CN221004305U - Autonomous walking type pipe network detection robot - Google Patents
Autonomous walking type pipe network detection robot Download PDFInfo
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- CN221004305U CN221004305U CN202321893696.6U CN202321893696U CN221004305U CN 221004305 U CN221004305 U CN 221004305U CN 202321893696 U CN202321893696 U CN 202321893696U CN 221004305 U CN221004305 U CN 221004305U
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- 238000005259 measurement Methods 0.000 description 4
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Abstract
The utility model discloses an autonomous walking type pipe network detection robot, which comprises an electronic bin and a walking device, wherein a control system and a screw motor are arranged in the electronic bin, the walking device comprises a bracket, a reducing mechanism and a walking wheel set, wherein the bracket is sequentially sleeved with a driving sliding sleeve, a driven sliding sleeve, a screw supporting seat and a spring, the reducing mechanism comprises a plurality of wheel arms, a supporting rod, a screw and a screw motor, the walking wheel set comprises walking wheels and a walking wheel motor which are positioned at the front end parts of the wheel arms.
Description
Technical Field
The utility model relates to the technical field of intelligent pipe network detection, in particular to an autonomous walking type pipe network detection robot with good adaptability and flexible and timely walking.
Background
The new foundation pipeline is constructed in a non-excavation way, but due to factors such as construction level and technology, the pipeline track is often greatly different from the design track, particularly, the measurement technology after completion is lagged, so that the completion data and data of the underground pipeline project and the actual space position coordinate error of the pipeline are large, and the management and utilization of the underground pipeline are not facilitated.
At present, the pipeline track acquisition technology and the pipeline internal condition measurement condition generally carry out data acquisition through nondestructive detection equipment or devices such as a pipeline plotting instrument, the detection equipment or devices based on an electronic compass are utilized to walk in a pipeline, detected data are transmitted to an upper computer in a wireless or wired mode to process and calculate a three-dimensional track, but the data are interfered by an environment magnetic field in the process of transmitting the data through a cable, so that azimuth data are misaligned, and the measurement accuracy is reduced, so that the method is only suitable for the environment without abnormal magnetic field interference. Aiming at the problem, a technology for measuring the track by adopting an attitude sensor is proposed in the industry, the attitude sensor is utilized to measure the coordinate track of a pipeline, the interference of an environmental magnetic field is avoided based on the fiber optic gyroscope technology, as disclosed in a patent CN201711019623.3, equipment for measuring the three-dimensional attitude and the length of the pipeline, a patent CN20151269661. X and a detection device, the technical scheme comprises an electronic bin and a device structure of a front bracket and a rear bracket, an inertial measurement unit is arranged in the electronic bin, the wheels are always in close contact with the pipeline wall by radial stretching of the front bracket and the rear bracket, the inner diameter of the self-adaptive pipeline wall is automatically contracted, the stable advancing performance and the measuring accuracy of a detector are maintained, the stretching range of the righting bracket is smaller when the pipe diameter is changed greatly, the pipe diameter is not changed, and the running flexibility and the timeliness of the device are not satisfied due to the lack of a power device, and the service life of the wheels is also shortened.
Disclosure of utility model
The utility model mainly solves the technical problems; the autonomous walking type pipe network detection robot is good in adaptability, flexible and timely in walking.
In order to solve the technical problems, the utility model mainly adopts the following technical scheme:
The utility model discloses an autonomous walking type pipe network detection robot, which is used for detecting an underground pipeline, and comprises the following components:
The electronic bin is internally provided with a control system and a screw motor;
The walking device is used for supporting and driving the electronic bin to walk and comprises a front walking device and a rear walking device which are identical in structure and respectively positioned at the front part and the rear part of the electronic bin, and the front walking device comprises a bracket, a reducing mechanism and a walking wheel group;
The support comprises a plurality of guide rods which are distributed along the central axis of the electronic bin in a wire-loop manner and are parallel to the central axis of the electronic bin, one end of each guide rod is fixedly connected to an end plate of the electronic bin, the other end of each guide rod is suspended and fixedly provided with an equipment platform, a driving sliding sleeve, a driven sliding sleeve and a screw rod supporting seat are sequentially sleeved on the support from inside to outside, the driving sliding sleeve and the driven sliding sleeve slide along the guide rods, the screw rod supporting seat is fixed with the guide rods, a threaded hole matched with screw threads of the screw rods is formed in the center of the driving sliding sleeve, a through hole for accommodating the screw rods to penetrate is formed in the center of the driven sliding sleeve, springs are respectively sleeved on the guide rods between the driving sliding sleeve and the driven sliding sleeve, one end of each spring is fixedly connected with the driving sliding sleeve, and the other end of each spring is fixedly connected with the driven sliding sleeve;
The diameter-changing mechanism comprises a plurality of wheel arms, a supporting rod, a screw rod and a screw rod motor, wherein the wheel arms are distributed along the central axis of the electronic bin in a wire-loop manner, one end of each wheel arm is hinged to the end part of the electronic bin, the other end of each wheel arm is suspended, one end of each supporting rod is hinged to the middle part of each wheel arm, the other end of each supporting rod is hinged to the driven sliding sleeve and moves along with the driven sliding sleeve, the screw rod motor is arranged in the electronic bin and is electrically connected with the control system, the screw rod is positioned on the central axis of the electronic bin, the output shaft of the screw rod motor is connected with the end part of the screw rod and drives the screw rod to rotate, and the other end of the screw rod is connected with the screw rod supporting seat;
The travelling wheel set comprises a plurality of travelling wheels (11) and/or mileage wheels (13) which are in one-to-one correspondence with the wheel arms and are uniformly distributed along the central axis of the electronic bin, and travelling wheel motors (12) for driving the travelling wheels, wherein the travelling wheels and the mileage wheels are fixedly arranged at the suspension ends of the wheel arms, the rims of the travelling wheels and the mileage wheels are abutted against the inner wall of an underground pipeline, and the travelling wheel motors and the mileage wheels are electrically connected with the control system;
The reducing mechanism adopts an indirect driving mode, the lead screw drives the driving sliding sleeve to translate, the driving sliding sleeve indirectly pushes the driven sliding sleeve to translate through the flexibility of the spring, and then the opening angle of the supporting rod is driven and adjusted, so that the wheel arm radially stretches to drive the travelling wheel to closely contact the inner wall of the pipeline and independently walk, the reducing mode indirectly adjusts and controls the radial stretching size of the travelling device, the length of the travelling device can be shortened to the greatest extent under the condition of ensuring a larger reducing range, the trafficability of the robot is improved, the flexible connection between the lead screw and the driven sliding sleeve can provide a better damping and shock absorbing effect, the vibration or jump impact received by the travelling wheel is absorbed by the spring and cannot be rigidly transmitted into the electronic bin, the stability of each detecting element in the electronic bin and the acquisition precision of data are ensured, meanwhile, the robot can finely adjust the radial stretching size of the wheel arm through the elastic deformation of the spring when passing a bank or welding seam or foreign matters are overcome, and the walking safety and reliability of the robot are improved.
As the preference, wheel arm and bracing piece are three, and three wheel arm and three bracing piece all encircle electron storehouse axis interval 120 equipartitions, the walking wheelset in the preceding running gear includes three preceding walking wheel and three walking wheel motor, the walking wheelset in the back running gear includes two walking wheels, two walking wheel motor and a mileage wheel, and walking wheel motor and mileage wheel all are connected with the control system electricity in the electron storehouse, and the walking wheel design of three equipartition has guaranteed walking process stability, and sets up mileage wheel at the rear end, can in time record and survey the robot and walk the distance in the pipeline.
As the preference, the wheel arm is multistage arc structure, and its arc outwards, the wheel arm designs into arc structure and can make the wheel arm have bigger extension reducing scope, and radial dimension is less after drawing in, possesses better trafficability characteristic, is difficult to by the foreign matter to block, simultaneously, the structure of arching has both avoided structure such as middle slider, supporting seat, also possesses better anti external impact and extrusion ability.
Preferably, the support rod is of a multi-section spliced structure, the variable diameter adjusting range of the running gear can be enlarged by adopting the multi-section structure, and when the diameter of a pipeline changes to exceed the adjusting range of the screw rod, the length of the support rod can be properly increased or reduced, so that the larger variable diameter requirement is met, and the adaptability is better.
Preferably, the support rod is provided with a moment sensor, the moment sensor is electrically connected with the control system, the moment sensor can detect stress information of the support rod in real time and transmit the stress information to the control system, and the reducing mechanism can be timely adjusted through the control system, so that the tight supporting force of the driving wheel on the pipe wall is adjusted, proper friction force and proper walking force between the walking wheel and the pipe wall are ensured, and the purposes of safe walking and emergency obstacle avoidance are achieved.
As the preference, be equipped with including one or several among camera, light, water level sensor, the laser range radar on the equipment platform that is located the electron storehouse front end, above-mentioned camera, light, water level sensor, laser range radar all with control system electricity is connected, set up one or more detection equipment at front end equipment platform, can have the pertinence in the course of the work and survey the pipeline environment, but image information in real time acquisition pipeline the place ahead like camera and light, for operating personnel to look over, water level sensor can detect ponding in the pipeline, the obstacle in the laser range radar detectable pipeline, above-mentioned detection equipment has both improved detection precision and reliability, also guaranteed detection robot's safety in utilization and extension robot's life.
As the preference, be equipped with infrared detector on the equipment platform that is located the electron storehouse rear end, above-mentioned infrared detector with control system electricity is connected, sets up infrared detector on rear end equipment platform, can in time detect mouth of pipe position information when the robot withdraws from the pipeline, and the accurate control surveys the robot and stops at the mouth of pipe, prevents that the detection robot from falling from the mouth of pipe, has guaranteed the security of use.
Preferably, the screw rod motor is a stepping motor, so that the accuracy of the diameter changing process is ensured.
The beneficial effects of the utility model are as follows: the reducing mechanism adopts an indirect driving mode, the lead screw drives the driving sliding sleeve to translate, the driving sliding sleeve drives the driven sliding sleeve to translate through the spring, and then the opening angle of the supporting rod is driven and adjusted, so that the wheel arm radially stretches to drive the travelling wheel to be in close contact with the inner wall of the pipeline, the radial stretching size of the travelling device is indirectly adjusted and controlled, the reducing mode can shorten the length of the travelling device to the greatest extent under the condition of ensuring a larger reducing range, thereby improving the trafficability of the robot, the flexible connection between the lead screw and the driven sliding sleeve can provide a better damping and shock absorbing effect, the vibration or jump impact received by the travelling wheel is absorbed by the spring and can not be rigidly transmitted into the electronic bin, the stability of each detection element in the electronic bin and the acquisition precision of data are ensured, meanwhile, the robot can finely adjust the radial stretching size of the wheel arm through the elastic deformation of the spring when passing a bank or welding seam or foreign matters are ensured, and the travelling safety and reliability of the robot are improved.
Drawings
Fig. 1 is a schematic view of a structure of the present utility model.
Fig. 2 is an enlarged schematic view of a partial structure of fig. 1.
In the figure, an electronic bin, a guide rod, a device platform, a driving sliding sleeve, a driven sliding sleeve, a lead screw supporting seat, a spring, a wheel arm, a supporting rod, a lead screw, a travelling wheel motor and a mileage wheel are respectively arranged in the electronic bin, the guide rod, the device platform, the driving sliding sleeve, the driven sliding sleeve, the lead screw supporting seat, the spring, the wheel arm, the supporting rod, the travelling wheel and the travelling wheel.
Detailed Description
The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings.
Examples: an autonomous walking type pipe network detection robot of the embodiment is used for detecting an underground pipeline, as shown in fig. 1 and 2, and the detection robot comprises:
The electronic bin 1 is internally provided with a control system and a screw motor, wherein the screw motor is a stepping motor;
The walking device is used for supporting and driving the electronic bin to walk and comprises a front walking device and a rear walking device which are identical in structure and respectively positioned at the front part and the rear part of the electronic bin, and the front walking device comprises a bracket, a reducing mechanism and a walking wheel group;
The support comprises three guide rods 2 which are uniformly distributed along the central axis of the electronic bin at intervals of 120 degrees and are parallel to the central axis of the electronic bin, one end of each guide rod is fixedly connected to an end plate of the electronic bin, the other end of each guide rod is suspended and is provided with an equipment platform 3, a driving sliding sleeve 4, a driven sliding sleeve 5 and a screw rod supporting seat 6 are sequentially sleeved on the support from inside to outside, the driving sliding sleeve and the driven sliding sleeve can slide along the guide rods, the screw rod supporting seat is fixedly moved with the guide rods, a threaded hole matched with the screw rod threads is formed in the center of the driving sliding sleeve, the screw rod can rotate to drive the driving sliding sleeve to translate, a through hole for accommodating the screw rod to pass through is formed in the center of the driven sliding sleeve, a spring 7 is sleeved on each guide rod between the driving sliding sleeve and the driven sliding sleeve, one end of each spring is fixedly connected with the driving sliding sleeve, and the other end of each spring is fixedly connected with the driven sliding sleeve, and the driving sliding sleeve drives the driven sliding sleeve to translate on the guide rod through the spring;
The diameter-changing mechanism comprises three wheel arms 8, supporting rods 9, a screw rod 10 and a screw rod motor, wherein the wheel arms 8, the supporting rods 9, the screw rod 10 and the screw rod motor are uniformly distributed along the central axis of the electronic bin at intervals, the wheel arms are of a multi-section arc structure, the arc faces outwards, one ends of the wheel arms are hinged to the end parts of the electronic bin, the other ends of the wheel arms are suspended, one ends of the supporting rods are hinged to the middle parts of the wheel arms, the other ends of the supporting rods are hinged to the driven sliding sleeves and translate along with the driven sliding sleeves, the screw rod motor is arranged in the electronic bin and is electrically connected with the control system, the screw rod is positioned on the central axis of the electronic bin, an output shaft of the screw rod motor is connected with the end parts of the screw rod and drives the screw rod to rotate, and the other ends of the screw rod penetrate through the driving sliding sleeves and the driven sliding sleeves to be connected with the screw rod supporting seats;
The traveling wheel set comprises three traveling wheels 11 and traveling wheel motors 12, wherein the traveling wheels 11 and the traveling wheel motors are in one-to-one correspondence with the wheel arms and are uniformly distributed at intervals of 120 degrees along the central axis of the electronic bin, the traveling wheels are arranged at the suspension end of the wheel arms, the rims of the traveling wheels are abutted against and contacted with the inner wall of a pipeline, and the traveling wheel motors are electrically connected with the control system and drive the traveling wheels;
The traveling wheel set in the front traveling device comprises three front traveling wheels and three traveling wheel motors, the traveling wheel set in the rear traveling device comprises two traveling wheels, two traveling wheel motors and one mileage wheel 13, and the traveling wheel motors and the mileage wheels are electrically connected with a control system in the electronic bin.
The device platform at the front end of the electronic bin is provided with a camera, an illuminating lamp, a water level sensor and a laser range radar, the camera, the illuminating lamp, the water level sensor and the laser range radar are electrically connected with a control system in the electronic bin, and the rear end device platform at the rear end of the electronic bin is provided with an infrared detector which is electrically connected with the control system.
When the intelligent detection robot is used, the control system is opened firstly, the screw rod motor is operated to rotate reversely, the driving sliding sleeve is driven to translate towards the direction of the electronic bin by the screw rod, the driven sliding sleeve is driven to translate towards the direction of the electronic bin, the supporting rod is retracted and the opening and closing angle of the supporting rod is reduced, the wheel arm is moved downwards to retract, at the moment, an operator can conveniently put the whole detection robot after retraction into a pipeline to be detected, the control system is opened again, the control system controls the detection robot to operate, the screw rod motor rotates positively, the screw rod drives the driving sliding sleeve to translate reversely towards the direction of the electronic bin, the driven sliding sleeve is driven to translate reversely, the supporting rod is moved forwards to stretch upwards and increase the opening and closing angle, the wheel arm extends radially, the travelling wheels are tightly contacted with the pipe wall, the positioning and the travelling preparation of the detection robot in the pipeline are completed, the control system is continued, the travelling wheel motor is comprehensively judged and controlled according to the program requirement and combined with the image information shot by the camera on the front-end equipment platform, the water level information acquired by the water level sensor and the object information in the pipeline acquired by the laser ranging radar, the autonomous travelling distance of the detection robot is started in the pipeline, and the travelling distance of the detection robot is recorded and transmitted.
If meet in the walking process and like obstacle such as welding seam or foreign matter, because the spring effect, walking wheel push away the wheel arm and push down and drive the bracing piece extrusion spring, make the bracing piece retract, reduced the radial size of wheel arm for the walking wheel can continue to turn over the slope and go forward, when crossing the obstacle, the spring compression force can promote driven sliding sleeve reverse extension, drives the bracing piece and moves forward, and then drives the wheel arm and extend, makes the walking wheel paste again and closely the pipe wall and continue independently walk.
After the detection work is finished, the control system starts the travelling wheel to reversely rotate, so that the detection robot retreats along the pipeline, at the moment, the infrared detector starts to monitor the pipe opening position information of the pipeline and transmits the pipe opening position information to the control system, when the detection robot retreats to the pipe opening, the infrared detector sends out the pipe opening information, and the control system timely controls and stops the travelling wheel to finish the whole detection task.
In the description of the present utility model, technical terms such as "upper", "lower", "front", "rear", "left", "right", "longitudinal", "transverse", "inner", "outer", etc. refer to directions or positional relationships based on the directions or positional relationships shown in the drawings, and are merely for convenience of description and understanding of the technical solution of the present utility model, the present utility model is not limited to the above description, and the present utility model is not limited to the examples described above, but is also intended to be regarded as the scope of protection of the present utility model by those skilled in the art.
Claims (8)
1. An autonomous walking type pipe network detection robot for detection of an underground pipeline, characterized in that the detection robot comprises:
an electronic bin (1) is internally provided with a control system and a screw motor;
The walking device is used for supporting and driving the electronic bin to walk and comprises a front walking device and a rear walking device which are identical in structure and respectively positioned at the front part and the rear part of the electronic bin, and the front walking device comprises a bracket, a reducing mechanism and a walking wheel group;
The support comprises a plurality of guide rods (2) which are distributed along the central axis of the electronic bin in a wire-loop manner and are parallel to the central axis of the electronic bin, one ends of the guide rods are fixedly connected to an end plate of the electronic bin, the other ends of the guide rods are suspended and fixedly provided with an equipment platform (3), a driving sliding sleeve (4), a driven sliding sleeve (5) and a screw rod supporting seat (6) are sequentially sleeved on the support from inside to outside, the driving sliding sleeve and the driven sliding sleeve slide along the guide rods, the screw rod supporting seat is fixed with the guide rods, a threaded hole matched with the screw rod threads is formed in the center of the driving sliding sleeve, a through hole for accommodating the screw rod to pass through is formed in the center of the driven sliding sleeve, springs (7) are respectively sleeved on the guide rods between the driving sliding sleeve and the driven sliding sleeve, one ends of the springs are fixedly connected with the driving sliding sleeve, and the other ends of the springs are fixedly connected with the driven sliding sleeve;
The diameter-changing mechanism comprises a plurality of wheel arms (8), supporting rods (9), a screw rod (10) and a screw rod motor, wherein the wheel arms are distributed along the central axis of the electronic bin, one ends of the wheel arms are hinged to the end part of the electronic bin, the other ends of the wheel arms are suspended, one ends of the supporting rods are hinged to the middle part of the wheel arms, the other ends of the supporting rods are hinged to the driven sliding sleeve and move along with the driven sliding sleeve, the screw rod motor is arranged in the electronic bin and is electrically connected with the control system, the screw rod is positioned on the central axis of the electronic bin, an output shaft of the screw rod motor is connected with the end part of the screw rod and drives the screw rod to rotate, and the other ends of the screw rod are connected with the screw rod supporting seat;
The traveling wheel group comprises a plurality of traveling wheels (11) and mileage wheels (13) which are in one-to-one correspondence with the wheel arms and are uniformly distributed along the central axis of the electronic bin, and traveling wheel motors (12) for driving the traveling wheels, wherein the traveling wheels and the mileage wheels are fixedly arranged at the suspension ends of the wheel arms, the rims of the traveling wheels and the mileage wheels are abutted against the inner wall of the underground pipeline, and the traveling wheel motors and the mileage wheels are electrically connected with the control system.
2. An autonomous walking pipe network detection robot as defined in claim 1, wherein: wheel arm (8) and bracing piece (9) are three, and three wheel arm and three bracing piece all encircle electron storehouse axis interval 120 equipartitions, the walking wheelset in the preceding running gear includes three preceding walking wheel (11) and three walking wheel motor (12), the walking wheelset in the back running gear includes two walking wheels, two walking wheel motors and a mileage wheel (13), and walking wheel motor and mileage wheel are all connected with the control system electricity in the electron storehouse.
3. An autonomous walking pipe network detection robot as defined in claim 1, wherein: the wheel arm (8) is of a multi-section arc-shaped structure, and the arc of the wheel arm faces outwards.
4. An autonomous walking pipe network detection robot according to claim 1 or 2 or 3, characterized in that: the supporting rod (9) is of a multi-section spliced structure.
5. An autonomous walking pipe network detection robot as defined in claim 1, wherein: the support rod (9) is provided with a moment sensor which is electrically connected with the control system.
6. An autonomous walking pipe network detection robot as defined in claim 1, wherein: the equipment platform (3) positioned at the front end of the electronic bin is provided with one or a plurality of cameras, an illuminating lamp, a water level sensor and a laser range radar, and the cameras, the illuminating lamp, the water level sensor and the laser range radar are electrically connected with the control system.
7. An autonomous walking pipe network detection robot as defined by claim 1 or 6, wherein: an infrared detector is arranged on an equipment platform (3) positioned at the rear end of the electronic bin, and the infrared detector is electrically connected with the control system.
8. An autonomous walking pipe network detection robot as defined in claim 1, wherein: the screw rod motor is a stepping motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321893696.6U CN221004305U (en) | 2023-07-18 | 2023-07-18 | Autonomous walking type pipe network detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321893696.6U CN221004305U (en) | 2023-07-18 | 2023-07-18 | Autonomous walking type pipe network detection robot |
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| Publication Number | Publication Date |
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| CN221004305U true CN221004305U (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202321893696.6U Active CN221004305U (en) | 2023-07-18 | 2023-07-18 | Autonomous walking type pipe network detection robot |
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| CN (1) | CN221004305U (en) |
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2023
- 2023-07-18 CN CN202321893696.6U patent/CN221004305U/en active Active
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