Automatic photographing robot

Abstract

The invention discloses an automatic photographing robot, comprising a rack, a drive mechanism, a variable diameter adjusting mechanism, a photographing mechanism, a transmission mechanism, a running gear, and an automatic control system. Three stepping motors can be used to drive the robot and control size of expanded pipe diameters and rotation of a camera. The robot realizes tasks of walking, going back, stopping, and taking pictures in different diameter pipes. The drive mechanism uses a worm and gear mechanism and a synchronous pulley mechanism, and can realize constant transmission ratio and stable motion transmission. The running gear uses three-jaw form centring, and uses a parallelogram mechanism to realize same-degree diameter variation at the same time of walking wheels in three groups of walking devices. A variable diameter adjusting device uses a screw-nut mechanism to adjust expanded diameter sizes. In addition, a built-in flexible regulation device can overcome stuck phenomenon in a walking process. The robot is simple in structure and convenient in manufacturing, and the robot can ensure very high coaxiality precision.

Description

technical field [0001] The invention belongs to the field of barrel detection, and in particular relates to an automatic camera robot. Background technique [0002] Most of the current bore inspections still use the traditional sight glass composed of optical telescopic systems for naked eye observation, and then rely on expert experience to make observations and judgments to determine the level of damage and repair in the bore. This approach relies primarily on subjective judgments rather than objective criteria. Therefore, the measurement results have low accuracy and large errors, and it is difficult to adapt to modern artillery production technology. It is conceivable that if a device is designed to automatically complete the process of bore information detection, and then the detected information is processed by a computer system and a series of algorithms, so as to combine the measured high-precision data with the objectively established internal bore information. Co...

AI Technical Summary

Problems solved by technology

However, the preload of its structure uses a compression spring, which cannot ensure the effective pressure on the barrel under any caliber is stable, and it is even more difficult to ensure effective driving.

In addition, the applicable range of the barrel diameter is 100mm-203mm, but in the actual measurement, the support arm and the measuring head need to be replaced for barrels of different calibers. Strictly speaking, this cannot be regarded as continuous diameter change, and the operation is relatively troublesome.

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