Path-retracting drive mechanism for inspection robots in confined spaces

Abstract

This utility model discloses a path-retracting drive device for inspection robots in confined spaces, relating to the field of inspection robot technology. It includes a pipe to be inspected, with a main moving box mounted on the outer wall of the pipe and a robot body mounted on top of the main moving box. By incorporating a fixed rod and a telescopic rod, this utility model enhances the automatic obstacle avoidance effect of the inspection robot when moving on pipes, especially when assisted by a drive device. The telescopic rod connects to a secondary moving box that is parallel to the pipe. While the secondary moving box moves on the pipe, a third servo motor is activated, causing the fixed rod and the main moving box to flip. When the main moving box crosses an obstacle in a vertical position, a second servo motor is activated, bringing the main moving box parallel to the pipe again, allowing the inspection moving block to re-enter contact with the pipe, and retracting the secondary moving box. This achieves the daily obstacle avoidance effect for the inspection robot.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically to a path-retracting drive device for inspection robots used in confined spaces. Background Technology

[0002] Based on OCR and image recognition capabilities, the "inspection robot" can simulate professional human operation and perform inspection operations such as clicking, recognizing, and checking on multiple pages across the entire website and in various scenarios throughout the entire financial transaction process. It can realize automated inspection and monitoring of APP pages. When using the inspection robot for daily use, a drive device is required to assist the robot in its daily operation.

[0003] However, while existing drive devices can enable robots to move well along the outer wall of pipes, they often only allow the robot to move on pipes of fixed sizes. When it is necessary to move the robot on pipes of different sizes in confined spaces, the robot's ability to adjust and fit with pipes of different sizes is not high. Furthermore, the robot's obstacle avoidance performance on pipes is not good when it needs to move, which reduces the stability of the robot's continuous movement on confined spaces.

[0004] Therefore, in view of this, we studied and improved the existing structure to address its shortcomings, and proposed a path-retracting drive device for inspection robots in confined spaces. Utility Model Content

[0005] The purpose of this invention is to provide a path-retracting drive device for inspection robots in confined spaces, in order to solve the problems mentioned in the background art, such as the robot's poor fit with pipes of different sizes when moving on confined pipes, the robot's obstacle avoidance effect on the pipes, and the reduced stability of the robot's continuous movement on confined pipes.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a path-retractable drive device for an inspection robot in confined spaces, comprising a tube to be inspected, a main moving box disposed on the outer wall of the tube to be inspected, a robot body mounted on the top of the main moving box, a sliding rod slidably connected to the outer wall of the main moving box, a maintenance moving block located on one side of the tube to be inspected being fixedly connected to one end of the sliding rod, a second servo motor disposed on the outer wall of the main moving box, a fixed rod fixedly connected to the output end of the second servo motor, a telescopic rod slidably connected to the inner wall of the fixed rod, a secondary moving box rotatably connected to the end of the telescopic rod, and a third servo motor fixedly connected to the rotation center of the telescopic rod on the outer wall of the secondary moving box.

[0007] Furthermore, a first servo motor is provided on the outer wall of the main moving box, and a bevel gear set is fixedly connected to the output end of the first servo motor. A threaded rod that is threadedly connected to the outer wall of the bevel gear set is fixedly connected to the outer wall of the sliding rod.

[0008] Furthermore, the threaded rod is provided in two sets, and the two sets of threaded rods rotate in opposite directions.

[0009] Furthermore, a groove is provided at the connection between the outer wall of the main moving box and the sliding rod.

[0010] Furthermore, an electric push rod is fixedly connected to the outer wall of the fixed rod and is also fixedly connected to the outer wall of the telescopic rod.

[0011] Furthermore, the inner wall of the fixed rod is provided with a telescopic groove at the connection between it and the telescopic rod.

[0012] Furthermore, the internal structure of the secondary moving box is configured in the same way as the internal structure of the main moving box.

[0013] Furthermore, the rotation angle range of both the second and third servo motors is set to 0°-90°.

[0014] Compared with the prior art, the beneficial effects of this utility model are: 1. The fixed rod and telescopic rod of this utility model can improve the automatic obstacle avoidance effect of the inspection robot when it moves on the pipeline by assisting the inspection robot with the drive device. When the visual monitor detects an obstacle, it transmits a signal to the second servo motor to drive the fixed rod to rotate. Under the connection of the telescopic rod, the auxiliary moving box is driven to be parallel to the pipeline. When the auxiliary moving box moves on the pipeline, the third servo motor is turned on to drive the fixed rod and the main moving box to rotate. When the main moving box crosses the obstacle in a vertical state, the second servo motor is turned on to make the main moving box parallel to the pipeline, so that the inspection moving block contacts the pipeline again and the auxiliary moving box is put away, thus achieving the daily obstacle avoidance effect of the inspection robot. 2. The threaded rod provided in this utility model can improve the telescopic and fixed effect of the inspection robot on pipes of different diameters during daily use. By turning on the first servo motor and rotating the bevel gear set, the threaded rod is driven to rotate. The rotation of the threaded rod causes the sliding rod to slide along the inner wall of the slide groove, and drives the maintenance moving block to slide in center, so as to achieve the effect of adapting to the installation and maintenance of pipes of different diameters. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the driving device of this utility model; Figure 2This is a three-dimensional structural diagram of the connection between the bevel gear set and the threaded rod of this utility model; Figure 3 This is a schematic diagram of the main moving box in the flipped state structure of this utility model; Figure 4 This is a schematic diagram of the structure of the secondary movable box in the flipped state of this utility model.

[0016] In the picture: 1. Tube to be inspected; 2. Main moving box; 3. Robot body; 4. First servo motor; 5. Bevel gear set; 6. Threaded rod; 7. Sliding rod; 8. Slide groove; 9. Inspection moving block; 10. Second servo motor; 11. Fixed rod; 12. Electric push rod; 13. Telescopic rod; 14. Secondary moving box; 15. Third servo motor. Detailed Implementation

[0017] 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.

[0018] Example 1: like Figures 1-4 As shown, a path-retracting drive device for an inspection robot in confined spaces includes a pipe to be inspected 1. A main moving box 2 is mounted on the outer wall of the pipe to be inspected 1. A robot body 3 is mounted on the top of the main moving box 2. A sliding rod 7 is slidably connected to the outer wall of the main moving box 2. One end of the sliding rod 7 is fixedly connected to an inspection moving block 9 located on one side of the pipe to be inspected 1. A second servo motor 10 is mounted on the outer wall of the main moving box 2. A fixed rod 11 is fixedly connected to the output end of the second servo motor 10. A telescopic rod 13 is slidably connected to the inner wall of the fixed rod 11. A secondary moving box 14 is rotatably connected to the end of the telescopic rod 13. A third servo motor 15 is fixedly connected to the rotation center of the telescopic rod 13 on the outer wall of the secondary moving box 14. The robot body 3 is assisted by a drive device. When the inspection robot is in use, in order to improve the automatic obstacle avoidance effect when the inspection robot moves on the pipeline, when the vision monitor detects an obstacle, it transmits a signal to the second servo motor 10 to drive the fixed rod 11 to rotate. Under the connection of the telescopic rod 13, it drives the auxiliary moving box 14 to be parallel to the pipeline. When the auxiliary moving box 14 moves on the pipeline, the third servo motor 15 is turned on, which drives the fixed rod 11 and the main moving box 2 to rotate. When the main moving box 2 passes the obstacle in a vertical state, the second servo motor 10 is turned on to make the main moving box 2 parallel to the pipeline, so that the maintenance moving block 9 makes contact with the pipeline again, and the auxiliary moving box 14 is put away, thus achieving the daily obstacle avoidance effect of the inspection robot.

[0019] like Figure 2 As shown, a first servo motor 4 is provided on the outer wall of the main moving box 2. A bevel gear set 5 is fixedly connected to the output end of the first servo motor 4. A threaded rod 6 that is threadedly connected to the outer wall of the bevel gear set 5 is fixedly connected to the outer wall of the sliding rod 7. This facilitates the smooth sliding of the sliding rod 7 by setting the threaded rod 6.

[0020] like Figure 2 As shown, there are two sets of threaded rods 6, and the two sets of threaded rods 6 rotate in opposite directions. This is beneficial to achieving the effect of driving the two sets of sliding rods 7 to slide relative to each other by setting two sets of threaded rods 6 with opposite rotation directions.

[0021] like Figure 2 As shown, a groove 8 is provided at the connection between the outer wall of the main moving box 2 and the sliding rod 7, which facilitates the limiting sliding effect of the sliding rod 7 through the opening of the groove 8.

[0022] like Figure 1 As shown, an electric push rod 12 is fixedly connected to the outer wall of the fixed rod 11 and to the outer wall of the telescopic rod 13. This facilitates the telescopic rod 13 to extend and retract easily by using the electric push rod 12.

[0023] like Figure 1 As shown, the inner wall of the fixed rod 11 and the connection part of the telescopic rod 13 are provided with a telescopic groove, which is conducive to achieving the effect of limiting the sliding of the telescopic rod 13 through the opening of the telescopic groove.

[0024] like Figure 3 and Figure 4 As shown, the internal structure of the auxiliary movable box 14 is the same as that of the main movable box 2, which is beneficial to achieve the effect of connecting and installing the auxiliary movable box 14 with the pipeline by having the internal structure of the auxiliary movable box 14 the same as that of the main movable box 2.

[0025] like Figure 3 and Figure 4 As shown, the rotation angle range of the second servo motor 10 and the third servo motor 15 is set to 0°-90°, which is beneficial to achieving the effect of obstacle avoidance movement of the robot by setting the rotation angle range of the second servo motor 10 and the third servo motor 15 to 0°-90°.

[0026] Working principle: When using the path-retracting drive device for inspection robots in confined spaces, firstly, when the inspection robot is moved by the drive device, in order to improve the automatic obstacle avoidance effect when the inspection robot moves on the pipeline, when the vision monitor detects an obstacle, it transmits a signal to the second servo motor 10 to drive the fixed rod 11 to rotate. Under the connection of the telescopic rod 13, it drives the auxiliary moving box 14 to be parallel to the pipeline. When the auxiliary moving box 14 moves on the pipeline, the third servo motor 15 is turned on, driving the fixed rod 11 and the main moving box 2 to rotate. When the main moving box 2 passes the obstacle in a vertical state, the second servo motor 10 is turned on to make the main moving box 2 parallel to the pipeline, so that the maintenance moving block 9 contacts the pipeline again, and the auxiliary moving box 14 is retracted, achieving the daily obstacle avoidance effect of the inspection robot.

[0027] Finally, during daily use of the inspection robot, in order to improve the robot's telescopic and fixed effect on pipes of different diameters, the first servo motor 4 is turned on, and the rotation of the bevel gear set 5 drives the threaded rod 6 to rotate. The rotation of the threaded rod 6 drives the sliding rod 7 to slide along the inner wall of the slide groove 8, and drives the maintenance moving block 9 to slide in center, so as to achieve the effect of adapting to the installation and maintenance of pipes of different diameters.

[0028] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A path contraction type driving device for a patrol robot in a narrow space, comprising a pipe (1) to be inspected, characterized in that, The outer wall of the tube to be inspected (1) is provided with a main moving box (2), the top of the main moving box (2) is equipped with a robot body (3), the outer wall of the main moving box (2) is slidably connected with a sliding rod (7), one end of the sliding rod (7) is fixedly connected with an inspection moving block (9) located on one side of the tube to be inspected (1), the outer wall of the main moving box (2) is provided with a second servo motor (10), the output end of the second servo motor (10) is fixedly connected with a fixed rod (11), the inner wall of the fixed rod (11) is slidably connected with a telescopic rod (13), the end of the telescopic rod (13) is rotatably connected with a secondary moving box (14), the outer wall of the secondary moving box (14) is provided with a third servo motor (15) fixedly connected to the rotation center of the telescopic rod (13).

2. The path contracted drive device for inspection robot in narrow space according to claim 1, characterized in that, The outer wall of the main moving box (2) is provided with a first servo motor (4), and the output end of the first servo motor (4) is fixedly connected to a bevel gear set (5). The outer wall of the bevel gear set (5) is fixedly connected to a threaded rod (6) that is threadedly connected to the outer wall of the sliding rod (7).

3. The path contracted drive device of the inspection robot for a narrow space according to claim 2, characterized by, The threaded rod (6) is provided in two sets, and the two sets of threaded rods (6) rotate in opposite directions.

4. The reduced drive path robot for tight spaces of claim 1, wherein, The outer wall of the main moving box (2) is provided with a groove (8) at the connection between the sliding rod (7) and the outer wall.

5. The reduced drive path robot for tight spaces of claim 1, wherein, An electric push rod (12) is fixedly connected to the outer wall of the fixed rod (11) and is fixedly connected to the outer wall of the telescopic rod (13).

6. The reduced drive path robot for tight spaces of claim 1, wherein, The inner wall of the fixed rod (11) and the connection part of the telescopic rod (13) are provided with a telescopic groove.

7. The reduced drive path robot for tight spaces of claim 1, wherein, The internal structure of the secondary moving box (14) is the same as that of the main moving box (2).

8. The reduced drive path robot for tight spaces of claim 1, wherein, The rotation angle range of the second servo motor (10) and the third servo motor (15) is set to 0°-90°.

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