CN113752764A

CN113752764A - A four-blade crawler inspection robot

Info

Publication number: CN113752764A
Application number: CN202111041450.1A
Authority: CN
Inventors: 张博文; 段继鑫; 白涛歌; 何魏莉; 马文泊; 黄亮
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2021-09-06
Filing date: 2021-09-06
Publication date: 2021-12-07

Abstract

The patent of the present invention belongs to the technical field of urban drainage system, and discloses a four-paddle crawler-type inspection robot, which includes a frame body and a frame body assembly; the frame body includes a frame plate and a connecting plate, and the connecting plate is used for connecting the frame. Plates and Frame Plates. The wheel is arranged in the crawler track of the frame body, and the wheel is connected with the control box in the frame body through the drive connecting piece. There are four fan blade fixing rods on the frame body, and fan blade assemblies are arranged on them; the front fan blades and the rear fan blades are fixedly arranged on the front and rear fan blade fixing rods, and the front and rear fan blades can be independently operated and controlled, so that the To achieve the rotation of the direction in the air. In addition, there is a buckle part, which can be operated to separate the frame body from the frame body under special circumstances, so that the two parts can independently perform exploration tasks, improve the mechanization performance of the device, and save time and effort. The connection method between the frame and the frame of the patent of the present invention adopts a tenon-and-mortise structure, which makes the body structure of the four-paddle crawler type detection robot compact and improves the stability of its structure. Through the patent of the present invention, the automatic walking of the urban drainage system can be realized. Monitoring avoids unsafe factors in manual detection, improves work efficiency, and reduces monitoring costs.

Description

Four-paddle crawler-type detection robot

Technical Field

The invention belongs to the technical field of urban drainage system detection, and particularly relates to a four-paddle crawler-type detection robot.

Background

After the construction of the drainage system is completed, the quality of the drainage system still needs to be detected and maintained in the later stage, and under the conventional condition, a worker needs to hold a detection radar by hand and can detect and obtain lining and disease information behind the lining through a special detection vehicle and other equipment. The method has the problems of high equipment investment cost in the early stage, large number of required workers, low efficiency, large human interference factor and the like.

Therefore need provide a new sewer and detect exploration equipment, with the quality and the efficiency that improve the sewer and detect, someone has proposed a four-bladed unmanned aerial vehicle who takes the walking wheel among the prior art, through flight in the pipeline and crawl along the pipeline wall, with the machine operation that detects in the realization drainage system, however, because there is silt deposit in shallow water department such as pipeline export wall, the lifting power and the drive power that need when crawling are great, make it appear the not enough phenomenon of skidding that leads to of frictional force easily when the pipeline wall crawls.

Disclosure of Invention

The invention overcomes the defects of the prior art, and solves the technical problems that: the crawler-type four-paddle crawler-type detection robot is provided to realize safe walking of the detection robot, and carry out pipeline quality detection through a carried ground penetrating radar sensor so as to improve the quality and the efficiency of detection.

In order to solve the technical problems, the invention adopts the technical scheme that:

a four-paddle crawler-type detection robot comprises a frame body, a fan blade assembly and a crawler arranged below the frame body; the frame body comprises an upper frame plate and the connecting frame is used for connecting the upper frame plate and the lower crawler. The airplane wheels are arranged at four corners of the frame body and connected with the frame body through driving connecting pieces, and a control box is arranged in the center of the frame body and used for arranging a main controller and a control circuit; the driving connecting piece comprises a pressure sensor, a driving motor, a bearing seat, a hub and a lower support arm. The lower support arm is fixedly connected with the frame plate; the clamping part comprises at least two clamping plates, groove parts matched with the fan blade fixing rods are arranged on the clamping plates, and the clamping plates are arranged on two sides of the upper base or the lower base. The wheels are arranged in the track of the frame body and are connected with the control box in the frame body through the driving connecting piece. The frame body is provided with four fan blade fixing rods, and fan blade components are uniformly distributed on the four fan blade fixing rods; the front fan blade and the rear fan blade are fixedly arranged on the front fan blade fixing rod and the rear fan blade fixing rod, and the front fan blade and the rear fan blade can be independently operated and controlled, so that the rotation in the air direction is realized. In addition, a clamping part is arranged, and under special conditions, the frame body can be operated to be separated from the machine frame body, so that the two parts can independently perform exploration tasks.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention provides a four-paddle crawler-type detection robot, which is characterized in that a crawler belt for walking is arranged on the detection robot, so that the detection robot loaded with a ground penetrating radar can run on the wall of a shallow water pipeline to detect the quality of the pipeline, and the quality and the efficiency of pipeline detection are improved. The utility model discloses a four-wheel drive system provides drive power around, and the fan blade provides the lifting power, can realize safe walking and flight on the pipe wall in the pipeline of inspection robot, compares in conventional detecting system, can detect on a wider scale. Therefore, the invention can provide more detection area compared with the conventional detection system.

2. In the invention, the frame body adopts a mortise and tenon type design comprising an upper frame plate, a lower frame plate and a connecting plate, so that the stability is strong, and the damage to the machine body in the collision process of the detection robot can be reduced.

3. In the invention patent, the buckle can be separated from the frame body through operating the frame body under special conditions, and the two parts can independently perform exploration tasks.

Drawings

FIG. 1 is a general three-dimensional schematic of the present invention patent.

Fig. 2 is a side view of the present invention.

Figure 3 is a schematic view of the drive link configuration of the track portion in cooperation with the wheel.

In the figure: 1 frame body, 2 frame bodies, 3 frame upper covers, 4 frame lower covers, 5 fan blade fixing rods, 6 folding bearings, 7 driving connecting pieces, 8 pressure sensors, 9 driving motors, 10 bearing seats, 11 hubs, 12 lower supporting arms, 13 caterpillar bands, 14 wheels, 15 connecting bolts, 16 infrared cameras, 17 front fan blades, 18 rear fan blades, 19 connecting plates, 20 buckling parts, 21 control boxes and 22 signal receiving plates

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described in detail and fully below. Obviously, the embodiments described in the present patent are a part of the embodiments of the present patent, and not all embodiments; all other embodiments obtained by a person skilled in the art without any creative effort based on the embodiments in the patent of the present invention belong to the protection scope of the present invention.

As shown in fig. 1-2, the patent of the invention provides that the connecting buckle is vertically arranged, and the upper end and the lower end of the connecting buckle are fixedly connected with the frame plate 2 and the frame body 1. Specifically, the two parts are connected by arranging a groove of the upper cover 3 of the rack and a controllable telescopic buckle on the lower cover 4 of the rack. In addition, the four corners of the lower machine cover are respectively provided with a spiral groove for fixing the fan blade fixing rod 5, thereby ensuring the stability of the structure of the machine frame body. Wherein each fan blade dead lever 5 all has a folding bearing 6 on, can fold fan blade dead lever 5 through folding bearing 6's folding, and this makes the storage space of frame body obtain reducing, has made things convenient for staff's storage, carry.

Further, in fig. 3, in the present embodiment, the driving connection member 7 includes, 8, a pressure sensor, 9, a driving motor, 10, a bearing seat, 11, a hub, and 12, a lower arm. Lower support arm 7 is used for with car frame body 1 fixed connection, through drive connecting piece 7, can set up wheel 14 on detection robot's frame body 1, drive connecting piece 7 and car frame body 1's upper and lower structure cooperation can improve the structural stability of whole detection robot frame.

The working principle and the working process of the invention are as follows: after the detection robot is started, the detection robot is controlled to enter the pipeline opening of the urban drainage system, then the rotating speed of the front fan blade 17 and the rotating speed of the rear fan blade 18 are increased, the detection robot leaves the ground and enters the pipeline, the driving connecting piece 7 is controlled to enable the driving motor 9 to enable the wheel 14 to rotate, the crawler 13 of the frame part of the detection robot works, and in the process that the detection robot climbs in the pipeline, the ground penetrating radar arranged in the signal receiving plate 22 can detect the quality data of the pipeline wall. And can take a picture using the camera 16 mounted on the frame body. When the steering is needed, the rear fan blade 18 can be driven to rotate at different speeds, so as to achieve the purpose of steering.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments can be modified, or some or all of the technical features can be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present patent.

Claims

1. A four-paddle type crawler-type detection robot, characterized in that: comprising a frame body (1) and a frame body (2), a fan blade fixing rod (5), a wheel (14), a buckle portion (20) , an infrared camera (22). The fan blade fixing rod (5) is fixed between the upper machine cover (3) and the lower machine cover (4) on the frame body (2). The wheel (14) is arranged in the track (13) of the frame body (1).

2. According to claim 1, there are four said fan blade fixing rods (5) in total, and the installation contents on said fan blade fixing rod (5) include front fan blades (17) and rear fan blades (18) and folding The bearing (6), the front fan blade (17), and the rear fan blade (18) can respectively work at different rotational speeds, so as to realize the steering during the flight operation.

3. The wheel (14) according to claim 1, each of the crawler belts (13) contains 3 wheels (14), and the upper frame cover (3) of the frame body (2) ) and the lower frame cover (4), there is a control box (21), and the control box (21) is equipped with a main controller and a control circuit; this design effectively reduces the size of the inspection robot and facilitates inspection and maintenance staff. 's carry.

4. According to claim 2, the fan blade fixing rod (5) is a cuboid rod with a threaded arc at the end, and the upper mecha cover (3) and the lower mecha cover (4) are provided with The threaded arc-shaped groove at the end of the fan blade fixing rod (5) can pass through the groove, and after rotating, the four fan blade fixing rods can be connected with the frame body.

5. The buckle portion (20) according to claim 1, characterized in that the buckle portion (20) comprises at least two buckle plates respectively, and the frame body (1) is provided with The groove portion of the frame body (2) is matched in shape, the buckle plates are arranged on both sides of the groove of the frame body, and the bayonet plate can be received into the frame body through remote control, so that the frame body and the frame body can be Rack body is separated.

6. The infrared camera (22) according to claim 1, wherein an infrared camera (22) is provided on both the vehicle frame body (1) and the frame body (2), and the infrared camera ( 22) It can be used to detect various conditions in the pipeline, and can be connected to other mobile devices through the Bluetooth setting in the control box.