CN-224229551-U - Multi-degree-of-freedom machine vision pipeline elbow inspection robot

Abstract

The utility model discloses a multi-degree-of-freedom machine vision pipeline elbow inspection robot, which relates to the technical field of pipeline inspection and comprises a first support plate and a second support plate, wherein three first mounting plates are symmetrically arranged on the outer side of the first support plate, three groups of first connecting rods are hinged on the right side of the first support plate, three groups of second connecting rods are hinged on the left side of the second support plate, movable wheels are arranged on the outer side of the first mounting plates, three mounting sleeves are fixedly arranged on the left side of the first support plate, a detection end is arranged on the left side of the first support plate, and a camera is connected and mounted on the detection end to form a multi-degree-of-freedom rotating structure. The multi-degree-of-freedom machine vision pipeline elbow inspection robot can realize high-definition shooting with 90-degree pitching and 360-degree rotation at the elbow, reduces detection dead zones, is suitable for automatic inspection of pipelines such as oil gas, water supply and drainage and the like, and improves detection efficiency and safety.

Inventors

• JIANG XUEPING
• MA KANG
• SU TONG
• BAO CHAO
• MA XIN
• WANG YIFAN
• Lin Yuhanxiao
• LIU KAI
• GUO ZHONGDA
• YANG JIALE
• BAI JIANJUN

Assignees

• 宁夏大学

Dates

Publication Date

20260512

Application Date

20250701

Claims (7)

1. 1. The utility model provides a multi freedom machine vision pipeline elbow inspection robot, includes first backup pad (1) and second backup pad (2), first backup pad (1) are located second backup pad (2) left side, and first backup pad (1) and second backup pad (2) intermediate border position symmetry are connected with three slide bar (3), wherein first backup pad (1) and second backup pad (2) outside all are provided with three first mounting panel (6) symmetrically, first backup pad (1) right side all articulates has three first connecting rod (4) of group, and second backup pad (2) left side all articulates has three second connecting rod (5) of group to first connecting rod (4) and second connecting rod (5) all articulate in the left and right sides of first mounting panel (6), first mounting panel (6) outside all is provided with and removes round (9), first backup pad (1) left side all fixed mounting has three installation cover (14), and installation cover (14) slope installation in first backup pad (1) left side, first backup pad (1) left side is provided with the end (21) and constitutes rotation structure.
2. 2. The multi-degree-of-freedom machine vision pipeline elbow inspection robot of claim 1, wherein four spring shock absorbers (7) are connected to the outer side of the first mounting plate (6), a traveling driving box (8) is connected to the outer side of each spring shock absorber (7), a control device is connected to an external signal of each traveling driving box (8), and four moving wheels (9) are connected to each traveling driving box (8).
3. 3. The multi-degree-of-freedom machine vision pipeline elbow inspection robot of claim 1, wherein a first servo motor (10) is fixedly arranged on the right side of the second supporting plate (2), the first servo motor (10) is controlled by a remote controller, a first threaded rod (11) is arranged at the left output end of the first servo motor (10) in a connecting mode, and the left side of the first threaded rod (11) is rotatably connected to the right side face of the first supporting plate (1).
4. 4. The multi-degree-of-freedom machine vision pipeline elbow inspection robot according to claim 3, wherein a triangular plate (12) is connected to the outer side of the first threaded rod (11) in a threaded mode, the triangular plates (12) are connected to the outer side of the sliding rod (3) in a sliding mode, three sides of the triangular plates (12) are hinged to third connecting rods (13), and the third connecting rods (13) are hinged to the middle position of the second connecting rods (5).
5. 5. The multi-degree-of-freedom machine vision pipeline elbow inspection robot of claim 1, wherein the right side ends of the mounting sleeves (14) are fixedly provided with second servo motors (15), the second servo motors (15) are controlled by a remote controller, the left side output ends of the second servo motors (15) are connected with second threaded rods (16), and the left side ends of the second threaded rods (16) are rotatably connected to the left side surfaces inside the mounting sleeves (14).
6. 6. The multi-degree-of-freedom machine vision pipeline elbow inspection robot of claim 5, wherein the outer sides of the second threaded rods (16) are respectively connected with a moving block (17) in a threaded mode, the moving blocks (17) are respectively connected with a sliding groove on the outer side of the mounting sleeve (14) in a sliding mode, and a fourth connecting rod (18) is hinged to the outer sides of the moving blocks (17).
7. 7. The multi-degree-of-freedom machine vision pipeline elbow inspection robot of claim 6, wherein the left side ends of the fourth connecting rods (18) are respectively provided with a rotating head (19), the rotating heads (19) are respectively connected with the second mounting plate (20) in a rotating mode, the right side ends of the second mounting plates (20) are respectively provided with three circular grooves, and the rotating heads (19) are respectively connected with the inside of the circular grooves in a rotating mode.

Description

Multi-degree-of-freedom machine vision pipeline elbow inspection robot Technical Field The utility model relates to the technical field of pipeline inspection, in particular to a multi-degree-of-freedom machine vision pipeline elbow inspection robot. Background The pipeline inspection robot is intelligent equipment for detecting the inside of an industrial pipeline, and autonomously moves in the pipeline and acquires data by carrying devices such as a camera, a sensor and the like. The machine body of the intelligent inspection robot is designed in a modularized mode, and can pass through complex terrains such as curves and slopes by means of tracks, wheels or spiral driving structures, defects such as corrosion, cracks and blockage of pipelines can be monitored in real time, images and data are synchronously transmitted to a terminal system, 3D modeling and defect analysis are supported, the integrated AI recognition technology of the modern inspection robot can automatically mark damaged positions, the intelligent inspection robot is widely applied to oil gas, water supply and drainage and periodic maintenance of chemical pipelines, manual work is replaced to enter limited space operation, detection efficiency and safety are improved, and certain problems still exist when the traditional pipeline inspection robot is used: The technical scheme includes that the pipeline inspection robot comprises a mounting platform, ultrasonic detectors are symmetrically and fixedly mounted on two sides above the mounting platform, round holes are symmetrically formed in two sides of the mounting platform, rubber ferrules are fixedly mounted in the round holes, sleeves are sleeved in the rubber ferrules, threaded holes are formed in the sleeves in a penetrating mode, adjusting rods are connected in threaded mode, ultrasonic probes are fixedly connected to the lower ends of the adjusting rods, adjusting gears are fixedly mounted on the upper ends of the adjusting rods, an adjustable platform is hinged to the upper portion of the mounting platform, inspection cameras are fixedly mounted on the upper portion of the adjustable platform, and travelling assemblies with adjustable heights are fixedly mounted on the upper portion of the mounting platform. In view of the above, intensive studies have been conducted to solve the above problems. Aiming at the problems, the novel design is carried out on the basis of the original pipeline inspection robot. Disclosure of utility model The utility model aims to provide a multi-degree-of-freedom machine vision pipeline elbow inspection robot, which aims to solve the problems that the position of a pipeline elbow cannot be subjected to image acquisition by multiple degrees of freedom and the pipe diameter cannot be adaptively changed in the background technology. In order to achieve the above purpose, the present utility model provides the following technical solutions: The utility model provides a robot is patrolled and examined to multi freedom machine vision pipeline elbow, includes first backup pad and second backup pad, first backup pad is located the second backup pad left side, and first backup pad and second backup pad intermediate border position symmetry are connected with three slide bar, first backup pad and second backup pad outside all symmetry are provided with three first mounting panel, first backup pad right side all articulates there are three first connecting rods of group, and the second backup pad left side all articulates there are three second connecting rods of group to first connecting rod and second connecting rod all articulate both sides about first mounting panel, the first mounting panel outside all is provided with removes the wheel, the equal fixed mounting in first backup pad left side has three installation cover, and installation cover slope installs in first backup pad left side, first backup pad left side is provided with the detection end, and detects the end and connect and install the camera and constitute multi freedom revolution mechanic. Preferably, four spring shock absorbers are connected to the outer side of the first mounting plate, a traveling driving box is connected to the outer side of each spring shock absorber, a control device is connected to the outer signal of each traveling driving box, and four traveling driving wheels are connected to each traveling driving box. By adopting the technical scheme, the first mounting plate is connected with the walking driving box through the spring damper, so that vibration generated by uneven inner wall of the pipeline can be absorbed, the movable wheel and the pipeline wall keep in stable contact, and when running in pipelines with different pipe diameters, the vibration amplitude is reduced, and image blurring caused by jolt is avoided. Preferably, the right side of the second support plate is fixedly provided with a first servo motor, the first servo motor is controlled by a remote controller,