Underground pipe gallery inspection robot for electroplating park
By using roof-shaped guide rails and rotor structures in the underground pipe corridor inspection robot in the electroplating park, reducing friction, and using elastic scrapers and electric sprayers to clean up the dirt on the transparent cover of the camera, the wear and errors of conventional inspection robots are solved. , improves the accuracy and reliability of inspections.
Patent Information
- Application Number
- CN202411483028.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-23
- Publication Date
- 2025-01-14
AI Technical Summary
Conventional inspection robots cause additional wear due to non-rolling friction between suspended tracks and trolleys, and dirt on the outside of the camera will lead to misjudgment.
A robot for inspection of underground pipe corridors in electroplating parks was designed, using roof-shaped guide rails and rotor structures to reduce friction, and through a combination of elastic scrapers and electric sprayers, the dirt on the transparent cover of the camera is cleaned up to ensure image clarity.
It effectively reduces the rate of robot wear and judgment errors, and improves the accuracy and reliability of patrol inspections.
Smart Images
Figure CN119304846A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of underground pipe gallery inspection equipment, and in particular relates to an underground pipe gallery inspection robot in an electroplating park. Background Art
[0002] Based on OCR and image recognition capabilities, the inspection robot can simulate professional manual operations and perform inspection operations such as clicking, identifying, and checking in various scenarios of the multi-level pages of the entire site and the entire process of financial transactions. It can realize automatic inspection and monitoring of APP pages. Some inspection robots rely on tracks for inspection.
[0003] Since the contact surface between the conventional suspended track and the trolley is horizontal, when the trolley deviates to the sides, non-rolling friction between the trolley and the track causes additional wear. When dirt is generated on the outside of the monitoring camera, the dirt hinders image judgment and easily causes misjudgment. As a result, conventional inspection robots are prone to additional wear and misjudgment.
[0004] To this end, we proposed an underground pipeline corridor inspection robot in the electroplating park to solve the above problems. Summary of the invention
[0005] The purpose of the present invention is to solve the problem that conventional inspection robots are prone to extra wear and misjudgment, and to propose an inspection robot for underground pipe corridors in electroplating parks.
[0006] In order to achieve the above object, the present invention adopts the following technical solutions:
[0007] A robot for inspecting underground pipe corridors in an electroplating park, comprising a controller, the controller having its own battery, a trolley fixedly connected to the upper end of the controller, a roof-shaped guide rail being rotatably mounted on the upper part of the trolley, a first reduction motor fixedly connected to the trolley, a rotating wheel fixedly connected to the rotor of the first reduction motor, the rotating wheel being rotatably mounted on the lower part of the roof-shaped guide rail, a connecting frame fixedly connected to the lower end of the controller, a second reduction motor fixedly connected to the connecting frame, a gear fixedly connected to the rotor of the second reduction motor, a gear meshed with a tooth seat on the outside of the gear, the tooth seat being rotatably mounted on the lower part of the connecting frame, an elastic scraper fixedly connected to the lower end of the tooth seat, a camera and a transparent cover fixedly connected to the lower end of the connecting frame, the camera being located in the transparent cover, the elastic scraper being pressed outside the transparent cover, the first reduction motor, the second reduction motor and the camera are all electrically connected to the controller. The controller drives the first reduction motor to drive the wheel to rotate forward or reverse, and the wheel rolls along the roof-shaped guide rail to drive the trolley to move. The roof-shaped guide rail and the roof-shaped structure are used to make the trolley and the wheel produce a corrective force toward the center, preventing the trolley and the wheel from generating non-rolling friction with the roof-shaped guide rail, thereby reducing wear. When the camera detects an abnormality, the controller drives the second reduction motor, and the second reduction motor drives the gear seat to rotate, so that the gear seat drives the elastic scraper to rotate, so that the elastic scraper cleans along the outside of the transparent cover, and then the camera is used to detect again, thereby reducing the error judgment rate.
[0008] Preferably, an electric sprayer is fixedly connected to the connecting frame, the nozzle of the electric sprayer is facing the elastic scraper, and the electric sprayer is electrically connected to the controller. Before cleaning the elastic scraper, the electric sprayer is used to spray cleaning liquid on the elastic scraper and the transparent cover, and then the elastic scraper is controlled to perform cleaning work, so that the elastic scraper can better clean the dirt on the surface of the transparent cover.
[0009] Preferably, the roof-shaped guide rail comprises a mounting bar and a roof-shaped bar, wherein the roof-shaped bar is fixedly connected to the lower end of the mounting bar, and the roof-shaped bar is used to conveniently provide a correction force for the trolley and the rotating wheel.
[0010] Preferably, the upper end of the mounting bar is hollowed out to form a mounting hole, through which screws can pass through the mounting bar and be mounted on the target.
[0011] Preferably, the trolley comprises a frame, rollers and a fixed shaft, wherein the fixed shaft is fixedly connected to the upper inner end of the frame, and the rollers are rotatably mounted on the fixed shaft. The rolling contact between the rollers and the roof-shaped strips is utilized to reduce the movement resistance of the trolley.
[0012] Preferably, the gear seat includes a gear ring and a rotating ring, and the gear ring is fixedly connected to the upper end of the rotating ring. The second reduction motor is used to drive the gear to rotate, the gear drives the gear ring to rotate, and the gear ring drives the rotating ring to rotate, so that the rotating ring drives the elastic scraper to rotate, which is convenient for controlling the rotation of the elastic scraper.
[0013] Preferably, the elastic scraper comprises a leather strip and an elastic strip, wherein the leather strip is fixedly connected to the elastic strip. When the tooth seat rotates, the tooth seat drives the elastic strip to revolve, so that the elastic strip drives the leather strip to clean dirt along the outside of the transparent cover.
[0014] Preferably, the elastic scraper further comprises a reinforcing block, which is fixedly connected to the lower part of the elastic strip, so as to increase the stability of the lower structure of the elastic strip.
[0015] In summary, the technical effects and advantages of the present invention are as follows:
[0016] 1. Use the controller to drive the first reduction motor to drive the wheel to rotate forward or reverse, and the wheel rolls along the roof-shaped guide rail to drive the trolley to move. The roof-shaped structure of the roof-shaped guide rail is used to make the trolley and the wheel generate a corrective force toward the center, preventing non-rolling friction between the trolley, the wheel and the roof-shaped guide rail, thereby reducing wear.
[0017] 2. When the camera detects an abnormality, the controller drives the second reduction motor, which drives the gear seat to rotate, so that the gear seat drives the elastic scraper to rotate, so that the elastic scraper cleans the outside of the transparent cover, and then the camera detects again to reduce the error judgment rate.
[0018] 3. Before cleaning the elastic scraper, use an electric sprayer to spray cleaning liquid on the elastic scraper and transparent cover, and then control the elastic scraper to carry out cleaning work, so that the elastic scraper can better clean the dirt on the surface of the transparent cover.
[0019] 4. Use the second reduction motor to drive the gear to rotate, drive the gear ring to rotate through the gear, drive the rotating ring to rotate through the gear ring, and make the rotating ring drive the elastic scraper to rotate, so as to facilitate the control of the rotation of the elastic scraper.
[0020] 5. When the gear seat rotates, the gear seat is used to drive the elastic strip to revolve, so that the elastic strip drives the leather strip to clean the dirt along the outside of the transparent cover. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 It is a schematic diagram of the overall split structure of the present invention;
[0022] Figure 2 It is a schematic diagram of the roof-shaped guide rail structure of the present invention;
[0023] Figure 3 It is a schematic diagram of the structure of the trolley of the present invention;
[0024] Figure 4 It is a schematic diagram of the gear seat structure of the present invention;
[0025] Figure 5 It is a schematic diagram of the elastic scraper structure of the present invention.
[0026] In the figure: 1. controller; 2. roof-shaped guide rail; 3. trolley; 4. gear seat; 5. elastic scraper; 6. second reduction motor; 7. electric sprayer; 8. camera; 9. first reduction motor; 10. rotating wheel; 11. connecting frame; 12. gear; 13. transparent cover; 21. mounting strip; 22. roof-shaped strip; 23. mounting hole; 31. frame; 32. roller; 33. fixed shaft; 41. gear ring; 42. swivel; 51. leather strip; 52. elastic strip; 53. reinforcement block. DETAILED DESCRIPTION
[0027] The technical solutions in the embodiments of the invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all of the embodiments.
[0028] Reference Figure 1 A robot for inspecting underground pipe corridors in an electroplating park comprises a controller 1, which has its own battery. A trolley 3 is fixedly connected to the upper end of the controller 1, a roof-shaped guide rail 2 is rollably installed on the upper part of the trolley 3, a first reduction motor 9 is fixedly connected to the trolley 3, a rotating wheel 10 is fixedly connected to the rotor of the first reduction motor 9, and the rotating wheel 10 is rollably installed on the lower part of the roof-shaped guide rail 2. A connecting frame 11 is fixedly connected to the lower end of the controller 1, a second reduction motor 6 is fixedly connected to the connecting frame 11, a gear 12 is fixedly connected to the rotor of the second reduction motor 6, a gear seat 4 is meshed on the outside of the gear 12, the gear seat 4 is rotatably installed on the lower part of the connecting frame 11, an elastic scraper 5 is fixedly connected to the lower end of the gear seat 4, a camera 8 and a transparent cover 13 are fixedly connected to the lower end of the connecting frame 11, the camera 8 is located in the transparent cover 13, the elastic scraper 5 is pressed outside the transparent cover 13, the first reduction motor 9, the second reduction motor 6 and the camera 8 are all electrically connected to the controller 1.
[0029] Reference Figure 1 The connecting frame 11 is fixedly connected with an electric sprayer 7, the nozzle of the electric sprayer 7 is facing the elastic scraper 5, and the electric sprayer 7 is electrically connected to the controller 1. Before cleaning the elastic scraper 5, the electric sprayer 7 is used to spray cleaning liquid to the elastic scraper 5 and the transparent cover 13, and then the elastic scraper 5 is controlled to perform cleaning work.
[0030] Reference Figure 1 and 2 The roof-shaped guide rail 2 includes a mounting bar 21 and a roof-shaped bar 22, and the rotating wheel 10 is rollingly supported on the roof-shaped bar 22, and the roof-shaped bar 22 is fixedly connected to the lower end of the mounting bar 21. The roof-shaped bar 22 is used to provide a correction force for the trolley 3 and the rotating wheel 10.
[0031] Reference Figure 2 The upper end of the mounting bar 21 is hollowed out to have a mounting hole 23. The screw is passed through the mounting hole 23 and installed at the lower end of the target.
[0032] Reference Figure 1 , 2 3, the trolley 3 includes a frame 31, a roller 32 and a fixed shaft 33, the roller 32 is rollingly supported on the roof-shaped bar 22, the upper end of the controller 1 is fixedly connected to the lower end of the frame 31, the body of the first reduction motor 9 is fixedly connected to the frame 31, the fixed shaft 33 is fixedly connected to the upper inner end of the frame 31, and the roller 32 is rotatably mounted on the fixed shaft 33. The rolling contact between the roller 32 and the roof-shaped bar 22 is utilized to reduce the moving resistance of the trolley 3.
[0033] Reference Figure 1 and 4 The gear seat 4 includes a gear ring 41 and a rotating ring 42. The rotating ring 42 is rotatably mounted on the lower part of the connecting frame 11. The gear 12 is meshed with the inner end of the gear ring 41. The gear ring 41 is fixedly connected to the upper end of the rotating ring 42. The second reduction motor 6 drives the gear 12 to rotate, the gear 12 drives the gear ring 41 to rotate, and the gear ring 41 drives the rotating ring 42 to rotate, so that the rotating ring 42 drives the elastic scraper 5 to rotate.
[0034] Reference Figure 1 , 4 5, the elastic scraper 5 includes a leather strip 51 and an elastic strip 52, the leather strip 51 is pressed outside the transparent cover 13, the upper end of the elastic strip 52 is fixedly connected to the rotating ring 42, and the leather strip 51 is fixedly connected to the elastic strip 52. When the tooth seat 4 rotates, the tooth seat 4 drives the elastic strip 52 to revolve, so that the elastic strip 52 drives the leather strip 51 to clean the dirt along the outside of the transparent cover 13.
[0035] Reference Figure 1 and 5 The elastic scraper 5 also includes a reinforcing block 53, which is fixedly connected to the lower part of the elastic strip 52. The reinforcing block 53 is used to increase the stability of the lower structure of the elastic strip 52.
[0036] Working principle: The controller 1 is used to drive the first reduction motor 9 to drive the wheel 10 to rotate forward or reverse, and the wheel 10 rolls along the roof-shaped guide rail 2 to drive the trolley 3 to move. The roof-shaped structure of the roof-shaped guide rail 2 is used to make the trolley 3 and the wheel 10 generate a corrective force toward the center, thereby preventing the trolley 3 and the wheel 10 from generating non-rolling friction with the roof-shaped guide rail 2, thereby reducing wear. When the camera 8 detects an abnormality, the controller 1 drives the second reduction motor 6, and the second reduction motor 6 drives the gear seat 4 to rotate, so that the gear seat 4 drives the elastic scraper 5 to rotate, so that the elastic scraper 5 cleans along the outside of the transparent cover 13, and then the camera 8 detects it again, thereby reducing the error judgment rate. Regular cleaning can ensure the cleanliness of the surface of the transparent cover 13.
[0037] The above description is only a preferred specific implementation manner of the invention, but the protection scope of the invention is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes within the technical scope disclosed by the invention according to the technical scheme and inventive concept of the invention, which should be covered by the protection scope of the invention.
[0038] The description briefly mentions the application direction of the invention for the prior art known to those skilled in the art and without making changes, which is combined with the invention to form a complete technology; the description avoids over-popularizing the technology familiar to those skilled in the art to assist them in quickly understanding the main content of the invention.
Claims
1. A robot for inspecting underground pipe corridors in an electroplating park, comprising a controller (1), wherein the controller (1) has its own battery, and is characterized in that: The upper end of the controller (1) is fixedly connected to a trolley (3), a roof-shaped guide rail (2) is rollably mounted on the upper part of the trolley (3), a first reduction motor (9) is fixedly connected to the trolley (3), a rotating wheel (10) is fixedly connected to the rotor of the first reduction motor (9), and the rotating wheel (10) is rollably mounted on the lower part of the roof-shaped guide rail (2), the lower end of the controller (1) is fixedly connected to a connecting frame (11), a second reduction motor (6) is fixedly connected to the connecting frame (11), and a second reduction motor (6) is fixedly connected to the rotor of the second reduction motor (6). A gear (12) is fixedly connected, the outside of the gear (12) is meshed with a gear seat (4), the gear seat (4) is rotatably mounted on the lower part of the connecting frame (11), the lower end of the gear seat (4) is fixedly connected to an elastic scraper (5), the lower end of the connecting frame (11) is fixedly connected to a camera (8) and a transparent cover (13), the camera (8) is located in the transparent cover (13), the elastic scraper (5) is pressed outside the transparent cover (13), and the first reduction motor (9), the second reduction motor (6) and the camera (8) are all electrically connected to the controller (1).
2. The electroplating park underground pipe gallery inspection robot according to claim 1, characterized in that: The connecting frame (11) is fixedly connected to an electric sprayer (7), the spray head of the electric sprayer (7) is directly facing the elastic scraper (5), and the electric sprayer (7) is electrically connected to the controller (1).
3. The electroplating park underground pipe gallery inspection robot according to claim 1, characterized in that: The roof-shaped guide rail (2) comprises a mounting strip (21) and a roof-shaped strip (22), wherein the roof-shaped strip (22) is fixedly connected to the lower end of the mounting strip (21).
4. The electroplating park underground pipe gallery inspection robot according to claim 3 is characterized by: The upper end of the mounting strip (21) is hollowed out to form a mounting hole (23).
5. The electroplating park underground pipe gallery inspection robot according to claim 1, characterized in that: The trolley (3) comprises a frame (31), a roller (32) and a fixed shaft (33); the fixed shaft (33) is fixedly connected to the upper inner end of the frame (31); and the roller (32) is rotatably mounted on the fixed shaft (33).
6. The electroplating park underground corridor inspection robot according to claim 1, characterized in that: The gear seat (4) comprises a gear ring (41) and a rotating ring (42), and the gear ring (41) is fixedly connected to the upper end of the rotating ring (42).
7. The electroplating park underground pipe gallery inspection robot according to claim 1, characterized in that: The elastic scraper (5) comprises a leather strip (51) and an elastic strip (52), and the leather strip (51) is fixedly connected to the elastic strip (52).
8. The electroplating park underground pipe gallery inspection robot according to claim 7, characterized in that: The elastic scraper (5) further comprises a reinforcing block (53), wherein the reinforcing block (53) is fixedly connected to the lower part of the elastic strip (52).