Three-wheel self-adaptive magnetic attraction detection robot for outer circular pipe

Abstract

The utility model discloses a three-wheel self-adaptive magnetic attraction detection robot for an outer circular tube. The three-wheel self-adaptive magnetic attraction detection robot comprises a first conical magnetic front wheel, a second conical magnetic front wheel, a straight surface rear wheel, a first sensor, a second sensor and four cameras, magnets are embedded in the first conical magnetic front wheel and the second conical magnetic front wheel, and the first conical magnetic front wheel and the second conical magnetic front wheel are wrapped with anti-skid rubber and used for adapting to stable adsorption and movement of the surfaces of outer circular pipes with different diameters. The first sensor and the second sensor are used for detecting the surfaces of ocean jacket platforms and oil storage tanks with different diameters so as to ensure the integrity and safety of the surfaces of the ocean jacket platforms and the oil storage tanks; the first sensor and the second sensor are both connected with the robot body through the telescopic mechanism, and accurate stretching and positioning of the sensors are achieved. The four cameras are used for carrying out omnibearing monitoring and detection; therefore, the magnetic attraction detection robot can perform climbing and attaching movement on the scene of an ocean jacket platform, the surface of an oil storage tank and a wind power pile foundation, and has the functions of stable operation and accurate detection in a complex environment.

Description

Technical Field

[0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a three-wheel adaptive outer tube magnetic suction detection robot. Background Art

[0002] Existing wall-climbing robot technology mainly relies on the following methods: Mechanical adsorption: Attaching to vertical or inverted surfaces through mechanical clamping or vacuum adsorption. Magnetic adsorption: Using magnets or electromagnets to attach to metal surfaces. Electrostatic adsorption: Adsorption of non-metallic surfaces through electrostatic force. Existing magnetic wall-climbing robots mainly include tracked and wheeled robots. Tracked robots: This method uses the track system to increase the contact area and adsorption force, and adsorbs on the metal surface through magnets or electromagnets. It is suitable for irregular and rough surfaces, but has low flexibility and slow movement speed. Wheeled robots: This method uses a wheel system to achieve flexible and fast movement. The magnets or electromagnets on the wheels provide adsorption force. It is suitable for smooth metal surfaces, but has poor adaptability to irregular surfaces. Summary of the invention

[0003] The present invention provides a three-wheel adaptive external circular tube magnetic suction detection robot, which adopts the design of two conical magnetic front wheels. Meanwhile, passive adaptive joints are adopted at the connection between the two conical magnetic front wheels and the robot body, which can adapt to external circular tubes of different diameters. The rear wheels adopt a straight-face wheel design, which plays a role in stabilizing the robot.

[0004] To solve the above problems, the technical solution provided by the present invention is as follows:

[0005] The embodiment of the present invention provides a three-wheeled adaptive outer tube magnetic suction detection robot, comprising a robot body (1), wherein the robot body (1) is a rectangular parallelepiped structure, wherein the front side of the bottom (1-1) of the robot body (1) is connected to a first adaptive base (14) and a second adaptive base (18), wherein the first adaptive base (14) is connected to a first adaptive connecting member (13), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first motor bracket (11) is connected to a first motor (12), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first adaptive connecting member (13) is connected to a first motor bracket (11), wherein the first adaptive connecting member (13) is connected to a first adaptive connecting member (14), wherein the first adaptive connecting member (13) is connected to a first adaptive connecting member (13 ... The first motor (12) is connected to a first conical magnetic front wheel (6); the second adaptive base (18) is connected to a second adaptive connector (17), the second adaptive connector (17) is connected to a second motor bracket (15), the second motor bracket (15) is connected to a second motor (16), and the second motor (16) is connected to a second conical magnetic front wheel (7); the rear side of the bottom (1-1) of the robot body (1) is connected to a motor universal wheel base (22), and the motor universal wheel base (22) is connected to a straight rear wheel (8);

[0006] The right side of the robot body (1) is connected to a first sensor (9) via a first telescopic mechanism, and the left side of the robot body (1) is connected to a second sensor (10) via a second telescopic mechanism. The first sensor (9) and the second sensor (10) are used to detect the surface of an offshore jacket platform and an oil storage tank of different diameters to ensure the integrity and safety of the surface of the offshore jacket platform and the oil storage tank. Four cameras are arranged on the front, back, left and right sides of the robot body (1), and the four cameras are used to perform all-round monitoring and detection.

[0007] According to an optional embodiment of the present invention, the first conical magnetic front wheel (6) and the second conical magnetic front wheel (7) are both embedded with magnets inside and are wrapped with anti-slip rubber outside to adapt to stable adsorption and movement on the surface of external circular tubes with different diameters.

[0008] According to an optional embodiment of the present invention, the first telescopic mechanism and the second telescopic mechanism have the same structure, and the first telescopic mechanism comprises a third motor bracket (23), a third motor (21), a gear mechanism (20) and a rack mechanism (19); one side of the third motor bracket (23) is fixed to the right side of the robot body (1), and the other side is used to fix the third motor (21); a gear mechanism (20) is connected to the rotating shaft of the third motor (21); the gear mechanism (20) is meshed with the rack mechanism (19); and the rack mechanism (19) is fixed to the first sensor (9) through a circular ring structure.

[0009] According to an optional embodiment of the present invention, a control system and an energy storage battery pack (3) are arranged in the robot body (1), and the control system includes a central control unit, a sensor interface and a drive circuit, which are used to realize coordinated control of various functional parts of the magnetic suction detection robot; the control system is integrated with a sensor data processing module, which is used to collect and process sensor data in real time to ensure the stable operation of the magnetic suction detection robot in a complex environment; the control system is also integrated with an image processing module, which is used to process image data collected by a camera to realize real-time monitoring and navigation.

[0010] According to an optional embodiment of the present invention, the central control unit includes a lower computer (2) and an upper computer (4).

[0011] Beneficial effects: The embodiment of the present invention provides a three-wheel adaptive outer tube magnetic suction detection robot, including a first conical magnetic front wheel, a second conical magnetic front wheel, a straight rear wheel, a first sensor, a second sensor and four cameras. The first conical magnetic front wheel and the second conical magnetic front wheel are both embedded with magnets, and the outside is wrapped with anti-slip rubber. The connection between the two front wheels and the robot body adopts a passive adaptive joint design to adapt to the stable adsorption and movement of the outer tube surface of different diameters. The straight rear wheel plays a role in stabilizing the robot posture and ensuring the balance and stability of the robot during movement. The first sensor and the second sensor are used to detect the surface of the marine jacket platform and the oil storage tank of different diameters to ensure the integrity and safety of the surface of the marine jacket platform and the oil storage tank. The first sensor and the second sensor are both connected to the robot body through a telescopic mechanism. The stepper motor in the telescopic mechanism drives the gear rack mechanism to realize the precise telescopic and positioning of the sensor. The stepper motor has high control accuracy and can ensure the reliable operation of the sensor in a complex environment; the gear rack mechanism realizes the telescopic movement of the sensor through the meshing of the gear and the rack. It has a simple structure and a smooth movement, and can adapt to different detection needs. Four cameras are used for all-round monitoring and detection. Therefore, the magnetic suction detection robot can crawl on offshore jacket platforms, oil tank surfaces and wind turbine pile foundations, and has the functions of stable operation and accurate detection in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 A three-dimensional schematic diagram of a three-wheeled adaptive external tube magnetic suction detection robot provided in an embodiment of the present application.

[0014] Figure 2 A schematic diagram of the front structure of a three-wheeled adaptive outer tube magnetic suction detection robot provided in an embodiment of the present application.

[0015] Figure 3 and Figure 4 A schematic diagram of the bottom structure of a three-wheeled adaptive outer tube magnetic suction detection robot provided in an embodiment of the present application.

[0016] Figure 5 A schematic diagram of the posture structure of the second conical magnetic front wheel of a three-wheeled adaptive outer tube magnetic suction detection robot provided in an embodiment of the present application.

[0017] Figure 6 A schematic diagram of another posture structure of the second conical magnetic front wheel of a three-wheeled adaptive outer tube magnetic suction detection robot provided in an embodiment of the present application.

[0018] Figure 7 A schematic diagram of the first sensor structure of a three-wheeled adaptive outer tube magnetic suction detection robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0020] In view of the problems existing in the prior art, the present invention provides a three-wheeled adaptive magnetic suction inspection robot for external cylindrical tubes, which is used to solve the problem that the existing wall-climbing robots have poor adaptability to curved surfaces, especially poor adaptability to the surface of external cylindrical tubes. The magnetic suction inspection robot of the present invention is a magnetic suction wall-climbing robot with reasonable structural design, strong adsorption force and high stability, so that it can adapt to external cylindrical tubes of different diameters. Furthermore, the magnetic suction inspection robot of the present invention is a robot that can perform climbing movements in the scenes of offshore conductor frame platforms, oil storage tank surfaces and wind power pile foundations, and realize special environment operations.

[0021] Specifically, Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a three-wheel adaptive outer tube magnetic detection robot, including a robot body 1. The robot body 1 is a rectangular parallelepiped structure. The robot body 1 is made of lightweight and high-strength material, and the overall structure is sturdy and durable.

[0022] The front side of the bottom 1-1 of the robot body 1 is connected to the first adaptive base 14 and the second adaptive base 18, the first adaptive base 14 is connected to the first adaptive connector 13, the first adaptive connector 13 is connected to the first motor bracket 11, the first motor bracket 11 is connected to the first motor 12, and the first motor 12 is connected to the first conical magnetic front wheel 6.

[0023] Figure 5 , Figure 6 Combination Figure 3The second adaptive base 18 is connected to the second adaptive connector 17, the second adaptive connector 17 is connected to the second motor bracket 15, the second motor bracket 15 is connected to the second motor 16, and the second conical magnetic front wheel 7 is connected to the second motor 16. The rear side of the bottom 1-1 of the robot body 1 is connected to the motor universal wheel base 22, and the motor universal wheel base 22 is connected to the straight rear wheel 8.

[0024] The right side of the robot body 1 is connected to a first sensor 9 through a first telescopic mechanism, and the left side of the robot body 1 is connected to a second sensor 10 through a second telescopic mechanism. The first sensor 9 and the second sensor 10 are used to detect the surface of the offshore jacket platform and the oil storage tank of different diameters to ensure the integrity and safety of the surface of the offshore jacket platform and the oil storage tank. Four cameras are set on the front, back, left and right sides of the robot body 1, and the four cameras are used for all-round monitoring and detection.

[0025] In this embodiment, the first conical magnetic front wheel 6 and the second conical magnetic front wheel 7 are both embedded with magnets inside and wrapped with anti-skid rubber outside, which are used to adapt to the surface of external cylindrical tubes with different diameters for stable adsorption and movement, ensuring the stable attachment of the robot to vertical or inclined surfaces. The first conical magnetic front wheel 6 and the second conical magnetic front wheel 7 are connected to the robot body 1 with a passive adaptive joint design, so that it can adapt to external cylindrical tubes with different diameters. The straight rear wheel 8 mainly plays the role of stabilizing the posture of the robot, ensuring the balance and stability of the robot during movement.

[0026] The first telescopic mechanism and the second telescopic mechanism have the same structure. The stepper motor in the telescopic mechanism drives the rack-and-pinion mechanism to achieve precise telescopic and positioning of the sensor. The stepper motor has high control accuracy and can ensure the reliable operation of the sensor in complex environments. The rack-and-pinion mechanism realizes the telescopic movement of the sensor through the meshing of the gear and the rack. It has a simple structure and smooth movement. It can adapt to different detection requirements and ensure the flexibility and accuracy of detection.

[0027] Figure 7 Combination Figure 4 The first telescopic mechanism includes a third motor bracket 23, a third motor 21, a gear mechanism 20 and a rack mechanism 19. One side of the third motor bracket 23 is fixed to the right side of the robot body 1, and the other side is used to fix the third motor 21. The gear mechanism 20 is connected to the rotating shaft of the third motor 21. The gear mechanism 20 is meshed with the rack mechanism 19, and the rack mechanism 19 is fixed to the first sensor 9 through a circular ring structure.

[0028] like Figure 1 and Figure 2As shown, four cameras are arranged on the front, back, left and right sides of the robot body 1; the four cameras are used for all-round monitoring and detection. The four cameras include a front camera 5-1, a rear camera 5-2, a left camera 5-3 and a right camera 5-4. The four cameras can realize 360-degree surround monitoring. The camera adopts a high-resolution image sensor, provides clear image data, and supports surround algorithm processing. The surround algorithm is integrated in the robot's control system, which can process the image data collected by the camera in real time to realize all-round monitoring and navigation.

[0029] like Figure 2 As shown, a control system and an energy storage battery pack 3 are provided in the robot body 1. The control system includes a comprehensive control system including a central control unit, a sensor interface and a drive circuit, which are used to realize coordinated control of various functional parts of the magnetic suction detection robot. The control system is integrated with a sensor data processing module for real-time acquisition and processing of sensor data to ensure the stable operation of the robot in a complex environment. The control system is also integrated with an image processing module for processing image data collected by the camera to realize real-time monitoring and navigation. The central control unit includes a lower computer 2 and an upper computer 4.

[0030] Combination of control system software and hardware: The control system integrates sensor data processing and image processing functions, and realizes comprehensive control and monitoring of the robot through hardware interfaces and software algorithms. Data processing principle: The data collected by sensors and cameras is processed in real time through the control system to ensure the stable operation and accurate detection of the robot in complex environments.

[0031] The magnetic detection robot moves to the specified position through instructions, the camera automatically plans the path or is manually operated, the stepper motor drives the gear to rotate, and the rack engaged with the gear drives the sensor to move downward and move to the specified position. The sensor collects data. After the collection is completed, the stepper motor drives the gear rack to raise the sensor to its original position.

[0032] Application on offshore jacket platforms: The magnetic inspection robot uses the conical magnetic wheels on the front wheels and the straight wheels on the rear wheels to achieve stable adsorption and movement of the outer tube of the jacket, and uses cameras for all-round monitoring and inspection. Application in oil tank surface inspection: The magnetic inspection robot uses the telescopic mechanism of the sensor to inspect the surface of oil tanks of different diameters to ensure the integrity and safety of the surface of the oil tanks. Application in wind turbine pile foundation inspection: The magnetic inspection robot uses the surround view system and integrated control system to conduct a comprehensive inspection of the wind turbine pile foundation to ensure the stability and safety of the pile foundation structure.

[0033] The stability and reliability of the magnetic detection robot in different environments were verified through multiple experiments. The experimental results showed that the magnetic detection robot can perform effective detection and monitoring in scenarios such as offshore pipe racks, oil tank surfaces and wind turbine pile foundations.

[0034] The present invention also simulates the movement and detection process of the magnetic suction detection robot through simulation software to verify the rationality and effectiveness of the design of the magnetic suction detection robot. Experimental data show that the adaptability and stability of the magnetic suction detection robot of the present invention on the surface of outer circular pipes of different diameters are significantly better than the prior art. Compared with traditional wall-climbing robots, the magnetic suction detection robot of the present invention has stronger adaptability, higher stability and a wider range of applications. The simulation experiment results show that the magnetic suction detection robot has good detection effects in special environments such as marine conductor racks, oil storage tank surfaces and wind power pile foundations, and can achieve efficient and stable detection and monitoring. The present invention improves the adaptability and stability of the wall-climbing robot and expands its application range. The present invention improves the detection efficiency and accuracy and reduces the risks and costs of manual detection. The present invention enhances the application ability of robots in special environments and provides more advanced and reliable detection methods for related industries.

[0035] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited to them. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered within the protection scope of the present invention. Ordinary technicians in this field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be based on the scope defined by the claims.

Claims

1. A three-wheeled adaptive outer tube magnetic suction detection robot, characterized in that: The robot body (1) comprises a robot body (1), wherein the robot body (1) is a rectangular parallelepiped structure, wherein the front side of the bottom (1-1) of the robot body (1) is connected to a first adaptive base (14) and a second adaptive base (18), wherein the first adaptive base (14) is connected to a first adaptive connector (13), wherein the first adaptive connector (13) is connected to a first motor bracket (11), wherein the first motor bracket (11) is connected to a first motor (12), wherein the first motor (12) is connected to a first conical magnetic front wheel (6); wherein the second adaptive base (18) is connected to a second adaptive connector (17), wherein the second adaptive connector (17) is connected to a second motor bracket (15), wherein the second motor bracket (15) is connected to a second motor (16), wherein the second motor (16) is connected to a second conical magnetic front wheel (7); wherein the rear side of the bottom (1-1) of the robot body (1) is connected to a motor universal wheel base (22), wherein the motor universal wheel base (22) is connected to a straight rear wheel (8); The right side of the robot body (1) is connected to a first sensor (9) via a first telescopic mechanism, and the left side of the robot body (1) is connected to a second sensor (10) via a second telescopic mechanism. The first sensor (9) and the second sensor (10) are used to detect the surface of an offshore jacket platform and an oil storage tank of different diameters to ensure the integrity and safety of the surface of the offshore jacket platform and the oil storage tank. Four cameras are arranged on the front, back, left and right sides of the robot body (1), and the four cameras are used to perform all-round monitoring and detection.

2. A three-wheeled adaptive outer tube magnetic suction detection robot according to claim 1, characterized in that: The first conical magnetic front wheel (6) and the second conical magnetic front wheel (7) are both embedded with magnets inside and are both wrapped with anti-slip rubber outside, so as to adapt to the surface of external circular tubes with different diameters for stable adsorption and movement.

3. A three-wheeled adaptive outer tube magnetic suction detection robot according to claim 1, characterized in that: The first telescopic mechanism and the second telescopic mechanism have the same structure. The first telescopic mechanism comprises a third motor bracket (23), a third motor (21), a gear mechanism (20) and a rack mechanism (19). One side of the third motor bracket (23) is fixed to the right side of the robot body (1), and the other side is used to fix the third motor (21). The gear mechanism (20) is connected to the rotating shaft of the third motor (21). The gear mechanism (20) is meshed with the rack mechanism (19). The rack mechanism (19) is fixed to the first sensor (9) through a circular ring structure.

4. The three-wheeled adaptive outer tube magnetic suction detection robot according to claim 1, characterized in that: A control system and an energy storage battery pack (3) are arranged in the robot body (1); the control system comprises a central control unit, a sensor interface and a drive circuit, and is used to realize coordinated control of various functional parts of the magnetic suction detection robot; the control system is integrated with a sensor data processing module, which is used to collect and process sensor data in real time to ensure the stable operation of the magnetic suction detection robot in a complex environment; the control system is also integrated with an image processing module, which is used to process image data collected by a camera to realize real-time monitoring and navigation.

5. A three-wheeled adaptive outer tube magnetic suction detection robot according to claim 4, characterized in that: The central control unit comprises a lower computer (2) and an upper computer (4).

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