Measurement and control robot underground moving device

Abstract

The utility model provides a measurement and control robot underground moving device, and belongs to the technical field of robots. Comprising a hanger rail and a robot shell, the robot shell is provided with a driving component capable of enabling the robot shell to roll and slide along with the hanger rail, and a camera is arranged at the outer bottom of the robot shell; the camera dustproof component comprises a meshing bevel gear part and a rotating shaft A which is arranged in the robot shell and is driven by the driving component, the rotating shaft A is provided with a rotating shaft B which rotates relative to the bottom wall of the robot shell through the meshing bevel gear part, and fan blades are arranged on the rotating shaft B; and the rotating shaft B is also rotationally provided with an air inducing piece for inducing air of the fan blades to the surface of the camera instrument. The camera dustproof component driven by the driving component is additionally arranged, so that the camera surface can be blown and cleaned to maintain the camera definition, and the driving and maintenance cost of the camera dustproof component is also saved.

Description

Technical Field

[0001] This application relates to the field of robots, and more particularly, to a downhole mobile device for a measurement and control robot. Background Art

[0002] When conducting measurement and control of downhole conditions, currently, usually an intelligent inspection robot with a hanging rail or a robot with a similar "Wall-E" shape is used to measure and control the downhole conditions. For example, for a downhole mobile device of a downhole measurement and control robot disclosed in the Chinese Utility Model Patent Application No. CN202023236761.7, this device can move downhole, eliminating the need for manual pushing of the device downhole for inspection, saving time and effort, reducing the labor intensity of employees, facilitating the monitoring of downhole conditions, and being able to detect emergencies in a timely manner, facilitating the reminder of staff, thereby improving the working efficiency of this device.

[0003] However, during the process of implementing the technical solutions in the embodiments of this application, the inventors of this application found that the above technologies have at least the following technical problems:

[0004] Generally speaking, the downhole environment is relatively harsh with a lot of dust. In the above solutions, the camera is directly exposed, and dust is relatively easy to float on the lens, resulting in an affected field of view, which will affect the clarity of downhole condition monitoring. Utility Model Content

[0005] To make up for the above deficiencies, this application provides a downhole mobile device for a measurement and control robot, which adds a camera dust-proof component driven by the original robot drive component. It can not only continuously blow and clean the surface of the camera to maintain imaging clarity but also save the drive and maintenance costs of the camera dust-proof component.

[0006] The solution of this application provides a downhole mobile device for a measurement and control robot, including a hanging rail and a robot housing. The robot housing is provided with a drive component that enables it to roll and slide along the hanging rail. A camera is provided at the outer bottom of the robot housing. It further includes a camera dust-proof component:

[0007] The camera dust-proof component includes a meshing bevel gear component and a rotating shaft A provided inside the robot housing and driven by the drive component. The rotating shaft A is provided with a rotating shaft B that rotates with the bottom wall of the robot housing through the meshing bevel gear component. A fan blade is provided on the rotating shaft B, and a wind guiding component is also rotatably provided on the rotating shaft B to guide the wind of the fan blade to the surface of the camera.

[0008] Preferably, the driving member includes a servo motor installed on one side inside the robot housing. A gear steering device is provided at the output end of the servo motor. Gear A is installed on the other two shafts of the gear steering device. Paired support frames are installed on the outer top of the robot housing. A rotating shaft C is rotatably connected to each support frame. Gear B is connected to each rotating shaft C. Gear A and the corresponding Gear B are jointly meshed and connected with a gear synchronous belt A. Rollers that can roll along the suspension rail are connected to the opposite ends of the two rotating shafts C.

[0009] Preferably, the suspension rail is designed as an I-shaped rail, and annular limiting baffles that fit the two sides of the suspension rail are provided at the separated ends of the two rollers.

[0010] Preferably, Gear C is provided on one of the shafts of the gear steering device parallel to the rotating shaft A and on the rotating shaft A. The two Gear C are jointly meshed and connected with a gear synchronous belt B.

[0011] Preferably, the meshing bevel gear part includes two meshing bevel gears. One of the bevel gears is installed on the rotating shaft A, and the other bevel gear is installed at the top of the rotating shaft B.

[0012] Preferably, the air guiding member includes a housing rotatably connected to the rotating shaft B. The bottom of the housing is fixed to the inner bottom of the robot housing. An annular pipe surrounding the camera is provided at the outer bottom of the robot housing. Air guiding pipes communicating with the annular pipe are equidistantly connected to the bottom of the housing. Air blowing pipes with a blowing direction towards the outer surface of the camera are equidistantly connected to the bottom of the annular pipe.

[0013] Preferably, the sum of the inner diameters of the air guiding pipes is equal to the inner diameter of the annular pipe, and the sum of the inner diameters of the air blowing pipes is also equal to the inner diameter of the annular pipe.

[0014] Preferably, the camera is a 360-degree high-definition pan-tilt camera.

[0015] Beneficial effects: The present application provides an underground mobile device for a measurement and control robot. Through the driving member, the robot housing can be moved along the suspension rail line, indirectly driving the camera to monitor the underground conditions. While the driving member is driving, the rotating shaft A will also indirectly rotate. Through the guidance of the meshing bevel gear part, the rotating shaft B will also start to rotate. Thus, the fan blades are simultaneously started to rotate. Through the air guiding member, the wind of the fan blades can be guided to the surface of the camera. This can not only continuously blow and clean the surface of the camera to maintain the imaging clarity but also save the driving and maintenance costs of the dust-proof components of the camera. Description of the Drawings

[0016] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the downhole mobile device of the measurement and control robot provided by the embodiment of the present application;

[0018] Figure 2 It is a schematic diagram of the connection relationship between the driving member and the suspension rail provided by the embodiment of the present application;

[0019] Figure 3 It is a schematic diagram of the driving member provided by the embodiment of the present application;

[0020] Figure 4 It is a schematic diagram of the connection relationship between the driving member and the camera dust-proof member provided by the embodiment of the present application;

[0021] Figure 5 For Figure 4 It is a schematic diagram of the structure after removing the air guiding member in

[0022] Figure 6 It is a schematic diagram of the air guiding member provided by the embodiment of the present application.

[0023] In the figure: 1 - suspension rail; 2 - robot housing; 3 - driving member; 31 - servo motor; 32 - gear steering device; 33 - gear A; 34 - support frame; 35 - roller; 36 - gear synchronous belt A; 37 - annular limit baffle; 38 - rotating shaft C; 39 - gear B; 4 - camera; 5 - camera dust-proof member; 51 - rotating shaft A; 52 - gear C; 53 - gear synchronous belt B; 54 - meshing bevel gear member; 56 - air guiding member; 561 - housing; 562 - air guiding pipe; 563 - annular pipe; 564 - blowing pipe; 57 - rotating shaft B; 58 - fan blade. Specific embodiments

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0025] Please refer to Figures 1-4 , the present application provides a downhole mobile device for a measurement and control robot, including a suspension rail 1 and a robot housing 2. A driving member 3 is provided on the robot housing 2 to enable it to roll and slide along the suspension rail 1. A camera 4 is provided at the outer bottom of the robot housing 2. It also includes a camera dust-proof member 5:

[0026] The camera dustproof component 5 includes a meshing bevel gear component 54 and a rotating shaft A51 which is arranged in the robot housing 2 and driven by the driving component 3. The rotating shaft A51 is provided with a rotating shaft B57 which rotates with the bottom wall of the robot housing 2 through the meshing bevel gear component 54. The rotating shaft B57 is provided with fan blades 58. The rotating shaft B57 is also rotatably provided with an air induction component 56 for directing wind from the fan blades 58 to the surface of the camera 4.

[0027] In this embodiment, the robot housing 2 can be moved along the line of the hanging rail 1 through the driving component 3, indirectly driving the camera 4 to monitor the underground conditions. While the driving component 3 is driving, the rotating shaft A51 will also rotate indirectly. Through the guidance of the meshing bevel gear component 54, the rotating shaft B57 also starts to rotate, thereby the fan blades 58 are started to rotate at the same time, and the wind from the fan blades 58 can be guided to the surface of the camera 4 through the wind-inducing component 56. This not only allows the surface of the camera 4 to be continuously blown and cleaned to maintain the camera clarity, but also saves the driving and maintenance costs of the camera dust-proof component 5.

[0028] It should also be noted that both ends of the robot housing 2 are also provided with measuring control components (not shown) the same as those in the above-mentioned cited patent for measuring and controlling the underground conditions, and the structure and principle of the measuring control components are conventional technologies on existing inspection robots and will not be repeated here.

[0029] See also Figures 1-3 The driving component 3 includes a servo motor 31 installed on one side of the inner part of the robot housing 2. The output end of the servo motor 31 is provided with a gear steering gear 32. The other two shafts of the gear steering gear 32 are provided with gears A33. The top of the robot housing 2 is provided with a pair of support frames 34. The support frames 34 are rotatably connected with a rotating shaft C38. The rotating shaft C38 is connected with a gear B39. The gear A33 and the corresponding gear B39 are meshed and connected with a gear timing belt A36. The opposite ends of the two rotating shafts C38 are connected with rollers 35 that can roll along the hanging rail 1. Specifically, the servo motor 31 is started and the gear steering gear 32 is reversed, so that the two gears A33 can be driven to rotate, and the gear B39 is synchronously driven to rotate through the gear timing belt A36, which indirectly drives the roller 35 at the end of the rotating shaft C38 to roll along the hanging rail 1, thereby driving the robot housing 2 to move along the route set by the hanging rail 1.

[0030] The hanging rail 1 is designed as an I-shaped rail, and the two rollers 35 are separated from each other and are provided with an annular limit baffle 37 that fits with both sides of the hanging rail 1. Figure 2 As shown, two opposite annular limit baffles 37 can be used to limit the position of the roller 35 and the hanging rail 1, so that the driving component 3 will not be separated from the hanging rail 1, which also increases the stability of the robot's underground condition measurement and control.

[0031] On one of the axes parallel to the rotary shaft A51 of the gear steering device 32 and on the rotary shaft A51, there are both gears C52, and the two gears C52 are jointly engaged and connected with a gear synchronous belt B53. Specifically, when one of the axes of the gear steering device 32 rotates, one of the gears C52 will also rotate with it, and the other gear C52 can be driven to rotate by the gear synchronous belt B53, thereby enabling the rotary shaft A51 to rotate.

[0032] Please refer to Figure 4 and Figure 5 , the meshing bevel gear member 54 includes two meshing bevel gears, and one of the bevel gears is installed on the rotary shaft A51, and the other bevel gear is installed at the top of the rotary shaft B57. Specifically, by using the cooperation of the two meshing bevel gears, the rotary shaft A51 can rotate while the rotary shaft B57 also rotates, thereby enabling the fan blade 58 to start blowing air.

[0033] Please refer to Figures 4-6 , the air guiding member 56 includes a housing 561 rotatably connected to the rotary shaft B57, and the bottom of the housing 561 is fixed to the inner bottom of the robot housing 2. An annular pipe 563 surrounding the camera 4 is provided at the outer bottom of the robot housing 2. The bottom of the housing 561 is equidistantly communicated with air guiding pipes 562 communicating with the annular pipe 563, and the bottom of the annular pipe 563 is equidistantly communicated with air blowing pipes 564 with the blowing direction facing the outer surface of the camera 4. Specifically, as shown in Figure 4 and Figure 5 , the housing 561 covers the periphery of the fan blade 58. When the fan blade 58 blows air, the air in the housing 561 enters the annular pipe 563 through the respective air guiding pipes 562, and then is guided by the annular pipe 563 to the respective air blowing pipes 564, and finally is blown to the outer surface of the camera 4 by the air blowing pipes 564, thereby blowing away the floating dust on the surface of the camera 4 and increasing the clarity of the underground monitoring.

[0034] It should also be noted that air inlets are opened on both the housing 561 and the robot housing 2, and a dust-proof net (not shown) is also installed and fixed at the air inlet of the robot housing 2 to prevent dust from entering the housing 561.

[0035] The sum of the inner diameters of the air guiding pipes 562 is equal to the inner diameter size of the annular pipe 563, and the sum of the inner diameters of the air blowing pipes 564 is also equal to the inner diameter size of the annular pipe 563.

[0036] Please refer to Figure 1 , the camera 4 is a 360-degree high-definition pan-tilt camera. Among them, the imaging position of the 360-degree high-definition pan-tilt camera is self-equipped with a semi-circular transparent dome, which first provides dust-proof protection for the imaging part and can also better cooperate with the camera dust-proof component 5 to blow away the floating dust.

[0037] When this application is used:

[0038] Start the servo motor 31 and reverse the direction through the gear steering device 32, so as to drive the rotation of two gears A33. The rotation of gear B39 is synchronously driven through the gear synchronous belt A36, and the roller 35 at the end of the rotating shaft C38 is indirectly driven to roll along the hanging rail 1, thereby driving the robot housing 2 to move along the route set by the hanging rail 1. When one shaft of the gear steering device 32 rotates, one of the gears C52 will also rotate with it. The rotation of the other gear C52 can be driven through the gear synchronous belt B53, thereby enabling the rotating shaft A51 to rotate. By using the cooperation of two meshing bevel gears, the rotating shaft B57 will also rotate while the rotating shaft A51 rotates, thereby enabling the fan blade 58 to start blowing air. When the fan blade 58 blows air, the air in the housing 561 enters the annular pipe 563 through each air guiding pipe 562, and then is guided by the annular pipe 563 to each air blowing pipe 564, and finally blown to the surface of the camera 4 by the air blowing pipe 564, thereby blowing away the floating dust on the surface of the camera 4 and increasing the clarity of underground monitoring. Such a design also saves the driving and maintenance costs of the dust-proof component 5 of the camera.

[0039] For those skilled in the art, it is obvious that this application is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of this application, this application can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of this application is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in this application. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A downhole mobile device for a measurement and control robot, comprising a suspension rail (1) and a robot housing (2). A driving member (3) is provided on the robot housing (2) to enable it to roll and slide along with the suspension rail (1). A camera (4) is provided at the outer bottom of the robot housing (2), characterized in that, It further includes: A dust-proof component (5) for the camera, including a meshing bevel gear component (54) and a rotating shaft A (51) disposed inside the robot housing (2) and driven by the driving component (3). The rotating shaft A (51) is provided with a rotating shaft B (57) that rotates with the bottom wall of the robot housing (2) through the meshing bevel gear component (54). A fan blade (58) is provided on the rotating shaft B (57), and an air guiding component (56) for guiding the air of the fan blade (58) to the surface of the camera (4) is also rotatably provided on the rotating shaft B (57).

2. The downhole mobile device of a measurement and control robot according to claim 1, characterized in that, The driving component (3) includes a servo motor (31) installed on one side inside the robot housing (2). A gear steering device (32) is provided at the output end of the servo motor (31). Gear A (33) is installed on the other two shafts of the gear steering device (32). Support frames (34) are installed in pairs on the outer top of the robot housing (2). Rotating shafts C (38) are rotatably connected to the support frames (34). Gear B (39) is connected to each of the rotating shafts C (38). Gear A (33) and the corresponding gear B (39) are jointly meshed and connected with a gear synchronous belt A (36). Rollers (35) that can roll along the suspension rail (1) are connected to the opposite ends of the two rotating shafts C (38).

3. The downhole mobile device of a measurement and control robot according to claim 2, characterized in that The suspension rail (1) is designed as an I-shaped rail, and annular limit baffles (37) that fit against both sides of the suspension rail (1) are provided at the separated ends of the two rollers (35).

4. The downhole mobile device of a measurement and control robot according to claim 3, characterized in that, Gear C (52) is provided on one of the shafts of the gear steering device (32) that is parallel to the rotating shaft A (51) and on the rotating shaft A (51). The two gears C (52) are jointly meshed and connected with a gear synchronous belt B (53).

5. The downhole mobile device of a measurement and control robot according to claim 4, wherein, The meshing bevel gear component (54) includes two meshing bevel gears. One of the bevel gears is installed on the rotating shaft A (51), and the other bevel gear is installed at the top end of the rotating shaft B (57).

6. The downhole mobile device of a measurement and control robot according to claim 5, characterized in that, The air guiding component (56) includes a housing (561) rotatably connected to the rotating shaft B (57). The bottom of the housing (561) is fixed to the inner bottom of the robot housing (2). An annular pipe (563) surrounding the camera (4) is provided at the outer bottom of the robot housing (2). Air guiding pipes (562) that communicate with the annular pipe (563) are equidistantly connected to the bottom of the housing (561). Air blowing pipes (564) with a blowing direction towards the outer surface of the camera (4) are equidistantly connected to the bottom of the annular pipe (563).

7. The downhole mobile device of a measurement and control robot according to claim 6, characterized in that, The sum of the inner diameters of the air guiding pipes (562) is equal to the inner diameter size of the annular pipe (563), and the sum of the inner diameters of the air blowing pipes (564) is also equal to the inner diameter size of the annular pipe (563).

8. A downhole mobile device for a measurement and control robot according to claim 1, characterized in that, The camera (4) is a 360-degree high-definition pan-tilt camera.

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