Pipe outer surface detection robot

Abstract

The invention discloses a pipe outer surface detection robot, and particularly relates to the field of pipeline climbing, the pipe outer surface detection robot comprises a machine body, a power mechanism and a V-shaped wheel leg mechanism; the machine body is mainly characterized in that the machine body is of a round outline with a hollowed middle, is formed by connecting two semi-arc blocks, and is used for carrying functional modules and fixing the whole structure; according to the power mechanism, four sets of brushless motors and wings are symmetrically installed on the four sides of the machine body, and power is provided for climbing motion of the robot; the V-shaped wheel leg mechanisms are installed in the four grooves of the machine body through steering engines, rolling wheels are installed at the same time to assist movement, and the V-shaped wheel leg mechanisms are used for stable supporting movement in the climbing process. Through the machine body, the power mechanism and the V-shaped wheel leg mechanism, efficient moving detection can be achieved on straight pipes with different diameters or pipelines with certain radians, and the robot can be rapidly separated from a detected object to move to a next to-be-detected object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline climbing, in particular to a pipe outer surface detection robot. TECHNICAL BACKGROUND

[0002] With the rapid development of modern society, the robot industry has gradually penetrated into various fields, and more and more human work is replaced by robot work. Various high-altitude pipelines or street lamps are usually high-risk during maintenance and cleaning of debris, and accidents are prone to occur, causing loss of life and property.

[0003] At present, the climbing detection robots mainly include ring type, peristaltic type, clamping type, rolling type and alternating climbing type, but there are some common shortcomings, such as poor load capacity, low work efficiency, unstable movement, poor adaptability, insufficient clamping force due to change of the diameter of the climbed object during movement, resulting in robot falling, and high requirements for the diameter of the climbed object. SUMMARY

[0004] The main purpose of the present application is to provide a pipe outer surface detection robot, which can solve the problems of low work efficiency and high requirements for the diameter of the climbed object in the existing climbing detection robots.

[0005] To achieve the above purpose, the present application provides a pipe outer surface detection robot, which comprises: The body is mainly characterized by a hollow circular profile, which is connected by two semicircular arc blocks, and is used to carry functional modules and fix the overall structure; The power mechanism is composed of four groups of brushless motors and wings, which are symmetrically installed on the body, and is used to provide the power required for the climbing movement of the robot; The V-shaped wheel leg mechanism is arranged at the four grooves of the body, and is used to adapt to the stable support movement of different diameter pipelines.

[0006] Further, the body comprises: The first semicircular arc block and the second semicircular arc block are fixedly connected by bolts, the camera has three, which are evenly installed on the first semicircular arc block and the second semicircular arc block, the guide auxiliary rod is installed on the upper part of the four grooves of the first semicircular arc block and the second semicircular arc block, and the pulley is coaxially installed with the guide auxiliary rod and can roll.

[0007] Further, the power mechanism comprises: The brushless motor is fixedly installed on the body, and the wing is coaxially installed with the brushless motor and can rotate.

[0008] Further, the V-shaped wheel leg mechanism comprises: The narrow U-shaped support is connected with the four recesses of the body, the steering engine is connected with the narrow U-shaped support, the wide U-shaped support is fixedly connected with the steering engine, the V-shaped component is connected with the wide U-shaped support, the roller shaft is coaxially fixed with the V-shaped component, and the roller is coaxially arranged on the roller shaft and can roll.

[0009] Compared with the prior art, the present application has the following advantages: 1. The pipe outer surface detection robot provided by the present application comprises a body, a power mechanism and a V-shaped wheel leg mechanism. During the climbing process, the V-shaped wheel leg mechanism is controlled by the steering engine to wrap the climbing object, thereby assisting the robot to move along the climbing object. Meanwhile, the shaking and deviation that may occur during the wing lifting process are optimized. Even during the diameter changing process, the roller can be controlled by the steering engine to adhere to the climbing object, thereby avoiding the problem of being unable to climb due to insufficient clamping force. The body of the intermediate hollow circular robot can carry three high-definition cameras. During the object movement process, the three high-definition cameras can stereoscopically scan and identify the erosion degree of the pipe surface during the climbing process, thereby improving the clarity and identification capability of the camera in detecting the erosion degree of the pipe outer surface during the movement process. Compared with directly using a drone for detection, the flight scanning and path planning of each surface are reduced.

[0010] 2. When the detection object is a straight pipe opening or a curved pipe opening with a certain curvature, the object can be directly flown away after the scanning detection is completed, and then quickly flown to the next detection object. Meanwhile, the object can be directly controlled to fly to the erosion position that can be directly observed for scanning detection. The pipe outer surface detection task is completed by integrating multiple modes. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 FIG. 1 is a structural schematic view of the pipe outer surface detection robot according to the present application from one perspective;

[0012] Figure 2 FIG. 2 is a structural schematic view of the V-shaped wheel leg mechanism according to the present application from one perspective;

[0013] Figure 3 FIG. 3 is an implementation schematic view of the pipe outer surface detection robot according to the present application being prepared to climb an object;

[0014] Figure 4 FIG. 4 is an implementation schematic view of the pipe outer surface detection robot according to the present application using the roller of the V-shaped wheel leg mechanism to adhere to the climbing object;

[0015] Figure 5 FIG. 5 is an implementation schematic view of the pipe outer surface detection robot according to the present application through a curved segment;

[0016] Figure 6 FIG. 6 is an implementation schematic view of the pipe outer surface detection robot according to the present application flying out of the detection object after the detection is completed.

[0017] Wherein, the reference signs are: 1-body; 2-first half circular arc block; 3-second half circular arc block; 4-power mechanism; 5-brushless motor; 6-wing; 7-V-shaped wheel leg mechanism; 8-guiding auxiliary rod; 9-pulley; 10-camera; 71-narrow U support; 72-rudder; 73-wide U support; 74-V-shaped component; 75-rolling shaft; 76-rolling wheel. Embodiment

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0020] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances. In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0021] Please refer to Figure 1The preferred embodiment of the present application provides a pipe outer surface detection robot, comprising: a body 1, mainly characterized by a hollow circular profile, which is connected by two half circular blocks, for carrying functional modules and fixing the overall structure; a power mechanism 4, which is composed of four groups of brushless motors 5 and wings 6, symmetrically installed on the body 1, for providing the power required for the climbing movement of the robot; a V-shaped wheel leg mechanism 7, which is arranged at the four grooves of the body 1, for stable support movement to adapt to different diameter pipes.

[0022] In the preferred embodiment, the body 1 comprises: the first half circular block 2 and the second half circular block 3 are fixedly connected by bolts, the camera 10 has three in total, which are evenly installed on the first half circular block 2 and the second half circular block 3, respectively, the guide auxiliary rod 8 is installed on the upper part of the four grooves of the first half circular block 2 and the second half circular block 3, and the pulley 9 is coaxially installed with the guide auxiliary rod 8 and can roll.

[0023] In the preferred embodiment, the power mechanism 4 comprises: the brushless motor 5 is fixedly installed on the body 1, and the wing 6 is coaxially installed with the brushless motor 5 and can rotate.

[0024] Please refer to Figure 2 In the preferred embodiment, the V-shaped wheel leg mechanism 7 comprises: the narrow U-shaped bracket 71 is connected by being installed at the four grooves of the body 1, the steering gear 72 is connected with the narrow U-shaped bracket 71, the wide U-shaped bracket 73 is connected with the steering gear 72, the V-shaped member 74 is connected with the wide U-shaped bracket 73, the roller shaft 75 is coaxially installed with the V-shaped member 74 and is fixed, and the roller 76 is coaxially installed with the roller shaft 75 and can roll.

[0025] Please refer to Figures 3 to 6 The following is the climbing process of the pipe outer surface detection robot from installation to departure: the first half circular block 2 and the second half circular block 3 are fixedly connected on the detection object by bolts, three high-definition cameras 10 are carried on the body 1 for detection, then the steering gears 72 on the four V-shaped wheel leg mechanisms 7 are controlled to make the rollers 76 adhere to the detection object, the stable fixing stage of the robot is completed, even if the diameter of the climbing object changes during the movement, the angle of the steering gear can be adjusted to make the roller always adhere to the detection object, then the flight control is used to start the four brushless motors 5 to drive the wings 6 to rotate, the wings 6 generate lift during rotation, by controlling the rotation speed, the up and down movement of the robot can be realized, when passing through the arc stage, the speed needs to be controlled to move slowly, so as to ensure that the robot does not lose control due to too fast speed when leaving the detection object, at the same time, the combination of the guide auxiliary rod 8 and the pulley 9 can make the pulley 9 roll to play a guiding and stabilizing role when the robot passes through the large-arc pipe, avoiding the direct contact between the body and the detection object to generate a large collision force, when leaving the object, the pose of the robot is controlled by the flight control to quickly correct and avoid rolling over, realizing the climbing process and rapid departure of the robot.

[0026] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A pipe outer surface inspection robot, characterized in that: Includes: The main feature of the body (1) is a circular profile with a hollowed-out center, which is formed by connecting two semicircular arc blocks and is used to carry functional modules and fix the overall structure; A power mechanism (4), which is composed of four sets of brushless motors (5) and wings (6), which are symmetrically mounted on the body (1) and are used to provide the power required for the robot's climbing movement; The V-shaped wheel leg mechanism (7) is arranged at four grooves of the machine body (1) and is used to adapt to the stable supporting movement of pipes with different diameters.

2. A pipe outer surface inspection robot according to claim 1, characterized in that: The body (1) includes: The first semicircular block (2) and the second semicircular block (3) are fixedly connected by bolts. There are three cameras (10) in total, which are evenly installed on the first semicircular block (2) and the second semicircular block (3). The guide auxiliary rod (8) is installed on the upper part of the four grooves of the first semicircular block (2) and the second semicircular block (3). The pulley (9) and the guide auxiliary rod (8) are coaxially installed and can roll.

3. The pipe outer surface inspection robot according to claim 1, characterized in that: The power mechanism (4) comprises: The brushless motor (5) is fixedly mounted on the body (1), and the wings (6) are rotatably mounted coaxially with the brushless motor (5).

4. The pipe outer surface inspection robot according to claim 1, characterized in that: The V-shaped wheel leg mechanism (7) comprises: The narrow U bracket (71) is connected to the four grooves of the body (1), the steering gear (72) is then connected to the narrow U bracket (71), the wide U bracket (73) is fixedly connected to the steering gear (72), the V-shaped member (74) is connected to the wide U bracket (73), the roller (75) is fixedly installed coaxially with the V-shaped member (74), and the roller (76) is installed coaxially with the roller (75) to be rotatable.

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