Underwater pipeline robot front end obstacle collision detection device

Abstract

The invention discloses an underwater pipeline robot front end obstacle collision detection device which comprises a mounting disc, a driving disc is rotationally connected to one side of the mounting disc, a driving motor used for driving the driving disc to rotate is mounted on the mounting disc, and a limiting disc connected with the mounting disc is arranged on the side, away from the mounting disc, of the driving disc. The driving disc is provided with a plurality of driving sliding grooves which are distributed in a circumferential mode and inclined. The limiting disc is provided with a plurality of limiting sliding grooves corresponding to the driving sliding grooves in a one-to-one mode. The outer side of the limiting disc is slidably connected with a plurality of detection plates in one-to-one correspondence with the limiting sliding grooves, the inward end of each detection plate is provided with a sliding shaft in sliding connection with the corresponding limiting sliding groove and the corresponding driving sliding groove, and the end, facing outwards, of the limiting sliding groove is provided with a plurality of strain force sensors in one-to-one correspondence with the detection plates. The outward end of each detection plate is rotationally connected with a supporting roller. The front end of the robot is provided with a collision sensing front-end obstacle, so that the front-end obstacle can be more effectively detected.

Description

Technical Field

[0001] The invention relates to the technical field of underwater pipeline robots, and in particular to a front-end obstacle collision detection device for an underwater pipeline robot. Background Art

[0002] With the acceleration of urbanization, underground pipeline networks are becoming increasingly complex and large in scale, and regular inspection and maintenance of these pipelines has become particularly important. Traditional pipeline inspection methods often require manual entry into the pipeline, which is not only inefficient but also poses a safety hazard. In recent years, underwater pipeline robots have gradually become the mainstream tool in the field of pipeline inspection due to their high efficiency and safety. Such robots are usually equipped with a mobile platform, a camera, and various sensors, which can conduct a comprehensive inspection of the internal conditions of the pipeline without interrupting service.

[0003] However, in practical applications, especially in sewage pipe environments, the front-end detection capabilities of underwater pipeline robots face severe challenges. Currently, most underwater pipeline robots on the market use sonar and cameras as the main means of front-end obstacle detection. Under ideal conditions, these two technologies can effectively provide visual information inside the pipe or build images of the surrounding environment to help operators identify potential problem areas. However, when encountering a full sewage pipe, the existing front-end detection technology shows obvious limitations.

[0004] Since sewage contains a large amount of suspended particles and other impurities, visible light cannot effectively penetrate the water, making it difficult for cameras based on optical principles to obtain a clear view of the front. Although sonar technology can make up for the shortcomings of optical imaging to a certain extent, in a sewage environment, sound waves will also be affected by a large amount of suspended matter in the water. These floating substances will interfere with the sound waves, causing distortion of the echo signal, making it difficult for the sonar system to accurately distinguish between real obstacles and ordinary suspended matter. Therefore, neither sonar nor cameras can effectively detect and perceive front-end obstacles. Summary of the invention

[0005] The purpose of the present invention is to provide a front-end obstacle collision detection device for an underwater pipeline robot. A new collision test device is arranged at the front end of the robot. By sensing the front-end obstacle through collision, the front-end obstacle can be detected more effectively.

[0006] The above technical objectives of the present invention are achieved through the following technical solutions: a front-end obstacle collision detection device for an underwater pipeline robot, comprising a mounting plate, one side of the mounting plate is rotatably connected to a driving plate, the mounting plate is equipped with a driving motor for driving the driving plate to rotate, a limiting plate is arranged on a side of the driving plate away from the mounting plate, the limiting plate is connected to the mounting plate, the driving plate is provided with a plurality of driving slide grooves distributed in a circumference, each driving slide groove is arranged inclined toward the center of the driving plate, the limiting plate is provided with a plurality of limiting slide grooves corresponding to the driving slide grooves one by one, and each limiting slide groove is arranged vertically toward the center of the limiting plate;

[0007] The outer side of the limit plate is slidably connected to a plurality of detection plates corresponding one-to-one to the limit slide grooves, and an inward end of each detection plate is provided with a sliding shaft slidably connected to the corresponding limit slide groove and the corresponding driving slide groove, each detection plate is arranged along the length direction of the corresponding limit slide groove, and an inward end of each detection plate is provided with a telescopic shaft arranged toward the limit plate, and a plurality of sliding sleeves slidably connected one-to-one to the telescopic shafts are provided at the inward end of the limit slide groove, and each telescopic shaft is slidably connected to a support spring located between the corresponding detection plate and the corresponding sliding sleeve, and a plurality of strain force sensors corresponding one-to-one to the detection plates are provided at the outward end of the limit slide groove, and each detection plate is rotatably connected to a support roller at the outward end.

[0008] By adopting the above technical solution, the device is installed at the front end of the pipeline robot. First, the driving motor drives the driving disk to rotate, driving the sliding shaft to slide along the driving sliding groove. Under the limiting action of the limiting sliding groove, the sliding shaft slides in the radial direction of the center of the limiting disk, driving the detection plate to move inward and then outward until the support roller contacts the pipe wall. As the robot moves forward, the support roller moves along the inner wall of the pipe. If it encounters a small protrusion or a small obstacle on the inner wall of the pipe, the detection plate will squeeze the strain force sensor, but the support roller can adaptively push the detection plate to slide inward to compress the support spring, so that the support roller passes. At this time, although the strain force sensor detects pressure, the support roller can still pass, then it is judged that there is no large obstacle on the inner wall of the pipe here. If the support roller cannot pass through the obstacle at this time and continues to squeeze the strain force sensor, then it is judged that there is a large obstacle here.

[0009] The present invention is further configured as follows: a rotating hole is opened through the middle of the mounting disk, the driving disk is provided with a rotating shaft rotatably connected to the mounting disk, the free end of the rotating shaft extends out of the rotating hole and is provided with a worm gear, the driving motor is installed on a side of the mounting disk away from the limiting disk, and the power output shaft of the driving motor is connected to a worm meshing with the worm gear.

[0010] The present invention is further configured as follows: a mounting cover for covering the worm wheel, the worm and the drive motor is disposed on the edge of the mounting plate away from the drive plate, and a plurality of first internally threaded connecting pipes are disposed on the edge of the mounting plate away from the drive plate.

[0011] The present invention is further configured as follows: the limiting plate is provided with a plurality of second internally threaded connecting tubes distributed in a circular pattern toward the mounting plate, the mounting plate is provided with a plurality of connecting holes corresponding one-to-one to the second internally threaded connecting tubes, and the limiting plate and the mounting plate are connected via bolts connected to the second internally threaded connecting tubes and the connecting holes.

[0012] The present invention is further configured as follows: the limit plate is provided with a connecting slide bar at each strain force sensor away from the corresponding limit slide groove, each detection plate is provided with a connecting slide groove arranged along its length direction and slidably connected to the corresponding connecting slide bar, and each connecting slide bar is passed through the corresponding connecting slide groove and is provided with an anti-drop cap.

[0013] The present invention is further configured as follows: one end of each sliding shaft away from the corresponding detection plate passes through the corresponding sliding sleeve and is provided with a limiting cap.

[0014] In summary, the present invention has the following beneficial effects:

[0015] First, the present invention uses the detection plate and the strain force sensor to collide and sense pipeline obstacles, directly contacting the obstacles. Compared with sonar and cameras, it will not be affected by a large amount of suspended matter in the water, and can more effectively detect the front obstacles;

[0016] Secondly, the detection plate of the present invention can be adaptively extended and retracted through the support rollers. When encountering a smaller obstacle or a protrusion on the inner wall of the pipeline, the detection plate can cross the obstacle through the cooperation of the support rollers and the support springs, and will not be stuck by the smaller obstacle and unable to move forward because the detection plate is fixed;

[0017] Thirdly, the present invention can also drive the supporting roller to contact the inner wall of different pipelines according to the inner diameters of the pipelines, so as to be suitable for detecting pipelines with different inner diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 For demonstrating the rear structure of the present invention;

[0020] Figure 3 is an exploded view of the present invention;

[0021] Figure 4 Used to demonstrate the connection between the detection plate and the limit plate;

[0022] Figure 5 Used to show the overall structure of the detection board.

[0023] In the figure: 1. mounting plate; 11. rotating hole; 12. mounting cover; 13. first internal thread connecting pipe; 14. connecting hole; 2. driving plate; 21. worm gear; 22. driving slide; 3. driving motor; 31. worm; 4. limiting plate; 41. second internal thread connecting pipe; 42. bolt; 43. limiting slide; 44. sliding sleeve; 45. connecting slide; 46. anti-drop cap; 5. detection plate; 51. sliding shaft; 52. telescopic shaft; 53. limiting cap; 54. supporting spring; 55. supporting roller; 56. connecting slide; 6. strain force sensor. DETAILED DESCRIPTION

[0024] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0025] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front”, “back”, “inside” and “outside” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0026] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Example, see Figure 1-5, a device for detecting obstacles at the front end of an underwater pipeline robot, comprising a mounting plate 1, one side of the mounting plate 1 is rotatably connected to a driving plate 2, a rotating hole 11 is provided through the middle of the mounting plate 1, the driving plate 2 is provided with a rotating shaft (not shown) rotatably connected to the mounting plate 1, the free end of the rotating shaft extends out of the rotating hole 11 and is provided with a worm gear 21, a driving motor 3 is installed on the side of the mounting plate 1 away from the limit plate 4, the power output shaft of the driving motor 3 is connected to a worm 31 meshing with the worm gear 21, and the driving plate 2 can be driven to rotate by the driving motor 3. A circle of mounting cover 12 for covering the worm gear 21, the worm gear 31 and the driving motor 3 is provided on the edge of the mounting plate 1 in a direction away from the driving plate 2, and six first internal threaded connecting pipes 13 are provided on the edge of the mounting plate 1 in a direction away from the driving plate 2.

[0029] A limiting plate 4 is provided on the side of the driving plate 2 away from the mounting plate 1. The limiting plate 4 is provided with six circumferentially distributed second internally threaded connecting tubes 41 in the direction of the mounting plate 1. The mounting plate 1 is provided with six connecting holes 14 corresponding to the second internally threaded connecting tubes 41. The limiting plate 4 is connected to the mounting plate 1 through bolts 42 connected to the second internally threaded connecting tubes 41 and the connecting holes 14. The driving plate 2 is provided with fourteen circumferentially distributed driving grooves 22, each of which is inclined toward the center of the driving plate 2. The limiting plate 4 is provided with fourteen limiting grooves 43 corresponding to the driving grooves 22, each of which is vertically arranged toward the center of the limiting plate 4.

[0030] Fourteen detection plates 5 corresponding to the limiting grooves 43 are slidably connected to the outer side of the limit plate 4. A sliding shaft 51 slidably connected to the corresponding limiting groove 43 and the corresponding driving groove 22 is provided at the inward end of each detection plate 5. Each detection plate 5 is arranged along the length direction of the corresponding limiting groove 43. A telescopic shaft 52 arranged toward the limit plate 4 is provided at the inward end of each detection plate 5. Fourteen sliding sleeves 44 corresponding to the telescopic shafts 52 are slidably connected to the limit plate 4 at the inward end of the limiting groove 43. A limiting cap 53 is provided at the end of each sliding shaft 51 away from the corresponding detection plate 5, which passes through the corresponding sliding sleeve 44. Each telescopic shaft 52 is slidably connected to a support spring 54 located between the corresponding detection plate 5 and the corresponding sliding sleeve 44. The detection plate 5 can be adaptively contracted through the support spring 54.

[0031] The limiting plate 4 is provided with fourteen strain force sensors 6 corresponding to the detection plates 5 at one end facing outwards from the limiting slide groove 43, and each detection plate 5 is rotatably connected to a supporting roller 55 at one end facing outwards. The limiting plate 4 is provided with two connecting slide bars 45 at each strain force sensor 6 away from the corresponding limiting slide groove 43, and each detection plate 5 is provided with two connecting slide grooves 56 arranged along its length direction and slidably connected to the corresponding connecting slide bars 45, and each connecting slide bar 45 is provided with an anti-drop cap 46 passing through the corresponding connecting slide groove 56.

[0032] Working principle: The device is installed at the front end of the pipeline robot. First, the driving motor 3 is used to drive the driving disk 2 to rotate, driving the sliding shaft 51 to slide along the driving slide groove 22. Under the limiting action of the limiting slide groove 43, the sliding shaft 51 slides in the radial direction of the center of the limiting disk 4, driving the detection plate 5 to move inward and then outward until the support roller 55 contacts the pipe wall. As the robot moves forward, the support roller 55 moves along the inner wall of the pipe. If it encounters a small protrusion or a small obstacle on the inner wall of the pipe, the detection plate 5 will squeeze the strain force sensor 6, but the support roller 55 can adaptively push the detection plate 5 to slide inward to compress the support spring 54, so that the support roller 55 passes. At this time, although the strain force sensor 6 detects pressure, the support roller 55 can still pass, then it is judged that there is no large obstacle on the inner wall of the pipe here. If the support roller 55 cannot pass through the obstacle at this time and continues to squeeze the strain force sensor 6, then it is judged that there is a large obstacle here.

[0033] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A device for detecting front-end obstacles of an underwater pipeline robot, comprising a mounting plate (1), characterized in that: A driving disk (2) is rotatably connected to one side of the mounting disk (1), and a driving motor (3) for driving the driving disk (2) to rotate is installed on the mounting disk (1). A limiting disk (4) is arranged on a side of the driving disk (2) away from the mounting disk (1), and the limiting disk (4) is connected to the mounting disk (1). The driving disk (2) is provided with a plurality of driving grooves (22) distributed in a circumference, and each driving groove (22) is inclined toward the center of the driving disk (2). The limiting disk (4) is provided with a plurality of limiting grooves (43) corresponding to the driving grooves (22) one by one, and each limiting groove (43) is vertically arranged toward the center of the limiting disk (4); The outer side of the limit plate (4) is slidably connected to a plurality of detection plates (5) corresponding to the limit slide grooves (43) one by one. The inner end of each detection plate (5) is provided with a sliding shaft (51) slidably connected to the corresponding limit slide groove (43) and the corresponding driving slide groove (22). Each detection plate (5) is arranged along the length direction of the corresponding limit slide groove (43). The inner end of each detection plate (5) is provided with a telescopic shaft (52) arranged in the direction of the limit plate (4). The limit plate (4) is arranged at the inner end of the limit plate (4). A plurality of sleeves (44) slidably connected to the telescopic shafts (52) are arranged at the inward end of the limiting slide groove (43); each telescopic shaft (52) is slidably connected to a support spring (54) located between the corresponding detection plate (5) and the corresponding sleeve (44); a plurality of strain force sensors (6) corresponding to the detection plates (5) are arranged at the outward end of the limiting slide groove (43); and a support roller (55) is rotatably connected to the outward end of each detection plate (5).

2. The underwater pipeline robot front-end obstacle collision detection device according to claim 1, characterized in that: A rotating hole (11) is provided through the middle of the mounting plate (1); the driving plate (2) is provided with a rotating shaft rotatably connected to the mounting plate (1); a free end of the rotating shaft protrudes from the rotating hole (11) and is provided with a worm gear (21); the driving motor (3) is installed on a side of the mounting plate (1) away from the limiting plate (4); and a power output shaft of the driving motor (3) is connected to a worm (31) meshing with the worm gear (21).

3. The device for detecting front-end obstacles of an underwater pipeline robot according to claim 2, characterized in that: An installation cover (12) for covering the worm wheel (21), the worm (31) and the drive motor (3) is provided on the edge of the installation plate (1) in a direction away from the drive plate (2), and a plurality of first internally threaded connecting pipes (13) are provided on the edge of the installation plate (1) in a direction away from the drive plate (2).

4. The underwater pipeline robot front end obstacle collision detection device according to claim 1, characterized in that: The limiting plate (4) is provided with a plurality of second internally threaded connecting tubes (41) distributed in a circumferential manner in the direction of the mounting plate (1); the mounting plate (1) is provided with a plurality of connecting holes (14) corresponding one to one with the second internally threaded connecting tubes (41); the limiting plate (4) and the mounting plate (1) are connected via bolts (42) connected to the second internally threaded connecting tubes (41) and the connecting holes (14).

5. The device for detecting front-end obstacles of an underwater pipeline robot according to claim 1, characterized in that: The limit plate (4) is provided with a connecting slide bar (45) at a position of each strain force sensor (6) away from the corresponding limiting slide groove (43), and each detection plate (5) is provided with a connecting slide groove (56) arranged along its length direction and slidably connected to the corresponding connecting slide bar (45), and each connecting slide bar (45) is provided with an anti-drop cap (46) passing through the corresponding connecting slide groove (56).

6. The device for detecting front-end obstacles of an underwater pipeline robot according to claim 1, characterized in that: One end of each sliding shaft (51) away from the corresponding detection plate (5) passes through the corresponding sliding sleeve (44) and is provided with a limiting cap (53).

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