Active turning mechanism of pipeline robot

Abstract

The utility model discloses an active turning mechanism of a pipeline robot, which comprises a mounting plate connected with the outer wall of the pipeline robot, the bottom surface of the mounting plate is rotatably connected with a rod frame, the bottom of the rod frame is connected with the middle part of a beam frame, and the two ends of the beam frame are respectively provided with an advancing assembly for assisting in moving. A rotating assembly for driving the rod frame to rotate is arranged on the mounting plate, and an angle sensor is arranged on the outer wall of the rod frame; a single-chip microcomputer and a battery are further arranged in the pipeline robot. The device has the beneficial effects that through combination of a rotating assembly and an angle sensor, it is ensured that the pipeline robot can accurately turn and maintain stable movement, the pipeline robot is assisted in turning operation, and the device is more flexible and stable in use; and the robot is matched with the advancing assembly to assist the device in advancing and moving, so that the robot can advance more stably in a pipeline environment, and the device has better continuity and stability during advancing.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robots, specifically to an active turning mechanism for a pipeline robot. Background Technology

[0002] Pipeline robots are intelligent devices specifically designed for the inspection, maintenance, and repair of the interior of pipelines. These robots are typically designed to be compact and agile, enabling them to enter narrow and complex piping systems and perform a variety of tasks, such as recording video, cleaning pipes, detecting leaks, and even carrying out repair work. These robots are usually equipped with sensors, high-definition cameras, and other detection devices to obtain real-time information about the interior of the pipeline.

[0003] Most traditional equipment relies on simple mechanical devices such as wheels, tracks, or steering arms when turning. The steering structure of many traditional equipment lacks flexibility, especially in pipelines, where the structure cannot cope with complex changes and the turning angle is difficult to determine. Utility Model Content

[0004] The purpose of this invention is to provide an active turning mechanism for a pipeline robot to solve the above problems, as detailed below.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] This utility model provides an active turning mechanism for a pipeline robot, including a mounting plate connected to the outer wall of the pipeline robot. A rod is rotatably connected to the bottom surface of the mounting plate. The bottom of the rod is connected to the middle of a beam frame. Both ends of the beam frame are provided with auxiliary movement travel components. The mounting plate is provided with a rotating component that drives the rod frame to rotate. An angle sensor is provided on the outer wall of the rod frame. The pipeline robot also contains a microcontroller and a battery. The battery, the rotating component, the angle sensor, and the travel component are all electrically connected to the microcontroller.

[0007] As an optional solution to the technical solution of this application, an infrared sensor corresponding to the angle sensor is provided on the outer side of the pole frame, and a plurality of reflectors corresponding to the infrared sensor are provided on the mounting plate, and the infrared sensor is electrically connected to the single-chip microcomputer.

[0008] As an optional solution to the technical solution of this application, there are four reflectors, with corresponding angles of 0°, 45°, 90°, and 135°.

[0009] As an optional solution to the technical solution of this application, the mounting plate has a side plate on its bottom surface, the rotating assembly includes a rotating motor mounted on the side plate, the output end of the rotating motor is connected to a first bevel gear, the outer side of the rod frame is provided with a second bevel gear that meshes with the first bevel gear, and the rotating motor is electrically connected to a single-chip microcomputer.

[0010] As an optional solution to the technical solution of this application, the traveling component includes a sliding rod that slides with the beam frame. The high end of the sliding rod is provided with a stop block, and the bottom end of the sliding rod is connected to a bottom connecting block. A thrust spring is provided on the outside of the sliding rod to push the bottom connecting block to move downward. The bottom connecting block can be equipped with a traveling motor. The output end of the traveling motor is connected to a traveling wheel, and the traveling motor is electrically connected to the single-chip microcomputer.

[0011] As an optional solution to the technical solution in this application, the sliding rod is a regular polygon made of rubber, and the sliding rod is in sliding and sealing fit with the beam frame.

[0012] As an optional solution to the technical solution of this application, the pipeline robot is equipped with a camera and a position sensor, and the camera and the position sensor are electrically connected to the microcontroller.

[0013] As an optional solution to the technical solution in this application, the top of the mounting plate is connected to the pipeline robot via an electric push rod, and the electric push rod is electrically connected to the single-chip microcomputer.

[0014] The beneficial effects are:

[0015] The combination of the rotating component and the angle sensor ensures that the pipeline robot can turn precisely and maintain stable movement, assisting the pipeline robot in turning operations, making the device more flexible and stable in use; together with the traveling component to assist the device in traveling and moving, this enables the robot to move more stably in the pipeline environment, and makes the device have better continuity and stability when traveling. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the internal structure of this utility model;

[0018] Figure 2 This is the front view of this utility model;

[0019] Figure 3 This utility model contains a diagram showing the control of a microcontroller for the forward and reverse rotation of a rotating motor.

[0020] The annotations in the attached figures are explained as follows:

[0021] 1. Mounting plate; 2. Rod frame; 3. Rotating assembly; 301. Rotating motor; 302. First bevel gear; 303. Second bevel gear; 4. Angle sensor; 5. Infrared sensor; 501. Reflector; 6. Beam frame; 7. Traveling assembly; 701. Sliding rod; 702. Thrust spring; 703. Bottom connecting block; 704. Traveling wheel; 705. Traveling motor. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0023] First embodiment:

[0024] See Figures 1-3 As shown, this utility model provides an active turning mechanism for a pipeline robot, including a mounting plate 1 connected to the outer wall of the pipeline robot. A rod 2 is rotatably connected to the bottom surface of the mounting plate 1. The bottom of the rod 2 is connected to the middle of a beam frame 6. Both ends of the beam frame 6 are provided with auxiliary movement travel components 7. A rotating component 3 is provided on the mounting plate 1 to drive the rod 2 to rotate. An angle sensor 4 is provided on the outer wall of the rod 2. The pipeline robot also contains a microcontroller and a battery. The battery, rotating component 3, angle sensor 4, and travel component 7 are all electrically connected to the microcontroller. The microcontroller enables connection with terminal equipment. The device is connected to a terminal control device for operation, and the battery on the pipeline robot can power the device. During use, when a turn is required, the microcontroller controls the rotating component 3 to work, which drives the rod 2 to rotate. The angle sensor 4 can provide feedback on the rotation angle. After rotating to the corresponding angle, the rotating component 3 stops working, and the traveling component 7 assists in moving. After completely turning through the curve, the rotating component 3 drives the rod 2 to reset the angle. The device realizes the turning operation of the pipeline robot.

[0025] Furthermore, the pipeline robot is equipped with a camera and a position sensor, which are electrically connected to a microcontroller. With this setup, the microcontroller can receive information from the camera and the position sensor, allowing the operator to send work instructions to the microcontroller using a terminal device based on the actual situation.

[0026] Preferably, the top of the mounting plate 1 is connected to the pipeline robot via an electric push rod. The electric push rod is electrically connected to a single-chip microcomputer. When the electric push rod extends, the distance between the mounting plate 1 and the pipeline robot increases, which enables the device to adapt to pipelines with larger inner diameters and improves the flexibility of the pipeline robot.

[0027] The second embodiment differs from the first embodiment in that:

[0028] An infrared sensor 5, corresponding vertically to the angle sensor 4, is installed on the outer side of the pole frame 2. Multiple reflectors 501, corresponding to the infrared sensors 5, are installed on the mounting plate 1. The infrared sensors 5 are electrically connected to a microcontroller. By utilizing the correspondence between the infrared sensors 5 and the reflectors 501, the device can be quickly operated during turning, aligning the infrared sensors 5 with the corresponding reflectors 501 to achieve the desired turning angle. If no reflector 501 corresponds to the infrared sensor 5 at a given turning angle, the angle indicated by the angle sensor 4 is used to control the device. Furthermore, when the infrared sensors 5 and reflectors 501 are aligned, the angle of the angle sensor 4 can be quickly self-checked.

[0029] There are four reflectors 501, corresponding to angles of 0°, 45°, 90°, and 135° respectively. When the angle sensor 4 performs an angle self-check, the terminal device controls the rotating component 3 to drive the rod 2 to rotate. When the angle sensor 4 stops rotating at 90°, the infrared sensor 5 should correspond to the reflector 501 at the 90° position. At this time, the angle rotation is qualified; otherwise, it is unqualified. This achieves the angle self-check of the angle sensor 4. In common pipeline applications, 0°, 45°, 90°, and 135° are common pipe bending angles.

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

[0031] In the structure of the rotating assembly 3, the bottom surface of the mounting plate 1 is provided with a side plate. The rotating assembly 3 includes a rotating motor 301 mounted on the side plate. The output end of the rotating motor 301 is connected to a first bevel gear 302. The outer side of the rod 2 is provided with a second bevel gear 303 that meshes with the first bevel gear 302. The rotating motor 301 is electrically connected to a microcontroller. When the rotating assembly 3 drives the rod 2 to rotate, the microcontroller controls the rotating motor 301 to rotate. Then the rotating assembly 3 drives the first bevel gear 302 to rotate. By meshing the first bevel gear 302 with the second bevel gear 303, the second bevel gear 303 drives the rod 2 to rotate. When the microcontroller controls the rotating motor 301 to rotate in the opposite direction, the rod 2 can be rotated in the opposite direction, thus realizing the rotation control of the rod 2.

[0032] The fourth embodiment differs from the first embodiment in that:

[0033] The traveling component 7 includes a sliding rod 701 that slides with the beam frame 6. A stop is provided at the high end of the sliding rod 701, and a bottom connecting block 703 is connected to the bottom end of the sliding rod 701. A thrust spring 702 is provided on the outer side of the sliding rod 701 to push the bottom connecting block 703 downward. The bottom connecting block 703 can house a traveling motor 705. A traveling wheel 704 is connected to the output end of the traveling motor 705. The traveling motor 705 is electrically connected to a microcontroller. When the traveling motor 705 is energized, it drives the traveling wheel 704 to rotate. The rotation of the traveling wheel 704 assists the pipeline robot in its movement within the pipeline. During the use of component 7, the elasticity of the thrust spring 702 can push the sliding rod 701 to slide inside the beam frame 6, which can dampen the vibration of the travel motor 705 and ensure the contact effect between the travel wheel 704 and the inner wall of the pipe. Preferably, the sliding rod 701 is a regular polygon made of rubber, and the sliding rod 701 and the beam frame 6 are in sliding and sealed fit. In this way, the sliding rod 701 and the beam frame 6 are equivalent to a sliding damping structure during the sliding process, which helps the sliding rod 701 to slide smoothly. Moreover, the cross section of the sliding rod 701 is a regular polygon, which can prevent the sliding rod 701 from rotating and ensure the stability of the travel component 7 during use.

[0034] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A pipeline robot active turning mechanism, comprising a mounting plate (1) connected with the outer wall of the pipeline robot, characterized in that: the bottom surface of the mounting plate (1) is rotatably connected with a rod frame (2), the bottom of the rod frame (2) is connected with the middle of a beam frame (6), both ends of the beam frame (6) are provided with a traveling assembly (7) for auxiliary movement, the mounting plate (1) is provided with a rotating assembly (3) for driving the rotation of the rod frame (2), and the outer wall of the rod frame (2) is provided with an angle sensor (4); a single-chip microcomputer and a battery are further arranged in the pipeline robot, and the battery, the rotating assembly (3), the angle sensor (4) and the traveling assembly (7) are electrically connected with the single-chip microcomputer.

2. The active turning mechanism of a pipe robot according to claim 1, characterized in that: An infrared sensor (5) corresponding to the angle sensor (4) is arranged on the outer side of the rod frame (2), a plurality of reflection plates (501) corresponding to the infrared sensor (5) are arranged on the mounting plate (1), and the infrared sensor (5) is electrically connected with the single-chip microcomputer.

3. The active turning mechanism of a pipe robot according to claim 2, wherein: The number of the reflection plates (501) is four, and the corresponding angles are 0°, 45°, 90° and 135° respectively.

4. The active turning mechanism of a pipe robot according to claim 1, wherein: The bottom surface of the mounting plate (1) is provided with a side plate, the rotating assembly (3) comprises a rotating motor (301) mounted on the side plate, the output end of the rotating motor (301) is connected with a first bevel gear (302), the outer side of the rod frame (2) is provided with a second bevel gear (303) meshing with the first bevel gear (302), and the rotating motor (301) is electrically connected with the single-chip microcomputer.

5. The active turning mechanism of a pipe robot according to claim 1, wherein: The traveling assembly (7) comprises a sliding rod (701) in sliding fit with the beam frame (6), the high end of the sliding rod (701) is provided with a stop block, the bottom end of the sliding rod (701) is connected with a bottom connecting block (703), the outer side of the sliding rod (701) is provided with a thrust spring (702) for pushing the bottom connecting block (703) to move downward, the bottom connecting block (703) is provided with a traveling motor (705), the output end of the traveling motor (705) is connected with a traveling wheel (704), and the traveling motor (705) is electrically connected with the single-chip microcomputer.

6. The active turning mechanism of a pipe robot according to claim 5, wherein: The sliding rod (701) is a regular polygon made of rubber, and the sliding rod (701) is in sliding sealing fit with the beam frame (6).

7. The active turning mechanism of a pipe robot according to claim 1, wherein: A camera and a position sensor are arranged on the pipeline robot, and the camera and the position sensor are electrically connected with the single-chip microcomputer.

8. The active turning mechanism of a pipe robot according to claim 1, wherein: The top of the mounting plate (1) is connected with the pipeline robot through an electric push rod, and the electric push rod is electrically connected with the single-chip microcomputer.

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