Crawler-type pipeline evidence obtaining robot
The tracked pipeline evidence collection robot solves the problem of pipeline robots tipping over by designing a tracked vehicle, a robotic arm, and a support mechanism, achieving stable movement and high-precision data acquisition.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 潘涛
- Filing Date
- 2025-06-05
- Publication Date
- 2026-05-01
AI Technical Summary
Pipeline robots are prone to tipping over in complex pipeline environments, making them unable to move effectively.
A tracked pipeline evidence collection robot was designed, which consists of a tracked vehicle, a robotic arm, an evidence collection mechanism, a support mechanism, and a control mechanism. The stability is improved by using an electric telescopic rod and a top wheel structure, and the connector is fixed by a retaining ring to prevent detachment.
It improves the stability of movement within the pipeline, prevents tipping, and enables high-precision data acquisition and close-up photography.
Smart Images
Figure CN224188278U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the field of robotics, specifically relating to a tracked pipeline evidence collection robot. Background Technology
[0002] Pipelines are a widely used means of material transportation in industries such as industry, energy, military equipment, and urban construction. Urban sewage, natural gas, industrial material transportation, water supply and drainage, and building ventilation systems all utilize numerous complex and concealed pipelines. Ensuring the safety and effectiveness of these pipeline systems is of paramount importance.
[0003] Pipeline robots are now widely used for pipeline inspection. However, due to the complexity and diversity of the internal environment of pipelines, pipeline robots are prone to tipping over when moving inside the pipeline, which can cause them to become unable to move. Utility Model Content
[0004] The purpose of this invention is to provide a tracked pipeline evidence collection robot, which aims to solve the problem that the complex and diverse internal environment of pipelines in the prior art makes it easy for pipeline robots to tip over when moving inside pipelines.
[0005] To achieve the above objectives, this utility model provides the following technical solution:
[0006] A tracked pipeline forensics robot, comprising:
[0007] Tracked vehicles;
[0008] A robotic arm, which is mounted on a tracked vehicle;
[0009] The evidence collection unit, located on a tracked vehicle and a robotic arm, is used for collecting pipeline data.
[0010] A support mechanism, mounted on the tracked vehicle, is used to improve the stability of the tracked vehicle's movement.
[0011] The control mechanism is located on the tracked vehicle.
[0012] As a preferred embodiment of this utility model, the evidence collection mechanism includes a 3D scanning terminal, a high-definition recording module, and a high-definition night vision camera. The 3D scanning terminal is mounted on a tracked vehicle, the high-definition recording module is mounted on a tracked vehicle, and the high-definition night vision camera is mounted on a robotic arm.
[0013] As a preferred embodiment of this utility model, the support mechanism includes:
[0014] Adjustment components are located on the tracked vehicle;
[0015] The support component is located on the adjustment component.
[0016] In a preferred embodiment of this utility model, the adjusting component includes a U-shaped bracket, an electric telescopic rod, a sliding rod, and an adjusting plate. The U-shaped bracket is fixedly connected to the tracked vehicle. Two sliding rods are provided, both of which are movably inserted into the U-shaped bracket and extend through the U-shaped bracket to the outside of the U-shaped bracket. The adjusting plate is fixedly connected to the two sliding rods. The electric telescopic rod is fixedly connected to the U-shaped bracket, and the extended end of the electric telescopic rod movably passes through the U-shaped bracket and is fixedly connected to the adjusting plate.
[0017] In a preferred embodiment of this utility model, the supporting component includes a top wheel, a horizontal plate, springs, and T-shaped limiting rods. Two T-shaped limiting rods are provided, each movably inserted into the bottom of the adjusting plate and extending through the adjusting plate to its outer side. The horizontal plate is fixedly connected to the two T-shaped limiting rods. Two springs are provided, each fixedly connected between the adjusting plate and the horizontal plate, and each spring is movably sleeved on one of the two T-shaped limiting rods. Two top wheels are provided, each fixedly connected to the horizontal plate, and the two top wheels are symmetrically arranged.
[0018] As a preferred embodiment of this utility model, the control mechanism includes:
[0019] The control components are located on the tracked vehicle;
[0020] Limiting components are located on tracked vehicles and control components.
[0021] In a preferred embodiment of this utility model, the control component includes a data cable, a remote control handle, and a connector. The connector is movably plugged into the tracked vehicle, the data cable is fixedly connected to the connector, and the remote control handle is fixedly connected to the data cable.
[0022] In a preferred embodiment of this utility model, the limiting component includes a retaining ring A and a retaining ring B. The retaining ring A is fixedly connected to the tracked vehicle and is sleeved on the connecting head. The retaining ring B is detachably connected to the retaining ring A by screws and is sleeved on the connecting head.
[0023] Compared with the prior art, the beneficial effects of this utility model are:
[0024] 1. In this solution, the extension of the electric telescopic rod drives the adjustment plate to move. The movement of the adjustment plate drives the slide bar to move on the U-shaped bracket. The movement of the adjustment plate drives the two top wheels to move, so that the two top wheels press against the inner wall of the pipe. The two top wheels can press against the inner wall of the pipe to prevent the tracked vehicle from overturning when moving in the pipe, thereby improving the stability of the tracked vehicle when moving. The movement of the top wheels drives the horizontal plate to move. The movement of the horizontal plate compresses the spring. The movement of the horizontal plate drives the T-shaped limit rod to move on the adjustment plate.
[0025] 2. In this solution, the connector can be fixed to the tracked vehicle by setting the retaining ring A and retaining ring B, preventing the connector from coming off the tracked vehicle when the data cable is pulled.
[0026] 3. In this solution, the robotic arm can be used for grasping, and the high-definition night vision camera can be moved to allow the high-definition night vision camera to take close-up pictures of the inside of the pipe. Attached Figure Description
[0027] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:
[0028] Figure 1 This is a three-dimensional structural diagram of the present invention;
[0029] Figure 2 This utility model Figure 1 Enlarged view of point A in the middle;
[0030] Figure 3 This is a structural schematic diagram from another perspective of the present invention;
[0031] Figure 4 This utility model Figure 3 Enlarged view of point B in the middle.
[0032] In the diagram: 1. Tracked vehicle; 2. 3D scanning terminal; 3. High-definition camera module; 4. Robotic arm; 5. High-definition night vision camera; 6. U-shaped bracket; 7. Top wheel; 8. Horizontal plate; 9. Data cable; 10. Remote control handle; 11. Electric telescopic rod; 12. Slide rod; 13. Adjusting plate; 14. Spring; 15. Snap ring A; 16. Connector; 17. Snap ring B; 18. T-shaped limit rod. Detailed Implementation
[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0034] Please see Figures 1-4 The technical solution provided in this embodiment is as follows:
[0035] A tracked pipeline evidence collection robot consists of a tracked vehicle 1, a robotic arm 4, an evidence collection mechanism, a support mechanism, and a control mechanism. The robotic arm 4 is mounted on the tracked vehicle 1.
[0036] In a specific embodiment of this utility model, the robotic arm 4 can perform grasping, and the high-definition night vision camera 5 can be moved, so that the high-definition night vision camera 5 can take close-up pictures of the inside of the pipe.
[0037] Specifically, the evidence collection device is located on the tracked vehicle 1 and the robotic arm 4. It is used to collect pipeline data. The evidence collection device includes a 3D scanning terminal 2, a high-definition camera module 3, and a high-definition night vision camera 5. The 3D scanning terminal 2 is installed on the tracked vehicle 1, the high-definition camera module 3 is installed on the tracked vehicle 1, and the high-definition night vision camera 5 is installed on the robotic arm 4.
[0038] In a specific embodiment of this utility model, the 3D scanning terminal 2 is based on the principle of laser ranging to acquire 3D point cloud data of the inner wall of the pipe with an accuracy of 0.1mm. The scanning path reconstruction in the absence of GPS is realized through the SLAM algorithm. The high-definition camera module 3 is based on a 20-megapixel industrial camera and is equipped with a ring fill light to achieve uniform illumination. Each frame of image is synchronized with the scanning point cloud in time and space, and RGB color information and surface abnormal features are recorded. Based on the above, the pipe is used for evidence collection.
[0039] Specifically, the adjustment component is located on the tracked vehicle 1. The adjustment component includes a U-shaped bracket 6, an electric telescopic rod 11, a sliding rod 12, and an adjustment plate 13. The U-shaped bracket 6 is fixedly connected to the tracked vehicle 1. There are two sliding rods 12, both of which are movably inserted into the U-shaped bracket 6 and extend through the U-shaped bracket 6 to the outside of the U-shaped bracket 6. The adjustment plate 13 is fixedly connected to the two sliding rods 12. The electric telescopic rod 11 is fixedly connected to the U-shaped bracket 6, and the extended end of the electric telescopic rod 11 movably passes through the U-shaped bracket 6 and is fixedly connected to the adjustment plate 13.
[0040] In a specific embodiment of this utility model, the electric telescopic rod 11 extends and drives the adjusting plate 13 to move. The movement of the adjusting plate 13 drives the sliding rod 12 to move on the U-shaped bracket 6. The movement of the adjusting plate 13 drives the two top wheels 7 to move, so that the two top wheels 7 press against the inner wall of the pipe.
[0041] Specifically, the support component is located on the adjustment component. The support component includes a top wheel 7, a horizontal plate 8, a spring 14, and a T-shaped limiting rod 18. There are two T-shaped limiting rods 18, both of which are movably inserted into the bottom of the adjustment plate 13 and extend through the adjustment plate 13 to the outside of the adjustment plate 13. The horizontal plate 8 is fixedly connected to the two T-shaped limiting rods 18. There are two springs 14, both of which are fixedly connected between the adjustment plate 13 and the horizontal plate 8, and both springs 14 are movably sleeved on the two T-shaped limiting rods 18 respectively. There are two top wheels 7, both of which are fixedly connected to the horizontal plate 8 and are symmetrically arranged.
[0042] In a specific embodiment of this utility model, the two top wheels 7 can be used to press against the inner wall of the pipe to prevent the tracked vehicle 1 from overturning when moving inside the pipe, thereby improving the stability of the tracked vehicle 1 when moving. The movement of the top wheels 7 drives the horizontal plate 8 to move, the movement of the horizontal plate 8 compresses the spring 14, and the movement of the horizontal plate 8 drives the T-shaped limit rod 18 to move on the adjusting plate 13.
[0043] Specifically, the control unit is located on the tracked vehicle 1. The control unit includes a data cable 9, a remote control handle 10, and a connector 16. The connector 16 is movably plugged into the tracked vehicle 1, the data cable 9 is fixedly connected to the connector 16, and the remote control handle 10 is fixedly connected to the data cable 9.
[0044] In a specific embodiment of this utility model, the connector 16 is provided for connecting the tracked vehicle 1, and the data cable 9 is provided for connecting the connector 16 and the remote control handle 10.
[0045] Specifically, the limiting components are provided on the tracked vehicle 1 and the control components. The limiting components include a retaining ring A15 and a retaining ring B17. The retaining ring A15 is fixedly connected to the tracked vehicle 1 and is sleeved on the connector 16. The retaining ring B17 is detachably connected to the retaining ring A15 by screws and is sleeved on the connector 16.
[0046] In a specific embodiment of this utility model, the connector 16 can be fixed on the tracked vehicle 1 by setting the retaining ring A15 and retaining ring B17, so as to prevent the connector 16 from detaching from the tracked vehicle 1 when the data cable 9 is pulled.
[0047] The working principle or process of the tracked pipeline evidence collection robot provided by this utility model is as follows: The electric telescopic rod 11 extends and drives the adjusting plate 13 to move. The movement of the adjusting plate 13 drives the sliding rod 12 to move on the U-shaped bracket 6. The movement of the adjusting plate 13 drives the two top wheels 7 to move, so that the two top wheels 7 press against the inner wall of the pipeline. The setting of the two top wheels 7 can press against the inner wall of the pipeline to prevent the tracked vehicle 1 from overturning when moving in the pipeline, thereby improving the stability of the tracked vehicle 1 when moving. The movement of the top wheels 7 drives the horizontal plate 8 to move. The movement of the horizontal plate 8 compresses the spring 14. The movement of the horizontal plate 8 drives the T-shaped limit rod 18 to move on the adjusting plate 13. The setting of the retaining ring A15 and retaining ring B17 can fix the connector 16 on the tracked vehicle 1 to prevent the connector 16 from detaching from the tracked vehicle 1 when the data cable 9 is pulled. The setting of the robotic arm 4 can grasp it. The high-definition night vision camera 5 can be driven to move, so that the high-definition night vision camera 5 can be photographed at close range inside the pipeline.
[0048] Finally, it should be noted that the above are merely preferred embodiments of this utility model and are not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.
Claims
1. A tracked pipeline evidence collection robot, characterized in that, include: Tracked vehicle (1); A robotic arm (4) is mounted on a tracked vehicle (1); The evidence collection unit is located on the tracked vehicle (1) and the robotic arm (4), and is used for collecting pipeline data; A support mechanism is provided on the tracked vehicle (1), and the support mechanism is used to improve the stability of the movement of the tracked vehicle (1); The control mechanism is located on the tracked vehicle (1); The supporting structure includes: Adjustment components are mounted on the tracked vehicle (1); Support components are mounted on the adjustment components; The adjustment components include a U-shaped bracket (6), an electric telescopic rod (11), a sliding rod (12), and an adjustment plate (13). The U-shaped bracket (6) is fixedly connected to the tracked vehicle (1). There are two sliding rods (12), both of which are movably inserted into the U-shaped bracket (6) and extend through the U-shaped bracket (6) to the outside of the U-shaped bracket (6). The adjustment plate (13) is fixedly connected to the two sliding rods (12). The electric telescopic rod (11) is fixedly connected to the U-shaped bracket (6), and the extended end of the electric telescopic rod (11) movably passes through the U-shaped bracket (6) and is fixedly connected to the adjustment plate (13). The supporting components include a top wheel (7), a horizontal plate (8), a spring (14), and a T-shaped limiting rod (18). There are two T-shaped limiting rods (18), both of which are movably inserted into the bottom of the adjusting plate (13) and extend through the adjusting plate (13) to the outside of the adjusting plate (13). The horizontal plate (8) is fixedly connected to the two T-shaped limiting rods (18). There are two springs (14), both of which are fixedly connected between the adjusting plate (13) and the horizontal plate (8) and are respectively movably sleeved on the two T-shaped limiting rods (18). There are two top wheels (7), both of which are fixedly connected to the horizontal plate (8) and are symmetrically arranged.
2. The tracked pipeline evidence collection robot according to claim 1, characterized in that: The evidence collection mechanism includes a three-dimensional scanning terminal (2), a high-definition recording module (3) and a high-definition night vision camera (5). The three-dimensional scanning terminal (2) is installed on the tracked vehicle (1), the high-definition recording module (3) is installed on the tracked vehicle (1), and the high-definition night vision camera (5) is installed on the robotic arm (4).
3. The tracked pipeline evidence collection robot according to claim 2, characterized in that, The control mechanism includes: The control components are located on the tracked vehicle (1); Limiting components are provided on the tracked vehicle (1) and the control components.
4. The tracked pipeline evidence collection robot according to claim 3, characterized in that: The control components include a data cable (9), a remote control handle (10), and a connector (16). The connector (16) is movably plugged into the tracked vehicle (1). The data cable (9) is fixedly connected to the connector (16), and the remote control handle (10) is fixedly connected to the data cable (9).
5. A tracked pipeline evidence collection robot according to claim 4, characterized in that: The limiting component includes a retaining ring A (15) and a retaining ring B (17). The retaining ring A (15) is fixedly connected to the tracked vehicle (1) and is sleeved on the connector (16). The retaining ring B (17) is detachably connected to the retaining ring A (15) by screws and is sleeved on the connector (16).