CN220647254U - In-hole robot - Google Patents
In-hole robot Download PDFInfo
- Publication number
- CN220647254U CN220647254U CN202321863315.XU CN202321863315U CN220647254U CN 220647254 U CN220647254 U CN 220647254U CN 202321863315 U CN202321863315 U CN 202321863315U CN 220647254 U CN220647254 U CN 220647254U
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- circular plate
- double
- shaft motor
- robot
- hole
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Links
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims abstract description 7
- 229910052744 lithium Inorganic materials 0.000 claims abstract description 7
- 238000012544 monitoring process Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 15
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000005553 drilling Methods 0.000 abstract description 4
- 230000005856 abnormality Effects 0.000 abstract description 3
- 238000003384 imaging method Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 3
- 239000011148 porous material Substances 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000004047 hole gas Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The utility model discloses an in-hole robot, which relates to the technical field of detection of robots in pipelines, and comprises a main body mechanism, a main body mechanism and a spring, wherein a first circular plate and a second circular plate are respectively and fixedly arranged in two ends of the main body, and a plurality of cantilevers are respectively and rotatably connected to one side surfaces of the first circular plate and the second circular plate; the moving mechanism comprises round wheels arranged on two sides of the cantilever, a double-shaft motor is fixedly arranged on the inner side of one end of the cantilever, and output shafts are arranged at two ends of the double-shaft motor. According to the robot in the hole, the lithium battery and the controller are arranged in the robot body and are electrically connected with the double-shaft motor through the electric wires, the double-shaft motor is provided with the encoder, so that the walking distance measurement or depth measurement can be realized, the gyroscope can be further arranged on the robot body, the energy drilling or pipeline trend can be conveniently measured, the robot is used for fault or abnormality judgment and the like, and the double-shaft motor drives the round wheel to move for detection and imaging operation conveniently.
Description
Technical Field
The utility model relates to the technical field of detection of robots in pipelines, in particular to an in-hole robot.
Background
At present, no equipment or robot capable of realizing autonomous walking in a small aperture to perform in-hole imaging, in-hole gas measurement, in-hole geological analysis, pipeline detection and the like exists, when the measurement is needed, the measurement equipment is pushed into a pipeline to be controlled by a push rod manually, a connecting cable and the like are frequently arranged, and then the measuring equipment is pulled back after the measurement is completed.
The traditional measurement mode is low in efficiency and high in labor intensity, and particularly in holes or pipelines with elevation angles and in-hole steering, construction is difficult, human interference factors are large, measurement effects are poor or measurement cannot be performed, and a detection element is placed into the pipeline to be detected in a push rod mode, so that the operation is inconvenient.
Disclosure of Invention
The present utility model is directed to an in-hole robot to solve the above-mentioned problems.
In order to solve the problems, the technical scheme adopted by the utility model is as follows:
an in-hole robot comprising
The main body mechanism comprises a machine body and a spring, a first circular plate and a second circular plate are fixedly arranged in two ends of the machine body respectively, a plurality of cantilevers are rotatably connected to one side surfaces of the first circular plate and the second circular plate, a first circuit cavity tube is fixedly connected to one side surface of the first circular plate, a second circuit cavity tube is fixedly connected to one side surface of the second circular plate, and the first circuit cavity tube and the second circuit cavity tube are fixedly connected with the cantilevers through the spring;
the moving mechanism comprises round wheels arranged on two sides of a cantilever, a double-shaft motor is fixedly arranged on the inner side of one end of the cantilever, output shafts are arranged at two ends of the double-shaft motor, and two ends of the double-shaft motor are in transmission connection with one side of the round wheels through the output shafts.
Preferably, the front camera is fixedly arranged on the upper surface of the first circuit cavity tube.
Preferably, the upper surface of the second circuit cavity tube is fixedly connected with a gas monitoring sensor.
Preferably, the lithium battery and the controller are installed in the machine body.
Compared with the prior art, the utility model has the following beneficial effects:
according to the utility model, by utilizing the characteristic that the first circuit cavity tube and the second circuit cavity tube are fixedly connected with the cantilevers through the springs, and the characteristics that a plurality of cantilevers are rotationally connected to the surfaces of one sides of the first circular plate and the second circular plate, then under the action of the springs, the cantilevers rotate and enable the circular plate to be attached to the inner wall of a pipeline, so that the device is convenient for being applied to pore channels with different pipe diameters, and the structural design is humanized.
According to the utility model, the lithium battery and the controller are arranged in the machine body and are electrically connected with the double-shaft motor through the electric wires, the double-shaft motor is provided with the encoder, so that the walking distance measurement or the depth measurement can be realized, the gyroscope can be further arranged on the machine body, the trend of an energy drilling hole or a pipeline can be conveniently measured, the fault or abnormality judgment and the like can be conveniently and conveniently detected and imaged by driving the circular wheel to move through the double-shaft motor.
Drawings
FIG. 1 is a schematic view of the external overall structure of an in-hole robot;
FIG. 2 is a schematic view of a first view angle structure of the in-hole robot;
FIG. 3 is a schematic view of a second view angle structure of the in-hole robot;
fig. 4 is a schematic view of a third view angle structure of the in-hole robot.
In the figure: 100. a main body mechanism; 101. a body; 102. a cantilever; 103. a spring; 104. a first circular plate; 105. a second circular plate; 106. a first line lumen; 107. a second line lumen; 108. a front camera; 109. a gas monitoring sensor; 200. a moving mechanism; 201. a round wheel; 202. a double-shaft motor.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.
Embodiment one:
referring to FIGS. 1-4, the present utility model is an in-hole robot comprising
The main body mechanism 100 comprises a machine body 101 and a spring 103, wherein a first circular plate 104 and a second circular plate 105 are fixedly arranged in two ends of the machine body 101 respectively, one side surface of each of the first circular plate 104 and the second circular plate 105 is rotatably connected with a plurality of cantilevers 102, one side surface of each of the first circular plate 104 is fixedly connected with a first circuit cavity pipe 106, one side surface of each of the second circular plate 105 is fixedly connected with a second circuit cavity pipe 107, and the first circuit cavity pipes 106 and the second circuit cavity pipes 107 are fixedly connected with the cantilevers 102 through the spring 103;
the moving mechanism 200 comprises round wheels 201 arranged on two sides of the cantilever 102, a double-shaft motor 202 is fixedly arranged on the inner side of one end of the cantilever 102, output shafts are arranged at two ends of the double-shaft motor 202, and two ends of the double-shaft motor 202 are in transmission connection with one side of the round wheels 201 through the output shafts.
From the above, the staff puts the device into the pipeline inside, wherein, through utilizing the characteristic that first circuit lumen 106 and second circuit lumen 107 all pass through spring 103 and cantilever 102 fixed connection, and first plectane 104 and second plectane 105 one side surface all rotate and be connected with the characteristic of a plurality of cantilevers 102, then under spring 103's effect, cantilever 102 rotates and makes round wheel 201 and pipeline inner wall laminating, be convenient for the device be applicable to the pore of different pipe diameters then, structural design humanization, further, staff drive biax motor 202 drives the output shaft rotation, the output shaft drives round wheel 201 rotation, then make the device remove in the pipeline inside, be convenient for carry out gas detection and at pipeline inside formation of image.
Embodiment two:
referring to fig. 1, 2 and 3, a front camera 108 is fixedly mounted on the upper surface of the first line cavity 106.
The upper surface of the second line cavity 107 is fixedly connected with a gas monitoring sensor 109.
The body 101 is internally mounted with a lithium battery and a controller.
From the above, the lithium battery and the controller are installed inside the machine body 101 and are electrically connected with the double-shaft motor 202 through wires, the double-shaft motor 202 is provided with an encoder, walking distance measurement or depth measurement can be achieved, a gyroscope can be further installed on the machine body 101, energy drilling or pipeline trend can be conveniently measured, fault or abnormality judgment and the like are achieved, the front camera 108 is fixedly connected to the upper surface of the first circuit cavity tube 106, then the functions of in-hole object recognition, imaging, geological analysis, pipeline detection and the like are conveniently carried out through the front camera 108, the gas monitoring sensor 109 is fixedly connected to the upper surface of the second circuit cavity tube 107, and in-hole or pipeline gas concentration detection is conveniently achieved through the gas monitoring sensor 109.
The working principle of the utility model is as follows: staff puts into the pipeline inside with the device, wherein, through utilizing the characteristic that first circuit lumen 106 and second circuit lumen 107 all pass through spring 103 and cantilever 102 fixed connection, and first plectane 104 and second plectane 105 one side surface all rotate and be connected with the characteristic of a plurality of cantilevers 102, then under spring 103's effect, cantilever 102 rotates and makes round wheel 201 and pipeline inner wall laminating, be convenient for install the pore that is applicable to different pipe diameters then, fuselage 101 internally mounted has lithium cell and controller and passes through electric wire electric connection with biax motor 202, biax motor 202 is furnished with the encoder, can realize walking distance measurement or degree of depth measurement, further can install the gyroscope on fuselage 101, be convenient for can survey energy drilling or pipeline trend, make the device remove in pipeline inside through biax motor 202 drive round wheel 201, first circuit lumen 106 upper surface fixedly connected with leading camera 108, then be convenient for carry out functions such as downthehole object discernment through leading camera 108, formation of image, geological analysis, pipeline detection, second circuit lumen 107 upper surface fixedly connected with gas monitoring sensor 109, be convenient for utilize gas monitoring sensor 109 to realize in the detection of gas monitoring hole or pipeline.
Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The in-hole robot is characterized in that: comprising
The main body mechanism (100) comprises a machine body (101) and a spring (103), a first circular plate (104) and a second circular plate (105) are fixedly arranged in two ends of the machine body (101), a plurality of cantilevers (102) are rotatably connected to one side surfaces of the first circular plate (104) and the second circular plate (105), a first circuit cavity tube (106) is fixedly connected to one side surface of the first circular plate (104), a second circuit cavity tube (107) is fixedly connected to one side surface of the second circular plate (105), and the first circuit cavity tube (106) and the second circuit cavity tube (107) are fixedly connected with the cantilevers (102) through the spring (103);
the moving mechanism (200) comprises round wheels (201) arranged on two sides of the cantilever (102), a double-shaft motor (202) is fixedly arranged on the inner side of one end of the cantilever (102), output shafts are arranged at two ends of the double-shaft motor (202), and two ends of the double-shaft motor (202) are in transmission connection with one side of the round wheels (201) through the output shafts.
2. The in-hole robot of claim 1, wherein: the upper surface of the first circuit cavity tube (106) is fixedly provided with a front camera (108).
3. The in-hole robot of claim 1, wherein: and the upper surface of the second circuit cavity tube (107) is fixedly connected with a gas monitoring sensor (109).
4. The in-hole robot of claim 1, wherein: and a lithium battery and a controller are arranged in the machine body (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321863315.XU CN220647254U (en) | 2023-07-15 | 2023-07-15 | In-hole robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321863315.XU CN220647254U (en) | 2023-07-15 | 2023-07-15 | In-hole robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220647254U true CN220647254U (en) | 2024-03-22 |
Family
ID=90264508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321863315.XU Active CN220647254U (en) | 2023-07-15 | 2023-07-15 | In-hole robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220647254U (en) |
-
2023
- 2023-07-15 CN CN202321863315.XU patent/CN220647254U/en active Active
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