises:
the driving bevel gear is fixed on an output shaft of the motor;
and the driven helical gear is fixed on the power shaft and meshed with the driving helical gear.
Adopt above-mentioned further beneficial effect to do: the driving unit is independently controlled by combining the bevel gear transmission, equipment faults do not affect each other, accessories are easy to replace, and the bevel gear transmission is more stable in operation.
Furthermore, the number of the main connecting rods is three, the number of the auxiliary connecting rods is six, and the number of the auxiliary connecting rods connected with each main connecting rod is two.
Adopt above-mentioned further beneficial effect to do: so that the walking is more stable.
Further, the spring seat is fitted concentrically with the shaft through a bushing.
Adopt above-mentioned further beneficial effect to do: make the spring holder can be better with axostylus axostyle sliding fit, avoid the card dead.
Further, the visual recognition module includes:
the high-definition cameras are distributed on the shaft rod in a surrounding manner and are used for acquiring image information of the inner pipe wall of the pipeline;
and the image identification comparison module is electrically connected with the high-definition camera to acquire image information, perform image comparison analysis and transmit an analysis result to the main control unit.
Adopt above-mentioned further beneficial effect to do: and the identification of the abnormal state of the pipe wall of 360 degrees is realized.
Drawings
FIG. 1 is a circuit diagram of a traveling mechanism with a visual recognition function according to the present invention;
FIG. 2 is a partial block diagram of a traveling mechanism with a visual recognition function according to the present invention;
FIG. 3 is a block diagram of the drive mechanism of the present invention;
fig. 4 is a structural view of the visual recognition module according to the present invention mounted on a shaft.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the visual identification module comprises a visual identification module 110, a high-definition camera 120, an image identification and comparison module 210, a shaft rod 220, a base 230, a spring seat 240, a spring 250, a main connecting rod 260, a driving mechanism 261, a motor seat 262, a motor 263, a bearing assembly 264, a power shaft 265, a driving bevel gear 266, a driven bevel gear 270, a driving wheel 280, an auxiliary connecting rod 290, a driven wheel 3 and a main control unit.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the utility model.
Example 1
As shown in fig. 1 to 3, a traveling mechanism having a visual recognition function includes:
the visual recognition system comprises a shaft rod 210, a base 220, a spring seat 230, a spring 240, a main connecting rod 250, an auxiliary connecting rod 280, a driving mechanism 260, a driving wheel 270, a driven wheel 290, a visual recognition module 1 and a main control unit 3;
the base 220 is fixedly sleeved on the shaft lever 210;
the spring seat 230 fits concentrically with the shaft 210;
the spring 240 is sleeved on the shaft rod 210, the spring 240 is positioned on one side of the spring seat 230, which is far away from the base 220, and two ends of the spring 240 are respectively fixed with the spring seat 230 and the shaft rod 210;
one end of the main connecting rod 250 is rotatably connected with the base 220, the other end of the main connecting rod 250 is connected with the driving wheel 270 through a driving mechanism 260, and the driving mechanism 260 is used for driving the driving wheel 270 to rotate;
one end of the auxiliary link 280 is rotatably connected with the spring seat 230, the other end of the auxiliary link 280 is rotatably provided with a driven wheel 290, and the middle part of the auxiliary link 280 is rotatably connected with the middle part of the main link 250;
the visual recognition module 1 is arranged on the shaft lever 210 and used for collecting image information of the pipe wall of the pipeline and carrying out image recognition;
the signal output end of the visual recognition module 1 is electrically connected with the signal input end of the main control unit 3, and the signal output end of the main control unit 3 is electrically connected with the signal input end of the driving mechanism 260.
The spring seat 230 can slide back and forth along the shaft rod 210, if the spring 240 is compressed in the sliding process, the spring 240 provides a reaction force for the spring seat 230, the axial force enables an included angle between the main connecting rod 250 and the auxiliary connecting rod 280 to change, so that a driven wheel 290 arranged at the tail end of the auxiliary connecting rod 280 and a driving wheel 270 arranged at the tail end of the main connecting rod 250 have a radial external force, the radial external force acts on the inner wall of the pipeline to provide friction force for the robot to walk, meanwhile, the walking mechanism can be applied to pipelines with various different inner diameters through the spring 240, and the single spring 240 is adopted for control, so that the stability of the walking mechanism in the walking process inside the pipeline can be ensured, and the blocking condition is avoided;
the visual recognition module 1 captures images inside the pipeline, calculates relative coordinates of abnormal parts relative to the origin of coordinates of the travelling mechanism according to reflection differences of light such as smooth surfaces, rusts and greasy dirt surfaces and the like through image recognition, comparison and analysis, sends coordinate instructions to the main control unit 3, and the main control unit 3 sends instructions to the driving mechanism 2600 to drive the whole mechanism to travel and travel to a specified position.
Example 2
As shown in fig. 1 to fig. 3, this embodiment is further optimized based on embodiment 1, and specifically includes the following steps:
the drive mechanism 260 includes: motor seat 261, motor 262, bearing assembly 263, power shaft 264 and transmission chain;
the motor base 261 is fixed to the end of the main link 250;
the motor 262 is arranged on the motor base 261, and a signal input end of the motor 262 is electrically connected with a signal output end of the main control unit 6;
the bearing assembly 263 is arranged on the motor seat 261;
the power shaft 264 is fixed with the inner ring of the bearing in the bearing assembly 263, and two driving wheels 270 are respectively fixed at two ends of the power shaft 264;
the drive chains are connected to the power shaft 264 and the output shaft of the motor 262, respectively.
When the motor 262 is started, the power shaft 264 is driven to rotate through the transmission chain, and after the power shaft 264 rotates, the driving wheel 270 is driven to rotate, so that the walking in the pipeline is realized.
Example 3
As shown in fig. 1 to fig. 3, this embodiment is further optimized based on embodiment 2, and specifically includes the following steps:
the drive chain includes: a driving bevel gear 265 and a driven bevel gear 266;
the driving bevel gear 265 is fixed on the output shaft of the motor 262;
the driven helical gear 266 is fixed to the power shaft 264, and the driven helical gear 266 meshes with the driving helical gear 265.
When the motor 262 is started, the driven bevel gear 266 will be driven to rotate by the driving bevel gear 265, so as to drive the power shaft 264 to rotate, and after the power shaft 264 rotates, the driving wheel 270 will be driven to rotate, so as to realize walking in the pipeline.
Of course, in the actual design process, the use of sprocket drive, pulley drive, etc. as the drive chain is not excluded.
Example 4
As shown in fig. 1 to 3, this embodiment is further optimized based on any one of embodiments 1 to 3, and specifically includes the following steps:
the number of the main links 250 is preferably three, the number of the auxiliary links 280 is six, and the number of the auxiliary links 280 connected to each main link 250 is two, and in general, all the main links 250 are distributed at equal angles around the shaft 210, and at this time, the included angle between the three main links 250 is 120 °, however, in the actual design process, it is not excluded that the number of the main links 250 is four, five, six, etc., and the number of the auxiliary links 280 is twice the number of the main links 250.
Example 5
As shown in fig. 1 to 3, this embodiment is further optimized based on any one of embodiments 1 to 4, and specifically includes the following steps:
the spring seat 230 is fitted concentrically with the shaft 210 through a bushing.
Example 6
As shown in fig. 4, this embodiment is further optimized based on any one of embodiments 1 to 5, and specifically includes the following steps:
the visual recognition module 1 includes:
the multiple groups of high-definition cameras 110 are distributed on the shaft rod 210 in a surrounding manner, and the multiple groups of high-definition cameras 110 are used for acquiring image information of the inner pipe wall of the pipeline;
the signal input end of the image recognition comparison module 120 is electrically connected to the signal output end of the high definition camera 110 to acquire image information collected by the high definition camera 110, perform image comparison analysis, and transmit an analysis result to the main control unit 3.
The high-definition cameras 110 are cameras with an automatic light supplementing function, the number of the high-definition cameras 110 can be three, the three groups of high-definition cameras 110 are distributed on the shaft rod 210 in an equiangular mode in a surrounding mode, and identification of abnormal conditions of 360-degree pipe walls is achieved.
The light supplementing light source irradiates the inner wall of the pipeline in the pipeline, the high-definition camera 110 captures images inside the pipeline, according to reflection differences of light such as a smooth surface, corrosion and an oil stain surface, the relative coordinates of the abnormal part relative to the origin of coordinates of the travelling mechanism are calculated through analysis of the image recognition comparison module 120, the abnormal part such as the corrosion or the oil stain surface sends coordinate instructions to the main control unit 6, the main control unit 6 sends the instructions, and the driving mechanism 260 drives the whole robot to travel and travel to a specified position.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (6)
1. A traveling mechanism with a visual recognition function, comprising:
the base (220) is fixedly sleeved on the shaft lever (210);
a spring seat (230) fitted concentrically with the shaft (210);
the spring (240) is sleeved on the shaft lever (210), and two ends of the spring are respectively fixed with the spring seat (230) and one end of the shaft lever (210) departing from the base (220);
one end of each main connecting rod (250) is rotatably connected with the base (220), and the other end of each main connecting rod is connected with the driving wheel (270) through a driving mechanism (260);
one end of each auxiliary connecting rod (280) is rotatably connected with the spring seat (230), the other end of each auxiliary connecting rod is rotatably provided with a driven wheel (290), and the middle part of each auxiliary connecting rod is correspondingly rotatably connected with the middle part of each main connecting rod (250);
the visual recognition module (1) is arranged on the shaft lever (210) and used for collecting image information of the pipe wall of the pipeline and recognizing the image;
and the main control unit (3) is respectively and electrically connected with the visual identification module (1) and the driving mechanism (260).
2. A running gear with visual identification function according to claim 1, wherein said driving mechanism (260) comprises:
a motor base (261) fixed to the end of the main link (250);
the motor (262) is arranged on the motor base (261) and is electrically connected with the main control unit (6);
the bearing assembly (263) is arranged on the motor base (261);
the power shaft (264) is fixed with an inner ring of a bearing in the bearing assembly (263), and two ends of the power shaft are respectively fixed with the driving wheel (270);
and the transmission chains are respectively connected with the power shaft (264) and the output shaft of the motor (262).
3. A running gear with a visual recognition function according to claim 2, wherein the transmission chain comprises:
a driving bevel gear (265) fixed to an output shaft of the motor (262);
and a driven helical gear (266) fixed to the power shaft (264) and engaged with the driving helical gear (265).
4. A running gear having a visual recognition function according to claim 1, 2 or 3, wherein the number of the main links (250) is three, the number of the sub links (280) is six, and the number of the sub links (280) connected to each main link (250) is two.
5. A running gear with visual identification function according to claim 1, 2 or 3, characterized in that said spring seat (230) is fitted concentrically with the shaft (210) through a bushing.
6. A running gear with visual identification function according to claim 1, characterized in that the visual identification module (1) comprises:
the high-definition cameras (110) are distributed on the shaft rod (210) in a surrounding mode and used for collecting image information of the inner pipe wall of the pipeline;
and the image identification comparison module (120) is electrically connected with the high-definition camera (110) to acquire image information, perform image comparison and analysis and transmit an analysis result to the main control unit (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121517690.XU CN215807164U (en) | 2021-07-05 | 2021-07-05 | Running gear with visual identification function |
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| CN202121517690.XU CN215807164U (en) | 2021-07-05 | 2021-07-05 | Running gear with visual identification function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117570302A (en) * | 2024-01-15 | 2024-02-20 | 阿塔米智能装备(北京)有限公司 | Mobile device for welding line detection equipment in pipeline |
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2021
- 2021-07-05 CN CN202121517690.XU patent/CN215807164U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117570302A (en) * | 2024-01-15 | 2024-02-20 | 阿塔米智能装备(北京)有限公司 | Mobile device for welding line detection equipment in pipeline |
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