CN105888052B - A kind of draining detects robotic handler - Google Patents
A kind of draining detects robotic handler Download PDFInfo
- Publication number
- CN105888052B CN105888052B CN201610415051.XA CN201610415051A CN105888052B CN 105888052 B CN105888052 B CN 105888052B CN 201610415051 A CN201610415051 A CN 201610415051A CN 105888052 B CN105888052 B CN 105888052B
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- China
- Prior art keywords
- rope
- spacer pin
- limiter
- column
- support
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
-
- E—FIXED CONSTRUCTIONS
- E03—WATER SUPPLY; SEWERAGE
- E03F—SEWERS; CESSPOOLS
- E03F7/00—Other installations or implements for operating sewer systems, e.g. for preventing or indicating stoppage; Emptying cesspools
- E03F7/12—Installations enabling inspection personnel to drive along sewer canals
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Public Health (AREA)
- Water Supply & Treatment (AREA)
- Sewage (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of draining detection robotic handler, including declines column, well head fixing device, suspension device, limiter, retractor device；The suspension device includes support, bracket adjustment rope, flat board, suspension ring；Flat board is fixedly connected with support；Suspension ring are arranged on flat board, and one end of bracket adjustment rope is fixed on well head, and other end is arranged on well head around suspension ring；The stopping means includes spacer pin and extracts rope, limiter, limiting plate, spacer pin；Limiter is fixed on limiting plate, and in spacer pin insertion limiter, spacer pin is extracted rope and is fixedly connected with spacer pin 22；Advantages of the present invention and beneficial effect are：Present invention saves the time of mounting robot, condition of providing convenience is detected for robot, operating efficiency is substantially increased, there is very extensive promotional value.Present invention application ensure that the personal safety of workmen, reduce the labor intensity of workmen, provide guarantee for construction safety.
Description
Technical field
The present invention relates to flowing line CCTV to detect construction field, and specially large eccentricity well and ttom of pipe is deeper away from shaft bottom
CCTV drainings detect robotic handler, and flowing line detection is carried out in drainage pipeline to ensure that robot smoothly enters.
Background technology
Municipal drainage pipeline is the indispensable important foundation device of modern city, is water pollution control in urban areas and city
Drainage, water drainage, the major project of flood control, it is to weigh one of horizontal important symbol of modern city, is to improve city investment ring
The important step in border.Sewage, waste water and rainwater equally to being discharged into municipal drainage device etc. (hereinafter referred to as draining) are monitored pipe
Reason, it is to ensure municipal drainage device conventional maintenance and safe operation, strengthens the paid utilization management of municipal drainage device, promote city
Necessity and effective means that water environment improves, therefore science organization carries out flowing line detection, and it is whole to strengthen municipal drainage pollution sources
Control and be of great significance.
IPEK ROVION pipe endoscopics robot is pipe endoscopic system (CCTV) state-of-the-art detection means, is by leading
Control device, manipulate cable frame, " robot " crawl device three parts composition with pick-up lens, operator is controlled by main controller and " climbed
Row device " pace and direction in pipeline.By main controller computer, testing staff can also adjust the height of shooting, illumination,
Focal length and speed, it might even be possible to carry out vertical rotary 360 ° omni-directional detection up and down, shoot the inner-walls of duct picture of different azimuth.
This avoids operating personnel and is directly entered danger caused by pipeline just as doing " gastroscope " in supplying drainage.Robot is
State-of-the-art detection device, but run into toxic and harmful gas in flowing line and release, draining basement largely be present in flowing line
Well shaft bottom is deeper than drainage pipeline, and drainage pipeline is also few concentric with well center, typically all can two or three meter of bias and from well
At wall inward more than ten centimeters of pinch in even tens centimeters, how quickly robot can be put into pipeline be exactly part very be stranded
Difficult thing.Solve the problems, such as：1st, there is toxic and harmful gas outflow in gully at any time, this requires testing staff under
The time for putting robot can not be oversize.2nd, need to do a quick connection, the device frame of " L " type bridge easy for installation can
It is quickly found out the mouth of pipe and frame is in the mouth of pipe.3rd, the well warp of drain well is general all in 600mm or so, and the mouth of pipe typically exists from well center
More than 2 meters, how 2 meters long " L " type bridge is dropped in well.4th, due to the limitation of well warp, the device width of " L " type bridge
600mm can not be more than, length can not be more than 200mm, " L " the type bridge for how solving 2 meters long
The content of the invention
It is an object of the invention to provide the CCTV draining deeper from shaft bottom of a kind of large eccentricity well and ttom of pipe to detect robot
Conveying device, mainly solving shaft bottom and ttom of pipe in larger distance and the center of well and the center of pipe has certain deviation, and CCTV is detected
Robot is difficult to enter in pipeline the problem of carrying out flowing line detection.
The technical scheme is that：
A kind of draining detects robotic handler, including declines column, well head fixing device, suspension device, spacing dress
Put, retractor device；
The suspension device includes support, bracket adjustment rope, flat board, suspension ring；Flat board is fixedly connected with support；Suspension ring are set
On flat board, one end of bracket adjustment rope is fixed on well head, and other end is arranged on well head around suspension ring；
The stopping means includes spacer pin and extracts rope, limiter, limiting plate, spacer pin；Limiter is fixed on limiting plate
On, in spacer pin insertion limiter, spacer pin is extracted rope and is fixedly connected with spacer pin 22；
The retractor device includes retract rope, expansion plate of expansion plate and stretches out rope, expansion plate, flexible single-sheaved block, flexible double slides
Wheel group；Expansion plate is arranged on flat board, and flexible single-sheaved block, flexible double pulleies unit are set below expansion plate；The both ends of expansion plate point
Stretch out rope with expansion plate retraction rope, expansion plate and be fixedly connected；
Column is connected with limiting plate by limiter；Column is with support by being connected axis connection；Limiting plate passes through with support
Hinge connects.
The both ends of column connect with a public female coupling tap shape catcher respectively.
Advantages of the present invention and beneficial effect are：
The simple in construction, simple processing of the present invention, easy to operate, dismounting is convenient, safe and reliable, saves mounting robot
Time, condition of providing convenience is detected for robot, operating efficiency is substantially increased, there is very extensive promotional value.
Present invention application ensure that the personal safety of workmen, the labor intensity for reducing workmen, pacify for construction
Provide guarantee entirely.Being transported to the mouth of pipe for CCTV flowing lines detection robot has the adaptability promoted.
Brief description of the drawings
Fig. 1 is that the present invention CCTV draining deeper from shaft bottom for large eccentricity well and ttom of pipe detects robotic handler dress
With elevation；
Fig. 2 is that large eccentricity well and the ttom of pipe CCTV draining deeper from shaft bottom detect robotic handler " L " before going into the well
Type converts into figure front view；
Fig. 3 is that large eccentricity well and the ttom of pipe CCTV draining deeper from shaft bottom detect robotic handler " L " before going into the well
Type converts into figure top view
In figure：1 column；2 well head fixators；3 expansion plates, which are retracted, restricts；4 expansion plates stretch out rope；5 spacer pins extract rope；6 rows
The water inspection shaft borehole wall；7 robot cable lines；8CCTV detects robot；9 limiters；10 limiting plates；11 supports；12 drainage pipelines；
13 expansion plates；14 drain well great Jing rooms；15CCTV detections robot camera；16 bracket adjustment ropes；17 flexible single-sheaved blocks；18
Column taper connection is taken over；19 fixed flat planars；20 suspension ring；21 hinges；22 spacer pins；23 connecting shafts；24 flexible double pulleies units.
Embodiment
Invention is made with specific embodiment below in conjunction with the accompanying drawings and further being described in detail.
As shown in Figure 1-Figure 3, the present invention includes declining column 1, well head fixing device 2, suspension device, stopping means, stretched
Compression apparatus；
The suspension device includes support 11, bracket adjustment rope 16, flat board 19, suspension ring 20；Flat board 19 is fixed with support 11
Connection；Suspension ring 20 are arranged on flat board 19, and one end of bracket adjustment rope 16 is fixed on well head, and other end is set around suspension ring 20
In well head；
The stopping means includes spacer pin and extracts rope 5, limiter 9, limiting plate 10, spacer pin 22；Limiter 9 is fixed on
On limiting plate 10, spacer pin 22 is inserted in limiter, and spacer pin is extracted rope 5 and is fixedly connected with spacer pin 22；
The retractor device stretches out rope 4, expansion plate 13, the single-sheaved block 17 that stretches including expansion plate retraction rope 3, expansion plate, stretched
Contracting double pulleies unit 24；Expansion plate 13 is arranged on flat board 19, and the lower section of expansion plate 13 sets flexible single-sheaved block 17, flexible double pulleies unit
24；The both ends of expansion plate 13 are stretched out rope 4 and are fixedly connected with expansion plate retraction rope 3, expansion plate respectively；
Column 1 is connected with limiting plate 10 by limiter 9；Column 1 is connected with support 11 by connecting shaft 23；Limiting plate 10
It is connected with support 11 by hinge 21；
Per about 3 meters of root post length when column makes, then one of one and 2 meters of 1 meter is done, be easy to according to gully
The length of depth adjustment column.It is welded per root post with the light-wall pipes of φ 60 and column taper connection catcher 18, and every vertical
Post two is respectively a public female coupling tap shape catcher, and the benefit of taper catcher is that connection is quick, time saving and energy saving.Suspension device and supporting
The limiting plate 10 of device is formed by connecting by hinge 21, and the effect of hinge is the limiting plate of suspension device and suspension device when opening
At an angle of 90, be easy to flowing line build bridge, carrying CCTV detection robot 8 enter drainage pipeline in, altogether as shown in Fig. 2
" L " limiting plate of suspension device and suspension device is into 0 ° of angle, at this moment whole large eccentricity well and the ttom of pipe CCTV row deeper from shaft bottom
The thickness of water detection robotic handler is easy to enable the device to smoothly lower arrive in predetermined well room 14 less than 100mm.It is vertical
Post 1 with suspension device support 11 is connected together by connecting shaft 23, and the angle that column 1 is formed with support 11 can be freely random
The CCTV draining deeper from shaft bottom of this large eccentricity well and ttom of pipe is detected into robotic handler after adjusting in order to construct
Mention well head.Column 1 with limiting plate 10 is connected by limiter 9, after being connected by limiter 9, makes column 1 and " L " spacing
Plate 10 turns into an entirety, and when limiter 9 is not turned on, limiting plate 10 is rotated with column 1, and at this moment support 11 is formed with column 1
Angle can only be between 0 ° to 90 °, angle can smoothly transfer the device at 0 ° to underground.When the device transfer to it is predetermined
When in well room 14, decentralization bracket adjustment rope 16, the support 11 of suspension device under gravity, along hinge axle centered on it is slow
It is slow to open, it is easy to build bridge into " L " type with regard to spacing when finally reaching 90 °.Spacer pin 5 in limiter 9 is fixed into an entirety,
When being extracted spacer pin 5 with spacer pin extraction rope, stopping means is turned on, and limiting plate 10, column 1 and support 11 are just free
Rotate, can be smoothly by large eccentricity well and ttom of pipe the CCTV draining detection robotic delivery dress deeper from shaft bottom after being easy to detection
Put and be raised to well head in a diameter of 600mm wells.Expansion plate 13 can back and forth freely on the track that support 11 and flat board 19 are formed
It is flexible, rope 4 is stretched out by expansion plate and flexible single-sheaved block 17 stretches function to realize, by expansion plate retraction rope 3 and is stretched
Contracting double pulleies unit 24 retracts function to realize.
Draining detects robotic handler installation procedure：
Selected detection pipeline, opens flowing line Cover of inspection well, carries out toxic and harmful gas detection, poisonous when detection has
When evil gas meets job requirement, md simultaneously can carry out further work.
Flowing line investigation and md are carried out, while the CCTV draining deeper from shaft bottom of large eccentricity well and ttom of pipe is examined
Survey robotic handler and transport to the well head of maintenance, connection column 1 and support 11, at this moment suspension device and suspension device is spacing
Plate is into 0 ° of angle, under CCTV drainings along well head that large eccentricity well and ttom of pipe is deeper from shaft bottom detect robotic handler down
Put, people's towing bracket adjusting rope 16, the angle that support 11 and column 1 are formed is reached 0 ° as far as possible, be easy to large eccentricity well and
The ttom of pipe CCTV draining detection robotic handler deeper from shaft bottom passes through, can basis when a root post falls short of
The depth of gully connects column.
When the device is transferred in predetermined well room 14, unclasp bracket adjustment rope 16, support 11 under gravity,
Slowly opened centered on along hinge axle, when finally reaching 90 °, the device is spacing into " L " type, is easy to build bridge.According to adjusting first
The data for the flowing line looked into, the mouth of pipe is found, the device is adjusted by upper and lower towing bracket adjusting rope 16 and lifting column 1
Highly, the direction of the device is adjusted with column 1 is rotated by the bracket adjustment rope 16 that swings, so that the alignment pipe of support 11
Center.
When the support 11 of the device falls short of, rope 14, expansion plate retraction rope 3, flexible single-sheaved block are stretched out by expansion plate
17 and flexible double pulleies unit 24 adjust the bridge length of " L " type device.
When bridge length meets the requirements, and the height of the device meets that robot can smoothly enter the requirement of the mouth of pipe, at this moment
Well head can be secured the device to by import fixator 2, is as far as possible leaned against column 1 on the inspection shaft borehole wall 6 when fixed, in order to just
In decentralization robot.
The can decentralization CCTV detections robot 8 after fixation, CCTV detections robot 8 four-wheel is allowed during to bridge to keep flat greatly
Eccentric well and ttom of pipe it is deeper from shaft bottom CCTV drainings detection robotic handler on as shown in figure.At this moment electric wire is connected,
Engine-generator, detection robot controller is opened, rise shooting expansion bracket, gear robot can is hung up and smoothly enters pipe
Road proceeds by flowing line detection operation.
After detection, spacer pin is extracted into rope 5 and is pulled up, spacer pin 5 is extracted limiter 9, limiter 9 is beaten
Open, limiting plate 10, column 1 and support 11 just rotate into 180 °, and the CCTV draining deeper from shaft bottom of large eccentricity well and ttom of pipe is examined
Survey robotic handler and be raised to well head in a diameter of 600mm wells.Provision for disengagement and robot, site clearing entrucking, one section
Pipe inspection finishes.
Claims (2)
1. a kind of draining detects robotic handler, it is characterised in that：Including declining column, well head fixing device, supporting dress
Put, stopping means, retractor device；
The suspension device includes support, bracket adjustment rope, flat board, suspension ring；Flat board is fixedly connected with support；Suspension ring are arranged on flat
On plate, one end of bracket adjustment rope is fixed on well head, and other end is arranged on well head around suspension ring；
The stopping means includes spacer pin and extracts rope, limiter, limiting plate, spacer pin；Limiter is fixed on limiting plate, limit
In the pin insertion limiter of position, spacer pin is extracted rope and is fixedly connected with spacer pin；When spacer pin is extracted with spacer pin extraction rope,
Stopping means is turned on, and limiting plate, column and support are free to rotate；
The retractor device includes expansion plate retraction rope, expansion plate stretches out rope, expansion plate, flexible single-sheaved block, flexible double pulleies unit；
Expansion plate is arranged on flat board, and flexible single-sheaved block, flexible double pulleies unit are set below expansion plate；The both ends of expansion plate are respectively with stretching
Contracting plate retraction rope, expansion plate stretch out rope and are fixedly connected；Column is connected with limiting plate by limiter；Column passes through with support to be connected
Axis connection；Limiting plate is connected with support by hinge；Between the angle that support and column are formed is 0 ° -90 °.
2. draining according to claim 1 detects robotic handler, it is characterised in that：The both ends of column are respectively with one
Public female coupling tap shape catcher connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610415051.XA CN105888052B (en) | 2016-06-13 | 2016-06-13 | A kind of draining detects robotic handler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610415051.XA CN105888052B (en) | 2016-06-13 | 2016-06-13 | A kind of draining detects robotic handler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105888052A CN105888052A (en) | 2016-08-24 |
| CN105888052B true CN105888052B (en) | 2018-03-09 |
Family
ID=56730383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610415051.XA Expired - Fee Related CN105888052B (en) | 2016-06-13 | 2016-06-13 | A kind of draining detects robotic handler |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105888052B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107840238B (en) * | 2017-09-15 | 2019-05-14 | 南京航空航天大学 | A kind of pipe robot is gone into the well mechanism and its operational method |
| CN110526164A (en) * | 2019-09-27 | 2019-12-03 | 深圳市施罗德工业集团有限公司 | Upper downhole device |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19605949C2 (en) * | 1996-02-17 | 2000-05-31 | Karlsruhe Forschzent | Manhole reel |
| CN204529209U (en) * | 2015-02-12 | 2015-08-05 | 山东全欧环境产业有限公司 | A kind ofly be applied to the differential type pulley jacking system that catch-basin bilge well draws clearly machine |
| CN104775513A (en) * | 2015-04-20 | 2015-07-15 | 韩建新 | Water pipe fixing frame of pipeline dredging vehicle |
| CN206090806U (en) * | 2016-06-13 | 2017-04-12 | 沈阳地球物理勘察院 | Drainage inspection robot conveyor |
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2016
- 2016-06-13 CN CN201610415051.XA patent/CN105888052B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN105888052A (en) | 2016-08-24 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180309 Termination date: 20210613 |