CN217356128U

CN217356128U - Pipeline robot

Info

Publication number: CN217356128U
Application number: CN202220212185.2U
Authority: CN
Inventors: 代毅; 杜光乾; 谭旭升; 陈锐豪; 杨木伙
Original assignee: Shenzhen Bomingwei Technology Co ltd
Current assignee: Shenzhen Bomingwei Technology Co ltd
Priority date: 2022-01-25
Filing date: 2022-01-25
Publication date: 2022-09-02
Anticipated expiration: 2032-01-25

Abstract

The utility model discloses a pipeline robot, wherein, the pipeline robot comprises at least two walking mechanisms and a detection control mechanism; each walking mechanism comprises a chassis and a driving assembly, and the driving assemblies are connected to two sides of the chassis; the driving assembly comprises at least two of a roller type, a roller type and a crawler type; the detection control mechanism is detachably connected to a chassis of a walking mechanism and is electrically connected with a driving assembly of the walking mechanism. The utility model discloses technical scheme's pipeline robot can be applicable to different detection ring border, has improved pipeline robot's suitability, has reduced the operator and has carried the load to work efficiency has been improved.

Description

Pipeline robot

Technical Field

The utility model relates to a pipeline robot technical field, in particular to pipeline robot.

Background

The pipeline is a material transportation means widely used in the fields of industry, energy, military equipment, urban buildings and the like, and a large number of complex and hidden pipelines are used for urban sewage, natural gas and industrial material transportation, water supply and drainage, ventilation systems of buildings and the like. It is important to ensure the safety and effectiveness of these piping systems. However, as the service life increases, the pipes inevitably suffer from aging, cracking, corrosion, or damage from external construction. If the accident is not processed in time, the accident can not only bring huge economic loss, but also cause serious pollution to the environment. Therefore, it is necessary to periodically survey and maintain the pipeline.

Pipeline robot has generally been used in present pipeline detection, because of the complicated variety of pipeline internal environment, need change different pipeline robot to different pipeline detection ring border, has work efficiency low, uses the problem not convenient.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main objective provides a pipeline robot aims at improving pipeline robot's suitability, improves work efficiency.

In order to achieve the above object, the utility model provides a pipeline robot, pipeline robot includes:

the walking mechanism comprises a chassis and driving components, the driving components are connected to two sides of the chassis, and the driving components comprise at least two of a roller type, a drum type and a crawler type; the detection control mechanism is detachably connected to the chassis of the travelling mechanism and is electrically connected with the driving assembly of the travelling mechanism.

Optionally, when the driving assembly is of a roller type, the driving assembly includes a first driving member, a transmission member, and four large wheels, the first driving member is mounted on the chassis, the four large wheels are disposed along a periphery of the chassis, and the transmission member is connected between the first driving member and the large wheels.

Optionally, the driving assembly further includes a plurality of small wheels, the driving member is disposed through the small wheels and the large wheels, the small wheels are disposed on one side of the large wheels close to the chassis, the first driving member drives the small wheels and the large wheels to rotate synchronously, and the large wheels are detachably connected to the driving member.

Optionally, when the driving assembly is a drum type, the driving assembly includes the second driving member, two fixing members and two drums, the second driving member is installed in the drum, the two fixing members are respectively disposed on two opposite sides of the chassis, two ends of the fixing members are respectively rotatably connected to two ends of the drum, and the second driving member drives the drum to rotate relative to the fixing members.

Optionally, the chassis includes a bottom plate and a power supply, the detection control mechanism is connected to the upper surface of the bottom plate, and the power supply is disposed at the bottom of the bottom plate and electrically connected to the second driving member.

Optionally, the detection control mechanism is provided with a connecting piece, the chassis is provided with a mounting hole, and the detection control mechanism is in threaded connection with the mounting hole through the connecting piece so as to be connected with the traveling mechanism.

Optionally, the chassis further comprises a handle attached to the upper surface of the base panel.

Optionally, the detection control mechanism includes a control component and a pan-tilt component, the control component is provided with a first joint and a second joint, the first joint and the second joint are arranged along the traveling direction of the pipeline robot, the first joint is electrically connected to the chassis, and the second joint is electrically connected to the pan-tilt component.

Optionally, the pan-tilt assembly comprises a machine body, a camera and an illuminating lamp, wherein the camera and the illuminating lamp are arranged on one side of the machine body facing the advancing direction of the pipeline robot.

Optionally, the holder assembly further comprises a dome camera, and the dome camera is arranged at the top of the machine body.

The utility model discloses technical scheme becomes detection control mechanism and running gear through the split of adopting with pipeline robot, running gear includes chassis and drive assembly, drive assembly can be roller type, drum-type, at least two kinds in the crawler-type, detection control mechanism can dismantle with the chassis and be connected, be connected with different drive assembly through detecting control mechanism, make pipeline robot can be applicable to different detection ring border, the suitability of pipeline robot has been improved, the operator load is carried in having been reduced, and work efficiency has been improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural view of the pipeline robot with a roller-type driving assembly according to the present invention;

FIG. 2 is an exploded view of the pipe robot of FIG. 1 with the drive assembly in the form of a roller;

FIG. 3 is a schematic structural view of the pipeline robot shown in FIG. 2 from another perspective;

fig. 4 is a schematic structural view of the pipeline robot with a drum-type driving assembly according to the present invention;

FIG. 5 is an exploded view of the pipe robot of FIG. 4 with the drive assembly in the form of a roller;

fig. 6 is a schematic structural view of the pipeline robot shown in fig. 5 from another perspective.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				1	Pipeline robot	10	Traveling mechanism
11	Chassis	111	Mounting hole
				112	Base plate	113	Lifting handle
12	Drive assembly	121	Transmission member
				122	Big wheel	123	Small wheel
124	Fixing piece	125	Roller
				30	Detection control mechanism	31	Connecting piece
32	Control assembly	321	First joint
				322	Second joint	33	Cloud platform subassembly
331	Machine body	332	Camera head
				333	Ball machine camera	334	Lighting lamp

The realization, the functional characteristics and the advantages of the utility model are further explained by combining the embodiment and referring to the attached drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiments of the present invention, the directional indications are only used for explaining the relative position relationship between the components, the motion situation, etc. under a certain posture (as shown in the drawings), and if the certain posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a pipeline robot 1.

In the embodiment of the present invention, as shown in fig. 1 to 6, the pipeline robot 1 includes at least two traveling mechanisms 10 and a detection control mechanism 30; each walking mechanism 10 comprises a chassis 11 and a driving assembly 12, the driving assembly 12 is connected to two sides of the chassis 11, and the driving assembly 12 comprises at least two of a roller type, a roller type and a crawler type; the detection control mechanism 30 is detachably connected to a chassis 11 of a traveling mechanism 10 and electrically connected to a driving assembly 12 of the traveling mechanism 10.

Pipeline robot 1 includes two at least running gear 10, running gear 10 includes chassis 11 and drive assembly 12, drive assembly 12 can be the drum-type, the roller type, crawler-type etc., drive assembly 12 can be the drum-type, the roller type, wherein two in the crawler-type, it can dismantle with chassis 11 and is connected to detect control mechanism 30, it can be connected with different running gear 10 promptly to detect control mechanism 30, different running gear 10 can be applicable to different pipeline detection environment, through changing different running gear 10, and then reach the purpose of quick replacement drive assembly 12, utilize one to detect control assembly 32 and can continuous recording and deal with the different detection environment in the pipeline, the environment adaptability of pipeline robot 1 has been improved, the work efficiency of pipeline robot 1 has been improved.

Further, when the roller type driving assembly 12 is used, the roller type driving assembly has the characteristics of high running speed, good maneuverability and no damage to the road surface caused by running tires, can be applied to large-scene working conditions such as pipelines, box culverts, open channels and closed channels, and has a wide application scene of the roller type driving assembly 12. When drum drive assembly 12 is used, it may be applied to a pipe having at least one-third of its bottom with a water or silt deposit. When the crawler-type driving assembly 12 is used, the crawler type driving assembly has the characteristics of large driving force and small contact pressure, so that the cross-country performance and stability are good, the climbing capacity is large (generally 50% -80%, and the maximum climbing capacity can reach 100%), the turning radius is small, and the flexibility is good, and the crawler-type driving assembly can be applied to pipelines with large slopes and complex road conditions. The detection control mechanism 30 is detachably connected with different travelling mechanisms 10, so that the effect that the same pipeline robot 1 is suitable for different detection environments is achieved, and the detection efficiency is improved.

Further, the detection control mechanism 30 is electrically connected to the driving assembly 12 (not shown), the detection control assembly 32 can control the moving direction and the moving speed of the driving assembly 12, and the detection control assembly 32 can start a camera function, an illumination function or a communication function, so as to send a detection signal to a user, thereby achieving the effect of detecting a pipeline.

The utility model discloses technical scheme becomes detection control mechanism 30 and running gear 10 through the adoption with the split of pipeline robot 1, running gear 10 includes chassis 11 and drive assembly 12, drive assembly 12 can be roller type, drum-type, at least two in the crawler-type, detection control mechanism 30 can be dismantled with chassis 11 and be connected, be connected with different drive assembly 12 through detecting control mechanism 30, make pipeline robot 1 can be applicable to different detection ring border, the suitability of pipeline robot 1 has been improved, the operator load carrying has been reduced, and work efficiency has been improved.

In an embodiment of the present invention, as shown in fig. 1 to 3, when the driving assembly 12 is of a roller type, the driving assembly 12 includes a first driving member, a transmission member 121 and four large wheels 122, the first driving member is mounted on the chassis 11, the four large wheels 122 are disposed along the periphery of the chassis 11, and the transmission member 121 is connected between the first driving member and the large wheels 122.

When the driving assembly 12 is of a roller type, the driving assembly 12 includes a first driving member (not shown), a transmission member 121 and a large wheel 122. In the present embodiment, the number of the large wheels 122 is four, and the four large wheels 122 are disposed on the periphery of the chassis 11, it can be understood that the four large wheels 122 are disposed at four corners of the chassis 11, that is, the four large wheels 122 are arranged according to the four corners of the rectangle, such arrangement can make the four large wheels 122 uniformly bear force on the chassis 11, and fully exert the characteristics of the roller type, such as high speed, high efficiency, and low motion noise. In other embodiments, the number of the large wheels 122 may also be six, eight or more, when the chassis 11 needs to bear a larger weight, a suitable large wheel 122 may be added at the transmission member 121 for supporting the chassis 11 and driving the entire robot to move, and the number of the large wheels 122 is increased, without additional operation and adjustment of the transmission member 121 and the driving member, which has the effect of being convenient to replace, install and detach.

Further, the transmission member 121 may be a rotating shaft, one end of the rotating shaft is connected to the driving member, the other end of the rotating shaft extends out of the chassis 11, the bull wheel 122 is sleeved on the rotating shaft, the driving member drives the rotating shaft to rotate so as to drive the bull wheel 122 to rotate to realize rolling, so as to achieve the movement of the driving assembly 12, and realize the movement of the traveling mechanism 10. The first driving member may be a motor electrically connected to the driving member.

In an embodiment of the present invention, as shown in fig. 2, the driving assembly 12 further includes a plurality of small wheels 123, the driving member 121 is disposed through the small wheels 123 and the big wheels 122, the small wheels 123 are disposed on one side of the big wheels 122 close to the chassis 11, the first driving member drives the small wheels 123 and the big wheels 122 to rotate synchronously, and the big wheels 122 can be detachably connected to the driving member 121.

The roller-type drive assembly 12 is designed with two different sizes of wheels, a large wheel 122 and a small wheel 123. In the present embodiment, the number of the small wheels 123 is six, the number of the large wheels 122 is four, the large wheels 122 and the small wheels 123 are connected by the transmission member 121, and the small wheels 123 and the large wheels 122 are axially fixed on the transmission member 121 by bolts. The four large wheels 122 are respectively matched and positioned with the positioning pins on the small wheels 123 through the positioning pin holes of the four large wheels 122, so that the large wheels 122 are fixed on the small wheels 123, and further the large wheels 122 and the small wheels 123 can synchronously rotate. When the robot is used for detection in different pipelines, the large wheel 122 can be detached to reduce the height of the travelling mechanism 10, and then the height of the pipeline robot 1 is reduced to adapt to pipelines with different specifications or detection spaces.

In an embodiment of the present invention, as shown in fig. 4 to fig. 6, when the driving assembly 12 is a roller type driving assembly, the driving assembly 12 includes a second driving member, two fixing members 124 and two rollers 125, the second driving member is installed in the rollers 125, the two fixing members 124 are respectively installed on two opposite sides of the chassis 11, two ends of the fixing members 124 respectively rotate two ends of the connecting rollers 125, and the second driving member drives the rollers 125 to rotate relative to the fixing members 124.

When the driving assembly 12 is a roller type, the driving assembly 12 includes a second driving member (not shown), two fixing members 124 and two rollers 125. In this embodiment, the two rollers 125 are respectively disposed on two opposite sides of the chassis 11, so that the two rollers 125 can uniformly bear force on the chassis 11, and the roller-type detection device can be applied to a detection environment with water or sediment. In other embodiments, the number of the rollers 125 can be three, four or more, and when the chassis 11 needs to bear a larger weight, the number of the fixing members 124 and the rollers 125 can be increased for supporting the chassis 11 and driving the whole robot to move.

Further, the fixing member 124 may be a supporting assembly (not shown), which includes a front supporting member fixed to the front shaft of the drum 125, a rear supporting member fixed to the rear shaft of the drum 125, and a cross beam for connecting the front supporting member and the rear supporting member, and two ends of the cross beam are respectively fixed to the front shaft and the rear shaft. The supporting component is arranged to facilitate the free rotation of the roller 125, reduce the external interference and improve the motion capability.

Further, the second driving piece can be the in-wheel motor, and the in-wheel motor is located the inside of cylinder 125, rotates and then drives cylinder 125 through driving the in-wheel motor and rotates, and the setting of in-wheel motor need not other driving medium 121, and in-wheel motor lug connection cylinder 125 can rotate, and transmission efficiency is higher, and in addition the in-wheel motor is built-in cylinder 125, more is favorable to the centrobaric adjustment of cylinder 125.

In an embodiment of the present invention, as shown in fig. 1 to 6, the chassis 11 includes a bottom plate 112 and a power supply (not shown), the detection control mechanism 30 is connected to the upper surface of the bottom plate 112, and the power supply is disposed at the bottom of the bottom plate 112 and electrically connected to the second driving member.

The upper surface of bottom plate 112 is connected with detection control mechanism 30, and the lower surface mounting of bottom plate 112 has the power, and the power is used for running gear 10 and detection control mechanism 30's power supply, and the power is installed in bottom plate 112 and is thought the lower surface, can prevent on the one hand that water and dust in the pipeline from entering into the power easily, polluting the power, has improved holistic life. The bottom plate 112 is mounted on the driving assembly 12, the bottom plate 112 can be used as a supporting plate for supporting and placing the detection control mechanism 30, and the bottom plate 112 can also be used as a circuit board for mounting the connection detection control mechanism 30, so as to perform the connection function.

In an embodiment of the present invention, as shown in fig. 3 and 5, the detection control mechanism 30 is provided with a connecting member 31, the chassis 11 is provided with a mounting hole 111, and the detection control mechanism 30 is connected to the mounting hole 111 through the connecting member 31 by a screw thread to connect the traveling mechanism 10.

Further, the chassis 11 is provided with a mounting hole 111, in an embodiment, a hole wall of the mounting hole 111 is provided with a thread, the mounting hole 111 is used for matching with the connecting piece 31, and the connecting piece 31 can be in threaded connection with the mounting hole 111, so that the connection between the chassis 11 and the connecting piece 31 is facilitated, and the connection efficiency is improved; in another embodiment, the mounting holes 111 are through holes, and the connection between the mounting holes 111 and the connecting members 31 is performed by other fixing members 124, which facilitates the production of the chassis 11 and improves the usability and adaptability of the chassis 11, so that the chassis 11 can be applied to a plurality of different traveling mechanisms 10.

Further, the connecting member 31 may be a screw, a bolt, etc., one end of the connecting member 31 penetrates through the mounting hole 111 and abuts against the chassis 11, the connecting member 31 is fixedly connected to the mounting hole 111 to fix the position of the detection control mechanism 30 on the chassis 11, and the outer wall of the connecting member 31 abuts against the hole wall of the mounting hole 111 to make the detection control mechanism 30 in a state of balanced stress on the chassis 11, so that the detection control mechanism 30 does not shake due to the movement of the traveling mechanism 10, the position of the detection control mechanism 30 is maintained, and the detection control mechanism 30 is further protected.

In an embodiment of the present invention, as shown in fig. 2 and fig. 6, the bottom plate 11 further includes a handle 113, and the handle 113 is connected to the upper surface of the bottom plate 112.

The chassis 11 further comprises a handle 113, the handle 113 is in a U-shaped configuration, two ends of the handle 113 are respectively connected to the upper surface of the bottom plate 112, and the handle 113 can be rotatably disposed on the bottom plate 112, so that the user can rotate the handle 113 to the direction perpendicular to the ground, and further lift or move the pipeline robot 1.

In an embodiment of the present invention, as shown in fig. 1 to fig. 6, the detection control mechanism 30 includes a control component 32 and a pan/tilt head component 33, the control component 32 is provided with a first joint 321 and a second joint 322, the first joint 321 and the second joint 322 are arranged along the traveling direction of the pipeline robot 1, the first joint 321 is electrically connected to the chassis 11, and the second joint 322 is electrically connected to the pan/tilt head component 33.

Detection control mechanism 30 includes control assembly 32 and cloud platform subassembly 33, and control assembly 32 electricity is connected cloud platform subassembly 33 and running gear 10, can be used for collecting cloud platform subassembly 33's data and control running gear 10's walking direction and walking speed to can open the function of making a video recording, illumination function or communication function, with reaching detection signal transmission to the user, with the effect that reaches the detection pipeline.

Further, the control assembly 32 further comprises a first joint 321 and a second joint 322, the first joint 321 is used for being connected with the chassis 11, the second joint 322 is used for being connected with the pan-tilt assembly 33, and the arrangement of the first joint 321 and the second joint 322 improves the electrical connection efficiency of the control assembly 32 and the pan-tilt assembly 33 and the overall connection efficiency.

Further, chassis 11 can also include elevating platform (not marking in the figure) and driving motor (not marking in the figure), driving motor is used for exporting power, the crane includes first support arm and second support arm, first support arm and second support arm keep gapped and its both ends respectively with cloud platform subassembly 33 and chassis 11 through the bolt rotation connection, the elevating platform is used for going up and down cloud platform subassembly 33, make pipeline robot 1 can adapt to the pipeline of bigger pipe diameter or environment complicacy, improve the practicality.

In an embodiment of the present invention, as shown in fig. 1 to fig. 6, the holder assembly 33 includes a body 331, a camera 332 and a lighting lamp 334, the camera 332 and the lighting lamp 334 are disposed on one side of the body 331 facing the advancing direction of the pipeline robot 1.

Cloud platform subassembly 33 includes organism 331, camera 332 and light 334 all locate organism 331 towards the one side of pipeline robot 1 towards the direction of advance, camera 332 can be used for the place ahead scene of camera pipeline robot 1, light 334 then is used for improving the luminance of environment, the image that camera 332 shot passes through the treater and conveys to control assembly 32, save or convey to user equipment, and then accomplish the work of remote detection pipeline.

In an embodiment of the present invention, as shown in fig. 1 to fig. 6, the holder assembly 33 further includes a ball camera 333, and the ball camera 333 is disposed at the top of the body 331.

The dome camera 333 comprises a spherical shell and a camera 332 capable of rotating 360 degrees, the dome camera 333 is arranged at the top of the machine body 331, the dome camera 333 can photograph images of the environment of the pipeline robot at 360 degrees to achieve the purpose of photographing without dead angles, and the camera 332 can be used for photographing the front scene of the pipeline robot 1 and transmitting the front scene to the control component 32 through the processor for storage or transmission to the user equipment.

The above is only the preferred embodiment of the present invention, and the patent scope of the present invention is not limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A pipeline robot, comprising:

the walking mechanism comprises a chassis and driving components, the driving components are connected to two sides of the chassis, and the driving components comprise at least two of a roller type, a drum type and a crawler type; and

the detection control mechanism is detachably connected to the chassis of the travelling mechanism and is electrically connected with the driving assembly of the travelling mechanism.

2. The pipeline robot of claim 1, wherein the driving unit is of a roller type, the driving unit includes a first driving member mounted to the chassis, a transmission member, and four large wheels arranged along a periphery of the chassis, the transmission member being connected between the first driving member and the large wheels.

3. The pipeline robot of claim 2, wherein the driving assembly further comprises a plurality of small wheels, the driving member is disposed through the small wheels and the large wheels, the small wheels are disposed on a side of the large wheels close to the chassis, the first driving member drives the small wheels and the large wheels to rotate synchronously, and the large wheels are detachably connected to the driving member.

4. The pipeline robot of claim 1, wherein when the driving assembly is a roller type, the driving assembly comprises a second driving member, two fixing members and two rollers, the second driving member is installed in the rollers, the two fixing members are respectively installed on two opposite sides of the base plate, two ends of the fixing members are respectively rotatably connected to two ends of the rollers, and the second driving member drives the rollers to rotate relative to the fixing members.

5. The pipeline robot of claim 4, wherein the chassis comprises a base plate and a power supply, the detection control mechanism is connected to an upper surface of the base plate, and the power supply is provided at a bottom of the base plate and electrically connected to the second driving member.

6. The pipeline robot as claimed in claim 5, wherein a connecting member is connected to a periphery of the detection control mechanism, the bottom plate is provided with a mounting hole, and the detection control mechanism is screwed to the mounting hole through the connecting member to be mounted to the traveling mechanism.

7. The pipeline robot of claim 5, wherein the chassis further comprises a handle attached to the upper surface of the base plate.

8. The pipeline robot of claim 1, wherein the detection control mechanism comprises a control unit and a pan and tilt unit, the control unit is provided with a first joint and a second joint, the first joint and the second joint are arranged along a traveling direction of the pipeline robot, the first joint is electrically connected to the chassis, and the second joint is electrically connected to the pan and tilt unit.

9. The pipeline robot of claim 8, wherein the pan-tilt assembly comprises a body, a camera and an illuminating lamp, and the camera and the illuminating lamp are provided on a side of the body facing the advancing direction of the pipeline robot.

10. The pipeline robot of claim 9, wherein the pan-tilt assembly further comprises a ball machine camera, the ball machine camera being disposed at a top of the body.