Pipeline crawling robot

Abstract

The utility model relates to the technical field of robots, and discloses a pipeline crawling robot which comprises a main body and a supporting assembly, the supporting assembly comprises a large arm, a driving motor, a roller and an electric push cylinder, the driving motor is fixedly connected with the large arm, the roller is rotationally connected with the large arm, an output shaft of the driving motor is fixedly connected with the roller, and an output shaft of the electric push cylinder is rotationally connected with the large arm; the mounting structure comprises a mounting seat and a sliding plate, the sliding plate is elastically connected with the mounting seat, the large arm and the electric push cylinder are rotationally connected with the sliding plate, the large arm is pushed by the electric push cylinder to rotate by a certain angle, and then the large arm drives the driving motor and the roller to do circular motion; the sliding plates capable of sliding can buffer the counter-acting force borne by the rolling wheels, the phenomenon that the running resistance is too large due to the fact that the wheels are excessively extruded by the pipeline is improved, meanwhile, the moving range of the rolling wheels can be enlarged through elastic connection of the sliding plates, and then adaptability to the pipeline diameter is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a pipeline crawling robot. BACKGROUND

[0002] In order to guarantee the normal use of pipeline, need to detect pipeline regularly, such as blockage, broken or crack phenomenon.

[0003] Prior art discloses a tire formula pipeline crawling robot (publication number: CN215166440U), including compartment, the lower end of the compartment is connected with scissor type lifting platform, a pair of illumination module, illumination module is arranged at the both sides of the compartment respectively, camera module, camera module is arranged on the front cover of the compartment, scissor type lifting platform, scissor type lifting platform is arranged on the metal base plate, metal base plate, the both sides of metal base plate have the side plate that is bent into 90, two pairs of motor, motor is reduction gearbox motor, two pairs of tires, a pair of terminal.

[0004] In prior art, the mode that tire contacts pipeline is adopted to drive the whole device to crawl in pipeline, the environment inside pipeline is complex and has uncertainty, the mode of tire drive can appear the phenomenon of skidding due to insufficient contact force, has certain disadvantage, of course, in prior art, there is also the support arm of rotatable installation wheel, but the support arm is driven through push cylinder, when having concave and convex in pipeline interior, can appear the phenomenon that the support arm is too large to drive resistance when the wheel gives the reaction force.

[0005] Therefore, we propose a pipeline crawling robot. UTILITY MODEL CONTENTS

[0006] The utility model mainly solves the technical problem that the above-mentioned wheel can relatively slide with pipeline due to insufficient contact force, and provides a pipeline crawling robot.

[0007] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme, a pipeline crawling robot, comprising:

[0008] Main body, the top and bottom of main body are equipped with support assembly, the support assembly includes big arm, drive motor, gyro wheel and electric push cylinder, drive motor is fixedly connected with big arm, gyro wheel is rotatably connected with big arm, the output shaft of drive motor is fixedly connected with gyro wheel, and the output shaft of electric push cylinder is rotatably connected with big arm.

[0009] Mounting structure, symmetrically arranged on the wall surface of main body for installing each group of support assemblies, the mounting structure includes mounting seat and sliding plate, the sliding plate is elastically connected with mounting seat, and big arm and electric push cylinder are rotatably connected with sliding plate.

[0010] As a preferred mode of the utility model, the mounting seat forms a rectangular block structure, and a sliding groove is formed in the top of the mounting seat.

[0011] As a preferred mode of the utility model, the sliding plate forms a rectangular plate, the sliding groove and the sliding plate are used in cooperation, a spring is fixedly installed at the bottom of the sliding plate, and the spring is fixedly connected with the inner bottom surface of the mounting seat.

[0012] As a preferred mode of the utility model, two mounting seats are arranged on the top surface of the main body, a space is left between the two mounting seats, and the same support assembly is arranged on the opposite side walls of the two mounting seats.

[0013] As a preferred mode of the utility model, a rotating shaft is fixedly installed on the side wall of the big arm, an axle hole is formed in the wall surface of the sliding plate, the rotating shaft is rotatably arranged in the axle hole, and a clamping spring is arranged on the wall surface of the rotating shaft and used for limiting the rotating shaft.

[0014] As a preferred mode of the utility model, an avoiding groove is formed in the side wall of the mounting seat, the rotating shaft passes through the avoiding groove and is connected with the sliding plate, and the electric push cylinder is rotatably connected with the sliding plate through the same rotating shaft.

[0015] As a preferred mode of the utility model, a camera and a light supplementing lamp are fixedly installed at the end of the main body.

[0016] The utility model provides a kind of pipeline crawling robot. With the following beneficial effects:

[0017] 1. The pipeline crawling robot, the big arm is rotated by electric push cylinder, and then the big arm drives driving motor and gyro wheel to make circular motion, the gyro wheel is contacted with the inner wall of pipeline, the top and bottom of main body are provided with two groups of support assemblies, then four gyro wheels are contacted with the inner wall of pipeline and support main body, driving motor drives gyro wheel to make main body crawl in pipeline, can adapt to different diameter pipeline in a certain range, the elastic connection of sliding plate and mounting seat, the electric push cylinder and the big arm are rotatably connected with sliding plate, when there is concave-convex on the inner wall of pipeline, each big arm can push corresponding sliding plate to slide in the sliding groove of mounting seat and extrude spring, then each gyro wheel is relatively independent, can reduce the probability that concave-convex makes two gyro wheels on the same side of main body cannot simultaneously adhere to the inner wall of pipeline, guarantees gyro wheel contact effect, the sliding plate can buffer the reaction force received by gyro wheel, improves the phenomenon that pipeline excessively extrudes wheel and causes excessive driving resistance, meanwhile, the elastic connection of sliding plate can also increase the activity range of gyro wheel, then improves the adaptability to pipeline diameter.

[0018] 2. The pipeline crawling robot, by setting avoiding groove, the rotating shaft connected with electric push cylinder barrel and the rotating shaft connected with big arm can pass through avoiding groove and be connected with sliding plate, guarantee the stability of operation.

[0019] 3. This pipe crawling robot is equipped with a fill light and a camera. When the main body crawls inside the pipe, it can clearly observe the situation inside the pipe to control the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is one of the overall three-dimensional diagrams of the utility model;

[0021] Figure 2 This is the second overall stereogram of the utility model;

[0022] Figure 3 This is a three-dimensional diagram of the support assembly of the utility model;

[0023] Figure 4 This is a three-dimensional diagram of the installation structure of the utility model;

[0024] Figure 5 This is an exploded view of the installation structure of the utility model.

[0025] Legend: 10. Main body; 11. Upper arm; 12. Drive motor; 13. Roller; 14. Electric push cylinder; 20. Mounting base; 21. Sliding plate; 22. Avoidance groove. DETAILED DESCRIPTION

[0026] A pipe crawling robot, such as Figure 1 and Figure 2 Shown, including:

[0027] The main body 10 has a cavity formed inside, and a controller and a power supply are installed in the cavity of the main body 10. The wires connected to the controller pass through the main body 10 and extend to the outside of the pipe. The position where the wires pass through the main body 10 can be filled with waterproof glue to ensure sealing. The power supply can be a lithium battery, and the power supply is used to power other electronic components.

[0028] The main body 10 is provided with a support assembly at the top and bottom, and the support assembly includes a large arm 11, a drive motor 12, a roller 13 and an electric push cylinder 14. The drive motor 12 is fixedly connected to the large arm 11, the roller 13 is rotatably connected to the large arm 11, the output shaft of the drive motor 12 is fixedly connected to the roller 13, and the output shaft of the electric push cylinder 14 is rotatably connected to the large arm 11;

[0029] In this solution, the electric push cylinder 14 pushes the arm 11 to rotate a certain angle, and then the arm 11 drives the drive motor 12 and the roller 13 to make circular motion, and the roller 13 contacts the inner wall of the pipe. Two groups of support components are set on the top and bottom of the main body 10, and then the four rollers 13 jointly contact the inner wall of the pipe and support the main body 10. The drive motor 12 drives the roller 13 to make the main body 10 crawl in the pipe, and it can adapt to pipes of different diameters within a certain range.

[0030] As shown in Figure 2 , Figure 3 and Figure 4 , the mounting structure is symmetrically arranged on the wall of the main body 10 for mounting each group of support assemblies, and the mounting structure includes a mounting seat 20 and a sliding plate 21, the sliding plate 21 is elastically connected with the mounting seat 20, the large arm 11 and the electric push cylinder 14 are both rotationally connected with the sliding plate 21, the mounting seat 20 forms a rectangular block structure, a sliding groove is formed on the top of the mounting seat 20, the sliding plate 21 is slidingly arranged in the sliding groove, the sliding plate 21 forms a rectangular plate, the sliding groove and the sliding plate 21 are used in cooperation with each other, springs are fixedly installed on the bottom of the sliding plate 21, the springs are fixedly connected with the inner bottom surface of the mounting seat 20, a rotating shaft is fixedly installed on the side wall of the large arm 11, an axle hole is formed on the wall of the sliding plate 21, the rotating shaft is rotationally arranged in the axle hole, and a circlip is arranged on the wall of the rotating shaft for limiting the rotating shaft;

[0031] In the scheme, the electric push cylinder 14 and the large arm 11 are rotationally connected with the sliding plate 21 through the elastic connection of the sliding plate 21 and the mounting seat 20, when there are concaves and convexes on the inner wall of the pipeline, each large arm 11 can push the corresponding sliding plate 21 to slide in the sliding groove of the mounting seat 20 and press the spring, so that each roller 13 is relatively independent, the probability that the two rollers 13 on the same side of the main body 10 cannot simultaneously adhere to the inner wall of the pipeline due to the concaves and convexes is reduced, the contact effect of the rollers 13 with the pipeline is ensured, and meanwhile, the elastic connection of the sliding plate 21 can also increase the movement range of the rollers 13, thereby improving the adaptability to the diameter of the pipeline.

[0032] As shown in Figure 3 , Figure 4 and Figure 5 , two mounting seats 20 are arranged on the top surface of the main body 10, a space is left between the two mounting seats 20, the same support assemblies are arranged on the opposite side walls of the two mounting seats 20, an avoiding groove 22 is formed on the side wall of the mounting seat 20, the rotating shaft passes through the avoiding groove 22 and is connected with the sliding plate 21, the electric push cylinder 14 is rotationally connected with the sliding plate 21 through the same rotating shaft, as a supplement to the above scheme, in order to avoid the movement interference between the rotating shafts for mounting the electric push cylinder 14 and the large arm 11 and the mounting seat 20 during the sliding process of the sliding plate 21, the avoiding groove 22 is arranged, the rotating shafts for connecting the cylinder body of the electric push cylinder 14 and the large arm 11 can all pass through the avoiding groove 22 and be connected with the sliding plate 21, and the stability of operation is ensured.

[0033] As shown in Figure 1 , a camera and a light supplement lamp are fixedly installed on the end of the main body 10, by arranging the light supplement lamp and the camera, when the main body 10 crawls inside the pipeline, the inside of the pipeline can be clearly observed to control the whole device.

[0034] The utility model discloses a working principle: electric push cylinder 14 promotes big arm 11 rotation certain angle, and then big arm 11 drives drive motor 12 and gyro wheel 13 do circular motion, through gyro wheel 13 and touch the inner wall of pipeline, the top and bottom of main part 10 all are provided with two sets of support subassembly, and then four gyro wheel 13 are in contact with the inner wall of pipeline together and support main part 10, through drive motor 12 drive gyro wheel 13 make main part 10 crawl in the pipeline, the elastic connection of sliding plate 21 and mounting seat 20, rotate the connection of electric push cylinder 14 and big arm 11 and sliding plate 21, when the concave-convex exists in the inner wall of pipeline, each big arm 11 can promote corresponding sliding plate 21 in the sliding slot of mounting seat 20 and extrude spring and slide, and then every gyro wheel 13 is relatively independent, can reduce the probability that concave-convex makes two gyro wheel 13 of main part 10 same side simultaneously adhere to the inner wall of pipeline, guarantee gyro wheel 13 and pipeline contact effect, drive motor 12, light supplementing lamp, camera and electric push cylinder 14 all with controller electric signal connection, camera can adopt two degrees of freedom holder's high definition camera.

[0035] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the utility model. Without departing from the spirit and scope of the utility model, the utility model can have various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection of the utility model is defined by the appended claims and their equivalents.

Claims

1. A pipe crawling robot characterized by comprising: The utility model relates to a kind of multi-angle camera, including: Main body (10), the top and bottom of main body (10) are provided with support assembly, the support assembly includes big arm (11), drive motor (12), gyro wheel (13) and electric push cylinder (14), the drive motor (12) is fixedly connected with big arm (11), the gyro wheel (13) is rotatably connected with big arm (11), the output shaft of drive motor (12) is fixedly connected with gyro wheel (13), the output shaft of electric push cylinder (14) is rotatably connected with big arm (11); Mounting structure, symmetrically arranged on the wall of main body (10) for installing each group of support assembly, the mounting structure includes mounting seat (20) and sliding plate (21), the sliding plate (21) is elastically connected with mounting seat (20), and big arm (11) and electric push cylinder (14) are rotatably connected with sliding plate (21).

2. The pipe crawling robot according to claim 1, characterized in that: The mounting seat (20) forms rectangular block structure, the top of mounting seat (20) is provided with sliding slot, and the sliding plate (21) is slidably arranged in the sliding slot.

3. The pipe crawling robot according to claim 1, characterized in that: The sliding plate (21) forms rectangular plate, and the sliding slot is used in cooperation with the sliding plate (21), and the bottom of the sliding plate (21) is fixedly provided with spring, and the spring is fixedly connected with the inner bottom surface of the mounting seat (20).

4. The pipe crawling robot according to claim 1, characterized in that: The top surface of the main body (10) is provided with two mounting seats (20), and the two mounting seats (20) are spaced apart, and the opposite side walls of the two mounting seats (20) are provided with the same support assembly.

5. The pipe crawling robot according to claim 1, characterized in that: The side wall of the big arm (11) is fixedly provided with shaft, the wall of the sliding plate (21) is provided with shaft hole, the shaft is rotatably arranged in the shaft hole, and the wall of the shaft is provided with snap spring for limiting the shaft.

6. The pipe crawling robot according to claim 5, characterized in that: The side wall of the mounting seat (20) is provided with avoiding slot (22), the shaft is connected with the sliding plate (21) through the avoiding slot (22), and the electric push cylinder (14) is rotatably connected with the sliding plate (21) through the same shaft.

7. The pipe crawling robot according to claim 1, characterized in that: The end of the main body (10) is fixedly provided with camera and fill light.

Images