CN101979223A - Ultrasonic inspection robot in pipeline - Google Patents
Ultrasonic inspection robot in pipeline Download PDFInfo
- Publication number
- CN101979223A CN101979223A CN 201010500216 CN201010500216A CN101979223A CN 101979223 A CN101979223 A CN 101979223A CN 201010500216 CN201010500216 CN 201010500216 CN 201010500216 A CN201010500216 A CN 201010500216A CN 101979223 A CN101979223 A CN 101979223A
- Authority
- CN
- China
- Prior art keywords
- caterpillar chassis
- chip microcomputer
- cylinder
- camera
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an ultrasonic inspection robot in a pipeline. The robot comprises a caterpillar chassis, wherein one side of the caterpillar chassis is provided with a photoelectric switch, while the other side is provided with an image acquisition device ad a control unit; the caterpillar chassis is also provided with a camera and a cylinder II; the cylinder II is connected with a large arm; the large arm is provided with a reducer motor; the large arm is connected with a small arm through a cylinder I; the end of the small arm is provided with an ultrasonic detector; the large arm and the camera are arranged on a rotating base; the rotating base is connected with a rotating motor; a traveling motor is arranged in the caterpillar chassis; the rotating motor and the traveling motor are connected with the control unit; and the control unit is also connected with the photoelectric switch, the image acquisition device and the ultrasonic detector.
Description
Technical field
The present invention relates to a kind of pipe interior ultrasonic examination machine people.
Background technology
Along with improving constantly of people's living standard, and the needs that are in the anticorrosive work of the hardware under the high-risk situation, robot in the application in this field with the market that takes on a certain scale.This robot architecture is simple, and cost is low, not only can be applied in the industrial antisepsis aspect, is a revolution to the pipeline corrosion protection work of need work high above the ground, and market capacity is big, and economic and practical.
Summary of the invention
Purpose of the present invention provides pipe interior ultrasonic examination machine people a kind of simple in structure, easy to use exactly for addressing the above problem.
For achieving the above object, the present invention adopts following technical scheme:
A kind of pipe interior ultrasonic examination machine people, it comprises a caterpillar chassis, is provided with optoelectronic switch in a side of caterpillar chassis, opposite side is provided with image gathering device and control module; Also be provided with camera and cylinder II on caterpillar chassis, cylinder I I is connected with big arm, is provided with a reducing motor on big arm, and big arm is connected with forearm by cylinder I, and the forearm end is provided with ultrasonic wave detector; Big arm and camera are installed on the rotating base, and rotating base is connected with electric rotating machine; Be provided with movable motor in the caterpillar chassis, electric rotating machine all is connected with control module with movable motor, and control module also is connected with optoelectronic switch, image gathering device, ultrasonic wave detector.
Described control module comprises single-chip microcomputer, and it directly drives camera by the RS232 bus; Single-chip microcomputer also drives two reversal valves by two relays, and two reversal valves cooperate with two cylinders respectively; Single-chip microcomputer is by the switch of the 3rd relay control image gathering device; Single-chip microcomputer also is connected with optoelectronic switch; Single-chip microcomputer also drives the movable motor of caterpillar chassis and the electric rotating machine of rotating base and ultrasonic wave detector respectively by two 298 motor-drive circuits respectively.
This robot is made up of caterpillar chassis, ultrasonic wave detector, manipulator, common electric machine, camera, optoelectronic switch, pneumatic means, control module.Single-chip microcomputer is the core of control module, realizes and the communicating by letter of single-chip microcomputer that through Rs232 PC directly drives camera as control terminal by the VB software on the PC.Single-chip microcomputer is as the core of control module, control relay 1 and 2, relay 1 and 2 is controlled two reversal valves more respectively, and two reversal valves link to each other with two cylinders respectively and finish the folding and unfolding of the big forearm of manipulator in perpendicular, and wherein air pump provides gases at high pressure for cylinder.Single-chip microcomputer is realized mechanical arm the rotatablely moving of perpendicular by control relay 3, and single-chip microcomputer is realized the switch of image gathering device by control relay 3.Two 298 motor-drive circuits of while Single-chip Controlling, one of them 298 motor-drive circuit drives two movable motors, realize advancing, retreat, turn left, turning right of robot, another one 298 motor-drive circuits drive switch and manipulator the rotatablely moving in horizontal plane that electric rotating machine is realized the ultrasonic wave detector of robot, single-chip microcomputer also directly drives an optoelectronic switch simultaneously, realizes the barrier avoiding function of robot.
The invention has the beneficial effects as follows: with the running gear of caterpillar chassis as robot, utilize common electric machine, reducing motor and cylinder realize manipulator in horizontal plane rotatablely move and the big arm of manipulator and forearm in perpendicular folding and unfolding and big forearm between relatively rotating, install ultrasonic wave emission detection device simultaneously additional and finish the detection of pipeline, but install additional before the robot camera real time monitoring pipe interior situation and robot working condition flaw detection robot.
Description of drawings
Fig. 1 is this robot construction principle schematic front view,
Fig. 2 is the frame diagram of this ROBOT CONTROL unit
Wherein, 1, ultrasonic wave detector, 2, camera, 3, optoelectronic switch, 4, caterpillar chassis, 5, image gathering device, 6, control module, 61 single-chip microcomputers, the 62RS232 bus, 63PC machine, 64 relays, 65 reversal valves, 66 298 motor-drive circuits, 67 movable motors, 68 electric rotating machines, 7, forearm, 8, big arm, 9, cylinder I, 10, reducing motor, 11, cylinder I I, 12 rotating bases.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing and embodiment.
Among Fig. 1, it comprises a caterpillar chassis 4, is provided with optoelectronic switch 3 in a side of caterpillar chassis 4, and opposite side is provided with image gathering device 5 and control module 6; Also be provided with camera 2 and cylinder II11 on caterpillar chassis 4, cylinder I I11 is connected with big arm 8, is provided with a reducing motor 10 on big arm 8, and big arm 8 is connected with forearm 7 by cylinder I 9, and forearm 7 ends are provided with ultrasonic wave detector 1; Big arm 8 and camera 2 are installed on the rotating base 12, and rotating base 12 is connected with electric rotating machine 68; Be provided with movable motor 67 in the caterpillar chassis 4, electric rotating machine 68 all is connected with control module 6 with movable motor 67, and control module 6 also is connected with optoelectronic switch 3, image gathering device 5, ultrasonic wave detector 1.
Among Fig. 2, described control module 6 comprises single-chip microcomputer 61, and it directly drives camera 2 by RS232 bus 62; Single-chip microcomputer 61 also drives 65, two reversal valves 65 of two reversal valves by two relays 64 and cooperates with two cylinders respectively; Single-chip microcomputer 61 is by the switch of the 3rd relay 64 control image gathering device 5; Single-chip microcomputer 61 also is connected with optoelectronic switch 3; Single-chip microcomputer 61 also drives the movable motor 67 of caterpillar chassis 4 and the electric rotating machine 68 of rotating base 12 and ultrasonic wave detector 1 respectively by two 298 motor-drive circuits 66 respectively.
The machine man-hour, at first robot is linked to each other with PC 63 by cable and RS232 bus 66, then robot is put into the import of pipeline, open illuminating lamp and camera 2 in the robot by the control software of PC 63, by the situation that the outlet terminal of camera 2 is observed pipe interior, open ultrasonic wave detector 1.Allow robot advance simultaneously,, realize the comprehensive detection of pipeline by controlling the locus that two cylinders and electric rotating machine 68 change camera 2.Open image gathering device 5 simultaneously and detected image document is collected be used for later stage research, the suitable former road of robot of detect a flaw is afterwards returned.If run into obstacle in airduct inside, can the automatic warning reminding operator of obstacle avoidance apparatus meeting, operator determine and surmount obstacles by video terminal, because the employing of this robot is caterpillar chassis 4, good cross-country ability is arranged, only can cross the slopes of 40 degree and be no more than 3 centimetres step.
Claims (2)
1. a pipe interior ultrasonic examination machine people is characterized in that, it comprises a caterpillar chassis, is provided with optoelectronic switch in a side of caterpillar chassis, and opposite side is provided with image gathering device and control module; Also be provided with camera and cylinder II on caterpillar chassis, cylinder I I is connected with big arm, is provided with a reducing motor on big arm, and big arm is connected with forearm by cylinder I, and the forearm end is provided with ultrasonic wave detector; Big arm and camera are installed on the rotating base, and rotating base is connected with electric rotating machine; Be provided with movable motor in the caterpillar chassis, electric rotating machine all is connected with control module with movable motor, and control module also is connected with optoelectronic switch, image gathering device, ultrasonic wave detector.
2. pipe interior ultrasonic examination machine people as claimed in claim 1 is characterized in that described control module comprises single-chip microcomputer, and it directly drives camera by the RS232 bus; Single-chip microcomputer also drives two reversal valves by two relays, and two reversal valves cooperate with two cylinders respectively; Single-chip microcomputer is by the switch of the 3rd relay control image gathering device; Single-chip microcomputer also is connected with optoelectronic switch; Single-chip microcomputer also drives the movable motor of caterpillar chassis and the electric rotating machine of rotating base and ultrasonic wave detector respectively by two 298 motor-drive circuits respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010500216 CN101979223A (en) | 2010-10-09 | 2010-10-09 | Ultrasonic inspection robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010500216 CN101979223A (en) | 2010-10-09 | 2010-10-09 | Ultrasonic inspection robot in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101979223A true CN101979223A (en) | 2011-02-23 |
Family
ID=43599777
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010500216 Pending CN101979223A (en) | 2010-10-09 | 2010-10-09 | Ultrasonic inspection robot in pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101979223A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102230915A (en) * | 2011-04-07 | 2011-11-02 | 华南理工大学 | Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction |
| CN103672289A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN103978474A (en) * | 2014-05-14 | 2014-08-13 | 湖南大学 | Special operation robot for extreme environment |
| CN104535023A (en) * | 2015-01-27 | 2015-04-22 | 北京理工大学 | Intelligent vehicle for pipeline detection |
| CN104698940A (en) * | 2015-03-11 | 2015-06-10 | 常州机电职业技术学院 | Control system suitable for automatic plugging and unplugging of automobile exhaust sampling probe and working method |
| CN105092704A (en) * | 2015-08-31 | 2015-11-25 | 江苏新光数控技术有限公司 | Multi-angle ultrasonic testing robot for irregular products |
| CN105136820A (en) * | 2015-09-09 | 2015-12-09 | 广东工业大学 | Pipeline defect detection robot based on annular laser three-dimensional scanning |
| CN105890662A (en) * | 2016-05-11 | 2016-08-24 | 赵亮 | BIM (Building Information Modeling) data acquisition device for urban sewers |
| CN106217355A (en) * | 2016-08-22 | 2016-12-14 | 合肥德泰科通测控技术有限公司 | The comprehensive automatic fault detecting robot of gun barrel |
| CN107167522A (en) * | 2017-06-15 | 2017-09-15 | 中国石油大学(北京) | Crack tester |
| CN107448729A (en) * | 2017-09-13 | 2017-12-08 | 长沙展朔轩兴信息科技有限公司 | A kind of ultrasonic inspection robot in pipeline |
| CN109601135A (en) * | 2018-12-27 | 2019-04-12 | 浙江工业大学 | A kind of high-altitude nut fruits picker |
| CN112621707A (en) * | 2020-12-16 | 2021-04-09 | 华东交通大学 | High-speed train bottom inspection robot |
| CN112683174A (en) * | 2021-01-19 | 2021-04-20 | 南京力霸起重设备机械有限公司 | Crane metal part safety detection monitoring system and method based on Internet of things |
| CN115847492A (en) * | 2023-02-16 | 2023-03-28 | 安徽天创智诚科技有限公司 | Industrial robot vision sensor measuring device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03152453A (en) * | 1989-11-09 | 1991-06-28 | Tokyo Gas Co Ltd | Eddy flaw detector for inner surface of pipe |
| EP0461506A1 (en) * | 1990-06-05 | 1991-12-18 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
| CN101074031A (en) * | 2007-06-27 | 2007-11-21 | 哈尔滨工程大学 | Urban discharging pipeline robot of closed caterpillar differential driven |
| CN201177140Y (en) * | 2008-03-12 | 2009-01-07 | 北京拂尘龙科技发展有限公司 | Cleaning robot for large-sized ventilating duct |
| CN101468664A (en) * | 2007-12-24 | 2009-07-01 | 上海市电力公司电缆输配电公司 | Small-sized caterpillar belt inspect robot system for cable tunnel hazardous environment |
| CN101782552A (en) * | 2010-02-05 | 2010-07-21 | 航天科工哈尔滨风华有限公司 | Automatic on-line detecting device for welding lines of mast of wind driven generator |
| CN101852778A (en) * | 2010-05-14 | 2010-10-06 | 山东科技大学 | Auxiliary robot for ultrasonic flaw detection |
-
2010
- 2010-10-09 CN CN 201010500216 patent/CN101979223A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03152453A (en) * | 1989-11-09 | 1991-06-28 | Tokyo Gas Co Ltd | Eddy flaw detector for inner surface of pipe |
| EP0461506A1 (en) * | 1990-06-05 | 1991-12-18 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
| CN101074031A (en) * | 2007-06-27 | 2007-11-21 | 哈尔滨工程大学 | Urban discharging pipeline robot of closed caterpillar differential driven |
| CN101468664A (en) * | 2007-12-24 | 2009-07-01 | 上海市电力公司电缆输配电公司 | Small-sized caterpillar belt inspect robot system for cable tunnel hazardous environment |
| CN201177140Y (en) * | 2008-03-12 | 2009-01-07 | 北京拂尘龙科技发展有限公司 | Cleaning robot for large-sized ventilating duct |
| CN101782552A (en) * | 2010-02-05 | 2010-07-21 | 航天科工哈尔滨风华有限公司 | Automatic on-line detecting device for welding lines of mast of wind driven generator |
| CN101852778A (en) * | 2010-05-14 | 2010-10-06 | 山东科技大学 | Auxiliary robot for ultrasonic flaw detection |
Non-Patent Citations (1)
| Title |
|---|
| 《机器人》 20010528 姜生元等 内置动力源管内X射线探伤机器人的研制 211-216 1-2 第23卷, 第03期 2 * |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102230915B (en) * | 2011-04-07 | 2013-05-15 | 华南理工大学 | Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction |
| CN102230915A (en) * | 2011-04-07 | 2011-11-02 | 华南理工大学 | Device and method for flaw detection of small crawler-type rails based on three-way ultrasonic diffraction |
| CN103672289A (en) * | 2013-12-17 | 2014-03-26 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN103672289B (en) * | 2013-12-17 | 2015-01-21 | 王军 | Pipeline robot with adjustable crawler belt angle |
| CN103978474A (en) * | 2014-05-14 | 2014-08-13 | 湖南大学 | Special operation robot for extreme environment |
| CN103978474B (en) * | 2014-05-14 | 2015-09-23 | 湖南大学 | A kind of job that requires special skills robot towards extreme environment |
| CN104535023A (en) * | 2015-01-27 | 2015-04-22 | 北京理工大学 | Intelligent vehicle for pipeline detection |
| CN104698940B (en) * | 2015-03-11 | 2018-04-06 | 常州机电职业技术学院 | Control system suitable for automatic plugging and unplugging of automobile exhaust sampling probe and working method |
| CN104698940A (en) * | 2015-03-11 | 2015-06-10 | 常州机电职业技术学院 | Control system suitable for automatic plugging and unplugging of automobile exhaust sampling probe and working method |
| CN105092704A (en) * | 2015-08-31 | 2015-11-25 | 江苏新光数控技术有限公司 | Multi-angle ultrasonic testing robot for irregular products |
| CN105136820A (en) * | 2015-09-09 | 2015-12-09 | 广东工业大学 | Pipeline defect detection robot based on annular laser three-dimensional scanning |
| CN105890662A (en) * | 2016-05-11 | 2016-08-24 | 赵亮 | BIM (Building Information Modeling) data acquisition device for urban sewers |
| CN105890662B (en) * | 2016-05-11 | 2018-06-19 | 江苏建筑职业技术学院 | A kind of city sewer BIM model data collecting devices |
| CN106217355A (en) * | 2016-08-22 | 2016-12-14 | 合肥德泰科通测控技术有限公司 | The comprehensive automatic fault detecting robot of gun barrel |
| CN107167522A (en) * | 2017-06-15 | 2017-09-15 | 中国石油大学(北京) | Crack tester |
| CN107448729A (en) * | 2017-09-13 | 2017-12-08 | 长沙展朔轩兴信息科技有限公司 | A kind of ultrasonic inspection robot in pipeline |
| CN109601135A (en) * | 2018-12-27 | 2019-04-12 | 浙江工业大学 | A kind of high-altitude nut fruits picker |
| CN112621707A (en) * | 2020-12-16 | 2021-04-09 | 华东交通大学 | High-speed train bottom inspection robot |
| CN112621707B (en) * | 2020-12-16 | 2022-03-22 | 华东交通大学 | High-speed train bottom inspection robot |
| CN112683174A (en) * | 2021-01-19 | 2021-04-20 | 南京力霸起重设备机械有限公司 | Crane metal part safety detection monitoring system and method based on Internet of things |
| CN112683174B (en) * | 2021-01-19 | 2021-09-17 | 南京力霸起重设备机械有限公司 | Crane metal part safety detection monitoring system and method based on Internet of things |
| CN115847492A (en) * | 2023-02-16 | 2023-03-28 | 安徽天创智诚科技有限公司 | Industrial robot vision sensor measuring device |
| CN115847492B (en) * | 2023-02-16 | 2024-04-26 | 三维信技测量技术(苏州)有限公司 | Industrial robot vision sensor measuring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101979223A (en) | Ultrasonic inspection robot in pipeline | |
| CN201833366U (en) | Pipeline inside ultrasonic flaw detection robot | |
| CN106426122B (en) | Four-way walking intelligent robot towards underground piping | |
| WO2016037559A1 (en) | Charged water-flushing robot system and method for substation | |
| CN203092545U (en) | Transformer station live working robot | |
| CN107458420B (en) | Servicing robot, operation device and system for locomotive roof | |
| CN203309524U (en) | Pipeline television detecting device | |
| CN105945900A (en) | Indoor inspection robot for transformer substation | |
| CN103056866A (en) | Live-working robot of transformer substation | |
| CN102489481A (en) | Coal-fired power station boiler air duct and air-conditioning ventilation duct wormlike cleaning robot | |
| CN103341858B (en) | cable inspection robot and control system thereof | |
| CN101832447A (en) | Robot for detecting drainage pipeline video | |
| CN102179813B (en) | Flexible inchworm-like robot | |
| CN103217477A (en) | Axle radial ultrasonic automatic flaw detecting device and control method | |
| CN102009046A (en) | Intelligent mobile cleaning robot | |
| CN104385274B (en) | For tackling the emergency disposal robot of Metro Emergency Event | |
| CN203066007U (en) | Sweeping car with monitoring device | |
| CN105033984A (en) | Mobile self-water supply transformer station live-line water washing robot system | |
| CN109262583A (en) | A kind of cable tunnel inspection robot | |
| CN102167102A (en) | Suction cup type pneumatic wall-climbing robot | |
| CN207120238U (en) | Confined space sniffing robot | |
| CN207617839U (en) | A kind of multifunctional pole-climbing robot | |
| CN104647369B (en) | A kind of full-automatic five axis robot | |
| CN204277997U (en) | Mobile automatic water-supplying transformer station living water washing robot system | |
| CN204278028U (en) | Current conversion station living water washing robot system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20110223 |