CN105864569A - Underwater culvert, tunnel and pipeline detection robot - Google Patents
Underwater culvert, tunnel and pipeline detection robot Download PDFInfo
- Publication number
- CN105864569A CN105864569A CN201610391143.9A CN201610391143A CN105864569A CN 105864569 A CN105864569 A CN 105864569A CN 201610391143 A CN201610391143 A CN 201610391143A CN 105864569 A CN105864569 A CN 105864569A
- Authority
- CN
- China
- Prior art keywords
- hawser
- sliding
- tunnel
- slide rail
- skeleton
- 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
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses an underwater culvert, tunnel and pipeline detection robot which comprises a robot body, an advance propeller and a detection device. The detection robot is characterized by being provided with a mooring rope shrinkage motor, mooring ropes, a framework extension and retraction supporting sliding ring, an extensible framework and a sliding rail. The extensible framework is composed of a supporting rod, a sliding rod, an arm rod, a sliding sleeve, a hinge shaft and a torsional spring. The front end of the robot body is provided with a front detection device, and the rear end of the robot body is fixedly connected with the sliding rail. The sliding rail is sleeved with the framework extension and retraction supporting sliding ring. The front end of the sliding rail is provided with the mooring rope shrinkage motor and a sliding wheel synchronizing shaft. The rear end of the sliding rail is provided with the advance propeller. Mooring ropes are arranged on the two sides of the sliding rail. The sliding wheel synchronizing shaft is driven by the mooring rope shrinkage motor. Sliding wheels are fixed to the two ends of the sliding wheel synchronizing shaft respectively. The front ends of the mooring ropes are in wound connection with the sliding wheels. The rear ends of the mooring ropes are fixedly connected with the framework extension and retraction supporting sliding ring. The underwater culvert, tunnel and pipeline detection robot has the advantages of being novel in structure, simple, large in detection area, accurate in detection and suitable for detecting culvers and pipelines of any diameter.
Description
Technical field
The present invention relates to robotics, specifically one culvert under water, tunnel, detecting robot of pipe.
Background technology
Along with expanding economy, the application of water and Underwater Engineering is got more and more by people, the thing followed is the appearance of a large amount of culvert, tunnel and pipeline under water, because underwater environment is severe, current often have erosive force and containing the foreign material such as silt, stone, can damage hole wall, tube wall, detection, maintenance to these tubes are the most extremely important.Now to culvert, pipe detection is usually manually or underwater robot is patrolled and examined back and forth, but tunnel general diameter has all reached 8 meters now, pipe diameter is all more than 2 meters, such space, people and robot are the most all difficult to know which oneself goes to, and where have detected, the most do not detect, efficiency is low, dangerous big.
Through retrieval, CN104236956 discloses a kind of drainpipe detecting robot, and CN104565675 discloses detecting robot of pipe, and the deficiency of the robot of these structures is, all cannot detect macrotype tubular thing.
Summary of the invention
It is an object of the invention to solve the deficiencies in the prior art, it is provided that a kind of novel structure, simple, area of detection big, detection accurately, adapt to arbitrary diameter culvert, the culvert under water of pipe detection, tunnel, detecting robot of pipe.
The technical solution adopted for the present invention to solve the technical problems is:
nullOne culvert under water、Tunnel、Detecting robot of pipe，Including fuselage、Traveling propeller and detection device，Its feature is that being provided with hawser shrinks motor、Hawser、Skeleton retractable support slip ring、Flexible skeleton and slide rail，Described flexible skeleton is by strut、Slide bar、Armed lever、Sliding sleeve、Jointed shaft and torsion spring，Described front fuselage detects device before being provided with，Rear end is fixing with slide rail to be connected，Described slide rail is cylinder or cuboid，On described slide rail, engagement sleeves is connected to skeleton retractable support slip ring，Described slide rail front end is provided with hawser and shrinks motor and pulley synchronizing shaft，Rear end is provided with traveling propeller，Described slide rail is respectively provided on two sides with the hawser of closed loop，Described pulley synchronizing shaft shrinks motor through hawser and drives，Described pulley synchronizing shaft is respectively fixed at two ends with pulley，Described hawser front end is intertwined and connected with pulley，Rear end is fixing with skeleton retractable support slip ring to be connected，It is beneficial to shrink driven by motor pulley by hawser rotate，The skeleton retractable support slip ring of the pulley driving hawser other end is along slide rail slide anteroposterior，Described slide bar one end is hinged with front fuselage，The other end is hinged with armed lever through jointed shaft and torsion spring，Sliding sleeve is slidably connected on described slide bar，Described strut one end is hinged with skeleton retractable support slip ring，The other end is fixing with sliding sleeve to be connected，Described armed lever outer end is provided with side detection device，It is beneficial to be moved forward along slide rail by skeleton retractable support slip ring，The other end driving strut slides on slide bar，The angle between strut and slide rail is made to be gradually increased，And then the armed lever of the band moving slide-bar other end struts，The side detection device making armed lever outer end radially expands，Reach to detect arbitrary diameter culvert、Pipeline、And reach to detect careful effect.
The present invention can be provided with stretching spring in described armed lever lower end, and described stretching lower spring end is connected with slide bar with torsion spring through jointed shaft, so that armed lever reaches flexible effect, it is to avoid armed lever is caused by the hard material in culvert or pipeline to be lost.
The present invention also can be provided with range sensor in described armed lever outer end, so that the detection device of armed lever outer end maintains a certain distance with hole wall all the time, reaches the effect that accuracy of detection is high.
Hawser of the present invention can use polyethylene material to make, to reach anticorrosive, aging-resistant effect.
Detection device of the present invention can be the camera of band illumination, it is also possible to be that other detects utensil.
Due to the fact that employing said structure, there is the advantage such as novel structure, simple, area of detection is big, detection is accurate, adaptation arbitrary diameter culvert, pipe detection.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Reference: fuselage 1, traveling propeller 2 detect device 3,13, hawser shrink motor 4, hawser 5, skeleton retractable support slip ring 6, slide rail 7, strut 8, slide bar 9, armed lever 10, sliding sleeve 11, jointed shaft 12, stretching spring 14.
Detailed description of the invention
The present invention will be described below in conjunction with the accompanying drawings.
nullOne culvert under water、Tunnel、Detecting robot of pipe，Including fuselage 1、Traveling propeller 2 and detection device 3、13，The structure of described traveling propeller 2 is prior art，This does not repeats，Its feature is that being provided with hawser shrinks motor 4、Hawser 5、Skeleton retractable support slip ring 6、Flexible skeleton and slide rail 7，Described flexible skeleton is by strut 8、Slide bar 9、Armed lever 10、Sliding sleeve 11、Jointed shaft 12 and torsion spring，Device 3 is detected before being provided with in described fuselage 1 front end，Rear end is fixing with slide rail 7 to be connected，Described slide rail 7 is in cylinder or cuboid，On described slide rail 7, engagement sleeves is connected to skeleton retractable support slip ring 6，Described slide rail 7 front end is provided with hawser and shrinks motor 4 and pulley synchronizing shaft，Rear end is provided with traveling propeller 2，Described slide rail 7 is respectively provided on two sides with the hawser 5 of closed loop，Described pulley synchronizing shaft shrinks motor 4 through hawser and drives，Described pulley synchronizing shaft is respectively fixed at two ends with pulley，Described hawser 5 front end is intertwined and connected with pulley，Rear end is fixing with skeleton retractable support slip ring 6 to be connected，It is beneficial to shrink motor 4 band movable pulley by hawser rotate，The skeleton retractable support slip ring 6 of pulley driving hawser 5 other end is along slide rail 7 slide anteroposterior，Described slide bar 8 one end is hinged with fuselage 1 front end，The other end is hinged with armed lever 10 through jointed shaft 12 and torsion spring，On described slide bar, 8 slidably connect sliding sleeve 11，Described strut 8 one end is hinged with skeleton retractable support slip ring 6，The other end is fixing with sliding sleeve 14 to be connected，Described armed lever 10 outer end is provided with side detection device 13，It is beneficial to be moved forward along slide rail 7 by skeleton retractable support slip ring 6，The other end driving strut 8 slides on slide bar 9，The angle between strut 8 and slide rail 7 is made to be gradually increased，And then the armed lever 10 of band moving slide-bar 9 other end struts，The side detection device 13 making armed lever 10 outer end radially expands，Reach to detect arbitrary diameter culvert、Pipeline、And reach to detect careful effect.
The present invention can be provided with stretching spring 14 in described armed lever 10 lower end, and described stretching spring 14 lower end is connected with slide bar with torsion spring through jointed shaft 12, so that armed lever 10 reaches flexible effect, it is to avoid armed lever is caused by the hard material in culvert or pipeline to be lost.
The present invention also can be provided with range sensor in described armed lever 10 outer end, so that the detection device of armed lever outer end maintains a certain distance with hole wall all the time, reaches the effect that accuracy of detection is high.
Hawser of the present invention can use polyethylene material to make, to reach anticorrosive, aging-resistant effect.
Detection device of the present invention can be the camera of band illumination, it is also possible to be that other detects utensil.
The present invention is to culvert under water, tunnel, when detecting robot of pipe detects, the slide rail of the present invention is preferably fabricated to cylinder, it is connected with control system waterborne through umbilical cables at sliding rail rear end, when hawser circulation motor rotates clockwise, the hawser forming closed loop drives skeleton retractable support slip ring along slide rail forward slip, the other end driving strut slides on slide bar, the angle between strut and slide rail is made to be gradually increased, and then the armed lever of the band moving slide-bar other end radially struts, and in real time the camera of band illumination is uploaded to control system with the distance of hole wall by range sensor, the camera making the band of armed lever outer end illuminate maintains a certain distance with hole wall all the time, hole wall is carried out careful detection.
The present invention can be axially arranged with Multi-section sliding rail at back body, and motion can be made once the culvert within a diameter 8.5 meters, pipeline can be made careful detection；Slide bar, armed lever, hinge, jointed shaft and torsion spring in described flexible skeleton can also make more piece, are beneficial to set according to actual needs.
Due to the fact that employing said structure, there is the advantage such as novel structure, simple, area of detection is big, detection is accurate, adaptation arbitrary diameter culvert, pipe detection.
Claims (5)
- null1. a culvert under water、Tunnel、Detecting robot of pipe，Including fuselage、Traveling propeller and detection device，Its feature is that being provided with hawser shrinks motor、Hawser、Skeleton retractable support slip ring、Flexible skeleton and slide rail，Described flexible skeleton is by strut、Slide bar、Armed lever、Sliding sleeve、Jointed shaft and torsion spring，Described front fuselage detects device before being provided with，Rear end is fixing with slide rail to be connected，Described slide rail is cylinder or cuboid，On described slide rail, engagement sleeves is connected to skeleton retractable support slip ring，Described slide rail front end is provided with hawser and shrinks motor and pulley synchronizing shaft，Rear end is provided with traveling propeller，Described slide rail is respectively provided on two sides with the hawser of closed loop，Described pulley synchronizing shaft shrinks motor through hawser and drives，Described pulley synchronizing shaft is respectively fixed at two ends with pulley，Described hawser front end is intertwined and connected with pulley，Rear end is fixing with skeleton retractable support slip ring to be connected，Described slide bar one end is hinged with front fuselage，The other end is hinged with armed lever through jointed shaft and torsion spring，Sliding sleeve is slidably connected on described slide bar，Described strut one end is hinged with skeleton retractable support slip ring，The other end is fixing with sliding sleeve to be connected，Described armed lever outer end is provided with side detection device.
- One the most according to claim 1 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described armed lever lower end is provided with stretching spring, described stretching lower spring end is connected with slide bar with torsion spring through jointed shaft.
- One the most according to claim 1 and 2 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described armed lever outer end is provided with range sensor.
- One the most according to claim 1 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described hawser uses polyethylene material to make.
- One the most according to claim 1 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described detection device is the camera of band illumination, or other detection utensil.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610391143.9A CN105864569A (en) | 2016-06-06 | 2016-06-06 | Underwater culvert, tunnel and pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610391143.9A CN105864569A (en) | 2016-06-06 | 2016-06-06 | Underwater culvert, tunnel and pipeline detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105864569A true CN105864569A (en) | 2016-08-17 |
Family
ID=56675843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610391143.9A Pending CN105864569A (en) | 2016-06-06 | 2016-06-06 | Underwater culvert, tunnel and pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105864569A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107546657A (en) * | 2017-08-18 | 2018-01-05 | 国网浙江新昌县供电公司 | A kind of cable threading apparatus auxiliary traction head |
| CN108533882A (en) * | 2018-06-20 | 2018-09-14 | 成都圭目机器人有限公司 | A kind of detecting robot of pipe device |
| CN108639284A (en) * | 2018-03-22 | 2018-10-12 | 中国海洋大学 | A kind of underwater duct braiding machine people |
| CN112209095A (en) * | 2020-10-09 | 2021-01-12 | 和县晶晶玻璃制品有限公司 | Sucker type robot for processing glass products and implementation method thereof |
| CN113280210A (en) * | 2021-05-27 | 2021-08-20 | 龚燕 | Snakelike pipeline detection robot |
| CN113843767A (en) * | 2021-09-30 | 2021-12-28 | 中国船舶重工集团公司第七一三研究所 | Underwater operation robot capable of overhauling special-shaped space |
-
2016
- 2016-06-06 CN CN201610391143.9A patent/CN105864569A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107546657A (en) * | 2017-08-18 | 2018-01-05 | 国网浙江新昌县供电公司 | A kind of cable threading apparatus auxiliary traction head |
| CN107546657B (en) * | 2017-08-18 | 2023-11-28 | 国网浙江新昌县供电公司 | Auxiliary traction head of cable threading device |
| CN108639284A (en) * | 2018-03-22 | 2018-10-12 | 中国海洋大学 | A kind of underwater duct braiding machine people |
| CN108533882A (en) * | 2018-06-20 | 2018-09-14 | 成都圭目机器人有限公司 | A kind of detecting robot of pipe device |
| CN112209095A (en) * | 2020-10-09 | 2021-01-12 | 和县晶晶玻璃制品有限公司 | Sucker type robot for processing glass products and implementation method thereof |
| CN113280210A (en) * | 2021-05-27 | 2021-08-20 | 龚燕 | Snakelike pipeline detection robot |
| CN113843767A (en) * | 2021-09-30 | 2021-12-28 | 中国船舶重工集团公司第七一三研究所 | Underwater operation robot capable of overhauling special-shaped space |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105864569A (en) | Underwater culvert, tunnel and pipeline detection robot | |
| CN205669652U (en) | Culvert, tunnel, detecting robot of pipe under water | |
| WO2015079401A3 (en) | Filtration and entrapment apparatus and method of use | |
| EA201190141A1 (en) | DEVICE FOR CAPTURE AND MOVEMENT OF EXTENDED CYLINDRICAL OBJECTS, SUCH AS PIPES OR SIMILAR SUBJECTS | |
| CN204477597U (en) | Electric transmission line winding displacement pipe detection device | |
| ATE493095T1 (en) | DEVICE FOR RELEASING A SELF-EXPANDING STENT INTO A BODY VESSEL | |
| KR20210101230A (en) | structure maintenance device | |
| CN109552564A (en) | A kind of vessel berth pulls in shore device | |
| JP6829688B2 (en) | A system that collects energy from moving mass | |
| CN104648636A (en) | Mechanical type flexible butt-joint locking mechanism | |
| CN204879349U (en) | Foldable tripod for measuring instrument | |
| Ishikawa et al. | Development of a peristaltic crawling robot for long-distance complex line sewer pipe inspections | |
| CN205707414U (en) | The device of thrust line precision is hung in a kind of raising | |
| CN214119373U (en) | Variable-diameter pipeline detection robot | |
| BR102015016723A2 (en) | methods and systems for maintaining a functional line for fluid transport and pig assemblies for use on them | |
| CN204647724U (en) | Large flow velocity long-distance pipe self adaption detector | |
| CN109469790B (en) | Telescopic drive nondestructive test equipment | |
| CN203688503U (en) | Phased array ultrasonic automatic detection device | |
| CN104166167B (en) | Full-automatic electromagnetic detecting device | |
| CN106481883B (en) | A kind of off-shore pipeline laying ship | |
| CN203418537U (en) | Central supporting arm of high-speed parallel-connection manipulator | |
| CN205560294U (en) | Pipe detection device | |
| CN207703411U (en) | A kind of air charging system for rubber hose test | |
| CN104712877A (en) | Radius-variable guiding device | |
| CN203996841U (en) | A kind of simple and easy regenerative apparatus that lays of underwater glider |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160817 |