CN217496318U - Automatic-cruise crawler crawling derrick damage detection robot - Google Patents
Automatic-cruise crawler crawling derrick damage detection robot Download PDFInfo
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- CN217496318U CN217496318U CN202123250390.2U CN202123250390U CN217496318U CN 217496318 U CN217496318 U CN 217496318U CN 202123250390 U CN202123250390 U CN 202123250390U CN 217496318 U CN217496318 U CN 217496318U
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Abstract
The utility model discloses an automatic cruising crawler crawling derrick damage detection robot, which comprises a driving device, a driven device, a supporting mechanism, a connecting element, a control device and a detection device which are arranged in sequence; the driving device comprises a motor, a driving wheel and a transmission element; the driven device comprises an inducer, a supporting belt wheel and a magnetic crawler; the supporting mechanism comprises a plate structure and a frame mechanism; the connecting element comprises a movable connecting piece and a fixed connecting piece; the control device comprises a single chip microcomputer, an Internet of things module, a positioning device and a model airplane battery; the detection device comprises an ultrasonic sensor, a camera and an infrared probe; the driving device realizes the movement, steering and turning around of the robot on the derrick, the driven device realizes the robot adsorption on the wall of the vertical derrick, the control device realizes the movement mode and detection function of the robot, and the detection device realizes the detection of the damage of the derrick by the robot, the positioning of the damage position and the shooting of the damage position.
Description
Technical Field
The utility model relates to a machine-building technique and intelligent robot design technique especially relate to an automatic track that cruises crawls derrick damage detection robot
Background
A metal structure frame for erecting the well heads of mines, oil wells and the like is a fixed device in a hoisting system of the mines and the oil wells, and can be used for installing overhead cranes, supporting drilling tools and the like. Derricks are used for drilling wells or boring, also called drilling rigs.
In the prior art, the robot is widely applied to flaw detection, maintenance and repair on the horizontal ground, the robot for detecting the damage of the derrick by crawling the automatic cruising crawler can realize high-altitude operation, the detection efficiency can be improved, and the damaged part can be analyzed and the damaged position can be positioned and judged. Make things convenient for going on of later stage maintenance and protection work, safe and reliable.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome current defect, provide an automatic track that cruises and crawls derrick damage detection robot, through drive arrangement drive robot motion, turn to and turn around, utilize magnetism to inhale the component and adsorb on the derrick, can increase area of contact through the track and make the process of crawling reliable and stable. The detection device comprises a detection device, a camera, an infrared detector, a derrick and a control system, wherein the detection device is used for detecting whether the derrick is damaged or not, the detection device is used for transmitting ultrasonic waves with certain frequency to the derrick, judging whether the derrick is damaged or not according to feedback signals, exploring and monitoring in real time under the conditions of darkness or heavy fog and the like with low visibility through the camera and the infrared detector, and shooting and storing the damaged position. The driving, the detection and the control of the whole robot are realized through a singlechip in the control device, the transmission of radio signals is carried out through the Internet of things module and a computer, and the positioning device is used for detecting and identifying the position of the damage.
In order to realize the technical purpose, the technical effect is achieved, the utility model discloses a following technical scheme realizes:
the driving device comprises a motor fixedly arranged on the deck, a driving wheel fixedly arranged on the supporting mechanism and a transmission element; the motor comprises a motor body, a base and a motor transmission shaft, wherein the motor body realizes movement, steering and turning around by controlling the rotating speed and positive and negative rotation; the driving wheel comprises a driving wheel gear and a gear main shaft, the driving wheel is driven to rotate by a synchronous belt in the transmission element, and the crawler belt is driven to rotate by an outer surface gear structure; the transmission element comprises a synchronous belt and a crawler belt, wherein the synchronous belt is connected with a motor transmission shaft and a gear main shaft, and the crawler belt is meshed with a driving wheel gear; the synchronous belt is used for driving the driving wheel to rotate; the crawler belt is used for driving the driven device to move;
the driven device comprises four inducer wheels, a supporting belt wheel and a magnetic suction crawler belt; the inducer comprises an inducer body and a sliding bearing arranged on an inducer main shaft; the supporting belt wheel comprises a driven wheel gear and a rolling bearing arranged on a driven wheel main shaft; the magnetic crawler comprises a roller arranged in the magnetic crawler and a magnetic device arranged on the outline of the magnetic crawler; the roller is attached to the inner ring of the magnetic crawler belt, and the magnetic crawler belt is meshed with the crawler belt; the magnetic attraction device can increase the static friction force contacted with the surface of the derrick and enhance the adsorption force;
the supporting mechanism comprises a plate structure and a frame mechanism; the structure of the plate comprises a deck and a fixed plate, and the structure of the plate is mainly used for arranging a motor, a model airplane battery and a control device; the frame mechanism comprises a support frame and a suspension frame, and is mainly used for supporting the camera and the infrared probe and suspending and fixing the ultrasonic sensor;
the connecting element comprises a movable connecting piece and a fixed connecting piece; the movable connecting piece comprises a rotary connecting mechanism arranged between the front deck and the infrared probe of the camera and a telescopic connecting mechanism arranged between the suspension and the sensor probe, and the rotary connecting mechanism is used for rotating the camera and the infrared probe and can increase the visual field range; the telescopic connecting mechanism is used for controlling the stretching of the sensor probe, and the fixed connecting piece is used for fixing the inducer, the supporting belt wheel and the magnetic crawler;
the control device comprises a single chip microcomputer, an Internet of things module, a positioning device and an aeromodelling battery; the single chip microcomputer comprises a driving control module, a detection control module and a mode electric converter; the driving control module is used for controlling the rotating speed and the forward and reverse rotation of the motor, and realizing steering and forward and reverse rotation through differential speed to realize turning around; the detection control module is used for controlling the sensor to transmit ultrasonic waves and receive feedback signals; the analog-to-digital converter converts the electric signal and the analog signal into each other for signal processing and analysis; the Internet of things module comprises a radio signal transmitting module and a radio signal receiving module and is used for carrying out wireless signal transmission with a computer; the positioning device is used for detecting and identifying the positioning of the position during damage; the model airplane battery is used for providing power for the robot;
the detection device comprises a sensor, a camera and an infrared probe; the sensor comprises an ultrasonic sensor and an ultrasonic signal processor; the ultrasonic sensor is used for transmitting ultrasonic waves with certain frequency to the derrick and receiving feedback signals; the camera comprises an image recorder and a camera body; the image recorder is used for recording a video image of the working process of the robot; the camera is used for photographing the damage recognition part; the infrared probe comprises an infrared probe body and an infrared sensor, and the infrared probe is used in environments with low visibility, such as darkness or fog, for exploration and real-time monitoring.
Compared with the prior art, the beneficial effects of the utility model are that:
the to-be-solved technical problem of the utility model is overcome current defect, an automatic track of cruising is crawled derrick damage detection robot is provided, realize the motion of robot on the derrick through drive arrangement, it can adsorb on vertical derrick to realize the robot through slave unit, make each part of robot can connect into a whole through supporting mechanism and connecting element, realize the motion mode and the detection function of whole robot through controlling means, realize the detection of robot to the derrick damage through detection device, position and shoot the position of damage to the position of damage.
1. The robot is driven to move, turn and turn around by the driving device, and the driving unit module in the control device is used for controlling the motor to rotate at a constant speed, so that the robot runs at a constant speed; the driving unit module in the control device is used for controlling the two motors to rotate in a differential mode, so that the robot is steered; the driving unit module in the control device is used for controlling the positive and negative rotation of the two motors, so that the robot can turn around; the device can ensure that the robot runs stably, and is simple, convenient, flexible and agile to operate.
2. The robot can be adsorbed on the vertical well frame wall through the magnetic attraction element in the driven device, the contact area can be increased through the crawler to prevent the slipping condition in the crawling process, the friction force between the robot and the well frame wall can be increased through the device, and the magnetic attraction force is utilized to run on the vertical well frame wall safely and reliably.
3. The movement mode and the detection function of the whole robot are realized through a singlechip in the control device, radio signals are transmitted through the Internet of things module and the computer, and the positioning device is used for detecting and identifying the position of the damage and positioning the damage in real time. The device can ensure that all parts of the robot are in work division and cooperation, and is stable and reliable.
4. The robot is used for detecting damage of the derrick through the detection device, ultrasonic waves with certain frequency are transmitted to the derrick through the ultrasonic sensor in the detection device, whether damage exists in the derrick is judged according to feedback signals, exploration and real-time monitoring can be conducted under the conditions of dark or heavy fog and the like with low visibility through the camera and the infrared probe in the detection device, and damage parts are shot and stored. The device can ensure that the robot can normally work under severe conditions, can ensure nondestructive flaw detection and damage identification of the robot, and is stable and reliable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention. In the drawings:
fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the motor of the driving device of the present invention;
fig. 3 is a schematic view of the transmission structure of the driving device of the present invention;
fig. 4 is a schematic structural diagram of a driven device of the present invention;
fig. 5 is a schematic structural view of the supporting mechanism of the present invention;
fig. 6 is a schematic diagram of the structure of the single chip microcomputer of the control device of the present invention;
fig. 7 is a schematic structural diagram of an internet of things module of the control device of the present invention;
fig. 8 is a schematic structural view of a positioning device of the control device of the present invention;
fig. 9 is a schematic structural view of the infrared probe of the camera of the detection device of the present invention;
fig. 10 is a schematic diagram of the sensor structure of the detecting device of the present invention.
In the figure: the system comprises a driving device 1, a driven device 2, a supporting mechanism 3, a connecting element 4, a control device 5, a detection device 6, a motor 11, a driving wheel 12, a transmission element 13, an inducer 21, a supporting roller 22, a magnetic suction crawler 23, a plate structure 31, a frame mechanism 32, a movable connecting piece 41, a fixed connecting piece 42, a single chip microcomputer 51, an internet of things module 52, a positioning device 53, an aeromodelling battery 54, a sensor 61, a camera 62, an infrared probe 63, a motor body 111, a base 112, a motor transmission shaft 113, an asynchronous motor 1111, an external cooling fin 1112, a driving wheel gear 121, a gear main shaft 122, a synchronous belt 131, a crawler 132, an inducer body 211, a sliding bearing 212, a driven wheel gear 221 and a rolling bearing 222; the device comprises a roller 231, a magnetic attraction device 232, a deck 311, a fixed plate 312, a plane transverse deck 3111, a side longitudinal deck 3112, a support frame 321, a suspension 322, a T-shaped support frame 3211, a U-shaped support frame 3212, a rotary connecting mechanism 411, a telescopic connecting mechanism 412, a driving control module 511, a detection control module 512, a mode electric converter 513, a radio signal transmitting module 521, a radio signal receiving module 522, an ultrasonic sensor 611, an ultrasonic signal processor 612, an image recorder 621, a camera body 622, an infrared probe body 631 and an infrared sensor 632.
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 of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.
As shown in fig. 1, the robot for detecting damage to the automatic cruising crawler crawling derrick comprises a driving device 1, a driven device 2, a supporting mechanism 3, a connecting element 4, a control device 5 and a detection device 6 which are arranged in sequence;
as shown in fig. 2 and 3, the driving device 1 includes a motor 11 fixedly mounted on the deck, a driving wheel 12 fixedly mounted on the supporting mechanism, and a transmission element 13; the motor 11 comprises a motor body 111, a base 112 and a motor transmission shaft 113; the motor body 111 includes an asynchronous motor 1111 and an external heat sink 1112; the asynchronous motor 1111 is driven by a driving control module 511 in the control device to change the rotating speed, differential speed and positive and negative rotation of the asynchronous motor 1111, so that the movement, the rotation direction and the turning around of the whole robot are realized; the external heat sink 1112 is made of aluminum alloy and is installed on the outer diameter of the asynchronous motor 1111; the base 112 is fixedly arranged on a deck 311 of the supporting mechanism through a rivet in a connecting element and is used for fixing and supporting the asynchronous motor 1111; the driver 12 includes a driver gear 121 and a gear spindle 122; the driving wheel gear 121 is driven by a synchronous belt 131 in the transmission element to rotate, and drives a crawler 132 to rotate through an outer surface gear structure; the transmission element 13 comprises a synchronous belt 131 of the motor transmission shaft 113 connected with the gear main shaft 122 and a crawler belt 132 meshed with the driving gear 121; the synchronous belt 131 is used for driving the driving wheel 12 to rotate; the caterpillar track 132 is used for driving the driven device 2 to move;
as shown in fig. 4, the driven device 2 includes four inducer wheels 21, a carrier roller 22 and a magnetic caterpillar track 23; the inducer 21 comprises an inducer body 211 and a sliding bearing 212 arranged on an inducer main shaft; the carrier roller 22 comprises a driven wheel gear 221 and a rolling bearing 222 arranged on a driven wheel main shaft; the magnetic crawler 23 comprises a roller 231 arranged inside the magnetic crawler 23 and a magnetic device 232 arranged on the outline of the magnetic crawler 23; the roller 231 is attached to the inner ring of the magnetic crawler 23, and the magnetic crawler 23 is meshed with the crawler 132; the magnetic attraction device 232 can increase the static friction force in contact with the surface of the derrick and enhance the attraction force;
as shown in fig. 5, the support mechanism 3 includes a plate structure 31 and a frame mechanism 32; the plate structure 31 comprises a deck 311 and a fixed plate 312, and is mainly used for arranging a motor, a model airplane battery and a control device; the deck 311 includes a planar transverse deck 3111 and lateral longitudinal deck 3112; the frame mechanism 32 comprises a support frame 321 and a suspension frame 322, and the frame mechanism is mainly used for supporting the camera and the infrared probe and suspending and fixing the ultrasonic sensor; the support frame 321 comprises a T-shaped support frame 3211 and a U-shaped support frame 3212;
as shown in fig. 9, 10, the connecting element 4 comprises a movable connector 41; the movable connecting piece 41 comprises a rotary connecting mechanism 411 arranged between the front deck and the infrared probe of the camera and a telescopic connecting mechanism 412 arranged between the suspension and the sensor probe, and the rotary connecting mechanism 411 is used for rotating the camera and the infrared probe, so that the visual field range can be increased; the telescopic connecting mechanism 412 is used for controlling the stretching of the sensor probe, and the fixed connecting piece is used for fixing the inducer 21, the riding wheel 22 and the magnetic crawler 23;
as shown in fig. 6, 7 and 8, the control device 5 includes a single chip microcomputer 51, an internet of things module 52, a positioning device 53 and a model airplane battery 54; the single chip microcomputer comprises a driving control module 511, a detection control module 512 and a mode electric converter 513; the driving control module 511 is used for changing the rotating speed, differential speed and forward and reverse rotation of the motor so as to realize the movement, steering and turning around of the whole robot; the detection control module 512 is used for controlling the sensor to transmit ultrasonic waves and receive feedback signals; the analog-to-digital converter 513 converts the electrical signal and the analog signal into each other for signal processing and analysis; the internet of things module 52 comprises a radio signal transmitting module 521 and a radio signal receiving module 522, and is used for performing wireless signal transmission with a computer; the positioning device 53 is used for detecting and identifying the positioning of the position during the damage; the model airplane battery 54 is used for providing power for the robot;
as shown in fig. 9 and 10, the detection device 6 includes a sensor 61, a camera 62, and an infrared probe 63; the sensor 61 includes an ultrasonic sensor 611 and an ultrasonic signal processor 612; the ultrasonic sensor is used for transmitting ultrasonic waves with certain frequency to the derrick and receiving feedback signals; the camera 62 includes an image recorder 621 and a camera body 622; the image recorder is used for recording a video image of the working process of the robot; the camera is used for photographing the damage recognition part; the infrared probe 63 includes an infrared probe body 631 and an infrared sensor 632, and the infrared probe is used in an environment with low visibility, such as dark or fog, for exploration and real-time monitoring.
Claims (7)
1. The utility model provides an automatic track that cruises crawls derrick damage detection robot which characterized in that: comprises a driving device (1), a driven device (2), a supporting mechanism (3), a connecting element (4), a control device (5) and a detection device (6) which are arranged in sequence;
the driving device (1) comprises a motor (11) fixedly arranged on a deck, a driving wheel (12) fixedly arranged on the supporting mechanism and a transmission element (13); the driven device (2) comprises four inducer wheels (21), a supporting belt wheel (22) and a magnetic suction crawler belt (23); the supporting mechanism (3) comprises a plate structure (31) and a frame mechanism (32); the connecting element (4) comprises a movable connector (41) and a fixed connector (42); the control device (5) comprises a single chip microcomputer (51), an Internet of things module (52), a positioning device (53) and a model airplane battery (54); the detection device (6) comprises a sensor (61), a camera (62) and an infrared probe (63).
2. The robot of claim 1, wherein the robot comprises: the motor (11) comprises a motor body (111), a base (112) and a motor transmission shaft (113); the motor body (111) includes an asynchronous motor (1111) and an external heat sink (1112); the external heat sink (1112) is mounted on the outer diameter of the asynchronous motor (1111); the driving wheel (12) comprises a driving wheel gear (121) and a gear spindle (122); the transmission element (13) comprises a synchronous belt (131) and a crawler belt (132), wherein the motor transmission shaft (113) is connected with the gear main shaft (122), and the crawler belt (132) is meshed with the driving wheel gear (121).
3. The robot of claim 1, wherein the robot comprises: the inducer (21) comprises an inducer body (211) and a sliding bearing (212) arranged on an inducer main shaft; the carrier roller (22) comprises a driven wheel gear (221) and a rolling bearing (222) arranged on a driven wheel main shaft; the magnetic attraction crawler belt (23) comprises a roller (231) arranged inside the magnetic attraction crawler belt (23) and a magnetic attraction device (232) arranged on the outline of the magnetic attraction crawler belt (23); the roller (231) is attached to the inner ring of the magnetic crawler (23), and the magnetic crawler (23) is meshed with the crawler (132).
4. The robot of claim 1, wherein the robot comprises: the plate structure (31) comprises a deck (311) and a fixed plate (312); the deck (311) comprises a planar transverse deck (3111) and a lateral longitudinal deck (3112); the frame mechanism (32) comprises a support frame (321) and a suspension (322); the support frame (321) comprises a T-shaped support frame (3211) and a U-shaped support frame (3212).
5. The robot of claim 1, wherein the robot comprises: the movable connector (41) comprises a rotary connecting mechanism (411) arranged between the front deck and the infrared probe of the camera and a telescopic connecting mechanism (412) arranged between the suspension and the sensor probe.
6. The robot of claim 1, wherein the robot comprises: the single chip microcomputer (51) comprises a driving control module (511), a detection control module (512) and a mode-to-electricity converter (513); the IOT module (52) comprises a radio signal transmitting module (521) and a radio signal receiving module (522); the positioning device (53) is used for detecting and identifying the positioning of the position when the injury occurs; the model airplane battery (54) is used for providing power for the robot.
7. The robot of claim 1, wherein the robot is used for detecting damage to the crawling derrick of the automatic cruise crawler: the sensor (61) comprises an ultrasonic sensor (611) and an ultrasonic signal processor (612); the ultrasonic sensor (611) is used for transmitting ultrasonic waves and receiving feedback signals; the camera (62) comprises an image recorder (621) and a camera body (622); the infrared probe (63) includes an infrared probe body (631) and an infrared sensor (632).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123250390.2U CN217496318U (en) | 2021-12-22 | 2021-12-22 | Automatic-cruise crawler crawling derrick damage detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123250390.2U CN217496318U (en) | 2021-12-22 | 2021-12-22 | Automatic-cruise crawler crawling derrick damage detection robot |
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| CN217496318U true CN217496318U (en) | 2022-09-27 |
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| CN202123250390.2U Active CN217496318U (en) | 2021-12-22 | 2021-12-22 | Automatic-cruise crawler crawling derrick damage detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116534223A (en) * | 2023-05-12 | 2023-08-04 | 港珠澳大桥管理局 | Underwater structure detection robot |
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2021
- 2021-12-22 CN CN202123250390.2U patent/CN217496318U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116534223A (en) * | 2023-05-12 | 2023-08-04 | 港珠澳大桥管理局 | Underwater structure detection robot |
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