CN219035972U

CN219035972U - Pipeline robot

Info

Publication number: CN219035972U
Application number: CN202223406099.4U
Authority: CN
Inventors: 方继根; 胡冉; 沈利
Original assignee: Hefei Diyi Technology Co ltd
Current assignee: Hefei Diyi Technology Co ltd
Priority date: 2022-12-15
Filing date: 2022-12-15
Publication date: 2023-05-16
Anticipated expiration: 2032-12-15

Abstract

The utility model discloses a pipeline robot device, which comprises a vision device and a movable chassis, wherein the vision device comprises a base plate, a movable chassis, a movable frame and a movable frame; the vision device comprises a camera shooting mechanism, a pitching mechanism and a revolving mechanism; the pitching mechanism is connected with the image pickup mechanism and is used for driving the image pickup mechanism to rotate to present pitching postures with different angles; the rotation mechanism is connected with the pitching mechanism and is used for driving the pitching mechanism to control the photographing mechanism to rotate; the lifting mechanism is connected with the movable chassis and the vision device and used for lifting the vision device; an anti-collision guard bar is arranged at the front end of the movable chassis and used for protecting the camera shooting mechanism, and a clamping device is arranged at the rear end of the movable chassis and used for fixing a wire; the utility model provides a pipeline robot with a three-degree-of-freedom camera vision part.

Description

Pipeline robot

Technical Field

The utility model relates to the field of pipeline robots, in particular to a pipeline robot.

Background

The pipeline robot is one system capable of walking automatically inside or outside small pipeline and carrying one or several kinds of sensors and operation machine to perform pipeline operation under the control of remote control and computer control.

In the existing main flow pipeline robot, the visual part of the equipment has only one degree of freedom or two degrees of freedom, and the visual field range of the robot is limited to a certain extent.

Disclosure of Invention

In order to solve the defects in the prior art, the main purpose of the utility model is to provide a pipeline robot with a three-degree-of-freedom photographing visual part, and to solve the problem of limited visual field range of the traditional pipeline robot.

In order to achieve the above object, the present utility model provides a pipe robot having a three-degree-of-freedom camera vision part, including a vision device and a moving chassis;

the vision device comprises a camera shooting mechanism, a pitching mechanism and a revolving mechanism;

the pitching mechanism is connected with the camera shooting mechanism and is used for driving the camera shooting mechanism to rotate and presenting pitching postures with different angles;

the rotation mechanism is connected with the pitching mechanism and is used for driving the pitching mechanism to control the photographing mechanism to rotate;

the lifting mechanism is connected with the movable chassis and the vision device and used for lifting the vision device.

Further, the camera shooting mechanism comprises a first shell and a camera arranged in the first shell, the first shell is rotationally connected with the pitching mechanism, the pitching mechanism comprises a pitching motor, and the pitching motor drives the camera shooting mechanism through a synchronous pulley, so that the camera shooting mechanism rotates.

Further, the lifting mechanism comprises at least two connecting rods and a pushing part, wherein the connecting rods are positioned on at least one side of the slewing mechanism, one end of each connecting rod is rotatably connected to the movable chassis, and the other end of each connecting rod is rotatably connected to the slewing mechanism; one end of the pushing component is rotationally connected to the movable chassis, the other end of the pushing component is connected with one of the connecting rods, and the pitching mechanism and the photographing mechanism are driven to be lifted through the telescopic control rotation mechanism of the pushing component.

Further, the tail of the movable chassis is provided with a plug connector, the position of the tail of the movable chassis corresponding to the plug connector is provided with a clamping device, and the clamping device is used for clamping wires connected with the plug connector.

Further, the clamping device is polygonal roller-shaped and is connected with the movable chassis through a shaft, at least two through holes are formed in the clamping device and are used for facilitating the penetration of a wire, a threaded hole is formed in the top surface of each through hole, the clamping device further comprises a locking screw, and the locking screw penetrates through the clamping device from the threaded hole and is in threaded fit with the clamping device to fix the wire.

Further, the front end of the movable chassis is provided with an anti-collision protection bar, and the vertical projection length of the anti-collision protection bar exceeds the vertical projection length of the vision device and is used for anti-collision protection of the camera shooting mechanism.

The beneficial effects of the utility model are as follows:

according to the utility model, through the pitching mechanism, the slewing mechanism and the lifting mechanism, the visual part of the equipment has three degrees of freedom including a pitching angle, a slewing angle and a height, has stronger capability of crossing obstacles to observe, and increases the visual field range.

Drawings

FIG. 1 is a front view of a pipe robot according to the present utility model;

FIG. 2 is a schematic view of a vision apparatus according to the present utility model;

FIG. 3 is a top view of the pipe robot according to the present utility model;

fig. 4 is a schematic cross-sectional view of the clamping device of the present utility model.

Reference numerals illustrate: 1-vision device, 2-mobile chassis, 11-camera mechanism, 12-every single move mechanism, 13-rotation mechanism, 14-elevating system, 111-first casing, 121-every single move motor, 122-synchronous pulley, 141-connecting rod, 142-pushing component, 23-bayonet joint, 22-chucking device, 221-perforation, 222-locking screw, 21-bumper.

Detailed Description

The technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. Embodiments and features of embodiments in this application may be combined with each other without conflict. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

See fig. 1 to 4.

The utility model provides a pipeline robot, comprising:

a vision device 1 and a mobile chassis 2 as shown in fig. 1;

the vision device 1 comprises an image pickup mechanism 11, a pitching mechanism 12 and a slewing mechanism 13;

in specific implementation, the pitching mechanism 12 is connected with the image pickup mechanism 11, and the pitching mechanism 12 is used for driving the image pickup mechanism 11 to rotate so as to present pitching postures with different angles; the revolving mechanism 13 comprises a revolving motor, and is connected with the pitching mechanism 12 through the revolving motor to drive the pitching mechanism 12 to control the photographing mechanism 11 to revolve; the device also comprises a lifting mechanism 14 which is connected with the movable chassis 2 and the vision device 1 and is used for lifting the vision device 1. Therefore, the three degrees of freedom of pitching, turning and lifting of the camera shooting visual part are realized, and the visual field range is enlarged to a certain extent.

As shown in fig. 2, the image pickup mechanism 11 includes a first housing 111 and a camera provided inside the first housing.

In specific implementation, the first housing 111 is rotationally connected with the pitching mechanism 12, the pitching mechanism 12 comprises a pitching motor 121, and the pitching motor 121 drives the image pickup mechanism 11 to rotate through a synchronous pulley 122;

the lifting mechanism 14 comprises at least two connecting rods 141 and a pushing part 142 which are positioned on at least one side of the slewing mechanism 13, one end of each connecting rod 141 is rotationally connected to the mobile chassis 2, and the other end of each connecting rod 141 is rotationally connected to the slewing mechanism 13; one end of the pushing component 142 is rotatably connected to the mobile chassis 2, the other end of the pushing component 142 is connected with one of the connecting rods 141, and the pitching mechanism 12 and the photographing mechanism 11 are driven to be lifted by the telescopic control slewing mechanism 13 of the pushing component 142.

It should be noted that, the pipe robot works in a narrow channel, so the lifting mechanism 14 is composed of the connecting rod 141 and the pushing component 142, and this combination mode can make the lifting height of the vision device not high, and is suitable for use in a pipe.

As shown in fig. 3, the tail of the mobile chassis 2 is provided with a plug connector 23, the position of the tail of the mobile chassis 2 corresponding to the plug connector 23 is provided with a clamping device 22, and the clamping device 22 is used for clamping a wire connected with the plug connector 23;

the clamping device 22 is rotatably connected to the rear end of the mobile chassis 2.

As shown in fig. 4, the clamping device 22 is in a polygonal roller shape, and is connected with the movable chassis 2 through a shaft, the clamping device 22 is provided with at least two through holes 221 for facilitating the penetration of wires, the top surface of the through holes 221 is provided with a threaded hole, and the clamping device 22 further comprises a locking screw 222.

Since the pipe robot works in a narrow passage, the wire is preferably routed from below, and the chucking device 22 is rotatably connected to the moving chassis 2.

In particular, the wire passes through the hole 221 above from the direction close to the vision device, then the wire rotates to the lower side along with the clamping device, and is inserted into the plug-in connector 23, and when the wire is adjusted to a proper length, the wire is fixed by the locking screw 222 through the corresponding threaded hole, so that the wire is prevented from being pulled during the operation of the pipeline robot.

The anti-collision protection bar 21 is fixed at the front end of the mobile chassis 2, and the vertical projection length of the anti-collision protection bar 21 exceeds the vertical projection length of the vision device 1, so as to perform anti-collision protection on the camera mechanism 11.

The foregoing description of the preferred embodiments of the utility model is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the utility model.

Claims

1. A pipeline robot, characterized by comprising a vision device (1) and a mobile chassis (2);

the vision device (1) comprises an imaging mechanism (11), a pitching mechanism (12) and a slewing mechanism (13);

the pitching mechanism (12) is connected with the image pickup mechanism (11), and the pitching mechanism (12) is used for driving the image pickup mechanism (11) to rotate and present pitching postures with different angles;

the rotation mechanism (13) is connected with the pitching mechanism (12), and the rotation mechanism (13) is used for driving the pitching mechanism (12) to control the photographing mechanism (11) to rotate;

the visual device comprises a movable chassis (2), a visual device (1) and a lifting mechanism (14), wherein the visual device (1) is connected with the movable chassis (2).

2. The pipeline robot according to claim 1, wherein the image pickup mechanism (11) comprises a first shell (111) and a camera arranged inside the first shell (111), the first shell (111) is rotationally connected with the pitching mechanism (12), the pitching mechanism (12) comprises a pitching motor (121), and the pitching motor (121) drives the image pickup mechanism (11) to rotate through a synchronous pulley (122).

3. A pipeline robot according to claim 1, characterized in that the lifting mechanism (14) comprises at least two links (141) and pushing members (142) located on at least one side of the slewing mechanism (13), one end of each link (141) being rotatably connected to the moving chassis (2), the other end of the link (141) being rotatably connected to the slewing mechanism (13);

one end of the pushing component (142) is rotatably connected to the movable chassis (2), the other end of the pushing component (142) is connected with one of the connecting rods (141), and the pitching mechanism (12) and the camera shooting mechanism (11) are driven to be lifted by the telescopic control slewing mechanism (13) of the pushing component (142).

4. A pipeline robot according to claim 1, characterized in that the tail of the mobile chassis (2) is provided with a plug (23), and the tail of the mobile chassis (2) is provided with a clamping device (22) corresponding to the position of the plug (23), and the clamping device (22) is used for clamping a wire connected with the plug (23).

5. A pipeline robot according to claim 1 or 4, characterized in that the pipeline robot comprises a clamping device (22) rotatably connected to the rear end of the movable chassis (2), wherein the clamping device (22) is in a polygonal roller shape, at least two through holes (221) are formed in the clamping device (22), and a locking screw (222) is further arranged on the clamping device (22), penetrates through the clamping device (22) from the lateral direction of the through holes (221) and is in threaded fit with the clamping device (22).

6. The pipeline robot according to claim 1, further comprising an anti-collision protection bar (21), wherein the anti-collision protection bar (21) is fixed at the front end of the mobile chassis (2), and the vertical projection length of the anti-collision protection bar (21) exceeds the vertical projection length of the vision device (1) and is used for anti-collision protection of the camera mechanism (11).