CN220727824U - Universal camera robot for spiral case and pressure steel pipe - Google Patents
Universal camera robot for spiral case and pressure steel pipe Download PDFInfo
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- CN220727824U CN220727824U CN202322236366.6U CN202322236366U CN220727824U CN 220727824 U CN220727824 U CN 220727824U CN 202322236366 U CN202322236366 U CN 202322236366U CN 220727824 U CN220727824 U CN 220727824U
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- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 4
- 238000007689 inspection Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 230000009194 climbing Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000010030 laminating Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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Abstract
The utility model provides a universal camera robot for a volute and a pressure steel pipe, which comprises a mounting frame, a vehicle body, a crawler travelling mechanism, an image acquisition device and a rotating assembly, wherein the mounting frame is arranged on the vehicle body; the vehicle body is arranged at the top of the mounting frame; the crawler travelling mechanism is positioned at two sides of the vehicle body, and a plurality of magnets are arranged at intervals at the outer side of the crawler travelling mechanism; the image acquisition device is connected with a rotating assembly arranged at the top of the vehicle body. The utility model can be suitable for all-round inspection of pipelines with different radians, is convenient and simple to use, and can be installed by only placing the robot on the inner wall or the outer wall of the steel pipeline without erecting a scaffold or disassembling equipment.
Description
Technical Field
The utility model relates to the technical field of steel pipe inspection, in particular to a spiral case and a pressure steel pipe universal camera robot.
Background
At present, in the inspection work of large-scale pipe fittings such as a volute, a tail water steel pipe, a pressure steel pipe and the like in a power station, the pipe fittings are generally disassembled or large-scale scaffolds are erected for inspection, and the inspection efficiency is low; in order to improve the overhaul efficiency of the large pipe fitting, a robot inspection mode is adopted in a power station in the prior art to inspect the large pipe fitting; at present, a plurality of types of wall climbing robots exist frequently, including a magnetic type wall climbing robot, a vacuum negative pressure adsorption type wall climbing robot and a spider type wall climbing robot, and the magnetic type wall climbing robot is more suitable for inspection of large pipe fittings due to the special structure of the large pipe fittings.
For example, the utility model patent with publication number CN215043237U provides a wheel-track composite magnetic adsorption robot, which can adsorb a moving body on the steel outer wall of equipment through an adsorption mechanism of a processor controller, and can realize the movement of the moving body through a driving mechanism controlled by the processor, so that the body moves on the steel outer wall without dropping, replaces manual work to act in a severe environment, further reduces the working strength of workers, and also ensures the life safety of the workers.
However, the technical scheme is that the frame and the crawler belt are of a fixed structure, so that the vehicle body structure of the robot cannot adapt to radians on the inner wall and the outer wall of the large pipe fitting when the robot is used for the large pipe fitting, and the stability is poor in the climbing process, so that the robot cannot realize the omnibearing inspection of the large pipe fitting.
Disclosure of Invention
The utility model aims to provide a spiral case and pressure steel pipe universal camera robot which can adapt to the radian of the inner wall and the outer wall of a pipe fitting and is adsorbed on the inner wall and the outer wall of a pipeline, and meanwhile, a camera rotates for 360 degrees, so that omnibearing inspection can be performed.
The embodiment of the utility model is realized by the following technical scheme:
a universal camera robot for a volute and a pressure steel pipe comprises a mounting frame, a vehicle body, a crawler travelling mechanism, an image acquisition device and a rotating assembly; the vehicle body is arranged at the top of the mounting frame; the crawler travelling mechanism is positioned at two sides of the vehicle body, and a plurality of magnets are arranged at intervals on the outer side of the crawler travelling mechanism; the image acquisition device is connected with a rotating assembly arranged at the top of the vehicle body.
Preferably, the crawler travelling mechanism comprises a crawler, a first tensioning wheel and a motor; the inner side of the crawler belt and the outer side of the first tensioning wheel are provided with racks which are matched with each other and are used for transmission connection; the motor is arranged on the inner side of the mounting frame and connected with the first tensioning wheel.
Preferably, the number of the tracks is 2, and 2 first tensioning wheels are symmetrically arranged on two sides of the inner side of each track.
Preferably, one side of the mounting frame is provided with a second tensioning wheel positioned in the crawler belt, and the second tensioning wheel is movably connected with the mounting frame through an adjusting frame and is used for adjusting tightness of the crawler belt.
Preferably, universal wheels are symmetrically arranged on the inner side of the mounting frame, and are mounted on the inner side of the vehicle body through a fixing frame.
Preferably, a power module is arranged in the vehicle body, the power module is electrically connected with the image acquisition device, the rotating assembly and the motor, a power cover plate is arranged at the top of the power module, and the power cover plate is detachably connected with the vehicle body.
Preferably, the image acquisition device comprises a camera and a cradle head, wherein the cradle head is fixedly connected with the rotating assembly, and the cradle head is provided with a protective shell.
Preferably, the rotating assembly comprises a fixed disc, a driving gear, a driven gear and a driving device;
the fixed disc is arranged at the top of the vehicle body and is detachably connected with the vehicle body;
the middle part of fixed disk is equipped with the through-hole, the through-hole swivelling joint has the pivot, the one end of pivot is through the through-hole and the cloud platform fixed connection of fixed disk, the other end and the driven gear drive of pivot are connected, the meshing between driven gear and the driving gear, the driving gear is driven by drive arrangement.
The technical scheme of the embodiment of the utility model has at least the following advantages and beneficial effects:
(1) The crawler belt type pipeline tensioning device is simple in structure, the crawler belt travelling mechanism is arranged, the transmission connection of the crawler belt is realized by using the two first tensioning wheels, and when the crawler belt type pipeline tensioning device is actually used, the crawler belt can adapt to the radian of the cambered surfaces of the inner wall and the outer wall of a pipe fitting and can adapt to pipelines with different sizes and shapes; then, the magnet is arranged on the crawler belt, so that the robot can be adsorbed on the inner wall and the outer wall of the pipeline when in use, and the robot can carry out all-round inspection work along the pipeline through the motor.
(2) According to the utility model, by arranging the image acquisition device and the rotating assembly, the image information acquisition on the inner part and the outer part of the pipeline is realized, the acquisition angle of the image acquisition device is adjusted by the rotating assembly, and the observation of 360 degrees without dead angles is realized, so that the inspection accuracy and reliability are improved.
(3) The robot using the utility model does not need to set up a scaffold or disassemble equipment.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a universal camera robot for a volute and a penstock provided in embodiment 1 of the present utility model;
fig. 2 is a schematic structural diagram of a universal camera robot for a volute and a penstock provided in embodiment 1 of the present utility model;
fig. 3 is a bottom view of a universal camera robot for a volute and a penstock provided in embodiment 1 of the present utility model;
fig. 4 is a side view of a universal camera robot for a volute and a penstock provided in embodiment 1 of the present utility model;
fig. 5 is a schematic structural diagram of a universal camera robot for a volute and a penstock provided in embodiment 1 of the present utility model;
fig. 6 is a schematic structural diagram of an image acquisition device and a rotating assembly of a universal camera robot for a volute and a pressure steel pipe provided in embodiment 1 of the present utility model;
icon: 100-mounting frame, 110-universal wheel, 111-fixing frame, 200-automobile body, 210-power module, 300-crawler running mechanism, 310-crawler, 311-magnet, 320-first tensioning wheel, 330-motor, 340-second tensioning wheel, 341-adjusting frame, 400-image acquisition device, 410-camera, 420-cloud platform, 430-protective housing, 500-rotating component, 510-fixed disk, 511-rotating shaft, 520-driving gear, 530-driven gear.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. 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.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present utility model, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which a product of the application is conventionally put in use, it is merely for convenience of describing the present utility model and simplifying the description, and it is not indicated or implied that the referred device or element must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model.
In the description of the present utility model, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1 to 6, the present embodiment provides a universal camera robot for a scroll case and a penstock, which includes a mounting frame 100, a vehicle body 200, a crawler 300, an image acquisition device 400, and a rotating assembly 500; the vehicle body 200 is mounted on top of the mounting frame 100; the crawler belt travelling mechanism 300 is positioned at two sides of the vehicle body 200, and a plurality of magnets 311 are arranged at intervals at the outer side of the crawler belt travelling mechanism 300; the image pickup device 400 is connected to a rotating assembly 500 provided at the top of the vehicle body 200.
In the specific implementation process, the crawler belt travelling mechanism 300 controls movement, the image acquisition device 400 arranged at the top of the vehicle body 200 can freely rotate 360 degrees through the rotating assembly 500, and the crawler belt travelling mechanism 300 can carry out omnibearing inspection work along a pipeline.
The track running gear 300 can adapt to the radian of pipeline and adjust, during the use, only need place the robot on steel pipe pipeline inner wall or outer wall can, need not to set up scaffold frame or disassemble equipment and install, rely on the magnet 311 that track running gear 300 outside set up to make the robot can adsorb on steel pipe pipeline's inner wall or outer wall, drive track running gear 300 drive the robot walking can patrol and examine the pipeline optional position, it is very convenient to use.
The crawler travel mechanism 300 of the present embodiment includes a crawler 310, a first tensioning wheel 320, and a motor 330; the inner side of the crawler 310 and the outer side of the first tensioning wheel 320 are provided with racks which are matched with each other for transmission connection; the motor 330 is provided at the inner side of the mounting frame 100 and connected to the first tension pulley 320.
In a specific implementation process, the crawler 310 has a certain deformability, can adapt to the radian of the cambered surfaces of the inner wall and the outer wall of the pipe fitting, and is convenient to apply to pipelines with different sizes and shapes. The motor 330 drives the first tensioning wheel 320 to rotate, and as the rack matched with each other is arranged between the crawler 310 and the first tensioning wheel 320, the rotation of the first tensioning wheel 320 synchronously drives the crawler 310 to rotate, so that the movement of the robot is realized.
The number of the tracks 310 in this embodiment is 2, and 2 first tensioning wheels 320 are symmetrically arranged on two sides of the inner side of each track 310.
In the specific implementation process, the tracks 310 are respectively sleeved on two sides of the vehicle body 200 and on the first tensioning wheels 320, and it is easy to understand that, as the 2 tensioning wheels 320 have a certain distance, the positions where the tracks 310 are not contacted with the first tensioning wheels 320 lack support, so that the surfaces where the tracks 310 are contacted with the pipelines can form certain concave surfaces according to the radians of different pipelines, and the robot can be attached to the pipeline wall better.
The second tensioning wheel 340 located in the crawler 310 is arranged on one side of the mounting frame 100 in the embodiment, and the second tensioning wheel 340 is movably connected with the mounting frame 100 through an adjusting frame 341 and is used for adjusting tightness of the crawler 310.
In the specific implementation process, the second tensioning wheel 340 can adjust the tensioning wheel 340 according to actual conditions, changes the elasticity of the track 310, and if the pipeline with overlarge radian can then loosen the track 310, the better laminating between the track 310 and the pipeline is convenient for, and the laminating stability between the robot and the pipeline is enhanced.
The inner side of the mounting frame 100 of the present embodiment is also symmetrically provided with universal wheels 110, and the universal wheels 110 are mounted on the inner side of the vehicle body 200 through a fixing frame 111.
In the specific implementation process, the universal wheels 110 are convenient for the robot to turn, and can freely rotate to realize 360-degree inspection of the pipeline.
The power module 210 is disposed in the vehicle body 200 of the embodiment, the power module 210 is electrically connected with the image acquisition device 400, the rotating assembly 500 and the motor 330, a power cover plate is disposed on the top of the power module 210, and the power cover plate is detachably connected with the vehicle body 200.
In the specific implementation process, the power module 210 supplies power to the whole robot, and the set power cover plate adopts a detachable connection mode, so that the power module 210 can be replaced by a worker conveniently.
The image capturing device 400 of the present embodiment includes a camera 410 and a cradle head 420, the cradle head 420 is fixedly connected with a rotating assembly 500, and the cradle head 420 is provided with a protective shell 430.
In a specific implementation process, the pan-tilt 420 can improve the stability of the robot camera shooting and reduce the shake of the image. The protective housing 430 that the cloud platform 420 set up can play certain guard action to image acquisition device 400, prevents that the robot from moving in-process collision camera 410 from causing the damage.
The rotating assembly 500 of the present embodiment includes a fixed disk 510, a driving gear 520, a driven gear 530, and a driving device;
the fixed disk 510 is arranged on the top of the vehicle body 200 and is detachably connected with the vehicle body 200;
the middle part of the fixed disk 510 is provided with a through hole, a rotating shaft 511 is rotationally connected to the through hole, one end of the rotating shaft 511 is fixedly connected with the cradle head 420 through the through hole of the fixed disk 510, the other end of the rotating shaft 511 is in transmission connection with a driven gear 530, the driven gear 530 is meshed with a driving gear 520, and the driving gear 520 is driven by a driving device.
In the specific implementation process, the number of teeth of the driving gear 520 is smaller than that of the driven gear 530, so that the driving gear 520 is conveniently driven to rotate, energy consumption is saved, and the rotation assembly 500 can drive the image acquisition device 400 to synchronously rotate when rotating, thereby realizing 360-degree omnibearing inspection.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (8)
1. The universal camera robot for the spiral case and the pressure steel pipe is characterized by comprising a mounting frame (100), a vehicle body (200), a crawler travelling mechanism (300), an image acquisition device (400) and a rotating assembly (500);
the vehicle body (200) is arranged at the top of the mounting frame (100);
the crawler travelling mechanism (300) is positioned at two sides of the vehicle body (200), and a plurality of magnets (311) are arranged at intervals on the outer side of the crawler travelling mechanism (300);
the image acquisition device (400) is connected with a rotating assembly (500) arranged at the top of the vehicle body (200).
2. The scroll and penstock universal camera robot of claim 1, wherein the crawler travel mechanism (300) comprises a crawler (310), a first tensioning wheel (320), a motor (330); the inner side of the crawler belt (310) and the outer side of the first tensioning wheel (320) are provided with racks which are matched with each other and used for transmission connection; the motor (330) is arranged on the inner side of the mounting frame (100) and is connected with the first tensioning wheel (320).
3. The universal camera robot for the spiral case and the pressure steel pipe according to claim 2, wherein the number of the tracks (310) is 2, and 2 first tensioning wheels (320) are symmetrically arranged on two sides of the inner side of each track (310).
4. The universal camera robot for the spiral case and the pressure steel pipe according to claim 1, wherein a second tensioning wheel (340) positioned in the crawler belt (310) is arranged on one side of the mounting frame (100), and the second tensioning wheel (340) is movably connected with the mounting frame (100) through an adjusting frame (341) and is used for adjusting tightness of the crawler belt (310).
5. The universal camera robot for the spiral case and the pressure steel pipe according to claim 1 or 4, wherein universal wheels (110) are symmetrically arranged on the inner side of the mounting frame (100), and the universal wheels (110) are mounted on the inner side of the vehicle body (200) through a fixing frame (111).
6. The universal camera robot for the spiral case and the pressure steel pipe according to claim 1, wherein a power module (210) is arranged in the vehicle body (200), the power module (210) is electrically connected with the image acquisition device (400), the rotating assembly (500) and the motor (330), a power cover plate is arranged at the top of the power module (210), and the power cover plate is detachably connected with the vehicle body (200).
7. The universal camera robot for the spiral case and the pressure steel pipe according to claim 1, wherein the image acquisition device (400) comprises a camera (410) and a holder (420), the holder (420) is fixedly connected with the rotating assembly (500), and the holder (420) is provided with a protective shell (430).
8. The scroll and penstock universal camera robot of claim 1, wherein the rotating assembly (500) comprises a fixed disk (510), a drive gear (520), a driven gear (530), and a drive means;
the fixed disc (510) is arranged at the top of the vehicle body (200) and is detachably connected with the vehicle body (200);
the middle part of fixed disk (510) is equipped with the through-hole, the through-hole rotation is connected with pivot (511), the one end of pivot (511) is passed through the through-hole and the cloud platform (420) fixed connection of fixed disk (510), the other end and the driven gear (530) transmission of pivot (511) are connected, mesh between driven gear (530) and driving gear (520), driving gear (520) are driven by drive arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322236366.6U CN220727824U (en) | 2023-08-18 | 2023-08-18 | Universal camera robot for spiral case and pressure steel pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322236366.6U CN220727824U (en) | 2023-08-18 | 2023-08-18 | Universal camera robot for spiral case and pressure steel pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220727824U true CN220727824U (en) | 2024-04-05 |
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ID=90491194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322236366.6U Active CN220727824U (en) | 2023-08-18 | 2023-08-18 | Universal camera robot for spiral case and pressure steel pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220727824U (en) |
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2023
- 2023-08-18 CN CN202322236366.6U patent/CN220727824U/en active Active
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