All-terrain pipeline detection robot

Abstract

The utility model provides an all-terrain pipeline detection robot, and relates to the technical field of robots. The underwater propeller comprises a main body frame, an underwater propeller system and a double-screw propelling system, the underwater propeller system is connected to the main body frame, the underwater propeller system comprises horizontal propellers, the four horizontal propellers are annularly arranged in the horizontal plane, and the double-screw propelling system is connected to the main body frame and located below the underwater propeller system. The underwater propeller system enables the robot to be applied to a wading pipeline in a medium-high water level environment, four horizontal propellers can achieve three-degree-of-freedom movement of longitudinal movement, swaying and bow turning, and the movement modes are enriched; the double-screw propulsion system enables the robot to be applied to a water-free environment, a low-water-level environment or a muddy environment with severe road conditions, the underwater propeller system and the double-screw propulsion system can also be started at the same time and used in cooperation, multi-degree-of-freedom movement can be achieved, and all-terrain amphibious pipeline detection is achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to an all-terrain pipeline inspection robot. Background Technology

[0002] With the continuous increase in urban water consumption, water supply networks are constantly expanding. Over the long term, through the interaction of water flow erosion and corrosion, water supply / drainage pipes may experience culvert damage and accumulate large amounts of debris or silt, leading to water resource loss or pipe blockages, causing significant losses and social impact. Therefore, the inspection, repair, and dredging of water supply pipelines are becoming increasingly important tasks.

[0003] The applicant has discovered at least the following technical problems in the prior art: Currently, pipeline inspection robots in the prior art can generally only be applied to waterless or low water level environments, or only to medium and high water level environments, and the detection environment is limited, making it impossible to achieve amphibious inspection.

[0004] Furthermore, when applied to waterless or low-water-level environments, pipeline inspection machines often use electric motors to drive wheels or tracks to move the main equipment for real-time detection. This results in a complex structure and slow movement, which is not conducive to on-site inspection. Utility Model Content

[0005] The purpose of this invention is to provide an all-terrain pipeline inspection robot to solve the technical problem that existing pipeline inspection robots have a limited detection environment and cannot achieve amphibious inspection. The various technical effects of the preferred technical solutions provided by this invention are detailed below.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An all-terrain pipeline inspection robot includes a main frame, an underwater thruster system, and a double-helix propulsion system. The underwater thruster system is connected to the main frame and includes four horizontal thrusters arranged in a ring in a horizontal plane. The double-helix propulsion system is connected to the main frame and located below the underwater thruster system.

[0008] Preferably, the underwater propulsion system further includes vertical thrusters, with two vertical thrusters symmetrically arranged in a vertical plane.

[0009] Preferably, the double screw propulsion system comprises two symmetrically arranged screw rollers, both of which are movably connected to the main frame, and the outer sides of both of the screw rollers are provided with screw blades, and the rotation directions of the screw blades on the two screw rollers are opposite.

[0010] Preferably, the screw roller comprises a roller shell, a driving motor, a driving roller, a fixing structure, a first bearing structure and a second bearing structure, the screw blades are arranged on the outer side of the roller shell, the driving roller is connected inside the roller shell and separates the inside of the roller shell into a hollow cavity and a driving cavity, the driving motor is located inside the driving cavity and is in transmission connection with the driving roller, both ends of the fixing structure are connected with the driving motor and the main frame respectively, one end of the roller shell is movably connected with the main frame through the first bearing structure, and the other end of the roller shell is movably connected with the fixing structure through the second bearing structure.

[0011] Preferably, the fixing structure comprises a motor bell, a hollow shaft, a sealing joint and a shaft baffle, the shell of the driving motor is fixedly connected with the motor bell, both ends of the hollow shaft are connected with the motor bell and the sealing joint respectively, and the end of the hollow shaft close to the sealing joint is connected with the main frame through the shaft baffle.

[0012] Preferably, it further comprises a main control unit, which is connected to the main frame and is in communication connection with the underwater propeller system and the double screw propulsion system.

[0013] Preferably, it further comprises a sensor unit, a detection module and an illumination unit, which are all connected to the main frame and are in communication connection with the main control unit.

[0014] Preferably, the sensor unit comprises a depth sensor and a temperature and humidity sensor.

[0015] Preferably, the detection module comprises a multi-beam sonar, a pipeline sonar, a front camera assembly and a rear sub-haemal camera assembly, the multi-beam sonar and the front camera assembly are located at the front end of the main frame, and the pipeline sonar and the rear sub-haemal camera assembly are located at the rear end of the main frame.

[0016] Preferably, the illumination unit comprises illumination lamps, which are respectively located above the front camera assembly and on both sides of the rear sub-haemal camera assembly.

[0017] The all-terrain pipeline detection robot can be applied to wading pipelines under medium and high water level environments, and in such environments, the water level is usually higher than the underwater thruster system, so the underwater thruster system can be used for driving, in addition, four horizontal thrusters are arranged in a ring shape in the horizontal plane, so that three degrees of freedom motion of longitudinal movement, transverse oscillation and turning bow can be realized.

[0018] The underwater thruster system and the double helix propulsion system can be opened at the same time and used in cooperation, and the underwater thruster system and the double helix propulsion system cooperate with each other, which is more conducive to realizing multi-degree-of-freedom motion.

[0019] In addition, the underwater thruster system and the double helix propulsion system can be opened at the same time and used in cooperation, and the underwater thruster system and the double helix propulsion system cooperate with each other, which is more conducive to realizing multi-degree-of-freedom motion.

[0020] The all-terrain pipeline detection robot can be selectively opened according to the actual environmental conditions, and can be applied to wading pipelines under medium and high water level environments, and can be applied to wading pipelines in waterless environments and harsh environments, which enriches the detection environment and realizes all-terrain amphibious pipeline detection. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in 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 the 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.

[0022] Figure 1 is a perspective view of the present application;

[0023] Figure 2 is a side view of the present application;

[0024] Figure 3 is a side view of the connection structure of the main frame and the double helix propulsion system of the present application;

[0025] Figure 4 is an internal structure view of the helical roller of the present application;

[0026] Figure 5The utility model discloses a main body frame and the connecting structure of double helix propulsion system's elevation view for the utility model discloses a main body frame and the connecting structure of double helix propulsion system's plan view.

[0027] Figure 6 The utility model discloses a horizontal propeller's distribution structure diagram for the utility model discloses a horizontal propeller's distribution structure diagram.

[0028] Figure 7 The utility model discloses a vertical propeller's distribution structure diagram for the utility model discloses a vertical propeller's distribution structure diagram.

[0029] Figure 8 The utility model discloses a control block diagram for the utility model discloses a control block diagram.

[0030] Fig. 1, main body frame, 11, frame cross plate, 12, fixed support,

[0031] 2, underwater propeller system, 21, horizontal propeller, 22, vertical propeller,

[0032] 3, double helix propulsion system, 31, drum shell, 311, propeller blade, 312, first conical hollow drum, 313, second conical hollow drum, 32, drive motor, 321, motor driver, 33, drive roller, 34, fixed structure, 341, motor bell jar, 342, hollow shaft, 343, sealing joint, 344, shaft baffle, 35, first bearing structure, 36, second bearing structure,

[0033] 4, main control unit,

[0034] 5, lighting unit,

[0035] 6, detection module, 61, multi-beam sonar, 62, pipeline sonar, 63, front camera assembly, 64, rear sub-missile camera assembly. DETAILED DESCRIPTION

[0036] In order to make the utility model's purpose, technical scheme and advantage more clear, the following will be to the utility model's technical scheme detailed description. Obviously, the described embodiment is only the utility model a part embodiment, is not all the embodiment. Based on the embodiment in the utility model, all other implementation manners that the ordinary skill in the art person obtained under the premise of not making the creative labor, belong to the range that the utility model protects.

[0037] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "lateral", "length", "width", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "side" and the like is based on the drawings, and is for the purpose of description and is not a limitation. The orientation or positional relationship in the actual use can be changed according to the design, use, etc. needs, and the embodiments of the utility model will not be limited thereto. Figure 1The shown orientation or position relationship is only for the convenience of describing the utility model and simplifying the description, and is not indicative or suggestive of the indicated device or element having a specific orientation, being constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model.

[0038] In the description of the utility model, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected, it can be mechanical connection, or electrical connection, it can be directly connected, or indirectly connected through intermediate medium. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to specific circumstances.

[0039] With reference to Figures 1 to 8 The utility model provides a kind of all-terrain pipeline detection robot, including main body frame 1, underwater propeller system 2 and double helix propulsion system 3;

[0040] Main body frame 1 is the structural basis of all-terrain pipeline detection robot, including frame cross plate 11 and fixed support 12 connected on frame cross plate 11;

[0041] Underwater propeller system 2 is connected on main body frame 1, preferably connected on the bottom of frame cross plate 11;

[0042] Double helix propulsion system 3 is connected on main body frame 1, preferably connected on fixed support 12, and located below underwater propeller system 2.

[0043] By being provided with underwater propeller system 2, so that all-terrain pipeline detection robot can be applied to wading pipeline in high water level environment, in this kind of environment, water level is usually higher than underwater propeller system 2, so underwater propeller system 2 can be used to drive;

[0044] By being further provided with double helix propulsion system 3 below underwater propeller system 2, so that all-terrain pipeline detection robot can be applied to waterless environment, low water level environment or poor road condition muddy environment including hard road surface, sandy soil or muddy pipeline, in this kind of environment, water level is usually lower than underwater propeller system 2, underwater propeller system 2 cannot be used, at this time, double helix propulsion system 3 can be used to drive robot to advance, retreat or move left and right;

[0045] In addition, the underwater propeller system 2 and the double helix propelling system 3 can also be opened simultaneously and used in cooperation, for example, the double helix propelling system 3 can be in contact with the bottom surface of the pipeline to be detected and moved in a medium-high water level environment with the assistance of the underwater propeller system 2, and the underwater propeller system 2 and the double helix propelling system 3 cooperate with each other, which is more conducive to realizing multi-degree-of-freedom motion.

[0046] The all-terrain pipeline detection robot can selectively open the underwater propeller system 2 and the double helix propelling system 3 more flexibly according to the actual environmental conditions, can be applied to water pipelines in medium-high water levels, can be applied to water pipelines in waterless environments and harsh environments, enriches the detection environment, realizes amphibious pipeline detection in all terrains, and can be widely applied to municipal drainage pipelines, box culverts, buried culverts and rivers.

[0047] As an optional implementation, the underwater propeller system 2 includes a horizontal propeller 21 and a vertical propeller 22.

[0048] The number of horizontal propellers 21 is preferably four, the four horizontal propellers 21 are arranged in a ring in a horizontal plane, are symmetrically installed on the same plane, all the horizontal propellers 21 are arranged at an angle a with the coordinate axis in the horizontal plane, and the four horizontal propellers 21 can be used for forward and backward movement, left and right transverse movement, and turning.

[0049] The number of vertical propellers 22 is preferably two, the two vertical propellers 22 are symmetrically arranged in a vertical plane, all the vertical propellers 22 are arranged at an angle b with the coordinate axis in the vertical plane, and can be used for ascending and diving.

[0050] The all-terrain pipeline detection robot can complete the motion and attitude control of the robot in water through the above six propellers, can move in multiple degrees of freedom in an underwater environment, and can implement pipeline detection. The combination of the four horizontal propellers 21 can realize longitudinal movement, transverse oscillation, and turning, and the combination of the two vertical propellers 22 can realize vertical attitude control and left and right turning.

[0051] As an optional implementation, the double helix propelling system 3 includes two symmetrically arranged helix rollers, both of which are movably connected with the main frame 1 and are preferably connected to the symmetrically arranged fixed supports 12. The outer sides of the two helix rollers are provided with helix blades 311, the rotation directions of the helix blades 311 on the two helix rollers are opposite, and the two helix rollers respectively have positive helix blades and negative helix blades. Except for the rotation directions of the helix blades 311, the structures of the two helix rollers are completely identical. When the two helix rollers rotate in the same direction, the robot can move left and right, and when the two helix rollers rotate in opposite directions, the robot can move forward or backward.

[0052] As an optional implementation, the spiral roller comprises a roller shell 31, a driving motor 32, a driving roller 33, a fixing structure 34, a first bearing structure 35 and a second bearing structure 36.

[0053] The propeller blade 311 is arranged at the outer side of the roller shell 31, and the driving roller 33 is connected at the inner side of the roller shell 31 and divides the inner side of the roller shell 31 into a hollow cavity and a driving cavity. In order to facilitate the installation of the roller shell 31 and the internal structure thereof, the roller shell 31 preferably comprises a first tapered hollow roller 312 and a second tapered hollow roller 313, the first tapered hollow roller 312 is connected with the second tapered hollow roller 313, the first tapered hollow roller 312 can be enclosed with the driving roller 33 to form the hollow cavity, and the second tapered hollow roller 313 can be enclosed with the driving roller 33 to form the driving cavity.

[0054] The actual arrangement position of the driving roller 33 can adjust the space ratio of the hollow cavity and the driving cavity, and the tapered design can be beneficial to reduce the resistance and improve the moving efficiency.

[0055] The driving roller 33 is preferably a disc-shaped structure, the outer circular surface of which is fixed with the spiral roller, and the outer side of the driving roller 33 is preferably provided with two O-ring grooves, the inner rings of the two tapered hollow rollers at the connecting position are respectively connected with the driving roller 33, and the sealing joint surface is sealed by the O-shaped sealing ring, so that the interiors of the two tapered hollow rollers form a closed space.

[0056] The driving motor 32 is located in the driving cavity and is in transmission connection with the driving roller 33, the driving motor 32 is preferably a direct-current brushless motor, which has good driving effect, the center hole of the driving roller 33 is preferably in a D-shaped structure, so as to be in good matching connection with the output shaft of the driving motor 32, the output shaft of the driving motor 32 can drive the driving roller 33 to rotate after the driving motor 32 is started, and the rotation of the driving roller 33 can drive the spiral roller to rotate synchronously.

[0057] The two ends of the fixed structure 34 are connected with the driving motor 32 and the main body frame 1 respectively, and in the embodiment, the fixed structure 34 preferably comprises a motor bell 341, a hollow shaft 342, a sealing joint 343 and a shaft baffle 344, the shell of the driving motor 32 is fixedly connected with the motor bell 341, the two ends of the hollow shaft 342 are connected with the motor bell 341 and the sealing joint 343 respectively, the end of the hollow shaft 342 close to the sealing joint 343 is connected with the main body frame 1 through the shaft baffle 344, since the main body frame 1 remains stationary, the motor bell 341, the hollow shaft 342, the sealing joint 343 and the shaft baffle 344 all remain stationary, thereby ensuring that only the output shaft of the driving motor 32 rotates, one end of the connecting line of the motor driver 321 of the driving motor 32 is connected with the body of the driving motor 32, the other end passes through the center hole of the hollow shaft 342 and is connected with the sealing joint 343, and then is connected with the master control unit 4 through a water-proof cable.

[0058] One end of the drum shell 31 is movably connected with the fixed support 12 of the main body frame 1 through a first bearing structure 35, a pin shaft can be preferably fixed on the fixed support 12, and then an additional shaft baffle is used to fixedly connect with the fixed support 12, the bearing seat of the first bearing structure 35 is connected with the pin shaft and a gasket is used as a dynamic sealing element between the bearing seat and the pin shaft;

[0059] The other end of the drum shell 31 is movably connected with the fixed structure 34 through a second bearing structure 36, and the outer wall of the hollow shaft 342 is connected with the bearing seat of the second bearing structure 36.

[0060] The structure of the spiral drum is more compact, and after contacting with the ground, the spiral drum can move in a spiral transmission mode, the transmission effect is better, and the performance is stable.

[0061] As an optional embodiment, the underwater robot further comprises a master control unit 4, a sensor unit, a lighting unit 5 and a detection module 6;

[0062] The master control unit 4 is in communication connection with the underwater thruster system 2 and the double-spiral propelling system 3, the sensor unit 5, the detection module 6 and the lighting unit 5 are all connected with the main body frame 1 and are in communication connection with the master control unit 4;

[0063] The master control unit 4 is connected with the main body frame 1, and is specifically located at the bottom of the frame cross plate 11 and between the two spiral drums, and sufficient installation space can be provided between the two spiral drums to make the overall structural layout of the robot more reasonable;

[0064] In the embodiment, the master control unit 4 preferably comprises a master controller and a power supply cabin, and the master controller and the power supply cabin are preferably assembled together to form a unified independent structure, which is convenient for arrangement and setting of the master control unit 4;

[0065] The main controller can further preferably be a combination of a micro host and a control module.

[0066] The sensor unit comprises a depth sensor and a temperature and humidity sensor, the depth sensor being capable of detecting the depth of the robot, and the temperature and humidity sensor being capable of detecting the temperature and humidity of the environment in which the robot is located.

[0067] The detection module 6 comprises a multi-beam sonar 61, a pipeline sonar 62, a front camera assembly 63 and a rear sub-hemisphere camera assembly 64.

[0068] The multi-beam sonar 61 is specifically installed below the front end of the frame cross plate 11, the multi-beam sonar 61 being capable of supporting both high-frequency and low-frequency operation modes and mainly monitoring a fan-shaped area in front of the robot.

[0069] The pipeline sonar 62 is specifically installed above the rear end of the frame cross plate 11, the pipeline sonar 62 being capable of monitoring a ring-shaped area behind the robot.

[0070] The front camera assembly 63 is specifically installed above the front end of the frame cross plate 11, the front camera assembly 63 being capable of adjusting the height of the camera.

[0071] The rear sub-hemisphere camera assembly 64 is specifically installed below the rear end of the frame cross plate 11.

[0072] The main functions of the detection module include image data acquisition and sound wave data acquisition, which need to be completed in cooperation with the lighting unit 5 during image data acquisition.

[0073] The lighting unit 5 comprises lighting lamps, the number of which is preferably four, the four lighting lamps being respectively located above the front camera assembly 63 and on both sides of the rear sub-hemisphere camera assembly 64, and being capable of assisting the camera in collecting image data.

[0074] In addition to the above-mentioned all-terrain pipeline detection robot, the shore-based equipment is also included, mainly comprising an industrial computer / upper computer, a control console and a display screen.

[0075] The main working principle of the control system of the all-terrain pipeline detection robot is as follows:

[0076] Firstly, the sending and receiving of control commands, the onshore operator sends control commands to the industrial computer / host computer through the console, the industrial computer / host computer sends the received control commands to the micro host through the hawser, the micro host and the control module interact with each other through the serial port, the micro host sends the control commands to the control module, the control module receives the commands, analyzes the data according to the communication protocol, and then converts it into the corresponding PWM signal value to control the servo or the lighting unit 5, wherein the servo can drive the corresponding each horizontal thruster 21, vertical thruster 22 and drive motor 32, so as to control the thrust output of each thruster or motor, and the lighting unit 5 can control the light brightness by changing the PWM signal value;

[0077] Secondly, the robot data collected by the sensor units such as the depth sensor, temperature and humidity sensor, the video data collected by the camera such as the front camera assembly 63 and the rear bullet camera assembly 64, and the sound wave data collected by the sonar such as the multi-beam sonar 61 and the pipeline sonar 62 are fed back to the display interface of the host computer and displayed in real time.

[0078] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, 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. An all-terrain pipe inspection robot, characterized in that, The utility model provides a kind of underwater vehicle, including main body frame (1), underwater propeller system (2) and double helix propulsion system (3), underwater propeller system (2) is connected on the main body frame (1), underwater propeller system (2) includes horizontal propeller (21), four horizontal propeller (21) annularly is arranged in horizontal plane, double helix propulsion system (3) is connected on the main body frame (1) and is located below underwater propeller system (2).

2. The all-terrain pipe inspection robot of claim 1, wherein, Underwater propeller system (2) further includes vertical propeller (22), two vertical propeller (22) is symmetrically arranged in vertical plane.

3. The all-terrain pipe inspection robot of claim 1, wherein, Double helix propulsion system (3) includes two symmetrically arranged spiral rollers, two spiral rollers are movably connected with the main body frame (1), and the outer sides of the two spiral rollers are provided with propeller blades (311), and the rotational directions of the propeller blades (311) on the two spiral rollers are opposite.

4. The all-terrain pipe inspection robot of claim 3, wherein, The spiral roller includes a roller housing (31), a drive motor (32), a drive roller (33), a fixing structure (34), a first bearing structure (35), and a second bearing structure (36). The propeller blades (311) are arranged on the outer side of the roller housing (31). The drive roller (33) is connected inside the roller housing (31) and separates the inside of the roller housing (31) into a hollow cavity and a drive cavity. The drive motor (32) is located inside the drive cavity and is in transmission connection with the drive roller (33). The two ends of the fixing structure (34) are respectively connected with the drive motor (32) and the main body frame (1). One end of the roller housing (31) is movably connected with the main body frame (1) through the first bearing structure (35). The other end of the roller housing (31) is movably connected with the fixing structure (34) through the second bearing structure (36).

5. The all-terrain pipe inspection robot of claim 4, wherein, The fixing structure (34) includes a motor bell (341), a hollow shaft (342), a sealing joint (343), and a shaft baffle (344). The shell of the drive motor (32) is fixedly connected with the motor bell (341). The two ends of the hollow shaft (342) are respectively connected with the motor bell (341) and the sealing joint (343). The end of the hollow shaft (342) close to the sealing joint (343) is connected with the main body frame (1) through the shaft baffle (344).

6. The all-terrain pipe inspection robot of claim 1, wherein, A main control unit (4) is further included, which is connected to the main body frame (1) and in communication connection with the underwater propeller system (2) and the double helix propulsion system (3).

7. The all-terrain pipe inspection robot of claim 6, wherein, A sensor unit, a detection module (6), and an illumination unit (5) are further included, which are all connected to the main body frame (1) and in communication connection with the main control unit (4).

8. The all-terrain pipe inspection robot of claim 7, wherein, The sensor unit includes a depth sensor and a temperature and humidity sensor.

9. The all-terrain pipe inspection robot of claim 7, wherein, The detection module (6) comprises a multi-beam sonar (61), a pipeline sonar (62), a front camera assembly (63) and a rear sub-haemulon camera assembly (64), the multi-beam sonar (61) and the front camera assembly (63) are located at the front end of the main body frame (1), and the pipeline sonar (62) and the rear sub-haemulon camera assembly (64) are located at the rear end of the main body frame (1).

10. The all-terrain pipe inspection robot of claim 9, wherein, The lighting unit (5) comprises lighting lamps, which are respectively located above the front camera assembly (63) and on both sides of the rear sub-haemulon camera assembly (64).

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