Automatic balance type four-wheel-drive portable pipeline detection robot

Abstract

The utility model discloses an automatic balance type four-wheel drive portable pipeline detection robot, including host, camera, wheel, hub motor, balance beam, reset torsion spring, bearing axle and bearing, the host is equipped with the controller, four hub motor is respectively installed in the hub of four wheel, two bearing axle is respectively installed at the both sides of host, the balance beam is equipped with the balance beam, the bearing axle is equipped with the balance beam, the balance beam is equipped with the balance beam, the balance beam is equipped with the balance beam, and the balance beam is equipped with the balance beam. The suspended ends of the two bearing shafts penetrate through corresponding through holes in the middles of the two balance beams respectively and are connected with one ends of the two reset torsion springs respectively, the other ends of the reset torsion springs are connected with the corresponding balance beams, bearings are installed between the bearing shafts and the corresponding hole walls of the corresponding balance beams, and the four wheels are installed at the two ends of the two balance beams respectively. The camera and the four hub motors are correspondingly connected with the controller. According to the utility model, the automatic balance function of the host can be realized, so that the host can automatically keep a stable state on various road surfaces, thereby improving the definition of camera shooting or photographing and improving the detection quality.

Description

Technical Field

[0001] The utility model relates to a pipeline detection robot which is mainly used for detecting inside and outside of pipelines, in particular to an automatic balancing four-wheel drive portable pipeline detection robot. Background Art

[0002] Pipeline applications are very extensive, such as sewage pipes, water pipes, natural gas pipes, etc. In the long-term use of pipelines, it is inevitable that there will be impurities and some corrosive substances that make the pipe wall thinner, resulting in cracks and leaks in the pipes, which shortens the service life of the pipes and causes waste of resources. In order to avoid such problems, extend the service life of the pipes and reduce the cost of use, it is necessary to regularly inspect the pipes and find problems in time. Due to the size of the pipes and the harsh environment, many situations are not suitable for manual operation. The use of portable pipeline inspection robots (because the robots are generally small in size and easy to carry, they are usually called portable pipeline inspection robots) can effectively replace manual pipeline inspection operations and prevent the above-mentioned cracks, leaks and other problems.

[0003] The basic structure of a traditional portable pipeline inspection robot includes a host, a camera and wheels. The four wheels are installed on the lower part of both sides of the host and are driven to rotate by a drive motor. The camera is installed on the host and connected to the controller inside the host. The host is generally also equipped with a lighting lamp and a communication antenna. When working, the drive motor drives the wheels to rotate to realize the function of moving the host inside the pipeline (or next to the outside). The camera takes pictures of the inner or outer wall of the pipeline and transmits the video signal to the management personnel through the communication antenna to realize the pipeline inspection function.

[0004] The defects of the above-mentioned traditional portable pipeline inspection robot are: the main machine does not have an automatic balancing function. During the uphill and downhill process, the main machine will tilt and bump, which will reduce the clarity of video or photo taking and reduce the inspection quality; only some wheels have driving and active braking functions, the driving capacity is insufficient, and the stability when stopping on the slope is poor, which is not conducive to improving the inspection quality. If operations such as turning around are required, the required operating space is large, and turning around in a small space is more difficult. Utility Model Content

[0005] The utility model aims to solve the above problems and provide an automatic balancing four-wheel drive portable pipeline inspection robot with a main body capable of automatic balancing and each wheel capable of independent braking.

[0006] The utility model achieves the above-mentioned purpose through the following technical solutions:

[0007] An automatic balancing four-wheel drive portable pipeline inspection robot comprises a mainframe, a camera and wheels, wherein the four wheels are respectively mounted on the lower parts of both sides of the mainframe, the camera is mounted on the mainframe, a controller is arranged in the mainframe, a signal output end of the camera is connected to a signal output end of the controller, the automatic balancing four-wheel drive portable pipeline inspection robot also comprises a hub motor, a balance beam, a reset torsion spring, a load-bearing shaft and a bearing, the four hub motors are respectively mounted in the hubs of the four wheels and are used to drive the corresponding wheels to rotate, the two transverse load-bearing shafts are respectively mounted on both sides of the mainframe, and the two The center lines of the load-bearing shafts coincide with each other and the center of gravity of the main engine is located on the center line or directly below the center line. The two balance beams are respectively located on both sides of the main engine. The suspended ends of the two load-bearing shafts respectively pass through the corresponding through holes in the middle of the two balance beams and are respectively connected to one end of the two reset torsion springs. The other end of the reset torsion spring is connected to the corresponding balance beam. The bearing is installed between the corresponding hole wall of the load-bearing shaft and the corresponding balance beam. The four wheels are respectively installed at the two ends of the two balance beams, and the control input ends of the four hub motors are respectively connected to the control output ends of the controller.

[0008] According to actual needs, the two load-bearing shafts are independent of each other and the inner walls near their suspended ends are provided with internal threads, and the screw rods of the two bolts respectively pass through the through holes at one end of the two reset torsion springs and are connected with the corresponding internal threads of the load-bearing shafts; or, the two load-bearing shafts are connected to each other to form an integrated structure and the inner walls near their two ends are provided with internal threads.

[0009] Preferably, in order to more reliably connect the return torsion spring, a washer is provided between one end of the return torsion spring and the corresponding suspended end of the load-bearing shaft.

[0010] Preferably, in order to facilitate installation of the camera and adjustment of the angle of the camera, one end of the host is connected to an end cover, and the camera is mounted on the end cover.

[0011] Preferably, in order to increase the brightness on the inner or outer wall of the pipeline to improve the clarity of video and photo recording, two lighting lamps are installed on the end cover below the camera, and the power supplies of the two lighting lamps are respectively connected to the lighting signal output terminals of the controller.

[0012] Preferably, in order to facilitate the connection of the other end of the reset torsion spring, a connecting hole is provided in the middle of the balance beam just above the corresponding load-bearing axis, and the other end of the reset torsion spring is placed in the corresponding connecting hole of the balance beam.

[0013] Preferably, in order to facilitate remote communication, a communication antenna is installed on the host, the inner end of the communication antenna is connected to the remote end of the remote communication circuit, and the local end of the remote communication circuit is connected to the remote communication end of the controller.

[0014] Preferably, in order to facilitate intuitive display of content, a display screen is installed on the host, and a signal input end of the display screen is connected to a display signal output end of the controller.

[0015] Preferably, in order to better enable the main machine to automatically maintain a stable state on a flat road surface without tilting relative to the balance beam due to the torsion of the return torsion spring, and at the same time to better enable the main machine to automatically maintain a stable state on a sloping road surface or a bumpy road surface due to the main machine's own weight overcoming the torsion of the return torsion spring and automatically tilting relative to the balance beam, the ratio of the mass of the main machine to the torque of the return torsion spring is 1:(1.6-2), the unit of mass is kg, and the unit of torque is Nm.

[0016] Preferably, in order to enable the main machine to have better automatic balancing performance on various road surfaces, the ratio of the mass of the main machine to the torque of the return torsion spring is 1:1.875.

[0017] The beneficial effects of the utility model are:

[0018] The utility model adds a balance beam, a reset torsion spring and a load-bearing shaft, and connects the two balance beams to the two load-bearing shafts through bearings respectively, and installs the two load-bearing shafts on both sides of the main machine respectively, and makes the center of gravity of the main machine be located on the center line of the load-bearing shaft or just below the center line, so that the two balance beams and the main machine have the function of free rotation. When the road surface is flat, the torsion of the reset torsion spring overcomes the external force caused by the start and stop and acceleration and deceleration of the main machine to keep the main machine in a stable state. When the road surface is a sloped road surface or a bumpy road surface, the balance beam will tilt. At this time, the gravity of the main machine overcomes the torsion of the reset torsion spring, so that the main machine and the balance beam automatically rotate at a certain angle, so that the main machine The machine remains stable and automatically resets under the torque of the reset torsion spring after returning to a flat road surface, ultimately realizing the automatic balancing function of the main machine and being able to maintain a stable state on all kinds of road surfaces, thereby improving the clarity of video or photo taking and improving the inspection quality; at the same time, wheel hub motors that can directly drive the wheels to rotate are installed in the wheel hubs of the four wheels, so that the four wheels have driving and active braking functions, the driving capacity is significantly improved, and the stability of stopping on the slope is strong, which is conducive to improving the inspection quality. If operations such as turning around are required, the required operating space is small, and the U-turn can basically be made on the spot, and it is relatively easy to turn around in a small space. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is one of the three-dimensional structural schematic diagrams of the automatic balancing four-wheel drive portable pipeline inspection robot described in the utility model;

[0020] Figure 2 This is the second schematic diagram of the three-dimensional structure of the automatic balancing four-wheel drive portable pipeline inspection robot of the utility model. Figure 1 Different perspectives;

[0021] Figure 3 This is a three-dimensional structural diagram of the automatic balancing four-wheel drive portable pipeline inspection robot of the utility model after removing the reset torsion spring, gasket and bolts. Figure 2 The perspective is the same;

[0022] Figure 4 This is a circuit block diagram of the automatic balancing four-wheel drive portable pipeline inspection robot described in the utility model. DETAILED DESCRIPTION

[0023] The utility model is further described below in conjunction with the accompanying drawings:

[0024] like Figure 1-Figure 4 As shown, the automatic balancing four-wheel drive portable pipeline inspection robot of the utility model includes a host 2, a camera 9, wheels 5, a hub motor ( Figure 1-Figure 3 The mainframe 2 is provided with a balance beam 7, a reset torsion spring 8, a load-bearing shaft 14 and a bearing 15, four wheels 5 are respectively installed at the lower part of both sides of the mainframe 2, a camera 9 is installed on the mainframe 2, and a controller ( Figure 1-Figure 3 The signal output end of the camera 9 is connected to the signal output end of the controller, the four wheel hub motors are respectively installed in the wheel hubs 6 of the four wheels 5 and are used to drive the corresponding wheels 5 to rotate, the two transverse load-bearing shafts 14 are respectively installed on both sides of the main machine 2, the center lines of the two load-bearing shafts 14 coincide and the center of gravity of the main machine 2 is located on the center line or directly below the center line, the two balance beams 7 are respectively located on both sides of the main machine 2, the suspended ends of the two load-bearing shafts 14 respectively pass through the corresponding through holes in the middle of the two balance beams 7 and are respectively connected to one end of the two reset torsion springs 8, the other end of the reset torsion spring 8 is connected to the corresponding balance beam 7, a bearing 15 is installed between the load-bearing shaft 14 and the corresponding hole wall of the corresponding balance beam 7, the four wheels 5 are respectively installed at the two ends of the two balance beams 7, and the control input ends of the four wheel hub motors are respectively connected to the control output ends of the controller.

[0025] like Figure 1-Figure 4 As shown, the utility model also discloses the following more optimized specific structures:

[0026] According to actual needs, the two load-bearing shafts 14 are independent of each other and the inner walls near their suspended ends are provided with internal threads, and the screw rods of the two bolts 11 respectively pass through the through holes at one end of the two reset torsion springs 8 and are connected with the corresponding internal threads of the load-bearing shafts 14; or, the two load-bearing shafts 14 are connected to each other to form an integrated structure and the inner walls near their two ends are provided with internal threads.

[0027] In order to more reliably connect the return torsion spring 8 , a washer 12 is provided between one end of the return torsion spring 8 and the corresponding suspended end of the load-bearing shaft 14 .

[0028] In order to facilitate installation of the camera 9 and adjustment of the angle of the camera, one end of the host 2 is connected to the end cover 3 , and the camera 9 is installed on the end cover 3 .

[0029] In order to increase the brightness on the inner or outer wall of the pipeline to improve the clarity of video and photography, two lighting lamps 10 are installed on the end cover 3 below the camera 9, and the power supplies of the two lighting lamps 10 are respectively connected to the lighting signal output terminals of the controller.

[0030] In order to facilitate the connection of the other end of the reset torsion spring 8 , a connection hole 13 is provided in the middle of the balance beam 7 just above the corresponding load-bearing shaft 14 , and the other end of the reset torsion spring 8 is placed in the corresponding connection hole 13 of the balance beam 7 .

[0031] In order to facilitate remote communication, a communication antenna 1 is installed on the host 2, and the inner end of the communication antenna 1 is connected to the remote end of the remote communication circuit, and the local end of the remote communication circuit is connected to the remote communication end of the controller.

[0032] In order to display the content intuitively, a display screen 4 is installed on the host 2, and the signal input end of the display screen 4 is connected to the display signal output end of the controller.

[0033] In order to better enable the main machine 2 to automatically maintain a stable state on a flat road surface without tilting relative to the balance beam 7 due to the torsion of the return torsion spring 8, and at the same time to better enable the main machine 2 to automatically maintain a stable state on a sloping road surface or a bumpy road surface due to the main machine's own weight to overcome the torsion of the return torsion spring 8 and automatically tilt relative to the balance beam 7, the ratio of the mass of the main machine 2 to the torque of the return torsion spring 8 is 1:(1.6-2), the unit of mass is kg, and the unit of torque is Nm.

[0034] In order to enable the main machine 2 to have better automatic balancing performance on various road surfaces, the ratio of the mass of the main machine 2 to the torque of the return torsion spring 8 is 1:1.875.

[0035] like Figure 1-Figure 4As shown, when in use, the detection robot is placed inside the pipeline to be detected or outside the pipeline near the pipeline, the power on the host 2 is turned on, the camera 9, the lighting 10, the display screen 4 and the four hub motors are turned on by the controller in the host 2, and the robot starts to move along the pipeline. The camera 9 takes real-time video or photos of the inner wall or outer wall of the pipeline, and transmits the information to the controller. The controller transmits the information to the computer or mobile phone of the manager through the communication antenna 1, and the manager then realizes the pipeline detection function through manual recognition or software recognition.

[0036] When the road surface (or the bottom surface of the inner wall of the pipe, the same below) is flat, the torsion of the reset torsion spring 8 overcomes the external force caused by the start and stop and acceleration and deceleration of the main machine 2 to keep the main machine 2 in a stable state; when the road surface is a sloped road surface or a bumpy road surface, the front and rear wheels 5 are at different heights of the road surface, and the balance beam 7 will tilt. At this time, the gravity of the main machine 2 overcomes the torsion of the reset torsion spring 8 and automatically rotates the main machine 2 and the balance beam 7 by a certain angle, so that the main machine 2 still maintains a stable state; after returning to a flat road surface, it automatically resets under the torsion of the reset torsion spring 8, and finally realizes the automatic balancing function of the main machine 2, which can maintain a stable state on various road surfaces, thereby improving the clarity of video or photo taking and improving the detection quality.

[0037] When turning is not required, the controller controls the four wheels 5 to rotate in the same direction and speed, so as to realize the straight-ahead and backward functions; when turning is required, the controller controls the four wheels 5 to rotate in different directions and / or different speeds, so as to realize functions such as turning left, turning right and turning on the spot. The turning principle is similar to that of a tank, which is different from the front wheel steering of an ordinary car, but both are prior arts.

[0038] When it is necessary to stop on a slope, the controller controls the four wheels 5 to stop rotating. At this time, the four wheels 5 are all in a braking state. As long as the sum of the friction forces between the four wheels 5 and the road surface is not less than the oblique component force corresponding to the gravity of the main machine 2, reliable braking can be achieved, which is beneficial to improving the inspection quality.

[0039] The above embodiments are only preferred embodiments of the present utility model and are not limitations on the technical solutions of the present utility model. Any technical solution that can be implemented on the basis of the above embodiments without creative work should be deemed to fall within the scope of protection of the patent of the present utility model.

Claims

1. An automatic balancing four-wheel drive portable pipeline inspection robot, comprising a mainframe, a camera and wheels, wherein the four wheels are respectively mounted on the lower parts of both sides of the mainframe, the camera is mounted on the mainframe, a controller is provided in the mainframe, and the signal output end of the camera is connected to the signal output end of the controller, characterized in that: The automatic balancing four-wheel drive portable pipeline inspection robot also includes a hub motor, a balance beam, a reset torsion spring, a load-bearing shaft and a bearing. The four hub motors are respectively installed in the hubs of the four wheels and are used to drive the corresponding wheels to rotate. The two transverse load-bearing shafts are respectively installed on both sides of the main machine. The center lines of the two load-bearing shafts coincide and the center of gravity of the main machine is located on the center line or directly below the center line. The two balance beams are respectively located on both sides of the main machine. The suspended ends of the two load-bearing shafts respectively pass through the corresponding through holes in the middle of the two balance beams and are respectively connected to one end of the two reset torsion springs, and the other end of the reset torsion spring is connected to the corresponding balance beam. The bearing is installed between the load-bearing shaft and the corresponding hole wall of the corresponding balance beam. The four wheels are respectively installed at both ends of the two balance beams. The control input ends of the four hub motors are respectively connected to the control output ends of the controller.

2. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 1 is characterized in that: The two load-bearing shafts are independent of each other and have internal threads on the inner walls near their suspended ends. The screw rods of the two bolts pass through the through holes at one end of the two reset torsion springs respectively and are connected to the internal threads of the corresponding load-bearing shafts; or, the two load-bearing shafts are interconnected to form an integrated structure and have internal threads on the inner walls near their two ends.

3. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 2 is characterized in that: A washer is provided between one end of the return torsion spring and the corresponding suspended end of the load-bearing shaft.

4. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 1, 2 or 3, characterized in that: One end of the host is connected to the end cover, and the camera is installed on the end cover.

5. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 4 is characterized in that: Two lighting lamps are installed on the end cover at a position below the camera, and the power supplies of the two lighting lamps are respectively connected to the lighting signal output ends of the controller.

6. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 1, 2 or 3, characterized in that: A connecting hole is provided in the middle of the balance beam, located just above the corresponding load-bearing axis, and the other end of the reset torsion spring is placed in the corresponding connecting hole of the balance beam.

7. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 1, 2 or 3, characterized in that: A communication antenna is installed on the host, the inner end of the communication antenna is connected to the remote end of the remote communication circuit, and the local end of the remote communication circuit is connected to the remote communication end of the controller.

8. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 1, 2 or 3, characterized in that: A display screen is installed on the host, and a signal input end of the display screen is connected to a display signal output end of the controller.

9. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 1, 2 or 3, characterized in that: The ratio of the mass of the main machine to the torque of the return torsion spring is 1:(1.6-2), the unit of mass is kg, and the unit of torque is Nm.

10. The automatic balancing four-wheel drive portable pipeline inspection robot according to claim 9, characterized in that: The ratio of the mass of the main machine to the torque of the return torsion spring is 1:1.875.

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