A patrol robot with adjustable internal size of cable conduit

Abstract

The present invention discloses an inspection robot with adjustable internal size of a cable pipeline, the structure of which comprises a main control machine, an adjusting support rod, a top frame, side rods and moving wheels, the side rods being installed on the left and right sides of the main control machine, the adjusting support rods being fixed to the upper surface of the main control machine, the adjusting support rods being supported between the top frame and the main control machine, the side rods comprising support rods, a connecting core, a through port, a light bar, a pituitary body, auxiliary wheels, a push wheel and a protective layer, the support rods being fitted between the two pituitary bodies, the connecting core and the pituitary body being an integrated structure, the through port running through the inside of the pituitary body, the size of the main control machine itself being relatively small, and the robot can be flexibly adjusted and changed mainly by adjusting the support rods and the side rods according to the thickness of different cables, the side rods form an inverted C-shaped structure with the main control machine through their own vertical gravity, so that when the main control machine moves on the surface of the cable, the two sides are bent and wrapped by the pituitary bodies to change together with the bending shape of the cable, and the auxiliary wheels assist the side rods to move smoothly as a whole following the main control machine.

Description

Technical Field

[0001] The invention belongs to the field of inspection robots, and more specifically, particularly relates to an inspection robot with adjustable internal size of a cable pipeline. Background Art

[0002] The cable pipeline internal inspection robot can monitor and record the internal conditions of the pipeline, including the status of the cable, the damage of the pipeline, etc. It transmits the video images of the inside of the pipeline in real time through a high-definition camera, so that the operator can clearly observe the internal conditions. The robot can replace manual inspection to enter dangerous or hard-to-reach interiors, thereby improving the efficiency of inspection work.

[0003] Based on the above findings, the existing cable pipeline inspection robots have the following main shortcomings, such as:

[0004] In order to accommodate cables of various sizes, the aperture of the cable duct is large and consistent. However, the cables are of different sizes, so the robot itself needs to be adjusted to adapt. The inspection robot inside the cable duct leaves an irregular space between the duct and the cable, making it difficult to adjust the size according to the space. In addition, it is difficult to move smoothly when moving on a non-planar cable surface.

[0005] Therefore, it is necessary to propose a patrol robot with adjustable internal size of the cable duct. Summary of the invention

[0006] In order to solve the above technical problems, the purpose and effect of the cable duct internal size adjustable inspection robot of the present invention are achieved by the following specific technical means:

[0007] Its structure includes a main control machine, an adjustment support rod, a top frame, side rods, and moving wheels. The side rods are installed on the left and right sides of the main control machine, the adjustment support rod is fixed to the upper surface of the main control machine, the adjustment support rod is supported between the top frame and the main control machine, and the moving wheels are installed on the lower surface of the main control machine.

[0008] The side rod includes a support rod, a connection core, a through hole, a light bar, a pituitary, an auxiliary wheel, a push wheel, and a protective layer. The support rod is attached between the two pituitary bodies, the connection core and the pituitary body are an integrated structure, the through hole runs through the inside of the pituitary body, the auxiliary wheel is mounted on the lower surface of the pituitary body, the push wheel is mounted on the tail of the pituitary body, and the protective layer is attached to the outer surface of the pituitary body;

[0009] The pituitary body has a certain weight and is a pituitary body with a self-contained sense of verticality and can be flexibly bent. It is naturally vertically bent according to the lowest contact position. The connecting core is located inside the pituitary body and plays a role in unifying the bending angle. The end of the connecting core away from the pituitary body is embedded in the main control machine, and the light bar is electrically connected to the main control machine through the connecting core.

[0010] The main control machine includes an installation grid, a control box, a visual head, and a lighting lamp. The installation grid and the outer surface of the control box are an integrated structure. The visual head and the lighting lamp are installed on the same plane. The visual head and the lighting lamp are controlled and connected through the control box.

[0011] The adjustable support rod includes a fixed seat, an elastic rod, and a support seat. The fixed seat is fixed to the upper surface of the main control machine, the elastic rod is supported between the fixed seat and the support seat, and the support seat is fixed to the top frame. When the moving wheel controls the overall device to move above the cable, the side rods on both sides will completely interfere with each other according to the shape of the cable, so that the side rods and the main control machine can move in a C-shaped state.

[0012] As a further improvement of the present invention, the top frame includes a fixed shaft and an extrusion wheel. The extrusion wheel is sleeved on the outer surface of the fixed shaft. The fixed shaft is fixed to the adjustment support rod. The fixed shaft is a square structure so that its extrusion wheel remains on the same horizontal plane.

[0013] As a further improvement of the present invention, the support rod is a J-shaped structure with a total of six. The long side of the J-shaped structure is in contact and support with the side of the pituitary body away from the light bar. The light bar is located on the front side of the front pituitary body. The through opening is an elliptical hollow structure, which reduces the internal support space of the pituitary body and assists the whole body to better bear force and bend. The pituitary body is provided with seven in total and is symmetrically distributed in two groups.

[0014] As a further improvement of the present invention, the visual head is a hemispherical structure that can view a larger range. The lighting lamps are provided with two on both sides of the visual head for lighting. The tail of the installation grid is provided with an opening in an arc shape to assist the swinging and stacking position when the pituitary is restricted. The lighting lamps are an arc-shaped structure and are located on both sides of the visual head to illuminate a certain range of its periphery.

[0015] As a further improvement of the present invention, the outer ring of the moving wheel is made of soft rubber material, which can more firmly grasp the surface of the cable for movement. When the side rod is bent by its own gravity and drooped on the surface of the cable for movement, the auxiliary wheel assists the movement of the whole. The push wheel assists the whole device to continue moving forward during the restricted swing of the pituitary. There are four auxiliary wheels in total, and two are located at the head and tail of the pituitary in a group.

[0016] As a further improvement of the present invention, the extrusion wheel is a deformable rotating sleeve, which changes and rotates according to the part it contacts. The extrusion wheel is provided with three extrusion wheels evenly distributed in the horizontal direction, and the extrusion wheel can bend, fit and roll according to the inner wall of the pipe it contacts.

[0017] As a further improvement of the present invention, the elastic rod is a bendable supporting elastic rod, which will bend and squeeze itself when subjected to force on the upper and lower sides to assist in adjusting the distance. When the elastic rod is not subjected to force, it is in a state of being bent on both sides and hollow in the middle. The fixed seat and the support seat are located on the upper and lower sides of the elastic rod to subject itself to large-area extrusion force.

[0018] As a further improvement of the present invention, the control box includes a power supply group, an image transmission module, a power module, a data storage transmission module, and a signal receiving module, and the operation steps are as follows:

[0019] S1: The power pack controls the overall power reserve and use, and is used to start or shut down the device, connect the overall device module, and light up the light bar and lighting lamp for illumination;

[0020] S2: The control command is transmitted to the signal receiving module through the external device, and the power module controls the moving wheel to move forward and stop in a straight line;

[0021] S3: When the device is moving, the light bar and the lighting lamp try to illuminate the front area, and the image transmission module transmits the situation illuminated by its visual head to the rear gimbal, and backs it up through the data storage transmission module;

[0022] The support rod can form a reverse thrust when the pituitary gland is squeezed, and push it back to its original position in time when the external force is lost.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The main control machine itself is small in size, and it can be flexibly adjusted according to the thickness of the cable by adjusting the support rod and the side rod. The side rod forms an inverted C-shaped structure with the main control machine through its own vertical gravity. When the main control machine moves on the surface of the cable, the two sides are bent and wrapped by the vertical body, and the bending shape of the cable changes together. The auxiliary wheels assist the side rods to move smoothly with the main control machine.

[0025] 2. When the side rod maintains the overall wrapped center of gravity of the main control machine, when the thickness of the cable skin changes over time, the angle between the cable and the inside of the pipe will change and shrink, limiting the space for the pituitary to move. The pituitary will be squeezed and swung to the rear end for stacking. The front end is in contact with the inner wall of the angle between the cable and the pipe by the push wheel, which assists the overall smooth movement. When the pituitary swings back and stacks, it can maintain its own wrapping vertical force without affecting the continuous movement of the overall equipment.

[0026] 3. The adjustment support rod between the top frame and the main control machine can support and adjust the distance between the main control machine and the inner wall of the pipeline, perform bending adjustment according to the thickness of the pipeline, and can support the main control machine to move steadily on the cable surface, increasing the adhesion gravity between the main control machine and the cable surface.

[0027] 4. The light bar can change with the bend of the pituitary gland, so that the light bar and the lighting lamp can illuminate the inside of the curved pipe as much as possible to reduce the dark area. The light bar and the lighting lamp are located on both sides of the visual head, and the lighting angle is wider, allowing the visual head to view more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The present invention is a schematic structural diagram of a cable duct internal size adjustable inspection robot.

[0029] Figure 2 The present invention is a schematic structural diagram of the bottom of a cable duct internal size adjustable inspection robot.

[0030] Figure 3 It is a schematic structural diagram of the side rod of the present invention.

[0031] Figure 4 It is a front view structural schematic diagram of the side rod of the present invention.

[0032] Figure 5 It is a structural schematic diagram of the main control machine of the present invention.

[0033] Figure 6 This is a front view structural schematic diagram of the adjustable support rod of the present invention.

[0034] Figure 7 It is a schematic diagram of the structure inside the cable duct of the present invention.

[0035] In the figure: main control machine-1, adjusting support rod-2, top frame-3, side rod-4, moving wheel-5, support rod-41, connecting core-42, through-port-43, light bar-44, pitot-45, auxiliary wheel-46, push wheel-47, protective layer-48, installation grid-11, control box-12, visual head-13, lighting lamp-14, fixing seat-21, elastic rod-22, supporting seat-23, fixing shaft-31, extrusion wheel-32. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with the accompanying drawings:

[0037] Embodiment 1: As attached Figure 1 To Attachment Figure 4 As shown:

[0038] The present invention provides a patrol robot with adjustable size inside a cable duct, which structure includes a main control machine 1, an adjustment support rod 2, a top frame 3, a side rod 4, and a moving wheel 5. The side rod 4 is installed on the left and right sides of the main control machine 1, the adjustment support rod 2 is fixed to the upper surface of the main control machine 1, the adjustment support rod 2 is supported between the top frame 3 and the main control machine 1, and the moving wheel 5 is assembled on the lower surface of the main control machine 1. The robot is characterized in that:

[0039] The side rod 4 includes a support rod 41, a connection core 42, a through hole 43, a light bar 44, a pitot 45, an auxiliary wheel 46, a push wheel 47, and a protective layer 48. The support rod 41 is attached between the two pitots 45, the connection core 42 and the pitot 45 are an integrated structure, the through hole 43 runs through the inside of the pitot 45, the auxiliary wheel 46 is mounted on the lower surface of the pitot 45, the push wheel 47 is installed at the tail of the pitot 45, and the protective layer 48 is attached to the outer surface of the pitot 45;

[0040] The pendant 45 has a certain weight and is a pendant with a self-suspension and can be flexibly bent. It is naturally bent according to the lowest contact position. The connecting core 42 is located inside the pendant 45 to unify the bending angle. The end of the connecting core 42 away from the pendant 45 is embedded in the main control machine 1. The light bar 44 is electrically connected to the main control machine 1 through the connecting core 42.

[0041] The main control machine 1 includes an installation grid 11, a control box 12, a visual head 13, and a lighting lamp 14. The installation grid 11 and the outer surface of the control box 12 are an integrated structure. The visual head 13 and the lighting lamp 14 are installed on the same plane. The visual head 13 and the lighting lamp 14 are controlled and connected through the control box 12.

[0042] The adjustable support rod 2 includes a fixed seat 21, an elastic rod 22, and a support seat 23. The fixed seat 21 is fixed to the upper surface of the main control machine 1, the elastic rod 22 is supported between the fixed seat 21 and the support seat 23, and the support seat 23 is fixed to the top frame 3. When the moving wheel 5 controls the overall equipment to move above the cable, the side rods 4 on both sides will completely contact each other according to the shape of the cable, so that the side rods 4 and the main control machine 1 can move in a C-shaped state. The adjustable support rod 2 can be bent by force adjustment according to the distance between the cable and the inner wall of the pipeline.

[0043] Among them, the top frame 3 includes a fixed shaft 31 and an extrusion wheel 32. The extrusion wheel 32 is sleeved on the outer surface of the fixed shaft 31. The fixed shaft 31 is fixed to the adjustment support rod 2. The fixed shaft 31 is a square structure so that its extrusion wheel 32 is kept on the same horizontal plane. The support seat 23 applies the extrusion force of the fixed shaft 31 to the elastic rod 22 for adjustment.

[0044] Among them, the support rod 41 is a J-shaped structure with a total of six, and the long side of the J-shaped structure is in contact with and supported by a side of the pituitary 45 away from the light bar 44. The light bar 44 is located on the front side of the front pituitary 45. The through opening 43 is an elliptical hollow structure, which reduces the internal support space of the pituitary 45 and assists the overall bending under better force. The pituitary 45 is provided with seven and two groups of symmetrical distribution. The light bar 44 can be bent together according to the surface of the pituitary 45. After bending, it can illuminate a larger range and minimize dark areas.

[0045] Among them, the visual head 13 is a hemispherical structure that can be viewed in a larger range. The lighting lamps 14 are provided with two on both sides of the visual head 13 for lighting. The tail of the installation grid 11 is provided with an opening and is in an arc shape, which assists the vertical body 45 to swing and stack when it is restricted. The lighting lamps 14 are arc-shaped structures located on both sides of the visual head 13 to illuminate its periphery within a certain range. The installation grid 11 assists the side rods 4 in assembly and fixation.

[0046] Among them, the outer ring of the moving wheel 5 is made of soft rubber material, which can be more firmly grasped on the surface of the cable for movement. When the side rod 4 is bent and drooped on the surface of the cable by its own gravity for movement, the auxiliary wheel 46 assists the overall movement. The push wheel 47 assists the overall equipment to continue to move forward during the restricted swing of the pituitary 45. There are four auxiliary wheels 46 in total, and two are located at the head and tail of the pituitary 45 in a group. When the space on both sides of the cable and the inside of the pipeline where the pituitary 45 is located changes, the pituitary 45 will be squeezed and stacked to the rear end while the equipment moves forward, so that the equipment can move normally.

[0047] The specific usage and function of this embodiment are as follows:

[0048] In the present invention, the main control machine 1 is placed inside the cable pipeline to be inspected, and the external controller controls the main control machine 1 to move inside the pipeline. The moving wheel 5 contacts the upper surface of the cable, and the rubber material of the outer ring of the moving wheel 5 forms a large friction with the cable surface to adhere and roll. When the main control machine 1 is placed on the upper end of the cable, the side rods 4 on both sides will droop downward to match the curvature of the cable through the drooping force of the pituitary 45 itself, and the opening 43 inside the pituitary 45 will reduce the internal solid part of the pituitary 45, so that the whole can be bent more smoothly. The connecting core 42 controls the bending angle of each pituitary 45 to be consistent. When the pituitary 45 is bent, the auxiliary wheel 46 contacts the cable surface, and the auxiliary side rod 4 moves forward together with the main control machine 1, so that the main control machine 1 and the side rod 4 form an inverted C The cable is wrapped and moved in the form of a shape, so that the center of gravity of the whole main control machine 1 is driven downward and can be stabilized on the surface of the cable. When the angle between the position of the cable and the pituitary 45 inside the pipeline changes and decreases, the angle between them will form a resistance to the pituitary 45, thereby squeezing and pushing the pituitary 45 to the rear end. The two pituitary bodies 45 are supported by the support rod 41. When the pituitary body 45 is under force, the support rod 41 will be squeezed together and stacked and swung toward the rear end of the main control machine 1. The protective layer 48 protects the surface of the pituitary body 45. In the process of the pituitary body 45 swinging backward, the front end is contacted by the push wheel 47 with the angle between the outer cable and the pipeline for auxiliary movement. Without affecting the movement of the overall equipment, the range of its side rod 4 is changed, and its center of gravity is still wrapped downward on the outside of the cable.

[0049] Embodiment 2: As attached Figure 5 To Attachment Figure 7 As shown:

[0050] Among them, the extrusion wheel 32 is a deformable rotating sleeve, which changes and rotates according to the part it contacts. The extrusion wheels 32 are equipped with three evenly distributed in the horizontal direction. The extrusion wheels 32 can bend, fit and roll according to the inner wall of the pipe it contacts. The adjustment support rods 2 are equipped with two.

[0051] Among them, the elastic rod 22 is a bendable supporting elastic rod, which will bend and squeeze itself when subjected to force on the upper and lower sides to assist in adjusting the distance. When the elastic rod 22 is not subjected to force, it is in a state of bending on both sides and hollow in the middle. The fixing seat 21 and the supporting seat 23 are located on the upper and lower sides of the elastic rod 22 to perform large-area extrusion force. The elastic rod 22 supports the top frame 3 at the upper end through its own elastic support to continuously contact the inner wall of the pipe.

[0052] The control box 12 includes a power supply group, an image transmission module, a power module, a data storage and transmission module, and a signal receiving module. The operation steps are as follows:

[0053] S1: The power pack controls the overall power reserve and use, and is used to start or shut down the device, connect the overall device module, and light up the light bar 44 and the lighting lamp 14 for illumination;

[0054] S2: The control command is transmitted to the signal receiving module through the external device, and the power module controls the moving wheel 5 to move forward in a straight line and stop;

[0055] S3: When the device is moving, the light bar 44 and the lighting lamp 14 illuminate the front area as much as possible, and the image transmission module transmits the situation illuminated by the visual head 13 to the rear pan / tilt head, and backs it up through the data storage transmission module;

[0056] The support rod 41 can form a reverse thrust when the pituitary body 45 is squeezed, and push it back to its original position in time when the external force is lost. The protective layer 48 plays a protective role on the surface of the pituitary body 45.

[0057] The specific usage and function of this embodiment are as follows:

[0058] In the present invention, when the main control machine 1 is placed on the upper end of the cable and the side rod 4 maintains the center of gravity of the whole to wrap and move, the upper end is supported and adjusted by the adjustable support rod 2 and the top frame 3. When the cables are of different thicknesses, the extrusion wheel 32 contacts the inner wall of the pipe, and the extrusion wheel 32 itself can squeeze and bend the material to fit the inner wall surface more closely for rolling. When the space between the top frame 3 and the main control machine 1 is limited, the force will be adjusted by adjusting the support rod 2. The extrusion wheel 32 contacts the inner wall of the pipe and applies the force limited by the space to the support seat 23 through the fixed shaft 31. The support seat 23 will press the elastic rod 2 2 is squeezed, and the supporting elasticity of the elastic rod 22 itself will expand to both sides and bend more. The hollow part in the middle can make the elastic rod 22 bend more smoothly. The bottom is fixed by the fixing seat 21. The distance between the main control machine 1 and the top frame 3 can be adjusted by the supporting elasticity of the elastic rod 22 itself. The main control machine 1 can be supported and firmly moved on the cable surface, and it is suitable for cables of different thicknesses. In the process of overall movement, the light bar 44 and the lighting lamp 14 illuminate the interior, and the visual head 13 observes a large range and transmits the content to the background for viewing.

[0059] Utilizing the technical solution of the present invention, or those skilled in the art designing similar technical solutions inspired by the technical solution of the present invention to achieve the above-mentioned technical effects, all fall within the protection scope of the present invention.

Claims

1. A cable duct internal size adjustable inspection robot, the structure of which comprises a main control machine (1), an adjustment support rod (2), a top frame (3), a side rod (4), and a moving wheel (5), wherein the side rod (4) is installed on the left and right sides of the main control machine (1), the adjustment support rod (2) is fixed to the upper surface of the main control machine (1), the adjustment support rod (2) is supported between the top frame (3) and the main control machine (1), and the moving wheel (5) is assembled on the lower surface of the main control machine (1), characterized in that: The side rod (4) comprises a support rod (41), a connection core (42), a through hole (43), a light bar (44), a pitot (45), an auxiliary wheel (46), a push wheel (47), and a protective layer (48); the support rod (41) is fitted between the two pitots (45); the connection core (42) and the pitot (45) are an integrated structure; the through hole (43) runs through the inside of the pitot (45); the auxiliary wheel (46) is mounted on the lower surface of the pitot (45); the push wheel (47) is mounted on the tail of the pitot (45); and the protective layer (48) is fitted on the outer surface of the pitot (45); The pitot (45) has a certain weight and is a pitot with a self-contained sense of verticality and can be flexibly bent. It is naturally vertically bent according to the lowest contact position. The connecting core (42) is located inside the pitot (45) and plays a role in unifying the bending angle. The end of the connecting core (42) away from the pitot (45) is embedded in the main control machine (1). The light bar (44) is electrically connected to the main control machine (1) through the inside of the connecting core (42); The main control machine (1) comprises an installation grid (11), a control box (12), a visual head (13), and a lighting lamp (14); the outer surfaces of the installation grid (11) and the control box (12) are an integrated structure; the visual head (13) and the lighting lamp (14) are installed on the same plane; and the visual head (13) and the lighting lamp (14) are control-connected via the control box (12); The adjustable support rod (2) comprises a fixed seat (21), an elastic rod (22), and a support seat (23); the fixed seat (21) is fixed to the upper surface of the main control machine (1); the elastic rod (22) is supported between the fixed seat (21) and the support seat (23); and the support seat (23) is fixed to the top frame (3).

2. The cable duct internal size adjustable inspection robot according to claim 1, characterized in that: The top frame (3) comprises a fixed shaft (31) and an extrusion wheel (32); the extrusion wheel (32) is sleeved on the outer surface of the fixed shaft (31); and the fixed shaft (31) is fixed to the adjustment support rod (2).

3. The cable duct internal size adjustable inspection robot according to claim 1, characterized in that: The support rods (41) are J-shaped structures, with a total of six of them. The longer side of the J-shaped structure is in contact with and supports a side of the pituitary body (45) away from the light bar (44). The light bar (44) is located on the front side of the front pituitary body (45). The through opening (43) is an elliptical hollow structure, which reduces the internal support space of the pituitary body (45) and helps the whole body to better withstand stress and bend.

4. The cable duct internal size adjustable inspection robot according to claim 1, characterized in that: The visual head (13) is a hemispherical structure capable of viewing in a wider range. The lighting lamps (14) are provided with two lights located on both sides of the visual head (13) for lighting. The rear of the installation grid (11) is provided with an opening in an arc shape to assist the vertical body (45) in swinging and stacking when it is restricted.

5. The cable duct internal size adjustable inspection robot according to claim 1, characterized in that: The outer ring of the moving wheel (5) is made of a soft rubber material, and can be more firmly gripped on the surface of the cable for movement. When the side rod (4) is bent and drooped on the surface of the cable by its own gravity for movement, the auxiliary wheel (46) assists the movement of the entire device. The push wheel (47) assists the entire device to continue to move forward during the process of the restricted swing of the pituitary body (45).

6. The cable duct internal size adjustable inspection robot according to claim 2, characterized in that: The extrusion wheel (32) is a deformable rotating sleeve, which changes and rotates according to the part it contacts, and the extrusion wheel (32) is provided with three wheels evenly distributed in the horizontal direction.

7. The cable duct internal size adjustable inspection robot according to claim 1, characterized in that: The elastic rod (22) is a bendable supporting elastic rod, which will bend and squeeze itself to assist in adjusting the distance when subjected to forces at the upper and lower sides; when the elastic rod (22) is not subjected to forces, it is in a state where the two sides are bent and the middle is hollow.

8. The cable duct internal size adjustable inspection robot according to claim 1, characterized in that: The control box (12) comprises a power supply group, an image transmission module, a power module, a data storage and transmission module, and a signal receiving module, and the operation steps are as follows: S1: The power group controls the overall power reserve and use, and is used to start or shut down the device, connect the overall device module, and light up the light bar (44) and the lighting lamp (14) for lighting; S2: Transmitting control instructions to the signal receiving module through an external device, and the power module controls the moving wheel (5) to move forward in a straight line and stop; S3: When the device is moving, the light bar (44) and the lighting lamp (14) illuminate the front area, and the image transmission module transmits the situation illuminated by the visual head (13) to the rear pan / tilt head, and backs it up through the data storage and transmission module.

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