CN217519484U - Double-screw driving amphibious detection robot - Google Patents
Double-screw driving amphibious detection robot Download PDFInfo
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- CN217519484U CN217519484U CN202220885847.2U CN202220885847U CN217519484U CN 217519484 U CN217519484 U CN 217519484U CN 202220885847 U CN202220885847 U CN 202220885847U CN 217519484 U CN217519484 U CN 217519484U
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- 238000001514 detection method Methods 0.000 title claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 46
- 238000007689 inspection Methods 0.000 claims abstract description 13
- 238000005192 partition Methods 0.000 claims abstract description 4
- 238000001914 filtration Methods 0.000 claims abstract description 3
- 230000001681 protective effect Effects 0.000 claims abstract description 3
- 239000011664 nicotinic acid Substances 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 2
- 238000007667 floating Methods 0.000 abstract description 6
- 238000006243 chemical reaction Methods 0.000 abstract description 3
- 238000006757 chemical reactions by type Methods 0.000 abstract description 3
- 239000010802 sludge Substances 0.000 abstract description 3
- 230000007547 defect Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000167857 Bourreria Species 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003020 moisturizing effect Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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Abstract
The utility model provides a double-screw driving amphibious detection robot, which comprises a robot body, a double-screw driving wheel, a camera and a screw propeller; the double-spiral driving wheels are symmetrically fixed on two sides of the machine body, and the camera is fixed at the head of the machine body; an inspection window is arranged at the top of the machine body, and a seal cover is arranged on the inspection window; the machine body is of a hollow structure and is divided into a front bin and a rear bin by a partition plate; a water inlet is formed in the top of the rear bin, and a filtering protective cover is fixed at the water inlet; the spiral propeller is fixed at the tail of the rear bin. The double-helix driving wheel can realize power drifting or floating and submerging in water and travel in soft and hard sludge over fields; the screw propeller is simple in structure and light in weight, and is a reaction type propeller which pushes water backward (or forward) and generates forward (or backward) thrust by the reaction force of the water when rotating. The moving speed of the robot in water is improved.
Description
Technical Field
The utility model relates to a pipeline inspection technical field is a double helix drive amphibious inspection robot particularly.
Background
The pipeline has defects in the manufacturing, putting into operation and other processes, the pipeline is detected in time, the operation condition of the pipeline is accurately known, and the reliable and safe operation of the pipeline can be ensured. At present, most of pipeline detection products in the market are CCTV trolley detection, periscope detection or double-buoy H-shaped robot detection.
The CCTV trolley is suitable for pipelines without water or with low water level, and aiming at pipelines with high water level or full water, the procedures of plugging, pumping water and the like are required before detection, and the periscope is suitable for straight pipes with water level lower than 50% and inaccurate in positioning defect positions. The double-buoy H-shaped detection robot capable of floating and submerging on the water surface is large in size and easy to tip over or block.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a section can be adapted to the pipeline inspection robot of full water, little water, anhydrous situation is provided.
The utility model discloses a following technical means realizes solving above-mentioned technical problem:
the double-helix driving amphibious detection robot comprises a robot body, a sonar, a double-helix driving wheel, a camera and a spiral propeller;
the double-spiral driving wheels are symmetrically fixed on two sides of the machine body, and the sonar and the camera are fixed at the head of the machine body; an inspection window is arranged at the top of the machine body, and a seal cover is arranged on the inspection window; the machine body is of a hollow structure and is divided into a front bin and a rear bin by a partition plate; a water inlet is formed in the top of the rear bin, and a filtering protective cover is fixed at the water inlet; the spiral propeller is fixed at the tail of the rear bin.
The double-helix driving wheel can realize power drifting or floating and submerging in water and travel in a wild way in soft and hard sludge; the screw propeller is simple in structure and light in weight, and is a reaction type propeller which pushes water backwards or forwards and generates a forward or backward thrust by the reaction force of the water when rotating. The moving speed of the robot in water is improved.
Furthermore, the lower surface of the double-spiral driving wheel is lower than the lower surface of the machine body.
Furthermore, a lighting lamp is fixed on the head of the machine body.
Furthermore, mounting seats symmetrically extend out of two sides of the machine body; two ends of the double-helix driving wheel are respectively and rotatably connected to the mounting seat.
Furthermore, the double-helix driving wheel is of a hollow structure, and a first motor for driving the double-helix driving wheel is positioned in the double-helix driving wheel and is fixed with the double-helix driving wheel; an output shaft of the first motor extends out, passes through a first bearing at the port of the double-helix driving wheel and is fixed with a mounting seat on the machine body through a screw; the other end of the double-helix driving wheel is rotatably connected with the machine body through a second bearing.
Furthermore, the organism seal is designed in a bionic way, and the head end and the tail end of the organism are upwards tilted in a conical manner.
Furthermore, a second motor of the double-spiral propeller is fixed in the front bin, and an output shaft of the second motor penetrates through the rear bin to be rotatably connected with the double-spiral propeller.
Furthermore, the two double-screw propellers are respectively positioned at the left side and the right side of the tail of the machine body.
Further, the number of the water inlets is two.
The utility model has the advantages that:
1. the double-helix driving wheel can realize forward or turning motion control by controlling reverse or same-direction driving, and the spiral driving wheel adopts a high-strength and light-weight buoy design, so that the underwater power drifting or floating and submerging can be realized, and the sludge can walk in a wild way.
2. The screw propeller is simple in structure and light in weight, and is a reaction type propeller which pushes water backward (or forward) and generates forward (or backward) thrust by the reaction force of the water when rotating. The moving speed of the robot in water is improved.
3. The spiral driving wheel and the spiral propeller can be driven simultaneously or independently according to the working condition. The water surface is shallow or no water working condition is driven by only the spiral driving wheel, the water level is deep according to the factors of water flowing, counter water, still water, water flow speed, wind speed and the like, the spiral driving wheel and the spiral propeller are selected for independent driving when the running resistance is small or the speed requirement is low, and the spiral driving wheel and the spiral propeller are driven simultaneously when the resistance is large or the speed requirement is high.
4. The submarine-imitating appearance is designed, miniaturized and streamlined, and has higher trafficability characteristic and smaller fluid resistance; the machine body is designed by using the tumbler principle, the layout of the machine body is hollow at the top and solid at the bottom, and the center of gravity is positioned at the middle-lower part. The posture is self-adjusted, and the tipping is prevented.
5. And a sonar and a fisheye camera are carried to realize the detection of the defect conditions on the water surface and under the water surface.
Drawings
Fig. 1 is a schematic view of a front view structure of the amphibious detection robot of the present invention;
FIG. 2 is a schematic view of the overhead structure of the amphibious inspection robot of the present invention;
FIG. 3 is a schematic left-view structural diagram of the amphibious detection robot of the present invention;
FIG. 4 is a schematic diagram of a right-view structure of the amphibious detection robot of the present invention;
FIG. 5 is a schematic view of the three-dimensional structure of the amphibious detection robot of the present invention;
FIG. 6 is a schematic cross-sectional view of FIG. 1;
FIG. 7a is a schematic view of the internal structure of the spiral driving wheel of the amphibious detection robot of the present invention;
FIG. 7b is a schematic cross-sectional view XI in FIG. 7 a;
fig. 7c is a schematic cross-sectional view of XII in fig. 7 a.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are 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.
The embodiment discloses a double-helix driving amphibious detection robot, which comprises a robot body 1, a sonar 3, a double-helix driving wheel 2, a camera 4 and a spiral propeller 6, as shown in fig. 1;
the machine body 1 is one of basic parts of the robot and is used for installing and carrying main components and realizing the floating requirement in water. The structure is a thin-wall and strong-back structure formed by 3D printing of high-strength engineering plastics, the seal is in a bionic design in appearance, and the head end and the tail end of the seal are upwards tilted in a conical manner. The valve has high trafficability and low fluid resistance, and can be used in complex environments.
Double helix drive wheel 2 is fixed with in 1 both sides symmetry of organism, revolves to opposite helical wheel about double helix drive wheel 2 adopts, and the buoyancy demand that the robot floated and dive can be satisfied in the cavity design, rationalizes the structural configuration. As shown in fig. 7a, 7b and 7c, the first motor 14 is located inside and fixed to the helical drive wheel 2, typically by bolts; the output shaft of the first motor 14 extends out, passes through a first bearing 16 at the port of the spiral driving wheel, and is fixed with a mounting seat 15 on the machine body 1 through screws. The other end of the spiral driving wheel 2 is rotatably connected with the machine body through a second bearing 17. After the first motor 14 is started, the first motor and the spiral driving wheel 2 rotate together, the left and right spiral wheels are driven to rotate reversely, then the robot moves forwards and backwards, and the robot turns by being driven in the same direction. The lower surface of the double-helix driving wheel 2 is lower than the lower surface of the machine body 1, and when no water exists, the double-helix driving wheel 2 contacts the bottom of the pipeline and can normally walk.
As shown in fig. 3, camera 4, sonar 3, and illumination lamp 5 are fixed to the head of body 1, 2 illumination lamps 5 are located on both sides of camera 4, and sonar 3 is located below camera 4. The present embodiment employs the fisheye camera 4.
As shown in fig. 2, an inspection window is arranged at the top of the machine body 1, and a sealing cover 7 is arranged on the inspection window; the cover 7 is hinged on one side of the detection window, so that other components inside the detection machine body 1 can be opened conveniently. In this embodiment, the machine body 1 is a hollow structure and is divided into a front chamber 12 and a rear chamber 13 by a partition 11. In this embodiment, sonar 3, data module, and second motor 9 of screw propeller 6 are all fixed in front cabin 12.
As shown in figure 4, in order to enhance the advancing power of underwater diving, the spiral booster 6 is arranged at the tail part of the rear cabin 13, the structural design with opposite left and right rotating directions is also adopted, the spiral booster provides forward (or backward) thrust to improve the underwater power of the robot by matching with the motion control of the spiral driving wheel 2, and the design of an independent cabin body meets the motion requirements of full-speed advancing and underwater floating of the robot in water. Meanwhile, the advancing direction of the robot can be adjusted through differential rotation or start-stop control of the left propeller 6 and the right propeller 6. And closing the screw propeller 6 when no water is detected. For satisfying the great moisturizing demand of screw propeller 6, there is the water inlet in the design of not both sides such as rear bin 13, and protection casing 8 is installed on the water inlet, and for blockking great rubbish and inhaling, protection casing 8 adopts many grid structure, and protection organism 1 afterbody spiral boost motor does not receive the rubbish winding, influences the propulsion effect or causes the trouble.
The second motor 9 of the screw propeller 6 is fixed in the front bin 12, and the output shaft of the second motor 9 passes through the rear bin 13 to be rotatably connected with the screw propeller 6.
The detection element mainly comprises a sonar 3 and a fisheye camera 4, wherein the sonar 3 identifies the underwater pipeline outline by annular scanning according to the reflection principle, so that the defects of deformation, breakage, deposition and the like of an underwater part are detected. The camera 4 adopts the fisheye camera 4, and the visual field scope is big, satisfies the defect detection demand of robot marcing in-process to the pipeline, and camera 4 has high pixel and high power zoom function, realizes defect observation and image recording on the surface of water. The illuminating lamp 5 is mainly used for lighting in the pipeline and supplementing light for shooting and recording of the camera 4. The type selection and the layout design of the fisheye camera 4 and the illuminating lamp 5 enable the shell structure to be compact, attractive in appearance and strong in functionality.
As shown in fig. 6, the driving components except the first motor are installed in the front cabin 12 and fixed at the bottom of the casing, the whole design uses the tumbler principle for reference, the layout of the machine body 1 is hollow at the top and solid at the bottom, and the center of gravity is located at the middle-lower part. The posture is self-adjusted, and the tipping is prevented. The maintenance shell cover 7 is installed on the upper shell surface of the machine body 1, and is convenient for regular maintenance and overhaul of the driving part in the machine body 1. When full of water, the counterweight block can be placed in the front chamber 12 through the inspection window, so that the weight of the counterweight and the whole machine body 1 is equal to the buoyancy of water, and the friction between the machine body 1 and the top of the pipeline is reduced.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (9)
1. The double-helix driving amphibious detection robot is characterized by comprising a robot body (1), a sonar (3), a double-helix driving wheel (2), a camera (4) and a spiral propeller (6);
the double-spiral driving wheels (2) are symmetrically fixed on two sides of the machine body (1), and the sonar (3) and the camera (4) are fixed on the head of the machine body (1); an inspection window is arranged at the top of the machine body (1), and a sealing cover (7) is arranged on the inspection window; the machine body (1) is of a hollow structure and is divided into a front bin (12) and a rear bin (13) by a partition plate (11); the top of the rear bin (13) is provided with a water inlet, and a filtering protective cover (8) is fixed at the water inlet; the spiral propeller (6) is fixed at the tail part of the rear bin (13).
2. The double-helix driven amphibious detection robot according to claim 1, wherein the lower surface of the double-helix driving wheel (2) is lower than the lower surface of the robot body (1).
3. The double-helix driven amphibious detection robot according to claim 1 or 2, wherein an illuminating lamp (5) is further fixed to the head of the robot body (1).
4. The double-helix driven amphibious detection robot according to claim 1 or 2, wherein mounting seats symmetrically extend out of two sides of the robot body (1); two ends of the double-helix driving wheel (2) are respectively and rotatably connected to the mounting seat.
5. The double-helix driving amphibious detection robot according to claim 4, wherein the double-helix driving wheel (2) is of a hollow structure, and a first motor (14) for driving the double-helix driving wheel (2) is located inside and fixed with the double-helix driving wheel (2); an output shaft of the first motor (14) extends out, passes through a first bearing (16) at the port of the spiral driving wheel and is fixed with a mounting seat (15) on the machine body (1) through a screw; the other end of the double-helix driving wheel (2) is rotatably connected with the machine body (1) through a second bearing (17).
6. The double-helix driving amphibious detection robot according to claim 1 or 2, wherein the body (1) is designed in a seal bionic mode, and the head end and the tail end of the body are upwards tilted in a conical mode.
7. The double-helix driving amphibious detection robot according to claim 2, wherein a second motor (9) of the screw propeller (6) is fixed in the front cabin (12), and an output shaft of the second motor (9) penetrates through the rear cabin (13) to be rotatably connected with the screw propeller (6).
8. The double-helix driving amphibious detection robot according to claim 1 or 2, wherein the number of the screw propellers (6) is two, and the two screw propellers are respectively located on the left side and the right side of the tail of the robot body (1).
9. The double-helix driven amphibious detection robot according to claim 8, wherein there are two water inlets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220885847.2U CN217519484U (en) | 2022-04-15 | 2022-04-15 | Double-screw driving amphibious detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220885847.2U CN217519484U (en) | 2022-04-15 | 2022-04-15 | Double-screw driving amphibious detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217519484U true CN217519484U (en) | 2022-09-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220885847.2U Active CN217519484U (en) | 2022-04-15 | 2022-04-15 | Double-screw driving amphibious detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217519484U (en) |
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2022
- 2022-04-15 CN CN202220885847.2U patent/CN217519484U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240226 Address after: 230,051 Room 203, Building 1, Zone C, Intelligent Equipment Science Park, No. 3963, Susong Road, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Hefei Hagong Zhiling Intelligent Technology Co.,Ltd. Country or region after: China Address before: 230031 Zone C, intelligent equipment science and Technology Park, No. 3963 Susong Road, economic and Technological Development Zone, Hefei, Anhui Province Patentee before: HRG INTERNATIONAL INSTITUTE FOR RESEARCH & INNOVATION Country or region before: China |
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| TR01 | Transfer of patent right |