Self-adaptive climbing mechanism of pipe gallery inspection robot

Abstract

The utility model discloses a self-adaptive climbing mechanism of a pipe gallery inspection robot, which relates to the technical field of robots and comprises a box body, a driving motor, a rotating speed tester and a control module are mounted in the box body, the driving motor is meshed and connected with a driving gear, and a driving part is fixedly connected with the driving gear and a driven gear in a penetrating manner and is rotatably connected with the box body in a penetrating manner. The rotating speed tester detects the real-time rotating speed of the driven gear, the control module is connected with the starting motor and the driving motor, outputs a control instruction according to the real-time rotating speed to control rotation of the starting motor and outputs a speed control instruction to control the driving motor, the lower portion of the box body is fixedly connected with the shell, the starting motor is in meshed connection with the worm, and the worm is in meshed connection with the worm wheel. The worm gear is slidably connected with the sliding part, a sleeving barrel is installed at the bottom in the shell and slidably connected with the sliding part, and the top end of the sliding part penetrates through the shell and is fixedly connected with a pressing part. According to the utility model, the robot adapts to uphill or downhill working conditions, and the reliability of the inspection robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an adaptive climbing mechanism of a pipeline corridor inspection robot. Background Art

[0002] The tunnel inspection robot usually inspects along the track in a suspended manner. The walking track is usually a double circular guide rail installed on the top of the tunnel. Since there are ups and downs ramps during the inspection process, the walking track usually changes with the ups and downs of the tunnel. The tunnel inspection robot has multiple walking conditions on the walking track, including horizontal walking, climbing and downhill walking. When dust and water vapor accumulate on the sloping walking track, it is easy to cause the friction coefficient of the walking track to decrease, which in turn causes the inspection robot to slip during the uphill or downhill process, affecting normal inspections. In severe cases, it may also cause a slipping accident.

[0003] Therefore, an adaptive climbing mechanism for a pipeline corridor inspection robot is needed. The adaptive climbing mechanism is used in conjunction with the robot to adapt to climbing or downhill conditions, prevent slipping during climbing or downhill, and improve its operating reliability. Summary of the invention

[0004] The utility model aims to provide an adaptive climbing mechanism for a pipeline corridor inspection robot, which can enable the robot to adapt to climbing or descending conditions and improve the reliability of the inspection robot.

[0005] To achieve the above purpose, the utility model provides the following solutions:

[0006] An adaptive climbing mechanism of a pipeline corridor inspection robot comprises a box, a driving motor, a driving gear, a driven gear, a driving member, a speed tester, a control module, a housing, a sleeve, a starting motor, a worm gear, a worm, a sliding member and a pressing member; the driving motor, the speed tester and the control module are all located inside the box, the driving motor is meshed and connected with the driving gear, the driving member respectively penetrates and is fixed to the driving gear and the driven gear, both ends of the driving member penetrate the box and are rotatably connected with the box, both ends of the driving member are located outside the box and are rotatably connected with tracks, the speed tester detects the real-time speed of the driven gear, and the control module is divided into: The control module is respectively connected with the speed tester, the starting motor and the driving motor. The control module controls the forward or reverse rotation of the starting motor and outputs the speed control instruction to control the driving motor according to the real-time speed output control instruction. The shell is fixedly connected to the bottom surface of the box body, the starting motor is fixedly connected to the inside of the shell, the output end of the starting motor is meshingly connected with the worm, the worm is meshingly connected with the worm wheel, the worm wheel is slidably connected with the sliding member, the bottom inner side of the shell is fixedly connected to the bottom of the sleeve tube, the bottom of the sliding member extends into the sleeve tube, the sleeve tube is slidably connected with the sliding member, the top of the sliding member passes through the shell, and a clamping member is fixedly connected to the top of the sliding member.

[0007] Optionally, the driving member includes a driving rod, both ends of the driving rod are fixedly connected with driving wheels, the driving rod passes through the box body, the driving wheel is located outside the box body, and the driving wheel is rotatably connected to the track.

[0008] Optionally, the adaptive climbing mechanism further includes a limiting wheel, the limiting wheel is fixedly connected to the shell via a first connecting rod, and the limiting wheel is rotatably connected to the track.

[0009] Optionally, the shell is fixedly connected with a second connecting rod, and the second connecting rod is fixedly connected to the lower part of the box body.

[0010] Optionally, the adaptive climbing mechanism further includes a fixing rod, wherein the fixing rod is fixed to the housing and is rotationally connected to the worm gear.

[0011] Optionally, the clamping member includes a U-shaped body, the U-shaped body is fixedly connected to the sliding member, the U-shaped body is fixedly connected with a fixed cylinder, the fixed cylinder is penetrated by a clamping wheel, and the clamping wheel is rotatably connected to the track.

[0012] Optionally, the speed tester is a testo465 optical speed measuring instrument.

[0013] According to the specific embodiments provided by the utility model, the utility model discloses the following technical effects:

[0014] The utility model discloses an adaptive climbing mechanism of a pipeline corridor inspection robot, wherein the real-time rotation speed of the driven gear is detected by a rotation speed tester, and a control module outputs a control instruction according to the real-time rotation speed to control the forward or reverse rotation of the starter motor, and outputs a speed control instruction to control the drive motor, thereby driving the worm and the worm wheel to rotate and then driving the sliding part to rise or fall so that the pressing part is pressed or away from the track, thereby increasing the friction force when going uphill or downhill, preventing slipping, and enhancing the operation reliability of the robot; and realizing normal inspection during horizontal movement.

[0015] The utility model uses a worm and a turbine to prevent a sliding accident caused by a sliding part and a pressing part connected thereto falling down when going uphill or downhill, thereby improving the operation reliability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 It is the first schematic diagram of the overall structure of the utility model;

[0018] Figure 2 It is the second schematic diagram of the overall structure of the utility model;

[0019] Figure 3 It is a schematic diagram of the internal structure of the shell of the utility model.

[0020] In the figure: 1. box body; 2. driving motor; 3. driving gear; 4. driven gear; 5. driving member; 501. driving rod; 502. driving wheel; 6. speed tester; 7. control module; 8. housing; 9. sleeve tube; 10. starting motor; 1101. worm; 1102. worm wheel; 1103. fixing rod; 12. sliding member; 1301. U-shaped body; 1302. fixing cylinder; 1303. clamping wheel; 14. limiting wheel; 15. first connecting rod; 16. second connecting rod. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0023] like Figure 1 , Figure 2 , Figure 3 As shown, the utility model provides an adaptive climbing mechanism of a pipeline corridor inspection robot, including a box 1, a driving motor 2, a driving gear 3, a driven gear 4, a driving member 5, a speed tester 6, a control module 7, a shell 8, a sleeve 9, a starting motor 10, a worm wheel 1102, a worm 1101, a sliding member 12 and a pressing member; the driving motor 2, the speed tester 6 and the control module 7 are all located inside the box 1, the driving motor 2 is meshed and connected with the driving gear 3, the driving member 5 is respectively penetrated and fixed to the driving gear 3 and the driven gear 4, the two ends of the driving member 5 penetrate the box 1 and are rotatably connected with the box 1, the two ends of the driving member 5 are located outside the box 1 and are rotatably connected with tracks, the speed tester 6 detects the real-time speed of the driven gear 4, the control module 7 They are respectively connected to the speed tester 6, the starting motor 10 and the driving motor 2. The control module 7 controls the forward or reverse rotation of the starting motor 10 and outputs a speed control instruction to control the driving motor 2 according to the real-time speed output control instruction. The shell 8 is fixedly connected to the bottom surface of the box body 1, and the starting motor 10 is fixedly connected to the inside of the shell 8. The output end of the starting motor 10 is meshed and connected with the worm 1101, and the worm 1101 is meshed and connected with the worm wheel 1102. The worm wheel 1102 is slidably connected with the sliding member 12. The inner bottom of the shell 8 is fixedly connected to the bottom of the sleeve tube 9, and the bottom of the sliding member 12 extends into the sleeve tube 9. The sleeve tube 9 is slidably connected with the sliding member 12. The top of the sliding member 12 passes through the shell 8, and a clamping member is fixedly connected to the top of the sliding member 12.

[0024] Among them, the adaptive climbing mechanism detects the real-time speed of the driven gear 4 through the speed tester 6, and the control module 7 outputs a control instruction according to the real-time speed to control the forward or reverse rotation of the starting motor 10. The control module 7 outputs a speed control instruction to control the drive motor 2, driving the worm 1101 and the worm wheel 1102 to rotate and then driving the sliding member 12 to rise or fall so that the clamping member is pressed or away from the track. When the clamping member is close to the track, the friction force is increased when going uphill or downhill to prevent slipping and enhance the operation reliability of the robot; when the clamping member is away from the track, normal inspection is achieved during horizontal movement.

[0025] The control module 7 is connected to the rotation speed tester 6 by wireless connection, and the control module 7 is connected to the starter motor 10 and the drive motor 2 by wireless connection.

[0026] The track is fixedly connected to the wall. A fixing plate is also fixedly connected inside the housing 8 , and the fixing plate is fixedly connected to the starter motor 10 .

[0027] Optionally, the driving member 5 includes a driving rod 501, both ends of the driving rod 501 are fixedly connected with driving wheels 502, the driving rod 501 passes through the box body 1, the driving wheel 502 is located outside the box body 1, and the driving wheel 502 is rotatably connected to the track.

[0028] In addition, the adaptive climbing mechanism further includes a follower; the follower includes a follower rod and a follower wheel, the follower rod has the same structure as the driving rod 501, and the follower wheel has the same structure as the driving wheel 502. The driving member 5 passes through the front of the box 1; the follower passes through the rear of the box 1.

[0029] In order to prevent the pipeline corridor inspection robot from tilting, the adaptive climbing mechanism further includes a limiting wheel 14, the limiting wheel 14 is fixedly connected to the housing 8 via a first connecting rod 15, and the limiting wheel 14 is rotatably connected to the track.

[0030] The limiting wheel 14 is in contact with the track at all times. To prevent excessive friction, the limiting wheel 14 is not in contact with the track tightly.

[0031] Optionally, the shell 8 is fixedly connected to a second connecting rod 16 , and one end of the second connecting rod 16 away from the shell 8 is fixedly connected to the lower part of the box body 1 .

[0032] The lower part of the box body 1 is fixedly connected to a second connecting rod 16, and one end of the connecting rod away from the box body 1 is connected to a housing 8. The adaptive climbing mechanism includes two housings 8, and the two housings 8 are symmetrically distributed about the second connecting rod 16.

[0033] Optionally, the adaptive climbing mechanism further includes a fixing rod 1103 , wherein the fixing rod 1103 is fixed to the housing 8 , and the fixing rod 1103 is rotationally connected to the worm gear 1102 .

[0034] The fixing rod 1103 is rotatably connected to the worm wheel 1102 to improve the running stability of the worm wheel 1102. The worm wheel 1102 and the worm 1101 can prevent the sliding member 12 and the pressing member connected thereto from falling down when going uphill or downhill, thereby improving the running reliability of the robot.

[0035] Optionally, the clamping member includes a U-shaped body 1301, the U-shaped body 1301 is fixedly connected to the sliding member 12, the U-shaped body 1301 is fixedly connected with a fixed cylinder 1302, the fixed cylinder 1302 is penetrated by a clamping wheel 1303, and the clamping wheel 1303 is rotatably connected to the track.

[0036] Preferably, the model of the rotation speed tester 6 is testo465 optical rotation speed measuring instrument. Specific embodiments

[0038] Wherein, the control module 7 includes a comparator and a controller; the speed control instructions include an acceleration instruction, a deceleration instruction and a speed constant instruction; the control instructions include a forward instruction, a reverse instruction and a stop instruction.

[0039] Working mode 1: When the pipeline corridor inspection robot travels from the horizontal track to the downhill, the speed tester 6 detects the real-time speed, and the comparator determines that the real-time speed is greater than the normal speed at this time. The controller outputs a forward command to control the starter motor 10 to rotate forward, drives the sliding member 12 to make the clamping wheel 1303 close to the track so that the real-time speed is equal to the normal speed, and the controller outputs a speed-unchanged command to the drive motor 2, and the controller outputs a stop command to control the starter motor 10 to stop rotating and fix the position of the clamping wheel 1303; when the downhill travel ends and reaches the horizontal level, the speed tester 6 detects the real-time speed, and the comparator determines that the real-time speed is less than the normal speed at this time, and the controller outputs a reverse command to control the starter motor 10 to reverse, drives the sliding member 12 to make the clamping wheel 1303 away from the track so that the real-time speed is equal to the normal speed, and the controller outputs a speed-unchanged command to the drive motor 2, and the controller outputs a stop command to control the starter motor 10 to stop rotating and fix the position of the clamping wheel 1303.

[0040] Working mode two: When the tunnel inspection robot travels from the horizontal track to the uphill track, the speed tester 6 detects the real-time speed, and the comparator determines that the real-time speed is less than the normal speed at this time. The controller outputs a forward command to control the starter motor 10 to rotate forward, and drives the sliding member 12 to make the clamping wheel 1303 close to the track. At the same time, the controller outputs an acceleration command to control the drive motor 2 to increase the speed to indirectly make the driven gear 4 reach the normal speed, and the controller outputs a stop command to control the starter motor 10 to stop rotating and fix the position of the clamping wheel 1303. The controller outputs a speed unchanged command to maintain the normal speed; when the uphill track ends and travels to the horizontal level, the speed tester 6 detects the real-time speed, and the comparator determines that the real-time speed is greater than the normal speed at this time. The controller outputs a deceleration command to control the drive motor 2 to reduce the speed to the horizontal speed, and the controller outputs a reverse command to control the starter motor 10 to reverse, and drives the sliding member 12 to make the clamping wheel 1303 away from the track to reach the normal speed.

[0041] In addition, by setting a monitoring device on the housing 8, the monitoring device is connected to the control module 7; the staff can adjust the working mode or issue a comprehensive instruction through the monitoring device; the comprehensive instruction includes a control instruction and / or a speed control instruction. The monitoring device is a camera.

[0042] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0043] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. An adaptive climbing mechanism for a pipe gallery inspection robot. It is characterized in that The invention comprises a casing (1), a driving motor (2), a driving gear (3), a driven gear (4), a driving member (5), a speed tester (6), a control module (7), a casing (8), a sleeve (9), a starting motor (10), a worm wheel (1102), a worm (1101), a sliding member (12) and a pressing member; the driving motor (2), the speed tester (6) and the control module (7) are all located inside the casing (1); the driving motor (2) is meshingly connected with the driving gear (3); the driving member (5) respectively penetrates and is fixedly connected to the driving gear (3) and the driven gear (4); two ends of the driving member (5) penetrate the casing (1) and are rotationally connected to the casing (1); two ends of the driving member (5) are located outside the casing (1) and are rotationally connected to tracks; the speed tester (6) detects the real-time speed of the driven gear (4); the control module (7) is respectively connected to the speed tester (1102) and the driven gear (4) is connected to the sliding member (12) and the control module (7 ... The instrument (6), the starting motor (10) and the driving motor (2) are connected, the control module (7) controls the forward or reverse rotation of the starting motor (10) and outputs a speed control instruction to control the driving motor (2) according to the real-time speed output control instruction, the housing (8) is fixedly connected to the bottom surface of the box body (1), the starting motor (10) is fixedly connected to the inside of the housing (8), the output end of the starting motor (10) is meshedly connected to the worm (1101), the worm (1101) is meshedly connected to the worm wheel (1102), the worm wheel (1102) is slidably connected to the sliding member (12), the inner bottom of the housing (8) is fixedly connected to the bottom of the sleeve tube (9), the bottom of the sliding member (12) extends into the sleeve tube (9), the sleeve tube (9) is slidably connected to the sliding member (12), the top of the sliding member (12) passes through the housing (8), and the top of the sliding member (12) is fixedly connected to a pressing member.

2. The adaptive climbing mechanism of the pipeline corridor inspection robot according to claim 1, It is characterized in that The driving member (5) comprises a driving rod (501), and driving wheels (502) are fixedly connected to both ends of the driving rod (501). The driving rod (501) passes through the box (1), and the driving wheel (502) is located outside the box (1). The driving wheel (502) is rotatably connected to the track.

3. The adaptive climbing mechanism of the pipeline corridor inspection robot according to claim 1, It is characterized in that The adaptive climbing mechanism further comprises a limiting wheel (14), wherein the limiting wheel (14) is fixedly connected to the housing (8) via a first connecting rod (15), and the limiting wheel (14) is rotationally connected to the track.

4. The adaptive climbing mechanism of the pipeline corridor inspection robot according to claim 1, It is characterized in that The shell (8) is fixedly connected to a second connecting rod (16), and the second connecting rod (16) is fixedly connected to the lower part of the box body (1).

5. The adaptive climbing mechanism of the pipeline corridor inspection robot according to claim 1, It is characterized in that The adaptive climbing mechanism further comprises a fixing rod (1103), wherein the fixing rod (1103) is fixedly connected to the housing (8), and the fixing rod (1103) is rotationally connected to the worm gear (1102).

6. The adaptive climbing mechanism of the pipeline corridor inspection robot according to claim 1, It is characterized in that The clamping member comprises a U-shaped body (1301), the U-shaped body (1301) is fixedly connected to the sliding member (12), the U-shaped body (1301) is fixedly connected to a fixed cylinder (1302), the fixed cylinder (1302) is penetrated by a clamping wheel (1303), and the clamping wheel (1303) is rotatably connected to the track.

7. The adaptive climbing mechanism of the pipeline corridor inspection robot according to claim 1, It is characterized in that The model of the rotation speed tester (6) is a testo465 optical rotation speed measuring instrument.

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