Umbrella-shaped variable-diameter pipeline detection robot

Abstract

According to the umbrella-shaped variable-diameter pipeline detection robot, an output shaft of a variable-diameter motor is fixedly connected with a lead screw, the lead screw is divided into two sections, the two sections of the lead screw are connected through a universal joint, the two sections outside the lead screw are respectively and spirally connected with two sets of nut seats, and the universal joint is located between the two sets of nut seats. One end of a driving arm is rotatably connected outside one group of nut seats, one end of a supporting arm is rotatably connected outside the other group of nut seats, the other end of the supporting arm or the driving arm is connected with a rotatable wheel, and one end of an elastic supporting piece is rotatably connected in the middle of the driving arm or the supporting arm. The other end of the elastic supporting piece connected with the supporting arm is rotationally connected with a first long rod, the other end of the elastic supporting piece connected with the driving arm is rotationally connected with a second long rod, and a position sensor in signal connection with a variable-diameter motor is arranged outside the wheel, so that the size of the robot can be automatically adjusted according to different pipeline diameters, and the robot has the obstacle crossing capacity; and stable operation in a variable pipeline environment is ensured, and turning detection can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an umbrella-shaped variable-diameter pipeline detection robot. Background Art

[0002] Pipelines are widely used in the fields of chemical industry, food, aviation, metallurgy, etc., bringing many conveniences to social production and life. Pipeline transportation has become an important part of the transportation industry. When pipelines are in use, due to external or internal factors, they age or even get damaged, causing serious safety accidents and economic losses. Pipeline maintenance is very necessary. The diameter change detected by the pipeline detection robots in the prior art is small, and they cannot turn for detection. Content of the Utility Model

[0003] The utility model provides an umbrella-shaped variable-diameter pipeline detection robot, which is used to solve the problems that the diameter change detected by the pipeline detection robots in the prior art is small and they cannot turn for detection as put forward in the background art.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: an umbrella-shaped variable-diameter pipeline detection robot, including a variable-diameter motor, a support arm, and a driving arm. The output shaft of the variable-diameter motor is fixedly connected to a lead screw. The lead screw is divided into two sections, and the two sections of the lead screw are connected by a universal joint. The outer parts of the two sections of the lead screw are respectively helically connected to two groups of nut seats. The universal joint is located between the two groups of nut seats. One end of the driving arm is rotatably connected to the outside of one group of nut seats, and one end of the support arm is rotatably connected to the outside of the other group of nut seats. The other end of the support arm or the driving arm is connected to a rotatable wheel. One end of an elastic support member is rotatably connected to the middle of the driving arm or the support arm respectively. The other end of the elastic support member connected to the support arm is rotatably connected to a first long rod, and the other end of the elastic support member connected to the driving arm is rotatably connected to a second long rod. A position sensor signal-connected to the variable-diameter motor is arranged outside the wheel. The second long rod is fixedly connected to the variable-diameter motor, and the first long rod is fixedly connected to the end of the lead screw far from the variable-diameter motor.

[0005] Preferably, the other end of the support arm or the driving arm is fixedly connected to the wheel through a hexagon head bolt, and the wheel is rotatable.

[0006] Preferably, a motor bracket is fixedly connected to the side of the driving arm or the support arm, a driving motor is fixedly connected to the motor bracket, the output shaft of the driving motor is connected to a bevel gear, and the bevel gear is meshed with the side of the wheel.

[0007] Preferably, three-wheel fixers are respectively fixedly connected to the outer parts of the first long rod and the second long rod, and the other ends of the corresponding elastic support members are respectively rotatably connected to the outside of the three-wheel fixers.

[0008] Preferably, it further includes a camera. The variable-diameter motor is externally fixedly connected to the motor base, and the motor base is fixedly connected to the camera.

[0009] Advantages of the present invention:

[0010] For the umbrella-shaped variable-diameter pipeline inspection robot of the present invention, a lead screw is fixedly connected to the output shaft of the variable-diameter motor. The lead screw is divided into two sections, and a universal joint is used to connect the two sections of the lead screw. The two outer sections of the lead screw are respectively helically connected to two sets of nut seats. The universal joint is located between the two sets of nut seats. One end of a driving arm is rotatably connected to the outside of one set of nut seats, and one end of a support arm is rotatably connected to the outside of the other set of nut seats. The other end of the support arm or the driving arm is connected to a rotatable wheel. One end of an elastic support member is rotatably connected to the middle of both the driving arm and the support arm. The other end of the elastic support member connected to the support arm is rotatably connected to a first long rod, and the other end of the elastic support member connected to the driving arm is rotatably connected to a second long rod. A position sensor signal-connected to the variable-diameter motor is arranged outside the wheel. The second long rod is fixedly connected to the variable-diameter motor, and the first long rod is fixedly connected to the end of the lead screw away from the variable-diameter motor, realizing the ability to automatically adjust its size according to different pipeline diameters and the ability to cross obstacles, ensuring stable operation in a variable pipeline environment. When working, first, the variable-diameter motor drives the lead screw to rotate, and the nut seats drive the driving arm and the support arm to expand together. A camera is externally fixedly connected to the end of the variable-diameter motor away from the lead screw. The lead screw is divided into two sections, and a universal joint is used to connect the two sections of the lead screw. The universal joint is located between the two sets of nut seats. When moving in the pipeline, it can turn and detect, and the front and rear parts are connected and transmit torque through the universal joint. Description of the drawings

[0011] Figure 1 is the overall structure of an umbrella-shaped variable-diameter pipeline inspection robot of the present invention Figure 1 ;

[0012] Figure 2 is the overall structure of an umbrella-shaped variable-diameter pipeline inspection robot of the present invention Figure 2 ;

[0013] Figure 3 is the overall structure of an umbrella-shaped variable-diameter pipeline inspection robot of the present invention Figure 3 。

[0014] In the figure, wheel 1, hexagon head bolt 2, support arm 3, motor base 4, position sensor 5, first long rod 6, bevel gear 7, elastic support member 8, three-wheel fixer 9, second long rod 10, nut seat 11, universal joint 12, lead screw 13, driving arm 14, variable-diameter motor 15, driving motor 16, camera 17, motor bracket 18. Detailed implementation manners

[0015] The specific embodiments of the present utility model will now be described comprehensively with reference to the accompanying drawings. For the sake of clarity, many physical details will be described together in the following narrative. However, it should be understood that these physical details are not used to limit the present utility model. That is to say, in some embodiments of the present utility model, these physical details are unnecessary. In addition, for the sake of simplifying the drawings, some conventional structures and components will be illustrated in a simple schematic manner in the drawings.

[0016] As Figures 1-3 shown, an umbrella-shaped variable-diameter pipeline inspection robot of the present utility model includes a variable-diameter motor 15, a support arm 3, and a driving arm 14. The output shaft of the variable-diameter motor 15 is fixedly connected to a lead screw 13. The lead screw 13 is divided into two sections, and the two sections of the lead screw 13 are connected by a universal joint 12. The outer parts of the two sections of the lead screw 13 are respectively helically connected to two groups of nut seats 11. The universal joint 12 is located between the two groups of nut seats 11. One end of the driving arm 14 is rotatably connected to the outside of one group of the nut seats 11, and one end of the support arm 3 is rotatably connected to the outside of the other group of the nut seats 11. The other end of the support arm 3 or the driving arm 14 is connected to a rotatable wheel 1. One end of an elastic support member 8 is rotatably connected to the middle of the driving arm 14 or the support arm 3 respectively. The other end of the elastic support member 8 connected to the support arm 3 is rotatably connected to a first long rod 6, and the other end of the elastic support member 8 connected to the driving arm 14 is rotatably connected to a second long rod 10. A position sensor 5 signal-connected to the variable-diameter motor 15 is arranged outside the wheel 1. The second long rod 10 is fixedly connected to the variable-diameter motor 15, and the first long rod 6 is fixedly connected to the end of the lead screw 13 far from the variable-diameter motor 15.

[0017] Further, the other end of the support arm 3 or the driving arm 14 is fixedly connected to the wheel 1 through a hexagon head bolt 2, and the wheel 1 is rotatable.

[0018] Further, a motor bracket 18 is fixedly connected to the side of the driving arm 14 or the support arm 3. The driving motor 16 is fixedly connected to the motor bracket 18. The output shaft of the driving motor 16 is connected to a bevel gear 7, and the bevel gear 7 is meshed and connected to the side of the wheel 1.

[0019] Further, three-wheel fixers 9 are respectively fixedly connected to the outside of the first long rod 6 and the second long rod 10, and the other ends of the corresponding elastic support members 8 are respectively rotatably connected to the outside of the three-wheel fixers 9.

[0020] Further, it further includes a camera 17. The outside of the variable-diameter motor 15 is fixedly connected to a motor base 4, and the motor base 4 is fixedly connected to the camera 17. The model of the camera 17 is DOLPHIN-L2, which is used to collect information inside the pipeline.

[0021] Embodiment: By energizing the variable-diameter motor 15 and the drive motor 16 and performing simple control, the following functions can be achieved. The model of the variable-diameter motor 15 is TE-22FF5-24-116, and the model of the position sensor 5 is SDAT-MHS. During operation, first, the variable-diameter motor 15 drives the lead screw 13 to rotate, and the nut seat 11 drives the drive arm 14 and the support arm 3 to expand together. When the wheel 1 comes into contact with the bent pipe wall, after the position sensor 5 receives the turning information, the variable-diameter motor 15 stops rotating. When moving in the pipe, the drive motor 16 transmits the power to the wheel 1 through the bevel gear 7, enabling the robot to move in the pipe. The front and rear parts are connected and torque is transmitted through the universal joint 12. The camera 17 located at the head of the robot collects the in-pipe information in real time.

[0022] The above is only the specific embodiment of the present invention and is not used to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. An umbrella-shaped variable-diameter pipeline inspection robot, characterized in that: The invention comprises a variable diameter motor (15), a support arm (3), and a drive arm (14); the output shaft of the variable diameter motor (15) is fixedly connected to a lead screw (13); the lead screw (13) is divided into two sections, and the two sections of the lead screw (13) are connected by a universal joint (12); the two outer sections of the lead screw (13) are respectively spirally connected to two groups of nut seats (11); the universal joint (12) is located between the two groups of nut seats (11); one group of the nut seats (11) is externally rotatably connected to one end of the drive arm (14); the other group of the nut seats (11) is externally rotatably connected to one end of the support arm (3); the other end of the support arm (3) or the drive arm (14) is connected The invention relates to a rotatable wheel (1), wherein one end of an elastic support member (8) is rotatably connected to the middle of the driving arm (14) or the supporting arm (3), the other end of the elastic support member (8) connected to the supporting arm (3) is rotatably connected to a first long rod (6), and the other end of the elastic support member (8) connected to the driving arm (14) is rotatably connected to a second long rod (10). A position sensor (5) connected to a signal of a variable diameter motor (15) is arranged outside the wheel (1), the second long rod (10) is fixedly connected to the variable diameter motor (15), and the first long rod (6) is fixedly connected to an end of the lead screw (13) away from the variable diameter motor (15).

2. The umbrella-shaped variable-diameter pipeline inspection robot according to claim 1, characterized in that: The other end of the support arm (3) or the driving arm (14) is fixedly connected to the wheel (1) via a hexagonal bolt (2), and the wheel (1) is rotatable.

3. The umbrella-shaped variable-diameter pipeline inspection robot according to claim 2, characterized in that: The side of the driving arm (14) or the supporting arm (3) is fixedly connected to a motor bracket (18), the motor bracket (18) is fixedly connected to a driving motor (16), the output shaft of the driving motor (16) is connected to a bevel gear (7), and the bevel gear (7) is meshedly connected to the side of the wheel (1).

4. The umbrella-shaped variable-diameter pipeline inspection robot according to claim 1, characterized in that: The outside of the first long rod (6) and the second long rod (10) are respectively fixedly connected to the three-wheel fixer (9), and the outside of the three-wheel fixer (9) is respectively rotatably connected to the other end of the corresponding elastic support member (8).

5. The umbrella-shaped variable-diameter pipeline inspection robot according to claim 1, characterized in that: It also includes a camera (17), wherein the variable diameter motor (15) is externally fixedly connected to the motor base (4), and the motor base (4) is fixedly connected to the camera (17).

Images