CN107270029A - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
- Publication number
- CN107270029A CN107270029A CN201710588387.0A CN201710588387A CN107270029A CN 107270029 A CN107270029 A CN 107270029A CN 201710588387 A CN201710588387 A CN 201710588387A CN 107270029 A CN107270029 A CN 107270029A
- Authority
- CN
- China
- Prior art keywords
- support rod
- movable support
- photographic apparatus
- end cover
- infrared inductor
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- 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
- F16L55/40—Constructional aspects of the body
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- 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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
-
- 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
Abstract
The invention discloses a kind of pipe robot, its structure includes the first movable support rod, upper end cover, expansion link, infrared inductor, infrared induction transmitter, photographic apparatus, locating fastener, main body, connecting pin, auxiliary wheel, damping wheel band, wheel hub, anti-pulley, second movable support rod, pass through the first movable support rod with upper end cover, second movable support rod is with being connected pin connection, expansion link is provided with infrared inductor, infrared induction transmitter is electrically connected with infrared inductor, upper end cover and expansion link interference fits, first movable support rod, second movable support rod and locating fastener interference fits, beneficial effects of the present invention：Photographic apparatus is made up of electric rotating machine, angle demodulator, photographic apparatus main frame, phtographic lens, LED light supplement lamp, and 360 degree of photographies can be carried out to pipeline inside, in the absence of dead angle, are conducive to user to observe pipeline details.
Description
Technical field
The present invention is a kind of pipe robot, belongs to robot field.
Background technology
In the fields such as general industry, nuclear facilities, petroleum gas, military equipment, pipeline is used as a kind of effective material
Mode of movement and be widely used.The working environment very severe of pipeline, easily occurs corrosion and fatigue destruction or makes pipeline
Internal potential development of defects causes the accidents such as leakage into breakage.Therefore, in order to extend life-span, the prevent leakage accident of pipeline
Generation, must just carry out effective detection maintenance, repair to pipeline, pipe robot produces to meet the needs.
Prior art discloses Application No.：201621209100.6 a kind of pipe robot, including two symmetrical cloth
Control unit is connected between the carrier unit put, two carrier units, ten thousand are passed through between the carrier unit and control unit
To section connection, walking unit is connected with the carrier unit, the carrier unit includes electric pushrod and three supports, described
Three equally distributed adjusting nuts are provided with electric pushrod, three supports are connected by adjusting nut and electric pushrod
Connect, and three supports are arranged in isosceles triangle；The walking unit includes motor box, two road wheels, motors and two
Individual bevel gear, but prior art can not be unfavorable for user's observation pipeline detailed to photography of 360 degree of the pipeline inside without dead angle
Situation.
The content of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of pipe robot, to solve prior art
User's observation pipeline details problem can not be unfavorable for photography of 360 degree of the pipeline inside without dead angle.
To achieve these goals, the present invention is to realize by the following technical solutions：A kind of pipe robot, it is tied
Structure include the first movable support rod, upper end cover, expansion link, infrared inductor, infrared induction transmitter, photographic apparatus, locating fastener,
Main body, connecting pin, auxiliary wheel, damping wheel band, wheel hub, anti-pulley, the second movable support rod, it is described to pass through with upper end cover
One movable support rod, the second movable support rod are provided with infrared inductor with being connected pin connection, described expansion link, and described is red
Outer inductive transmitter is electrically connected with infrared inductor, described upper end cover and expansion link interference fits, the first described activity branch
Strut, the second movable support rod and locating fastener interference fits, it is described to be lived with upper end cover by the first movable support rod, second
Dynamic support bar, described infrared inductor is electrically connected by upper end cover, the first movable support rod, the second movable support rod and main body
Connect, described damping wheel band is interference fitted with anti-pulley, and described anti-pulley is connected by damping wheel band with wheel hub, and described takes the photograph
Shadow instrument is electrically connected by upper end cover, the first movable support rod, the second movable support rod with main body, and described photographic apparatus is by rotating
Motor, angle demodulator, photographic apparatus main frame, phtographic lens, LED light supplement lamp composition, described phtographic lens, LED light supplement lamp with
Photographic apparatus main frame is electrically connected, and angle demodulator is provided with the left of described photographic apparatus main frame, and described photographic apparatus main frame passes through angle
Adjuster is electrically connected with electric rotating machine.
Further, described infrared inductor is provided with two infrared induction transmitters.
Further, the first movable support rod and the second movable support rod are provided with below described upper end cover.
Further, described main body is provided with connecting pin.
Further, described main body is surrounded by the damping wheel band, wheel hub, anti-pulley of four.
Further, described anti-pulley is made up of elastomeric material.
Further, described photographic apparatus is made up of elastomeric material.
Beneficial effects of the present invention：Photographic apparatus is by electric rotating machine, angle demodulator, photographic apparatus main frame, phtographic lens, LED
Light compensating lamp is constituted, and 360 degree of photographies can be carried out to pipeline inside, in the absence of dead angle, are conducive to user to observe the detailed feelings of pipeline
Condition.
Brief description of the drawings
By reading the detailed description made with reference to the following drawings to non-limiting example, further feature of the invention,
Purpose will become more apparent upon with advantage：
Fig. 1 is a kind of structural representation of pipe robot of the invention；
Fig. 2 is the structural representation of photographic apparatus of the present invention.
In figure：First movable support rod -1, upper end cover -2, expansion link -3, infrared inductor -4, infrared induction transmitter -
5th, photographic apparatus -6, locating fastener -7, main body -8, connecting pin -9, auxiliary wheel -10, damping wheel band -11, wheel hub -12, anti-pulley -
13rd, the second movable support rod -14, electric rotating machine -61, angle demodulator -62, photographic apparatus main frame -63, phtographic lens -64, LED
Light compensating lamp -65.
Embodiment
To be easy to understand the technical means, the inventive features, the objects and the advantages of the present invention, with reference to
Embodiment, is expanded on further the present invention.
Fig. 1, Fig. 2 are referred to, the present invention provides a kind of technical scheme：A kind of pipe robot, its structure includes first and lived
Dynamic support bar 1, upper end cover 2, expansion link 3, infrared inductor 4, infrared induction transmitter 5, photographic apparatus 6, locating fastener 7, main frame
Body 8, connecting pin 9, auxiliary wheel 10, damping wheel band 11, wheel hub 12, anti-pulley 13, the second movable support rod 14, described and upper end
Lid 2 is connected by the first movable support rod 1, the second movable support rod 14 with connecting pin 9, and described expansion link 3 is provided with infrared
Inductor 4, described infrared induction transmitter 5 is electrically connected with infrared inductor 4, and described upper end cover 2 is matched somebody with somebody with the transition of expansion link 3
Close, described the first movable support rod 1, the second movable support rod 14 and the interference fits of locating fastener 7, it is described with upper end cover 2
By the first movable support rod 1, the second movable support rod 14, described infrared inductor 4 is propped up by the activity of upper end cover 2, first
Strut 1, the second movable support rod 14 are electrically connected with main body 8, and described damping wheel band 11 is interference fitted with anti-pulley 13, described
Anti-pulley 13 be connected by damping wheel band 11 with wheel hub 12, described photographic apparatus 6 passes through upper end cover 2, the first movable support rod
1st, the second movable support rod 14 is electrically connected with main body 8, and described photographic apparatus 6 is by electric rotating machine 61, angle demodulator 62, photography
Instrument main frame 63, phtographic lens 64, LED light supplement lamp 65 are constituted, described phtographic lens 64, LED light supplement lamp 65 and photographic apparatus main frame
63 electrical connections, the described left side of photographic apparatus main frame 63 is provided with angle demodulator 62, and described photographic apparatus main frame 63 is adjusted by angle
Section device 62 is electrically connected with electric rotating machine 61, and described infrared inductor 4 is provided with two infrared induction transmitters 5, and described is upper
The lower section of end cap 2 is provided with the first movable support rod 1 and the second movable support rod 14, and described main body 8 is provided with connecting pin 9, institute
The main body 8 stated is surrounded by the damping wheel band 11, wheel hub 12, anti-pulley 13 of four, and described anti-pulley 13 is by rubber material
Material is constituted, and described photographic apparatus 6 is made up of elastomeric material.
The synchronous shooting of photographic apparatus 6 described in this patent obtains the video camera of stereogram.Have twin-lens stereoscopic camera and by
Side by side two frame set of cameras into stereoscopic camera etc.；The latter can be used for ground stereophotogrammetric survey.By two frame elements of interior orientation
Identical video camera makes two optical axises parallel on the base carriage of fixed length or variable-length, while exposing intake stereogram.
Such as size of the first user using this practicality, first measurement pipe diameter, the first movable support rod 1 of adjustment, upper end cover
2nd, the movable support rod 14 of expansion link 3 and second arrives suitable size；It is controlled using remote manipulator, it is infrared inductor 4, red
Outer inductive transmitter 5, photographic apparatus 6 work asynchronously, and electric rotating machine 61, angle demodulator 62, which can rotate, is adjusted to angle of properly photographing
Degree.
The present invention the first movable support rod 1, upper end cover 2, expansion link 3, infrared inductor 4, infrared induction transmitter 5,
Photographic apparatus 6, locating fastener 7, main body 8, connecting pin 9, auxiliary wheel 10, damping wheel band 11, wheel hub 12, anti-pulley 13, second are lived
Dynamic support bar 14, electric rotating machine 61, angle demodulator 62, photographic apparatus main frame 63, phtographic lens 64, LED light supplement lamp 65, part is equal
The part known for universal standard part or those skilled in the art, its structure and principle all can pass through technology for this technology personnel
Handbook learns or known by normal experiment method that the problem of present invention is solved is that prior art can not be 360 degree to pipeline inside
Photography without dead angle, is unfavorable for user's observation pipeline details, being combined with each other by above-mentioned part of the invention, the present invention
Beneficial effect：Photographic apparatus is made up of electric rotating machine, angle demodulator, photographic apparatus main frame, phtographic lens, LED light supplement lamp, can be with
360 degree of photographies are carried out to pipeline inside, in the absence of dead angle, are conducive to user to observe pipeline details, it is described in detail below：
Described photographic apparatus 6 is mended by electric rotating machine 61, angle demodulator 62, photographic apparatus main frame 63, phtographic lens 64, LED
Light lamp 65 is constituted, and described phtographic lens 64, LED light supplement lamp 65 are electrically connected with photographic apparatus main frame 63, described photographic apparatus main frame
63 left sides are provided with angle demodulator 62, and described photographic apparatus main frame 63 is electrically connected by angle demodulator 62 with electric rotating machine 61.
The general principle and principal character and advantages of the present invention of the present invention have been shown and described with above, for this area skill
For art personnel, it is clear that the invention is not restricted to the details of above-mentioned one exemplary embodiment, and without departing substantially from the present invention spirit or
In the case of essential characteristic, the present invention can be realized in other specific forms.Therefore, all should be by no matter from the point of view of which point
Embodiment regards exemplary as, and be it is nonrestrictive, the scope of the present invention by appended claims rather than on state
It is bright to limit, it is intended that all changes fallen in the implication and scope of the equivalency of claim are included in the present invention
It is interior.Any reference in claim should not be considered as to the claim involved by limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (5)
1. a kind of pipe robot, it is characterised in that：Its structure includes the first movable support rod (1), upper end cover (2), expansion link
(3), infrared inductor (4), infrared induction transmitter (5), photographic apparatus (6), locating fastener (7), main body (8), connecting pin
(9), auxiliary wheel (10), damping wheel band (11), wheel hub (12), anti-pulley (13), the second movable support rod (14), it is described with it is upper
End cap (2) is connected by the first movable support rod (1), the second movable support rod (14) with connecting pin (9), described expansion link
(3) infrared inductor (4) is provided with, described infrared induction transmitter (5) is electrically connected with infrared inductor (4), and described is upper
End cap (2) and expansion link (3) interference fits, described the first movable support rod (1), the second movable support rod (14) and locator card
Detain (7) interference fits, it is described with upper end cover (2) by the first movable support rod (1), the second movable support rod (14), it is described
Infrared inductor (4) pass through upper end cover (2), the first movable support rod (1), the second movable support rod (14) and main body (8)
Electrical connection, described damping wheel band (11) is interference fitted with anti-pulley (13), and described anti-pulley (13) passes through damping wheel band
(11) it is connected with wheel hub (12), described photographic apparatus (6) is propped up by upper end cover (2), the first movable support rod (1), the second activity
Strut (14) is electrically connected with main body (8), and described photographic apparatus (6) is by electric rotating machine (61), angle demodulator (62), photographic apparatus
Main frame (63), phtographic lens (64), LED light supplement lamp (65) composition, described phtographic lens (64), LED light supplement lamp (65) are with taking the photograph
Shadow instrument main frame (63) is electrically connected, and angle demodulator (62), described photographic apparatus master are provided with the left of described photographic apparatus main frame (63)
Machine (63) is electrically connected by angle demodulator (62) with electric rotating machine (61).
2. a kind of pipe robot according to claim 1, it is characterised in that：Described infrared inductor (4) is provided with
Two infrared induction transmitters (5).
3. a kind of pipe robot according to claim 1, it is characterised in that：Provided with the below described upper end cover (2)
One movable support rod (1) and the second movable support rod (14).
4. a kind of pipe robot according to claim 1, it is characterised in that：Described main body (8) is provided with connection
Sell (9).
5. a kind of pipe robot according to claim 1, it is characterised in that：Described main body (8) is surrounded by four
Individual damping wheel band (11), wheel hub (12), anti-pulley (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710588387.0A CN107270029A (en) | 2017-07-19 | 2017-07-19 | A kind of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710588387.0A CN107270029A (en) | 2017-07-19 | 2017-07-19 | A kind of pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107270029A true CN107270029A (en) | 2017-10-20 |
Family
ID=60078316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710588387.0A Pending CN107270029A (en) | 2017-07-19 | 2017-07-19 | A kind of pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107270029A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036150A (en) * | 2017-12-01 | 2018-05-15 | 泉州市西决三维科技有限公司 | A kind of drainpipe detecting robot |
| CN108317338A (en) * | 2018-01-24 | 2018-07-24 | 肖香福 | A kind of various visual angles pipe detection crawl device |
| CN109737265A (en) * | 2019-01-14 | 2019-05-10 | 上海潜业市政工程有限公司 | A kind of CIPP pipe-repairing resin detection device |
| CN110762336A (en) * | 2019-09-23 | 2020-02-07 | 北京建筑大学 | Intelligent pipeline inspection system |
| CN110324569B (en) * | 2018-03-29 | 2021-03-30 | 韩国倍拓有限公司 | Mobile automatic monitoring system and method thereof |
-
2017
- 2017-07-19 CN CN201710588387.0A patent/CN107270029A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108036150A (en) * | 2017-12-01 | 2018-05-15 | 泉州市西决三维科技有限公司 | A kind of drainpipe detecting robot |
| CN108036150B (en) * | 2017-12-01 | 2019-10-01 | 山东金茂塑业有限公司 | A kind of drainpipe detecting robot |
| CN108317338A (en) * | 2018-01-24 | 2018-07-24 | 肖香福 | A kind of various visual angles pipe detection crawl device |
| CN110324569B (en) * | 2018-03-29 | 2021-03-30 | 韩国倍拓有限公司 | Mobile automatic monitoring system and method thereof |
| CN109737265A (en) * | 2019-01-14 | 2019-05-10 | 上海潜业市政工程有限公司 | A kind of CIPP pipe-repairing resin detection device |
| CN110762336A (en) * | 2019-09-23 | 2020-02-07 | 北京建筑大学 | Intelligent pipeline inspection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171020 |
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| WD01 | Invention patent application deemed withdrawn after publication |