Reducing driving structure of pipeline robot

Abstract

The utility model discloses a variable diameter driving structure of a pipeline robot, which comprises an even number of mounting racks which are arranged on the symmetrical outer sides of a robot body, the outer sides of the mounting racks are connected with a working rack through electric push rods, the movable end part of the working rack is provided with a miniature brushless motor, and the miniature brushless motor is connected with the mounting racks. The output end of the miniature brushless motor is connected with a rotating wheel, and a distance sensor is arranged on the working frame. The robot body is provided with a camera and a single-chip microcomputer, and the distance sensor, the miniature brushless motor and the camera are all electrically connected with the single-chip microcomputer. The robot has the beneficial effects that the length of the electric push rod is adjustable, the robot can adapt to pipelines with different inner diameters, it is guaranteed that the robot makes contact with the inner walls of the pipelines stably all the time, and adaptability and stability in the complex environment are improved; especially at a bend, close contact between the outer side rotating wheel and the inner wall of the pipeline is achieved by adjusting the electric push rods on the two sides, and it is ensured that the robot smoothly passes through the bend.

Description

TECHNICAL FIELD

[0001] The utility model relates to pipeline robot field, concretely relates to a pipeline robot's variable diameter drive structure. BACKGROUND

[0002] Pipeline robot is a kind of robot technology specially designed for pipeline detection, maintenance and repair. It can perform various tasks inside the narrow pipeline, including cleaning, detection, repair and monitoring, etc. Through high-precision sensors and intelligent control system, pipeline robot can transmit data in real time, help workers to complete the task efficiently and safely, reduce the risk and cost of manual operation. It is widely used in petroleum, natural gas, water treatment and other industries.

[0003] Traditional pipeline robot cannot pass through the bend of pipeline smoothly, especially when the bending angle of pipeline is large. Because the robot usually uses fixed wheels or tracks, the outside wheel does not contact the inner wall of the pipeline tightly when turning, resulting in the loss of traction of the robot, and the situation of jamming or unable to complete the turning. UTILITY MODEL CONTENT

[0004] The purpose of the utility model is to solve the above problems and provide a pipeline robot's variable diameter drive structure, which is described in detail below.

[0005] To achieve the above purpose, the utility model provides the following technical scheme:

[0006] The utility model provides a pipeline robot's variable diameter drive structure, which comprises a mounting frame, the mounting frame is even, and is arranged on the symmetric outer side of the robot body, a workbench is connected to the outer side of the mounting frame through an electric push rod, the two movable ends of the workbench are in the shape of broken line, and extend away from the mounting frame, a micro brushless motor is arranged on the movable end of the workbench, a rotating wheel is connected to the output end of the micro brushless motor, and a distance sensor is arranged on the workbench; a camera and a single-chip microcomputer are arranged on the robot body, and the distance sensor, the micro brushless motor and the camera are electrically connected with the single-chip microcomputer.

[0007] Further, a conical platform in the shape of pyramid is arranged on the workbench, the conical platform is located between the two broken line ends of the workbench, and the distance sensor is arranged on the front and back surfaces of the conical platform.

[0008] Further, the conical platform is integrally formed with the workbench.

[0009] Further, the elongated end of the electric push rod extends to the inner side of the conical platform.

[0010] Further, the number of the micro brushless motor in the movable end of each side of the work frame is one or two, and the micro brushless motors in the movable ends of the two sides of the work frame are symmetrically arranged.

[0011] Further, the mounting frame is mounted outside the robot body through a vertical rotating shaft.

[0012] Further, the number of the mounting frame is four, and the number of the micro brushless motor in the movable end of each side of the work frame is one.

[0013] Beneficial effects are that:

[0014] The length of the electric push rod is adjustable, can adapt to pipes with different inner diameters, ensures that the robot is always in stable contact with the inner wall of the pipe, and improves the adaptability and stability in a complex environment; especially at a curved section, the adjustment of the electric push rods on the two sides is used to realize that the outer rotating wheel is in close contact with the inner wall of the pipe, and ensures that the robot smoothly passes the curve. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0016] Figure 1 is a schematic view of the installation structure of the present application;

[0017] Figure 2 is a front view of the mounting frame in the present application;

[0018] Figure 3 is a schematic view of the internal structure of Figure 2 ;

[0019] Figure 4 is a schematic view of the structure of Figure 2 ;

[0020] The following is an explanation of the reference signs:

[0021] 1, mounting frame; 2, electric push rod; 3, work frame; 301, conical frame; 4, micro brushless motor; 401, rotating wheel; 5, distance sensor; 6, robot body; 601, camera. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the technical scheme of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the scope protected by the utility model.

[0023] First embodiment:

[0024] Referring to Figures 1-4 The utility model provides a pipeline robot's variable diameter drive structure, including mounting frame 1, mounting frame 1 is even, and is set up in the symmetry outside robot body 6, and the outside of mounting frame 1 is connected with working stand 3 through electric push rod 2, and the two movable ends of working stand 3 are all zigzag, and extend away from mounting frame 1, and the movable end of working stand 3 is equipped with micro brushless motor 4, and the output end of micro brushless motor 4 is connected with runner 401, and the model of micro brushless motor 4 is MC0824, and runner 401 is driven to rotate using micro brushless motor 4, and the movement of robot body 6 in the inner wall of pipeline is assisted, and working stand 3 is equipped with distance sensor 5;

[0025] Robot body 6 is equipped with camera 601 and single-chip microcomputer, and distance sensor 5, electric push rod 2, micro brushless motor 4 and camera 601 are electrically connected with single-chip microcomputer, and the model of single-chip microcomputer is STM32F103, STM32F407;

[0026] When the device is advancing, the built-in power supply of robot body 6 is used to power the single-chip microcomputer, the single-chip microcomputer receives the information of camera picture and distance sensor 5, controls the work of micro brushless motor 4 and electric push rod 2 in the device, the length of electric push rod 2 is controlled by single-chip microcomputer, so that runner 401 is correspondingly arranged with the inner wall of pipeline, the distance between runner 401 can adapt to the pipeline of different inner diameter, micro brushless motor 4 is controlled by single-chip microcomputer to work, the rolling of runner 401 in the inner wall of pipeline is used to assist the advancing of robot body 6, when the device is advancing to the curve position, the electric push rod 2 at the outer circle position is elongated, so that the runner 401 at the outer side can contact with the inner wall of pipeline curve, and the advancing of robot body 6 at the curve position is assisted.

[0027] Second embodiment, the different features of the first embodiment are:

[0028] The work frame 3 is provided with a pyramid-shaped frustum 301 between two broken line ends of the work frame 3, and two distance sensors 5 are arranged on the outer side of each frustum 301 and on the front and rear surfaces of the frustum 301. When the device is running, the distance between the inclined surface of the frustum 301 and the inner wall of the pipeline can be detected by the frustum 301. Since the outer wall of the frustum 301 has an inclination angle, when the robot body 6 runs in the direction of the bend, the distances detected by the two distance sensors 5 are different, so that the electric push rod 2 can be controlled by the single-chip microcomputer.

[0029] The frustum 301 is integrally formed with the work frame 3, and the work frame 3 and the frustum 301 can be conveniently machined and formed. Further, the elongated end of the electric push rod 2 extends to the inner side of the frustum 301.

[0030] The third embodiment differs from the first embodiment in that:

[0031] The number of micro brushless motors 4 in the movable end of each side of the work frame 3 is one or two, and the micro brushless motors 4 in the movable end of each side of the work frame 3 are symmetrically arranged. When the number of micro brushless motors 4 in each side of the work frame 3 is two, the auxiliary movement of the device can be realized by the rolling of the rotating wheel 401 on the inner side of the pipeline. When installing, the mounting frame 1 is installed on the outer side of the robot body 6 through the rotating shaft, the rotating shaft is used to assist the rotation of the mounting frame 1, and the rotating shaft is vertically arranged. After the elongation of the electric push rod 2, the rotation of the rotating shaft is used to realize the rotation of the mounting frame 1 and the electric push rod 2, which can assist the angle adjustment of the micro brushless motor 4, so that the micro brushless motor 4 is close to the inner wall of the pipeline to assist the movement of the device after the device moves in the position of the bend. Further, the number of mounting frames 1 is four, the number of micro brushless motors 4 in the movable end of each side of the work frame 3 is one, the mounting frame 1 is connected to the robot body 6 through bolts, and further, the distance between the work frame 3 and the robot body 6 can be adjusted by the elongation or shortening of the electric push rod 2 in the movement of the robot body 6, so that the device can adapt to the pipeline with different inner diameters. In addition, since there are two micro brushless motors 4 on each work frame 3, the robot body 6 can run in the bend.

[0032] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A variable diameter driving structure of a pipeline robot, comprising a mounting frame (1), characterized in that: the mounting frame (1) is even in number and is arranged on the symmetric outer side of a robot body (6), an outer side of the mounting frame (1) is connected with a working frame (3) through an electric push rod (2), both movable ends of the working frame (3) are in the shape of a broken line and extend away from the mounting frame (1), a micro brushless motor (4) is arranged at the movable end of the working frame (3), an output end of the micro brushless motor (4) is connected with a rotating wheel (401), and a distance sensor (5) is arranged on the working frame (3); a camera (601) and a single-chip microcomputer are arranged on the robot body (6), and the distance sensor (5), the micro brushless motor (4) and the camera (601) are electrically connected with the single-chip microcomputer.

2. The variable diameter drive structure of a pipe robot according to claim 1, characterized in that: a conical frustum frame (301) in the shape of a pyramid is arranged on the working frame (3), the conical frustum frame (301) is located between the two broken line ends of the working frame (3), and the distance sensor (5) is arranged on the front and back surfaces of the conical frustum frame (301).

3. The variable diameter drive structure of a pipe robot according to claim 2, characterized in that: The conical frustum frame (301) is integrally formed with the working frame (3).

4. The variable diameter drive structure of a pipe robot according to claim 3, characterized in that: An elongated end of the electric push rod (2) extends to the inner side of the conical frustum frame (301).

5. The variable diameter drive structure of a pipe robot according to claim 1, wherein: The number of the micro brushless motor (4) in each movable end of the working frame (3) is one or two, and the micro brushless motors (4) in the movable ends of the working frame (3) on both sides are symmetrically arranged.

6. The variable diameter drive structure of a pipe robot according to claim 5, wherein: The mounting frame (1) is arranged on the outer side of the robot body (6) through a vertical rotating shaft.

7. The variable diameter drive structure of a pipe robot according to claim 5, wherein: The number of the mounting frame (1) is four, and the number of the micro brushless motor (4) in each movable end of the working frame (3) is one.

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