CN107380291A - Mode of doing more physical exercises pipeline outer wall climbing detection robot - Google Patents
Mode of doing more physical exercises pipeline outer wall climbing detection robot Download PDFInfo
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- CN107380291A CN107380291A CN201710564771.7A CN201710564771A CN107380291A CN 107380291 A CN107380291 A CN 107380291A CN 201710564771 A CN201710564771 A CN 201710564771A CN 107380291 A CN107380291 A CN 107380291A
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- 230000009194 climbing Effects 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 230000004888 barrier function Effects 0.000 claims abstract description 17
- 238000012546 transfer Methods 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims abstract description 7
- 238000006073 displacement reaction Methods 0.000 claims abstract description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 14
- 238000013461 design Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
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- 238000005516 engineering process Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 230000005611 electricity Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
- 230000007096 poisonous effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
Done more physical exercises mode pipeline outer wall climbing detection robot the invention discloses one kind, it is characterised in that：The mode pipeline outer wall climbing detection robot of doing more physical exercises is made up of two big round die blocks, is connected between two round die blocks by turning device, it is possible to achieve is relatively rotated.Each round die block is made up of drive device, transmission device, transfer, camera, pressure sensor and control cabinet etc..It is designed go out mode pipeline outer wall climbing detection robot of doing more physical exercises there are multi-motion modes, it is possible to achieve move along a straight line along pipeline, moved around pipeline rotary motion and upset etc..The robot can be by the bend pipe of the complicated shape such as L-type, T-shaped, and possesses the ability of the barriers such as crossing pipeline joint, valve, and motion is crossed between achievable two pipelines.The robot is by adjusting the displacement of linear actuator, the pipe diameter being adapted in very wide range.It can also carry out the work such as safeguarding after various operation instruments are installed on semicircular frame.
Description
Technical field
The invention belongs to robot technology and automatic field, more particularly to one kind is done more physical exercises the climbing inspection of mode pipeline outer wall
Survey robot.
Background technology
Pipe robot is an important component of industrial robot field, at present increasingly by the weight of people
Depending on.Pipe robot can be divided into two kinds of in-pipe robot and Pipe-out Robot.Pipe-out Robot can be used for various pipelines, electricity
The operations such as the detection and maintenance of the outer surfaces such as cable.Substantial amounts of pipeline has been used in modern industrial and agricultural production and normal life, and it is big
Containing fluids such as poisonous, high temperature in most industrial pipelines, these fluids, which once leak, will cause great casualties
And property loss, consequence will be inestimable.Therefore being instead of the detection and maintenance of mankind's progress pipeline using Pipe-out Robot must
Indispensable.If these tasks still allow people to perform, substantial amounts of manpower and materials can be not only consumed, efficiency is low, and danger coefficient is high,
And the occasion such as some work high above the ground can not accomplish in itself by the mankind at all, now Pipe-out Robot just shows obvious excellent
More property.
The species and arrangement for the pipeline industrially used at present are extremely complex, have caliber changeable, bend is L-type, T
The complicated shapes such as type, there is the characteristics of barriers such as pipe joint, valve, support frame on pipeline.Want to adapt to so complexity completely
Working environment, Pipe-out Robot, which must possess, adapts to different tube diameters, passes through the energy of complicated pipe shape and barrier
Power.Some in particular cases, it is necessary to which robot can be in two adjacent channel part motion switch paths, this just needs robot
With the ability across adjacent channel.
Pipe-out Robot is mainly using creeping motion type and the move mode of cartwheel roll dynamic formula at present.Creeping motion type Pipe-out Robot is adopted
By the use of motor, cylinder, hydraulic cylinder as drive device, it is clamped, stretched, is relaxed by the co-ordination between several modules
The locomotive function outside pipeline is realized in action.Cartwheel roll dynamic formula Pipe-out Robot is real by the frictional force of driving wheel and pipeline outer wall
Now along the locomotive function of pipeline.Current existing Pipe-out Robot still has many shortcomings：Such as it is complicated, weight is big, general
Property is poor, can not be adapted to various complicated pipe arrangement structures.Such as：Chinese invention patent CN102975783A discloses a kind of single
The outer tube climber device people of wheeled pipe, the robot can be revolved by straight tube, bend pipe and cross bend and being done around pipeline
Transhipment is dynamic.The robot provides motion by the moving wheel of built-in motor, robot is done circle around pipeline by steering mechanism
Zhou Yundong, the diameter of pipeline is adapted to by the regulation of arm device.It is more that Chinese invention patent CN104972460A discloses one kind
Joint omnidirectional type Pipe-out Robot, the robot have omnidirectional type locomitivity, can be connected by the pipeline such as bend pipe and threeway, four-way
Place is met, possesses the ability for crossing the outer barrie thing such as valve, ring flange, support, motion is crossed between achievable adjacent channel.On
State the first robot to be merely able to move on pipeline, do not possess the ability for crossing obstacle on pipeline, and can only adapt to single
Caliber.And second of robot architecture is complicated, control is difficult, stability is poor, it is difficult to be widely used.
Chinese invention patent CN102700643A discloses a kind of pipe robot walking outside, and the robot is by front and rear two section cars
Body is formed, and two section car bodies are connected by plane hinge mechanism, and two section body framework bottom surfaces are equipped with holding tube walking mechanism, it is possible to achieve edge
Pipeline moves along a straight line, and is turn-taked around pipeline, across cross and L-type pipeline function.But the robot can only adapt to it is same
The pipeline of caliber, it is necessary to by changing the diameter of different back-up roller wheels and roller, to adapt to the application of different tube diameters pipeline, and
And the motion across two parallelpipeds can not be realized.The left walking roller and right walking roller cross arrangement of front vehicle body and aftercarriage
And it is angled with pipeline, it so can all produce when along pipeline linear motion or rotary motion and mutually be hung down with direction of advance
Straight component, extra resistance and burden are brought to drive device and transmission device, have a strong impact on performance and the life-span of robot,
Roller is also easy to wear.Chinese invention patent CN104787142A discloses a kind of outer tube climber device people of two-way wheel type pipe, the machine
Device people is made up of pedestal, turning device, straight trip device, rotating device, locking device and bascule, it is possible to achieve by curved
Road, cross pipeline, but also 360 degree of pipeline progress can be surrounded and detoured.But the robot can only be adapted in very low range
Pipe diameter, and do not possess the ability across two parallelpipeds.The design of its bidirectional wheel causes when in main wheel or jockey pulley
One along pipeline roll when, another is inevitable to tow phenomenon with pipeline, produces frictional force, hinders to move, influence robot
Performance.U.S. patent Nos US20140156067A1 discloses a kind of detecting robot of pipe, can be moved along pipeline, across
More pipe joint barrier, pass through L-type pipe.But the robot can only also adapt to the pipe diameter in very low range, Wu Fa
Two pipeline members are crossed over, and complicated, weight is big.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention propose one kind do more physical exercises mode pipeline outer wall climbing detection
Robot.The technical problem to be solved in the present invention is：Existing Pipe-out Robot, which does not possess typically, adapts to changeable caliber, passes through
The function of the complicated pipeline such as L-type, T-shaped, and do not possess the ability by barriers such as pipe joint, support beams, in adjacent tubes
Motion switch pipeline also is difficult to realize between road.In addition, existing Pipe-out Robot is complicated, and weight and size all compare
Greatly, can not be applicable some has the pipeline of low load requirement, such as plastic conduit etc..In order that the robot can preferably exist
Complicated pipeline enclosure climbing, by the control system integration of robot on robot body, operating personnel pass through hand-held control
Terminal processed can complete the observation of piping drawing picture and the motion control to robot.
One kind is done more physical exercises mode pipeline outer wall climbing detection robot, including：
Two are suitable to the round die block in pipeline outer wall climbing, and it can move along the axis direction of the pipeline, also can
Enough axis around the pipeline rotate；Each round die block includes main body, and three straight lines of installation on the body drive
Dynamic device, the push rod end of described linear actuator is provided with driving wheel；, can by controlling the push rod to be moved along a straight line
The diameter of the envelope rounded face formed between three driving wheels of adjustment, to adapt to different pipe diameters；
One turning device, described two modules are essentially symmetrically connected to the turning device both ends, and can phase
Certain angle is rotated for the turning device；
One transfer, the driving wheel can turn an angle under the execution of linear actuator, so as to realize
The turning function of robot.
The robot can be climbed by least one round die block in the pipeline outer wall, and with leap
The ability of barrier.
Each round die block is by drive device, transmission device, transfer, camera, pressure sensor and control cabinet
Deng composition.
Described turning device includes linkage, servomotor, decelerator etc..Pass through connecting rod between two round die blocks
Mechanism connects, and it is at a certain angle to relatively rotate shape under the driving of servomotor, between two round die blocks.Two circles
The structure of shape module is all similar, and agent structure is used as using semicircular frame.
Described semicircular frame it is installed above angle be 180 degree arc guide rail, three sliding blocks are housed on guide rail, its
In central slider its position is fixed by installing plate, other two sliding block can be along guide rail slidably.Described center
Fixed central mounting plate above sliding block, and fixed flute profile installing plate is distinguished in described movable slide, it one of them
End face is Profile of AT.Servomotor is installed on described semicircular frame, outputs power and is then passed to flute profile to gear
Installing plate, so as to control whole sliding block circumferentially to move.
Described transfer includes linear actuator, servomotor, driving wheel, directive wheel etc..Described linear drives
Device is arranged on above central mounting plate and flute profile installing plate, and the output end of linear actuator push rod equipped with driving wheel and is led
To wheel.Described driving wheel is directly driven by servomotor and decelerator, and the effect of described directive wheel is to make the shifting of robot
It is dynamic more steady.The rear end of described linear actuator is provided with servomotor and decelerator, can control driving wheel and pipeline
Between formation angle, so as to realize turning function.
Described linear actuator control push rod is moved along a straight line, so as to adjust the envelope formed between three driving wheels
The diameter of rounded face, to adapt to different pipe diameters.
Driving wheel top is provided with pressure sensor to ensure to have suitable clamping force between robot and pipeline.Each
Rotary encoder is carried after servomotor, the displacement of each transmission device is accurately controlled by feedback information.It is each circular
Camera and control cabinet are equipped with module, camera is used for monitoring pipeline external surface actual conditions, and control cabinet is integrated with nothing
Line is received and dispatched, the function such as control servomotor.The image that camera collects will be passed in the hand-held control terminal of operating personnel,
Operating personnel can also pass through the motion of hand-held control terminal control machine people.
The mode pipeline outer wall climbing detection robot of doing more physical exercises of the present invention is integrated with the motion mode of a variety of different modalities,
For various complicated pipeline configurations arrangement (such as L-type pipe, T-shaped pipe etc.) conversion motion modes, so as to pass through it is various not
The pipeline and barrier of similar shape.In addition, the robot is also equipped with the ability across adjacent channel, so meets more
The random switching and motion of individual pipeline enclosure.Transfer can make Robot conduit axis move in a circle, and turning device can
So that robot obstacle climbing ability.By adjusting the center circle diameter formed between driving wheel, robot can be made to adapt to pipe
The requirement of road different-diameter.The robot can substantially meet the motion requirement required for all pipeline operations.In the machine
Camera, operation instrument etc. are installed on the semicircular frame of people to can be achieved to check pipeline, detected, the work such as maintenance.
Brief description of the drawings
Fig. 1 is the overall structure diagram of mode pipeline outer wall climbing detection robot of doing more physical exercises；
Fig. 2 is that robot passes through the process schematic 1 when L-type pipe or T-shaped pipe bending section；
Fig. 3 is that robot passes through the process schematic 2 when L-type pipe or T-shaped pipe bending section；
Fig. 4 is that robot passes through the process schematic 1 during T-shaped pipe straightway；
Fig. 5 is that robot passes through the process schematic 2 during T-shaped pipe straightway；
Fig. 6 is that robot passes through the process schematic 3 during T-shaped pipe straightway；
Process schematic 1 when Fig. 7 is robot leaping over obstacles；
Process schematic 2 when Fig. 8 is robot leaping over obstacles；
Process schematic 3 when Fig. 9 is robot leaping over obstacles；
Process schematic 4 when Figure 10 is robot leaping over obstacles；
Process schematic 5 when Figure 11 is robot leaping over obstacles；
Figure 12 is the process schematic 1 that robot is crossed between adjacent channel；
Figure 13 is the process schematic 2 that robot is crossed between adjacent channel；
Figure 14 is the process schematic 3 that robot is crossed between adjacent channel.
In figure：1st, head semicircular frame, 2, tail semicircular frame, 3, linkage, 4, upset servomotor and decelerator,
5th, tail central slider, 6, tail turn to servomotor, 7, arc guide rail, 8, tail central mounting plate, 9, tail linear actuator, 10, tail
Pressure sensor, 11, tail directive wheel, 12, tail driving wheel, 13, tail driving servomotor and decelerator, 14, tail flute profile installing plate,
15th, tail gear, 16, tail sliding block, 17, tail guide rail servomotor and decelerator, 18, head guide rail servomotor and decelerator, 19, head
Flute profile installing plate, 20, head linear actuator, 21, head slider, 22, head gear, 23, head turns to and felt at ease in servomotor, 24, head
Loading board, 25, head central slider, 26, manage anyhow, 27, VERTICAL TUBE, 28, head pressure sensor, 29, head driving wheel, 30, head is oriented to
Wheel, 31, head driving servomotor and decelerator.32nd, head control cabinet, 33, tail control cabinet, 34, head camera, 35, tail camera
Embodiment
The mode pipeline outer wall climbing detection robot of doing more physical exercises of the present invention is made up of two big round die blocks on the whole, each
Round die block is made up of three tongs with driving wheel respectively, therefore the shifting on cylindrical pipe surface can be better achieved
It is dynamic.The design of driving wheel transfer, adapt to the design and the upset of main body frame module of the adjusting apparatus of different pipe diameters
The design of motion, it is set to possess the function of barrier on the pipeline and crossing pipeline of the complicated shape for adapting to different-diameter, together
When possess ability across adjacent channel.
As shown in figure 1, one kind is done more physical exercises, mode pipeline outer wall climbing detection robot is made up of two big round die blocks, two
Connected between round die block by turning device.Each round die block by drive device, transmission device, transfer, camera,
Pressure sensor and control cabinet etc. form.Two round die blocks are similar structure, are connected by turning device between them.Turn over
Rotary device includes linkage (3), upset servomotor and decelerator (4) etc..Upset servomotor and decelerator (4) pass through company
Linkage (3) passing power, finally make one of round die block is overall to rotate certain angle around another round die block, this
The design of sample makes the ability that robot is provided with across obstacle.Because two round die blocks are similar structure, no longer
Illustrate, be only illustrated with one of round die block one by one.
Arc guide rail (7) is arranged on tail semicircular frame (2) by screw, and three are equipped with each arc guide rail (7)
Sliding block, tail central mounting plate (8) is installed in tail central slider (5), and flute profile installing plate (14) is filled with tail sliding block (16).Tail
Central mounting plate (8) is used with tail semicircular frame (2) and is fixedly connected, to ensure that central slider position is fixed.Other two tail
The end face of flute profile installing plate (14) all carries Profile of AT, and the Profile of AT engages with tail gear (15), so as to transmit motion, slides tail
Block (16) can move the displacement specified on guide rail.Tail gear (15) is provided dynamic by guide rail servomotor and decelerator (17)
Power.
A camera (34), tail camera (35), head control cabinet (32) and tail control are equipped with two big round die blocks respectively
Case (33) processed, camera is used for monitoring pipeline external surface actual conditions, and control cabinet is integrated with the work(such as wireless receiving and dispatching, motor control
Energy.The image that wirelessly camera is collected is passed in the hand-held control terminal of operating personnel, and operating personnel can lead to
Cross LCDs and observe corresponding image information, and operating personnel can also pass through hand-held control terminal control machine people's
Motion.
Transfer includes tail linear actuator (9), tail turns to servomotor (6), driving wheel (12), directive wheel (11)
Deng.Same tail linear actuator (9) is fitted with above tail central mounting plate (8) and tail flute profile installing plate (14), tail is straight
The push rod end of line drive (9) is connected with driving wheel (12) and directive wheel (11).Between driving wheel (12) and directive wheel (11)
Equipped with tail pressure sensor (10), for detecting the pressure between driving wheel and pipeline, to ensure between robot and pipeline
With suitable clamping force.Driving wheel (12) is driven by respective servomotor and decelerator (13) respectively, directive wheel (11)
Ensure robot held stationary in moving process.Each servomotor afterbody is equipped with rotary encoder, passes through rotary coding
The feedback information of device, it can accurately control the displacement of each transmission device.By the position for the push rod for controlling tail linear actuator (9)
Move, the center that can adjust exactly can accommodate the pressure between the diameter of pipeline and driving wheel and pipeline.Each tail linear drives
Single tail is installed again behind device (9) and turns to servomotor (6), so that having a rotational freedom herein.So
Driving wheel and directive wheel can be allow to carry out axial-rotation along push rod, so as to adjust the direction of wheel, robot is realized and exist
Turning function on pipeline.
When robot is installed on pipeline, make the push rod of a linear actuator (20) and tail linear actuator (9) first
Most short opening position is moved to, then head gear (22) and tail gear (15) drive head flute profile installing plate (19) and tail flute profile to pacify respectively
Loading board (14) is close to the direction of head semicircular frame (1) and tail semicircular frame (2).When pipeline enters the circle of robot
During center, the push rod of six linear actuators is set to extend pipe sealing in robot interior.Control head linear actuator
(20) and tail linear actuator (9) push rod elongation when, according to the parameter of pressure sensor at driving wheel (10), make wheel and pipeline
Between have certain thrust after stop, so as to produce suitable frictional force, robot is travelled forward.Then, drive
Driving wheel motor (13) and (31) are started working, and make robot start to move along pipeline.When there is barrier in front or needs machine
People along pipeline be rotated when, head linear actuator (20) and tail linear actuator (9) rear steering servomotor (6) and
(23) start working, turn to driving wheel.When Robot straight pipeline moves, the semicircular frame of two modules keeps same
The heart.
As Figure 2-3, when robot is by L-type pipe or T-shaped pipe bending section, the straight line of head semicircular frame (1) drives
The push rod of dynamic device (20) shortens, and wheel is left pipe surface.Turning device makes whole head semicircular frame (1) semicircle around tail
Framework (2) rotates, and tilts whole head semicircular frame (1) and all above part.Now, tail semicircular frame (2) part
Continue to move along, after semicircular frame (1) is partially exposed to other end pipeline and clamped right overhead, tail semicircular frame (2) portion
The push rod of tail linear actuator (9) is divided to shorten, three groups of wheels leave pipeline, and head semicircular frame (1) partly moves forward.
After L-type pipe is successfully passed or T-shaped pipe bending section reaches straight length, tail semicircular frame (2) part back rotates, and works as contact
Clamped after to pipeline, a semicircular frame (1) and tail semicircular frame (2) is kept with one heart and is continued to move along again.
As Figure 4-Figure 6, when robot is by T-shaped pipe straightway, because pipeline intersects with another pipeline, in order to suitable
Profit is by the way that tail linear actuator (9) and head linear actuator (20) rear steering servomotor (6) and (23) are started working, and make six
Group wheel turns to, and robot integrally rotates along pipeline.When turning to the reverse face of obstacle pipeline, robot continues to move along.
When robot motion is to pipeline intersection, head guide rail servomotor (18) is started working, and band moving gear (22) rotates, and makes tooth form
All parts move in a circle along arc guide rail on plate (19), so as to adjust the position of all wheel groups, it is hidden intersection barrier
Hinder thing, then robot continues to move along.Then, tail module is with identical motion, so as to pass through pipe
Road intersection.
As illustrated in figures 7-11, when robot is by as raised barriers such as pipe joints, if barrier is smaller,
Shorten first a linear actuator (20) push rod, the envelope circular diameter for making to be formed between three groups of wheels of head module becomes big, tail
Module continues to move along, so that head module passes through barrier.Then head module clamping pipe, tail module linear drives
Device (9) push rod shortens, and the envelope circular diameter for making to be formed between three groups of wheels of tail module becomes big, and head module continues to move along, from
And tail module is set to pass through barrier.If barrier be difficult to by mode above by when, on head semicircular frame (1)
Head linear actuator (20) shorten push rod, wheel is left pipe surface.Whole head semicircular frame (1) is partly around tail half
Circular frame (2) part rotates, and tail semicircular frame (2) partly continues to move along.Semicircular frame (1) part contacts right overhead
To after other end pipeline and clamping, the tail linear actuator (9) of tail semicircular frame (2) part shortens push rod, makes three groups of wheels
Son leaves pipeline, and head semicircular frame (1) partly moves forward.After by raised barrier, tail semicircular frame (2)
Part back rotates, clamping pipe again, make the semicircular frame (1) of two modules again and (2) keep concentric and continue to
Preceding movement.
As shown in figs. 12-14, when robot motion switch pipeline between two pipelines, head semicircular frame (1) portion
Divide clamping pipe pipeline, the push rod of the tail linear actuator (9) of tail semicircular frame (2) part shortens, and three groups of wheels leave pipe
Road.Turning device makes whole tail semicircular frame (2) be rotated into 180 ° of angles around head semicircular frame (1), makes whole tail semicircle
Shape framework (2) and all above part tilt.After tail semicircular frame (2) is partially exposed to another pipeline, tail straight line drives
The push rod elongation of dynamic device (9), makes three groups of wheel clamp pipelines.Then, the head linear actuator of head semicircular frame (1) part
(20) push rod shortens, and three groups of wheels leave pipeline.Turning device makes whole head semicircular frame (1) back rotate, and makes whole
Head semicircular frame (1) is touched on another pipeline, head linear actuator (20) push rod elongation clamping pipe, then robot
Servomotor (13) and (31) reversion is driven, robot moves forward.
Various operation instruments are installed on the semicircular frame (1) of the robot and (2), can not only be realized to pipeline
Inspection, Detection task, various maintenance works can also be carried out.
Claims (10)
- The mode pipeline outer wall climbing detection robot 1. one kind is done more physical exercises, it is characterised in that：Two are suitable to the round die blocks in pipeline outer wall climbing, and it can be moved along the axis direction of the pipeline, also can be around The axis rotation of the pipeline；Each round die block includes circular body, and three in the circular body are directly Line drive (9), the push rod end of described linear actuator are provided with driving wheel；By controlling the push rod to carry out straight line fortune It is dynamic, the diameter of the envelope rounded face formed between three driving wheels can be adjusted, to adapt to different pipe diameters；One turning device, described two round die blocks are essentially symmetrically connected to the turning device both ends, and can phase Certain angle is rotated for the turning device；One transfer, the driving wheel can turn an angle under the execution of linear actuator, so as to realize machine The turning function of people；The robot can be climbed by least one round die block in the pipeline outer wall, and have leaping over obstacles The ability of thing.
- 2. mode pipeline outer wall climbing detection robot according to claim 1 of doing more physical exercises, it is characterised in that each described Round die block is used as main body with semicircular frame (1,2) respectively, when Robot straight pipeline moves, the half of two round die blocks Circular frame keeps concentric；Arc guide rail (7) is installed, the angle of arc guide rail is 180 degree on the semicircular frame；Each Three sliding blocks are housed, central slider (5) therein is fixed, and other two sliding block (16) can be along described on the arc guide rail Arc guide rail slides.
- 3. mode pipeline outer wall climbing detection robot according to claim 2 of doing more physical exercises, it is characterised in that described three Linear actuator (9) is arranged on three sliding blocks by installing plate respectively, the push rod output end of the linear actuator Driving wheel (12) and directive wheel (11) are installed, the driving wheel is directly driven by driving servomotor and decelerator (13)；Often Individual linear actuator (9) can realize rotary motion in the case where tail turns to the driving of servomotor (6).
- 4. mode pipeline outer wall climbing detection robot according to claim 3 of doing more physical exercises, it is characterised in that the center The installing plate of sliding block is fixedly connected with the semicircular frame；Installing plate in two movable slides is flute profile plate (14), respectively Engaged with the guide rail servomotor (17) on the semicircular frame by gear (15).
- 5. mode pipeline outer wall climbing detection robot according to claim 1 of doing more physical exercises, it is characterised in that the upset Device includes linkage and servomotor.
- 6. mode pipeline outer wall climbing detection robot according to claim 7 of doing more physical exercises, it is characterised in that the connecting rod Mechanism (3), for realizing the relative rotation between two round die blocks, makes robot by upset servomotor (4) driving Can be while a round die block to be along pipe motion, another round die block can be lifted so as to pass through the pipe of complexity Road and avoiding barrier.
- 7. mode pipeline outer wall climbing detection robot according to claim 3 of doing more physical exercises, it is characterised in that the straight line Driver (9) has a rotational freedom, controls the rotation of wheel to realize turning function, robot is carried out along pipeline Circular motion.
- 8. mode pipeline outer wall climbing detection robot according to claim 3 of doing more physical exercises, it is characterised in that in driving wheel (12) pressure sensor (10) is housed between linear actuator (9), to ensure that there is suitable folder between robot and pipeline Clamp force；Rotary encoder is carried after each servomotor, the displacement of each transmission device is accurately controlled by feedback information.
- 9. mode pipeline outer wall climbing detection robot according to claim 1 of doing more physical exercises, it is characterised in that each circular There is respective control cabinet in module, the control cabinet is made up of embedded main control computer, wireless transceiver etc., and operating personnel pass through hand The image that control terminal can see camera return is held, and can be with the motion of control machine people.
- 10. the mode pipeline outer wall climbing detection robot of doing more physical exercises according to any one of claim 1-9, its feature exist In being provided with camera in described two round die block main bodys, and various operation instruments can be installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710564771.7A CN107380291B (en) | 2017-07-12 | 2017-07-12 | Multi-motion-mode pipeline outer wall climbing detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710564771.7A CN107380291B (en) | 2017-07-12 | 2017-07-12 | Multi-motion-mode pipeline outer wall climbing detection robot |
Publications (2)
| Publication Number | Publication Date |
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| CN107380291A true CN107380291A (en) | 2017-11-24 |
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| CN108096795A (en) * | 2018-01-31 | 2018-06-01 | 山东大学 | More parallel climbing devices of bar |
| CN108407909A (en) * | 2018-02-11 | 2018-08-17 | 常州轻工职业技术学院 | It detects a flaw outside pipeline walking robot |
| CN108508901A (en) * | 2018-06-04 | 2018-09-07 | 西南石油大学 | A kind of petrochemical plant intelligent inspection robot |
| CN109027513A (en) * | 2018-08-14 | 2018-12-18 | 安徽盛美金属科技有限公司 | A kind of detecting robot of pipe |
| CN109131624A (en) * | 2018-10-12 | 2019-01-04 | 国家电网有限公司 | A kind of multivariant obstacle detouring pole climbing device |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN110539817A (en) * | 2019-05-27 | 2019-12-06 | 中国地质大学（武汉） | creeping type pipeline external detection robot |
| CN111486346A (en) * | 2020-04-30 | 2020-08-04 | 大连民族大学 | Internet of things pipeline inspection robot and intelligent leakage monitoring system |
| CN111497970A (en) * | 2020-04-30 | 2020-08-07 | 大连民族大学 | Artificial intelligence pipeline cruising system of bend can pass and weeping detects, location and monitoring system |
| CN111550684A (en) * | 2020-04-30 | 2020-08-18 | 大连民族大学 | Pipeline patrolling system capable of crossing obstacles during patrolling and machine learning leakage monitoring system |
| CN111776101A (en) * | 2020-06-22 | 2020-10-16 | 浙江浙能天然气运行有限公司 | Close-range accurate combustible gas detection robot and use method thereof |
| CN112394730A (en) * | 2020-11-14 | 2021-02-23 | 上海源正科技有限责任公司 | Pipeline detection device |
| CN113044128A (en) * | 2021-04-26 | 2021-06-29 | 彼合彼方机器人(天津)有限公司 | All-round short-term test robot of pipeline outer wall |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113134838A (en) * | 2021-04-23 | 2021-07-20 | 浙江数斯智能机器人科技有限公司 | Remove manipulator precision positioning system in coordination |
| CN113442149A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Robot system capable of driving on crossed pipeline and use method |
| CN113547529A (en) * | 2021-07-01 | 2021-10-26 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN113733064A (en) * | 2021-09-17 | 2021-12-03 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
| CN113911225A (en) * | 2021-10-18 | 2022-01-11 | 杭州电子科技大学 | Pipeline outer wall crawling robot and driving method thereof |
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| CN117072885A (en) * | 2023-10-17 | 2023-11-17 | 四川宏大安全技术服务有限公司 | Automatic crawling pipeline ultrasonic detection device and detection method thereof |
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| CN108096795B (en) * | 2018-01-31 | 2023-06-02 | 山东大学 | Multi-rod parallel climbing device |
| CN108096795A (en) * | 2018-01-31 | 2018-06-01 | 山东大学 | More parallel climbing devices of bar |
| CN108407909A (en) * | 2018-02-11 | 2018-08-17 | 常州轻工职业技术学院 | It detects a flaw outside pipeline walking robot |
| CN108508901A (en) * | 2018-06-04 | 2018-09-07 | 西南石油大学 | A kind of petrochemical plant intelligent inspection robot |
| CN109027513A (en) * | 2018-08-14 | 2018-12-18 | 安徽盛美金属科技有限公司 | A kind of detecting robot of pipe |
| CN109131624A (en) * | 2018-10-12 | 2019-01-04 | 国家电网有限公司 | A kind of multivariant obstacle detouring pole climbing device |
| CN109131624B (en) * | 2018-10-12 | 2024-02-02 | 国家电网有限公司 | Multi-degree-of-freedom obstacle-surmounting pole-climbing device |
| CN110539817A (en) * | 2019-05-27 | 2019-12-06 | 中国地质大学（武汉） | creeping type pipeline external detection robot |
| CN110539817B (en) * | 2019-05-27 | 2024-04-02 | 中国地质大学（武汉） | Peristaltic crawling type pipeline outer detection robot |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN111550684A (en) * | 2020-04-30 | 2020-08-18 | 大连民族大学 | Pipeline patrolling system capable of crossing obstacles during patrolling and machine learning leakage monitoring system |
| CN111486346A (en) * | 2020-04-30 | 2020-08-04 | 大连民族大学 | Internet of things pipeline inspection robot and intelligent leakage monitoring system |
| CN111486346B (en) * | 2020-04-30 | 2024-05-28 | 大连民族大学 | Internet of things pipeline inspection robot and intelligent liquid leakage monitoring system |
| CN111497970A (en) * | 2020-04-30 | 2020-08-07 | 大连民族大学 | Artificial intelligence pipeline cruising system of bend can pass and weeping detects, location and monitoring system |
| CN111497970B (en) * | 2020-04-30 | 2024-03-26 | 大连民族大学 | Pipeline cruising system capable of passing through artificial intelligent bend and liquid leakage detection, positioning and monitoring system |
| CN111776101B (en) * | 2020-06-22 | 2021-09-21 | 浙江浙能天然气运行有限公司 | Close-range accurate combustible gas detection robot and use method thereof |
| CN111776101A (en) * | 2020-06-22 | 2020-10-16 | 浙江浙能天然气运行有限公司 | Close-range accurate combustible gas detection robot and use method thereof |
| CN112394730A (en) * | 2020-11-14 | 2021-02-23 | 上海源正科技有限责任公司 | Pipeline detection device |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113134838A (en) * | 2021-04-23 | 2021-07-20 | 浙江数斯智能机器人科技有限公司 | Remove manipulator precision positioning system in coordination |
| CN113044128A (en) * | 2021-04-26 | 2021-06-29 | 彼合彼方机器人(天津)有限公司 | All-round short-term test robot of pipeline outer wall |
| CN114012747A (en) * | 2021-06-09 | 2022-02-08 | 中铁五局集团建筑工程有限责任公司 | Pipe truss welding seam surface quality detection robot and control system and method thereof |
| CN113547529A (en) * | 2021-07-01 | 2021-10-26 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN113547529B (en) * | 2021-07-01 | 2022-08-19 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN113442149A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Robot system capable of driving on crossed pipeline and use method |
| CN113442149B (en) * | 2021-07-07 | 2024-04-05 | 七腾机器人有限公司 | Robot system capable of running on intersecting pipelines and use method |
| CN113733064A (en) * | 2021-09-17 | 2021-12-03 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
| CN113733064B (en) * | 2021-09-17 | 2024-03-15 | 廊坊中油朗威工程项目管理有限公司 | Pipeline welding supervision robot |
| CN115922679A (en) * | 2021-09-26 | 2023-04-07 | 七腾机器人有限公司 | Robot system capable of running on crossed pipelines |
| CN113911225A (en) * | 2021-10-18 | 2022-01-11 | 杭州电子科技大学 | Pipeline outer wall crawling robot and driving method thereof |
| CN113928439A (en) * | 2021-11-25 | 2022-01-14 | 国网四川省电力公司南充供电公司 | Climbing device with obstacle crossing function |
| CN114962853A (en) * | 2022-05-10 | 2022-08-30 | 西南石油大学 | Gear-shifting adjusting type pipeline robot |
| CN114962853B (en) * | 2022-05-10 | 2023-05-23 | 西南石油大学 | Gear shifting adjusting type pipeline robot |
| CN115158505A (en) * | 2022-06-24 | 2022-10-11 | 永康市光明送变电工程有限公司 | Climbing robot for climbing lightning arrester tower |
| CN117072885B (en) * | 2023-10-17 | 2024-01-02 | 四川宏大安全技术服务有限公司 | Automatic crawling pipeline ultrasonic detection device and detection method thereof |
| CN117072885A (en) * | 2023-10-17 | 2023-11-17 | 四川宏大安全技术服务有限公司 | Automatic crawling pipeline ultrasonic detection device and detection method thereof |
| CN117842228A (en) * | 2024-03-08 | 2024-04-09 | 西安热工研究院有限公司 | Pipe climbing operation robot for superheater |
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