CN102913715B - Detecting robot of pipe - Google Patents

Detecting robot of pipe Download PDF

Info

Publication number
CN102913715B
CN102913715B CN201210343246.XA CN201210343246A CN102913715B CN 102913715 B CN102913715 B CN 102913715B CN 201210343246 A CN201210343246 A CN 201210343246A CN 102913715 B CN102913715 B CN 102913715B
Authority
CN
China
Prior art keywords
guide groove
pipe
driving
robot
pipeline
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.)
Expired - Fee Related
Application number
CN201210343246.XA
Other languages
Chinese (zh)
Other versions
CN102913715A (en
Inventor
李天剑
尹利君
陈晓
刘相权
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Information Science and Technology University
Original Assignee
Beijing Information Science and Technology University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Information Science and Technology University filed Critical Beijing Information Science and Technology University
Priority to CN201210343246.XA priority Critical patent/CN102913715B/en
Publication of CN102913715A publication Critical patent/CN102913715A/en
Application granted granted Critical
Publication of CN102913715B publication Critical patent/CN102913715B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Abstract

Small pipeline robot of the present invention adopts variable diameter design mechanism, according to the caliber adjustment attitude of pipeline, guarantee that caliber is coaxial with robot, and Applicable scope caliber can be the pipeline of 60-120mm; This small pipeline robot achieves a motor and drives three gear movements simultaneously, thus realizes the coaxial movement of small pipeline robot; This small pipeline robot has the buffer structure of twin-stage spring, adapts to the subtle flow of pipeline.Small pipeline measuring robots according to an embodiment of the invention comprises: a body (30,29), and the diameter changing mechanism be connected with body (30,29), drives the driving mechanism of the change of the radial distance between described diameter changing mechanism and described body.

Description

Detecting robot of pipe
Technical field
The present invention relates to a kind of small pipeline measuring robots.
Background technique
Pipeline uses material transportation means widely in the fields such as industry, the energy, military equipment, urban architecture, the ventilation system etc. of the transport of urban sewage, rock gas and industrial material, plumbing and building, all uses the pipeline that large amount of complex is hidden.Ensure that Security and the validity of these pipe-line systems are most important.But along with the increase of service life, pipeline inevitably aging, crack, corrode or be subject to the destruction of external construction.If processed not in time, once have an accident not only can bring huge economic loss, also serious pollution can be caused to environment.Therefore, regularly pipeline reconnoitred and safeguard, just seeming very necessary.For improving the life-span of pipeline, just effectively must detect maintenance to pipeline, detecting robot of pipe produces for meeting these needs.
Detecting robot of pipe is a kind of specialized robot developed for the Maintenance and Repair operation such as detection, spraying, joint weld, foreign matter cleaning of the conveyance conduits such as oil, gas, it can enter in non-structural pipeline environment less than people, complicated and changeable, by the cannot-harm-detection device of carrying and apparatus for work, on-line checkingi, cleaning, maintenance are carried out to the pipeline in work, to ensure the safety of pipeline and unblocked to work.
But existing pipeline robot great majority are applicable to the Large Diameter Pipeline operation such as petroleum pipeline, underground sewer that caliber is more than 150mm, cannot complete small pipeline environment measuring.Being that metallic conduit within the scope of such as 60-120mm detects automatically to realize caliber, a kind of reducing small pipeline measuring robots need being developed, by image data in pipeline robot collection, process and analysis conduit, and then detect fault.To realize the automation requirement of pipe-dredging, detection, maintenance, and be widely used in the fields such as draining, electric power system, industry conveying.
Summary of the invention
The invention discloses the portable small pipeline measuring robots of a kind of belt, comprise crawl device, single-degree-of-freedom camera.Described single-degree-of-freedom camera is placed on crawl device top.Described crawl device comprises housing, main transmission, passive tooth wheels, belt wheel group, diameter changing mechanism.A motor is settled in described housing.Motor is connected with the worm screw in active power train.Described main transmission comprises worm screw helical gear.Worm screw one end is connected with motor, and one end is connected with helical gear, and helical gear is connected with passive tooth wheels, plays transmitting effect.Described passive tooth wheels comprise three driven gears, and driven gear is meshed with active oblique gear, and driven gear extension is connected with the driving wheel in belt wheel group by Timing Belt.Described belt wheel group comprises a driving wheel, a follower, six upper saw pulleys, a belt.This small pipeline robot comprises 3 belt wheel group.In single belt wheel group, driving wheel is connected with the driven gear in passive tooth wheels by Timing Belt, then by belt drive follower, thus realizes the movement of small pipeline robot.Described diameter changing mechanism comprises an adjustment circle, and there is thread slider seat on a surface, a slide block base, a sleeve pipe, spring, a support, two ribs, a locking nut.Sleeve pipe one end is connected with slider seat, and one end is connected with slide block base, between slider seat and slide block base, lay spring.Supporting one end is fixed on slider seat, and one end is connected with guide groove.Ribs one end is connected with guide groove, and one end is fixed on base, and it supports and running shaft effect.When rotation adjustment circle, adjustment astragal movable slider seat moves axially, and during Compress Spring, spring promotes slide block base and moves axially, thus drives support to move axially, and drives guide groove radial direction to uphold.When rotation adjustment astragal movable slider seat moves axially, when spring is upheld, slide block base is moved axially by sleeve belt movable slider seat, thus drives support to move axially, and drives guide groove radial contraction.
According to an aspect of the present invention, provide a kind of wheel type mobile small pipeline robot, it is characterized in that comprising:
Crawl device, it comprises housing and is fixed on the motor on housing, worm-gear drive system, belt wheel group, diameter changing mechanism.
Single-degree-of-freedom camera.
Accompanying drawing explanation
Fig. 1 is the plan view of the crawl device according to an example of the present invention;
Fig. 2 is the plan view of the crawl device according to an example of the present invention.
Fig. 3 is the revolved sectional view of example shown in Fig. 1;
Reference character:
1 vidicon camera 2 front case 3 adjusts circle 4 support arm
5 parallel arms 6 guide groove lid 7 Timing Belt 8 rear case lids
9 bonnets 10 are switched political loyalty device 11 utilizing camera interface 12 stud
13 locking nut 14 slider seat 15 spring 16 slide blocks
17 lock washer 18 sleeve pipe 19 follower 20 auxiliary wheels
21 belt 22 guide groove 23 driving wheel 24 driven gears
25 motor 26 drag hook 27 active oblique gear 28 pinion stands
29 pedestal 30 parallel arm seat 31 rear case
Embodiment
According to one embodiment of present invention, according to the size of pipe diameter, by the elongation of diameter changing mechanism adjustment belt guidance.Robot as Figure 1-3 comprises body, diameter changing mechanism and reducing driving mechanism; Body comprises at least two parallel arm seats 30 and the pedestal 29 being connected these at least two parallel arm seats 30.Reducing driving mechanism comprises the adjustment threaded slider seat of circle 3, outer surface tool 14, sleeve pipe 18, locking nut 13, slide block 16, support arm 4, a lock washer 17; Diameter changing mechanism comprises parallel arms 5 and guide groove 22.Spring 15 is mounted on sleeve pipe 18.Wherein slide block 16 and sleeve pipe 18 are fixed together by locking nut 13.Sleeve pipe 18 and slider seat 14 are fixed together by lock washer 17.Spring 15 is arranged around sleeve pipe 18.Wherein slide block 14 is connected with slider seat 14 by sleeve pipe 18, is placed with spring 15 between.One end of support arm 4 is connected with slider seat 14, and the other end is connected with guide groove 22.Parallel arms 5 has six, is divided into three groups; One end of each parallel arms is connected with guide groove 22, and the other end is connected with parallel arm seat 30.Wherein slider seat 14 is fixed on rear case 31, and rear case lid 8 is arranged on rear case 31, shields to rear case 31.Be connected by pedestal 29 between two parallel wall seats 30.
Concrete adjustment mode according to an embodiment of the invention is as follows: when needs make guide groove 22 uphold, rotate adjustment circle 3, adjustment circle 3 is connected by screw thread with between slider seat 14, slider seat 14 moves axially along stud 12, slider seat 14 is by Compress Spring 15, band movable slider 16 produces and moves axially, thus drives moving axially of support arm 4, and moving axially of support arm 4 causes guide groove 22 to produce radial extension.When needs make guide groove 22 shrink, rotate adjustment circle 3, adjustment circle 3 is connected by screw thread with between slider seat 14, slider seat 14 produces along stud 12 and moves axially, spring 15 is upheld, slider seat 14 is with movable slider 16 to move axially by sleeve pipe 18, thus drives support arm 4 to move axially, and moving axially of support arm 4 causes guide groove 22 to produce radial contraction.Thus complete reducing.
In an embodiment as illustrated in figure 2, the transfer mode of mobile power is: motor 25 is connected with active oblique gear (or worm screw) 27, active oblique gear (or worm screw) 27 is connected with driven gear (or worm gear) 24, driven gear (or worm gear) 24 is connected with driving wheel 23 by Timing Belt 7, driving wheel 23 drives follower 19 to rotate by belt 21, thus realizes the movement of crawl device.Wherein auxiliary wheel 20 to be placed in guide groove 22 moving along by the auxiliary wheel 20 be arranged between guide groove 22 and guide groove lid 6 of wherein belt 21.Driving gear 27, driven gear 24 is arranged in pinion stand 28.Pinion stand 28 is fixed on rear case 31.Guide groove lid 6, guide groove 22 are fixed in support arm 4 and parallel arms 5.
The afterbody of robot according to an embodiment of the invention has drag hook 26, can be connected with rope, when robot breaks down, can carry out manual recovery.Wherein drag hook 26 is placed on bonnet 9.Bonnet 9 being provided with traitorous device 10, is motor power joint.
This small machine people video acquisition is completed by the vidicon camera 1 be connected with front case 2, and vidicon camera 1 is connected with utilizing camera interface 11, carries out signal transmission.
Advantage of the present invention comprises:
One, this small pipeline robot comprises crawl device, vidicon camera 1 two-part, all adopts modular design, easy to connect, uses reliable
Two, this small pipeline robot adopts variable diameter design mechanism, can adjust according to the caliber of pipeline, applied widely; And there is the buffer structure of twin-stage spring, adapt to the subtle flow of pipeline.
Three, this small pipeline robot is coaxial with pipeline, and with tube wall close contact, dangerous without rollover, obstacle climbing ability is strong, and IMAQ is stablized, and is convenient to location.
Four, this small pipeline robot is coaxial with pipeline, and when vidicon camera 1 rotates, object distance does not change, and conveniently carries out the automatic measurement of image.
The above, be only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, any professional and technical personnel, do not departing within the scope of technical solution of the present invention, make when utilizing the technology contents of above-mentioned announcement and changing or amendment, these change or amendment still belongs in the scope of technical solution of the present invention.
Advantage of the present invention comprises:
1. this small pipeline robot adopts variable diameter design mechanism, according to the caliber adjustment attitude of pipeline, guarantee that caliber is coaxial with robot, and Applicable scope caliber can be the pipeline of 60-120mm;
2. this small pipeline robot achieves a motor and drives three gear movements simultaneously, thus realizes the coaxial movement of pipeline robot;
3. this small pipeline robot has the buffer structure of twin-stage spring, adapts to the subtle flow of pipeline.

Claims (6)

1. detecting robot of pipe, it is suitable for the pipeline that caliber scope is 60-120mm, it is characterized in that comprising:
A body,
The diameter changing mechanism be connected with body,
Drive the driving mechanism of the change of the radial distance between described diameter changing mechanism and described body,
Described diameter changing mechanism comprises:
Guide groove (22);
Connect the parallel arms (5) of body and guide groove (22),
Described driving mechanism comprises:
Adjustment circle (3),
A threaded slider seat of outer surface tool (14), described adjustment circle (3) is connected by screw thread with between slider seat (14), when adjusting circle (3) and rotating, by screw thread, slider seat (14) is moved along the axis of described body
A slide block (16),
Support arm (4), its one end is connected with slide block (16), and the other end is connected with guide groove (22),
Be arranged on the Compress Spring (15) between slide block (16) and slider seat (14), thus make slider seat (14) produce moving axially relative to described body by Compress Spring (15) band movable slider (16)
Thus moving axially of the described one end driving support arm (4) to be connected with slide block (16), make guide groove (22) produce moving radially of opposing body, thus realize reducing.
2. detecting robot of pipe according to claim 1, is characterized in that described driving mechanism comprises further:
A sleeve pipe (18), Compress Spring (15) is mounted on sleeve pipe (18), and Compress Spring (15) is arranged around sleeve pipe (18).
3. detecting robot of pipe according to claim 1, is characterized in that described body comprises:
At least two parallel arm seats (30),
The pedestal (29) of at least two parallel arm seats (30) described in connection, one end of each described parallel arms is connected with guide groove (22), and the other end is connected with one of described at least two parallel arm seats (30).
4. detecting robot of pipe according to claim 1, is characterized in that comprising further:
Rear case (31),
Be arranged on the rear case lid (8) on rear case (31), rear case lid (8) shields to rear case (31).
5., according to the detecting robot of pipe of one of claim 1-4, it is characterized in that comprising further:
Guide groove lid (6),
Pinion stand (28),
Timing Belt (7),
Driving wheel (23),
Belt (21),
Be arranged on the auxiliary wheel (20) between guide groove (22) and guide groove lid (6),
Be arranged on the driving gear (27) in pinion stand (28) and driven gear (24), wherein driven gear (24) is coupled by Timing Belt (7) and driving wheel (23),
The motor (25) be connected with driving gear (27),
Follower (19), it is subject to the drive of driving wheel (23) by belt (21), thus realizes the movement of crawl device.
6. detecting robot of pipe according to claim 5, is characterized in that:
Driving gear (27) is active oblique gear/worm screw,
Driven gear (24) is driven gear/worm gear,
Be arranged on the drag hook (26) on bonnet (9), it can be connected with rope, for carrying out manual recovery when robot breaks down.
CN201210343246.XA 2012-09-14 2012-09-14 Detecting robot of pipe Expired - Fee Related CN102913715B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210343246.XA CN102913715B (en) 2012-09-14 2012-09-14 Detecting robot of pipe

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210343246.XA CN102913715B (en) 2012-09-14 2012-09-14 Detecting robot of pipe

Publications (2)

Publication Number Publication Date
CN102913715A CN102913715A (en) 2013-02-06
CN102913715B true CN102913715B (en) 2015-12-09

Family

ID=47612210

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210343246.XA Expired - Fee Related CN102913715B (en) 2012-09-14 2012-09-14 Detecting robot of pipe

Country Status (1)

Country Link
CN (1) CN102913715B (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
HK1187489A2 (en) * 2013-02-08 2014-04-04 Hong Kong And China Gas Company Ltd Method of and apparatus for detection of leakage in pipes
CN103672295B (en) * 2013-12-06 2016-04-20 北京信息科技大学 Creeping type pipeline robot crawling mechanism
CN104712907A (en) * 2013-12-15 2015-06-17 郑州新力光电技术有限公司 Manual variable-diameter supporting frame of pipeline endoscope
CN104715801B (en) * 2013-12-15 2017-07-14 郑州润德光电科技有限公司 A kind of band salvages the nuclear power detection mirror of pincers
CN103737589B (en) * 2014-01-23 2015-08-05 中国科学院武汉岩土力学研究所 The comprehensive gaging hole robot of rock mass engineering project wireless remote control
CN108204230A (en) * 2016-12-16 2018-06-26 中国石油天然气股份有限公司 A kind of detection method of oil tube inner lining
CN109990166B (en) * 2019-03-27 2020-08-11 上海理工大学 Petroleum pipeline construction machine and working method thereof

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19929072A1 (en) * 1999-06-25 2000-12-28 Pii Pipetronix Gmbh Device for testing pipelines made of ferromagnetic materials
US20050104600A1 (en) * 2003-11-18 2005-05-19 Radiodetection Limited Vehicle for inspecting a pipe
CN100498037C (en) * 2007-12-10 2009-06-10 哈尔滨工业大学 Triaxial differential type pipe creeping device
CN101788093B (en) * 2010-03-10 2011-08-10 大庆石油学院 Drive running mechanism of pipeline robot
CN201944487U (en) * 2011-01-27 2011-08-24 西北工业大学 Adjustable self-adapting in-pipe travel mechanism

Also Published As

Publication number Publication date
CN102913715A (en) 2013-02-06

Similar Documents

Publication Publication Date Title
CN106002023B (en) Car is climbed in a kind of Intelligent vision tracking welding
Nayak et al. Design of a new in-pipe inspection robot
CN103194967B (en) Detecting system of bridge cable
CN203471499U (en) Polisher for polishing inner wall and outer wall of pipe
KR101494644B1 (en) Inspecting robot for regenerating superannuated pipes
EP2937622A1 (en) Pipe inspection robot, and method for inspection of pipe
CN202511779U (en) Online automatic detection device for nodular cast iron pipe
CN102049638B (en) Circular seam welding robot device
CN104799756B (en) Exterior wall cleaning and maintaining robot
CN105751201B (en) Conveying robot
CN205506768U (en) Pipeline device of crawling
CN101307855B (en) Flexible wiggle pipeline robot
CN107414369B (en) Large diameter steel pipe double welding gun Intelligent welding equipment
CN102661470A (en) Novel crawling pipeline robot
KR100784932B1 (en) Robot for internal inspection of pipeline
CN204314142U (en) Multistation clamping device is used in the test of gas pipeline laser-impact
Dertien et al. Development of an inspection robot for small diameter gas distribution mains
CN103672295B (en) Creeping type pipeline robot crawling mechanism
CN102003951B (en) All-pipe water immersion type ultrasonic automatic detector for nodular cast iron pipes
CN204771158U (en) Hole machine is cut to portable pipeline four -axis
CN202277991U (en) Industrial pipeline detecting and cleaning robot
CN106499912B (en) Portable big reducing drives formula pipe robot entirely
CN201544107U (en) Press roller type online steel pipe derusting device
CN206254017U (en) Pipeline outer wall derusting device
CN101915339A (en) Pipeline robot

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20151209

Termination date: 20160914