CN106287106B - A kind of Mobyneb urban discharging pipeline detects robot - Google Patents
A kind of Mobyneb urban discharging pipeline detects robot Download PDFInfo
- Publication number
- CN106287106B CN106287106B CN201610868709.2A CN201610868709A CN106287106B CN 106287106 B CN106287106 B CN 106287106B CN 201610868709 A CN201610868709 A CN 201610868709A CN 106287106 B CN106287106 B CN 106287106B
- Authority
- CN
- China
- Prior art keywords
- fixed
- discharging pipeline
- mobyneb
- crane
- urban discharging
- 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.)
- Active
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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Disclosed by the invention is a kind of Mobyneb urban discharging pipeline detection robot, including fixing bracket body and two Athey wheels, two Athey wheels are installed in the both sides of fixing bracket body by an axisymmetry respectively, rotary shaft is used to adjust the angle of inclination of the Athey wheel, the first crane is installed on fixing bracket body, the top of first crane is fixed and is installed with a fixed cylinder, the top of fixed cylinder, which is fixed, is installed with a support frame mechanism, and two Athey wheels form the triangular support configurations that detection robot is made adaptive can be supported in urban discharging pipeline inner wall with the support frame mechanism.The present invention not only has very high obstacle detouring and bearing capacity, is adapted to the operating mode of various complexity, and it also has exquisite anti-dumping reversed structure, effectively avoids the problem that mechanism is toppled over.On the other hand, which can also carry out effectively detection inspection in inside and outside portion, while realize cavity detection and tube wall detection function to pipeline, save the working time, raising working efficiency.
Description
Technical field
The present invention relates to urban discharging pipeline detection device and accessories field, more specifically a kind of Mobyneb
Urban discharging pipeline detects robot.
Background technology
Urban discharging pipeline is to exclude municipal sewage and the important channel of rainwater and the composition portion of urban public utilities
The infrastructure divided or even developed as urban stability.But during long-term use, knot will be generated in pipeline
Dirt, the deposition of mud and other impurity, also due to flow it is long-term wash away tube wall, lead to that the abrasion of tube wall is thinning, generates
Crackle, even damaged situation, and the leakage of tube wall can also occur, the ground movement outside tube wall, as flow washes away, shape
Into cavitation, lead to collapsing for road surface.Therefore a kind of Mobyneb urban discharging pipeline detection robot is now needed to be used for
The detection of drainage pipeline, the problem of discovery inside and outside pipeline, cleaning in time and reparation have solved the problems, such as appeal.
And detecting robot of pipe of the prior art generally uses the structure of wheeled crawl device, the structure obstacle climbing ability
Difference, bearing capacity is weak, it is difficult to adapt to complex working condition, and most of detecting robot of pipe does not prevent the branch toppled in itself
Support mechanism is easy to topple over problem in use, influences the detection work of robot；On the other hand, mostly
Detecting robot of pipe detection function is single, generally can only all acquire picture or image data inside pipeline, it is impossible to draining
Pipeline internal and external environment is comprehensively detected, and finds pipeline external problem in time, there is very big use limitation.
Invention content
Disclosed by the invention is a kind of Mobyneb urban discharging pipeline detection robot, main to aim to overcome that
Deficiencies of the prior art and shortcoming provide a kind of pipe robot, it not only has very high obstacle detouring and carrying energy
Power is adapted to the operating mode of various complexity, and it also has exquisite anti-dumping reversed structure, effectively avoids what mechanism was toppled over
Problem.On the other hand, which can also carry out effectively detection inspection, while realize cavity in inside and outside portion to pipeline
Detection and tube wall detection function save the working time, improve working efficiency.
The technical solution adopted by the present invention is as follows：
A kind of Mobyneb urban discharging pipeline detects robot, described two including fixing bracket body and two Athey wheels
Athey wheel is installed in the both sides of the fixing bracket body by an axisymmetry respectively, which is used to adjust the Athey wheel
Angle of inclination, be installed with the first crane on the fixing bracket body, the top of first crane, which is fixed, is installed with a fixation
Cylinder, the top of the fixed cylinder, which is fixed, is installed with a support frame mechanism, and two Athey wheel forms one with the support frame mechanism to be made
Detection robot adaptive can be supported in the triangular support configurations of urban discharging pipeline inner wall；The rear portion cooperation of the fixed cylinder is arranged
Have one can 360 ° of rotation settings rotating cylinders, it is fixed on the rotating cylinder to be installed with one for detecting the cavitation around tube wall
Ground Penetrating Radar mechanism.
Further, support frame as described above mechanism includes a supporting and mounting bracket, a support connection thick stick and a support adjusting silk
Thick stick, rotationally activity is installed in the fixed cylinder for one end of the supporting and mounting bracket, and other end fixation is installed with a slip
Idler wheel, one end rotation of the support connection thick stick are installed in the supporting and mounting bracket, and the other end is installed in the support and adjusts
On leading screw, the support adjusting screw level is installed in the top of the fixed cylinder.
Further, the angle between the supporting and mounting bracket and the support adjusting screw is 30 °~90 °.
Further, the Ground Penetrating Radar mechanism includes a Ground Penetrating Radar, a strainer, the second crane and a spy
Ground radar lid, second crane are installed on the rotating cylinder, strainer cooperation be installed on this
On two cranes, and it is recessed downwards above the strainer, it forms one and places groove, the Ground Penetrating Radar coordinates fixed placement
In the placement groove；The Ground Penetrating Radar lid is located at closing lid in the Ground Penetrating Radar.
Further, the level of the horizontal position of the upper surface of the Ground Penetrating Radar lid and support frame as described above mechanism upper surface
Position flush.
Further, the front end of the fixed cylinder, which is fixed, is installed with one for acquiring image or the camera of video information,
Fixation is installed with an illuminating lamp body on first crane.
Further, the rotating cylinder can 180 ° of settings of 360 ° of rotations and flexion-extension.
Further, the front end center position of the fixing bracket body is fixed and is installed with an obliquity sensor, inclination angle sensing
Angle of inclination when device is walked for monitoring robot prevents robot from toppling over.
Further, a driving motor is additionally provided on the fixing bracket body, which passes through a drive connection chain
It is sequentially connected and sets with the rotating cylinder.
Further, the adjusting of first crane, the second crane and the Athey wheel angle of inclination makes the detection
Robot is adapted to different calibers.
By the above-mentioned description of this invention it is found that being compared with existing technology, the advantage of the invention is that：
The pipe robot of the present invention not only has very high obstacle detouring and bearing capacity, Ke Yishi using crawler type lower body
The operating mode of various complexity is answered, and it also has exquisite anti-dumping reversed structure, effectively avoids the problem that mechanism is toppled over.It is another
Aspect, the present invention carry out once pipeline internal and external environment by setting camera, rotating cylinder and Ground Penetrating Radar mechanism that can realize
Property comprehensively detect, while realize cavity detection and tube wall detection function, save the working time, improve working efficiency.
Figure of description
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the overlooking the structure diagram of the present invention.
Fig. 3 is side structure schematic view of the present invention.
Fig. 4 is the forward sight structure diagram of the present invention.
Specific embodiment
Illustrate to further explain the specific embodiment of the present invention with reference to the accompanying drawings.
As shown in Figures 1 to 4, a kind of Mobyneb urban discharging pipeline detection robot, including fixing bracket body 1 and two
Athey wheel 2, described two Athey wheels 2 are symmetrically installed in the both sides of the fixing bracket body 1, the rotation by a rotary shaft 21 respectively
Axis 21 is used to adjust the angle of inclination of the Athey wheel 2, the first crane 3 to be installed on the fixing bracket body 1, first lifting
The top of frame 3, which is fixed, is installed with a fixed cylinder 4, and the top of the fixed cylinder 4, which is fixed, is installed with a support frame mechanism 5, and described two
Athey wheel 2 is configured to a triangle branch that detection robot is made adaptive can be supported in urban discharging pipeline inner wall with the supporting rack machine 5
Support structure.Support frame as described above mechanism 5 includes a supporting and mounting bracket 51, one support connection thick stick 52 and one and supports adjusting screw 53,
Rotationally activity is installed in the fixed cylinder 4 for one end of the supporting and mounting bracket 51, and other end fixation is installed with a slip
Idler wheel 54, one end rotation of the support connection thick stick 52 are installed in the supporting and mounting bracket 51, and the other end is installed in the branch
It supports on adjusting screw 53, support 53 level of adjusting screw is installed in the top of the fixed cylinder 4.The supporting and mounting bracket 51
Angle between the support adjusting screw 53 is 30 °~90 °, is adaptable in the drainage pipeline of different tube diameters, the triangle
Support construction, which can play, prevents robot from toppling over function.
As shown in Figures 1 to 4, the rear portion engagement sleeves of the fixed cylinder 4 can 180 ° of settings of 360 ° of rotations and flexion-extension equipped with one
Rotating cylinder 6, it is fixed on the rotating cylinder 6 to be installed with one for detecting the Ground Penetrating Radar mechanism 7 of the cavitation around tube wall.Institute
It states and a driving motor 11 is additionally provided on fixing bracket body 1, which is passed by a drive connection chain and the rotating cylinder 6
Dynamic connection setting, drive connection chain can make rotating cylinder 6 that Ground Penetrating Radar mechanism 7 be driven to rotate together, realize Ground Penetrating Radar machine
360 ° of rotation detection functions of structure 7.The Ground Penetrating Radar mechanism 7 includes a Ground Penetrating Radar 71, a strainer 72, second lifts
73 and one Ground Penetrating Radar lid 74 of frame, second crane 73 are installed on the rotating cylinder 6, the strainer 72
Cooperation is installed on second crane 73, and 72 top of the strainer is recessed downwards, is formed one and is placed groove, institute
The cooperation fixed placement of Ground Penetrating Radar 71 is stated in the placement groove, the Ground Penetrating Radar lid 74 is located at the Ground Penetrating Radar 71 with closing lid
On, Ground Penetrating Radar lid 74 prevents Ground Penetrating Radar 71 from wearing for protecting Ground Penetrating Radar 71.The Ground Penetrating Radar lid 74 it is upper
The horizontal position of end face and the horizontal position flush of 5 upper surface of support frame as described above mechanism, make Ground Penetrating Radar lid 74 be close to pipeline
Inner wall.The adjusting at 2 angle of inclination of first crane 3, the second crane 73 and the Athey wheel makes the detection robot can
To adapt to different calibers.
As shown in Figures 1 to 4, the front end of the fixed cylinder 4, which is fixed, is installed with one for acquiring image or video information
Camera 8, the camera 8 generally use CCTV cameras, are fixed on first crane 3 and be installed with an illuminating lamp body 9, should
Illuminating lamp body 9 is LED light, which provides sufficient illuminating ray for the camera 8.The camera 8 can 360 ° of rotations
Setting can facilitate the data of acquisition drainage pipeline inner wall surrounding.The front end center position of the fixing bracket body 1 is fixed and is installed with one
Obliquity sensor 10, angle of inclination when which walks for monitoring robot prevent robot from toppling over, and should
Obliquity sensor 10 can also measure the angle of inclination of drainage pipeline.
The pipe robot of the present invention not only has very high obstacle detouring and bearing capacity, Ke Yishi using crawler type lower body
The operating mode of various complexity is answered, and it also has exquisite anti-dumping reversed structure, effectively avoids the problem that mechanism is toppled over.It is another
Aspect, the present invention carry out once pipeline internal and external environment by setting camera, rotating cylinder and Ground Penetrating Radar mechanism that can realize
Property comprehensively detect, while realize cavity detection and tube wall detection function, save the working time, improve working efficiency.
The specific embodiment of the present invention is above are only, but the design concept of the present invention is not limited merely to this, every profit
The present invention is improved with carrying out unsubstantiality with this design, should belong to the behavior for invading the scope of the present invention.
Claims (9)
1. a kind of Mobyneb urban discharging pipeline detects robot, it is characterised in that：Including fixing bracket body and two Athey wheels,
Described two Athey wheels are installed in the both sides of the fixing bracket body by an axisymmetry respectively, which is used to adjust institute
The angle of inclination of Athey wheel is stated, the first crane is installed on the fixing bracket body, installing is fixed on the top of first crane
There is a fixed cylinder, the top of the fixed cylinder, which is fixed, is installed with a support frame mechanism, described two Athey wheels and the supporting rack machine
It is configured to the triangular support configurations that detection robot is made adaptive can be supported in urban discharging pipeline inner wall；After the fixed cylinder
Portion's engagement sleeves be equipped with one can 360 ° of rotation settings rotating cylinders, it is fixed on the rotating cylinder to be installed with one for detecting around tube wall
The Ground Penetrating Radar mechanism of cavitation；Support frame as described above mechanism includes a supporting and mounting bracket, a support connection thick stick and a support
Adjusting screw, rotationally activity is installed in the fixed cylinder for one end of the supporting and mounting bracket, and other end fixation is installed with
One slider roller, one end rotation of the support connection thick stick are installed in the supporting and mounting bracket, and the other end is installed in the branch
It supports on adjusting screw, the support adjusting screw level is installed in the top of the fixed cylinder.
2. a kind of Mobyneb urban discharging pipeline detection robot according to claim 1, it is characterised in that：The support
Angle between fixed frame and the support adjusting screw is 30 °~90 °.
3. a kind of Mobyneb urban discharging pipeline detection robot according to claim 1, it is characterised in that：The spy
Ground radar mechanism includes a Ground Penetrating Radar, a strainer, the second crane and a Ground Penetrating Radar lid, second crane
It is installed on the rotating cylinder, the strainer cooperation is installed on second crane, and the tensioning device
It is recessed downwards above structure, it forms one and places groove, the Ground Penetrating Radar coordinates fixed placement in the placement groove；It is described to visit ground
Radar lid is located at closing lid in the Ground Penetrating Radar.
4. a kind of Mobyneb urban discharging pipeline detection robot according to claim 3, it is characterised in that：The spy
The horizontal position of the upper surface of ground radar lid and the horizontal position flush of support frame as described above mechanism upper surface.
5. a kind of Mobyneb urban discharging pipeline detection robot according to claim 1, it is characterised in that：It is described solid
The front end of safety barrel, which is fixed, is installed with one for acquiring image or the camera of video information, and installing is fixed on first crane
There is an illuminating lamp body.
6. a kind of Mobyneb urban discharging pipeline detection robot according to claim 5, it is characterised in that：The rotation
Rotating cylinder can 180 ° of settings of 360 ° of rotations and flexion-extension.
7. a kind of Mobyneb urban discharging pipeline detection robot according to claim 1, it is characterised in that：It is described solid
The front end center position fixation for determining frame body is installed with an obliquity sensor, when which walks for monitoring robot
Angle of inclination prevents robot from toppling over.
8. a kind of Mobyneb urban discharging pipeline detection robot according to claim 1, it is characterised in that：It is described solid
Determine to be additionally provided with a driving motor on frame body, which is set by a drive connection chain and rotating cylinder drive connection
It puts.
9. a kind of Mobyneb urban discharging pipeline detection robot according to claim 3, it is characterised in that：Described
One crane, the second crane and the adjusting at the Athey wheel angle of inclination make the detection robot be adapted to different pipes
Diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868709.2A CN106287106B (en) | 2016-09-30 | 2016-09-30 | A kind of Mobyneb urban discharging pipeline detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610868709.2A CN106287106B (en) | 2016-09-30 | 2016-09-30 | A kind of Mobyneb urban discharging pipeline detects robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106287106A CN106287106A (en) | 2017-01-04 |
| CN106287106B true CN106287106B (en) | 2018-06-26 |
Family
ID=57715948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610868709.2A Active CN106287106B (en) | 2016-09-30 | 2016-09-30 | A kind of Mobyneb urban discharging pipeline detects robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106287106B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108423085B (en) * | 2018-02-10 | 2020-09-18 | 北京市公路桥梁建设集团锐诚工程试验检测有限公司 | Foldable geological radar detection trolley |
| CN108679454B (en) * | 2018-05-09 | 2019-04-02 | 中国矿业大学(北京) | A kind of urban Underground pipeline radar detector |
| CN109357105B (en) * | 2018-10-15 | 2020-05-19 | 西华大学 | Wheel-track combined type pipeline robot |
| CN109386739A (en) * | 2018-11-01 | 2019-02-26 | 中国矿业大学(北京) | A kind of drainage pipeline rapid detection system |
| CN110031864A (en) * | 2019-05-14 | 2019-07-19 | 北京恒通国盛环境管理有限公司 | A kind of pipe detection device |
| CN110486569A (en) * | 2019-09-29 | 2019-11-22 | 南方工程检测修复技术研究院 | Defect inspection and restorative procedure outside a kind of buried drain pipe road |
| CN111156368A (en) * | 2020-01-22 | 2020-05-15 | 福建丽塔智能科技有限公司 | Crawler-type pipeline crawling robot |
| CN111561664A (en) * | 2020-06-08 | 2020-08-21 | 北京安运通科技有限公司 | Underground pipeline detection system |
| CN111998169B (en) * | 2020-09-08 | 2021-11-26 | 北京政平建设投资集团有限公司 | Double-body buoyancy tank crawler-type pipeline image detection robot |
| CN111998170A (en) * | 2020-09-10 | 2020-11-27 | 深圳市博铭维智能科技有限公司 | Laser radar amphibious pipeline detection robot |
| CN112483768B (en) * | 2020-11-13 | 2022-06-28 | 广东韶测检测有限公司 | Sewage pipeline detection robot with water based on mechanical driving mechanism |
| CN112710542A (en) * | 2021-01-18 | 2021-04-27 | 苏州混凝土水泥制品研究院检测中心有限公司 | Equipment and method for detecting tensile strength of PE sheet |
| CN113883359A (en) * | 2021-08-23 | 2022-01-04 | 武汉工程大学 | Self-adaptive crawler pipeline robot climbing device and control method |
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201177141Y (en) * | 2008-02-04 | 2009-01-07 | 浙江工业大学 | Central air-conditioner pipeline cleaning and disinfection vehicle |
| KR101338970B1 (en) * | 2013-06-19 | 2013-12-10 | 수자원기술 주식회사 | Rust and coating removing system by using vehicle and induction coil of inside of large size pipe |
| CN103672293B (en) * | 2013-12-17 | 2016-05-25 | 王军 | The amphibious working pipe pipeline robot of a kind of multi-dimensions test |
| TWM497044U (en) * | 2014-04-02 | 2015-03-11 | shi-xiao Xu | Powered vehicle |
| CN105003790B (en) * | 2015-07-08 | 2017-03-01 | 北京工业大学 | A kind of multi-functional composite flooding pipe robot |
| CN105840951B (en) * | 2016-05-05 | 2018-05-25 | 湖北三江航天红阳机电有限公司 | A kind of interior rising trend pipe crawling device |
| CN206036519U (en) * | 2016-09-30 | 2017-03-22 | 福建（泉州）哈工大工程技术研究院 | Many functional type urban drainage pipeline inspection robot |
-
2016
- 2016-09-30 CN CN201610868709.2A patent/CN106287106B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106287106A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106287106B (en) | A kind of Mobyneb urban discharging pipeline detects robot | |
| CN206036519U (en) | Many functional type urban drainage pipeline inspection robot | |
| CN111300453A (en) | Intelligent inspection robot for comprehensive pipe rack | |
| CN109458565A (en) | A kind of urban underground water drainage pipe road profession detection method | |
| CN106439385B (en) | A kind of telescopic boom detecting robot of pipe suitable for different size calibers | |
| CN103981831B (en) | Sandy beach cleaning cart | |
| CN106320510A (en) | Drain device and deep well dredging grab bucket loader | |
| KR101226222B1 (en) | Amphibious mobile recording device and recording method using the same sewer | |
| CN204445707U (en) | Sweeping robot | |
| CN201651787U (en) | Image pick-up detection device for underground pipeline | |
| CN102155627A (en) | Underground pipeline image pickup detection device | |
| CN206592709U (en) | A kind of reservoir culvert detects robot | |
| CN211925151U (en) | Drainage pipeline detection device | |
| CN109440913A (en) | A kind of sewer cleaning soft robot with camera shooting mechanism | |
| CN204924958U (en) | Sewage pipe guipure water inspection robot | |
| KR100547262B1 (en) | pipe road investigation device measuring variation of flexible pipe and filming CCTV and its method | |
| CN214947353U (en) | Full-automatic cleaning device of pipeline inspection robot | |
| CN109882155B (en) | Underground surveying method and equipment | |
| CN213712313U (en) | Urban underground drainage pipe network detection device | |
| CN109763532A (en) | A kind of dam flood-discharge hole underwater desilting system | |
| CN209762553U (en) | Underground pipeline detection device | |
| CN107421965A (en) | A kind of culvert pipe detection means of the hydraulic engineering with defencive function | |
| CN211802852U (en) | Pipeline detection belt cleaning device | |
| CN207279140U (en) | A kind of modularization Work machine platform for pipe with small pipe diameter water supply line | |
| CN213745529U (en) | Drainage pipeline internal defect detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |