CN107448729A - A kind of ultrasonic inspection robot in pipeline - Google Patents
A kind of ultrasonic inspection robot in pipeline Download PDFInfo
- Publication number
- CN107448729A CN107448729A CN201710819671.4A CN201710819671A CN107448729A CN 107448729 A CN107448729 A CN 107448729A CN 201710819671 A CN201710819671 A CN 201710819671A CN 107448729 A CN107448729 A CN 107448729A
- Authority
- CN
- China
- Prior art keywords
- control unit
- caterpillar chassis
- large arm
- chip microcomputer
- cylinder
- 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
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- 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
- 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
- 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 present invention provides a kind of ultrasonic inspection robot in pipeline, and it includes a caterpillar chassis, and optoelectronic switch is provided with the side of caterpillar chassis, and opposite side is provided with image gathering device and control unit；Camera and cylinder II are additionally provided with caterpillar chassis, cylinder I I is connected with large arm, and a reducing motor is provided with large arm, and large arm is connected by cylinder I with forearm, and forearm end is provided with ultrasonic wave detector；Large arm and camera are arranged on a rotating base, and rotating base is connected with electric rotating machine；Movable motor is provided with caterpillar chassis, electric rotating machine and movable motor are connected with control unit, and control unit is also connected with optoelectronic switch, image gathering device, ultrasonic wave detector.
Description
Technical field
The present invention relates to a kind of ultrasonic inspection robot in pipeline.
Background technology
With the continuous improvement of people's living standards, and hardware under high-risk conditions anticorrosive work
Need, the market that application of the robot in this field will take on a certain scale.The robot architecture is simple, low cost, not only
It can apply in terms of industrial antisepsis, it is a revolution that the pipeline corrosion protection for needing work high above the ground, which is worked, and market capacity is big, and economical suitable
With.
The content of the invention
The purpose of the present invention is exactly to surpass to solve the above problems, providing pipeline inside a kind of simple in construction, easy to use
Sonic flaw detection robot.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of ultrasonic inspection robot in pipeline, it includes a caterpillar chassis, in the side of caterpillar chassis
Provided with optoelectronic switch, opposite side is provided with image gathering device and control unit；It is gentle that camera is additionally provided with caterpillar chassis
Cylinder II, cylinder I I are connected with large arm, and a reducing motor is provided with large arm, and large arm is connected by cylinder I with forearm, forearm end
Portion is provided with ultrasonic wave detector；Large arm and camera are arranged on a rotating base, and rotating base is connected with electric rotating machine；Carry out
Movable motor is provided with belt chassis, electric rotating machine and movable motor are connected with control unit, and control unit is also opened with photoelectricity
Pass, image gathering device, ultrasonic wave detector connection.
Described control unit includes single-chip microcomputer, and it directly drives camera by RS232 buses；Single-chip microcomputer also passes through two
Two reversal valves of relay driving, two reversal valves coordinate with two cylinders respectively；Single-chip microcomputer passes through the 3rd Control
The switch of image gathering device；Single-chip microcomputer is also connected with optoelectronic switch；Single-chip microcomputer also passes through two 298 motor-drive circuits respectively
The movable motor and the electric rotating machine of rotating base and ultrasonic wave detector of caterpillar chassis are driven respectively.
The robot be by caterpillar chassis, ultrasonic wave detector, manipulator, common electric machine, camera, optoelectronic switch,
Pneumatic means, control unit composition.Single-chip microcomputer is the core of control unit, by the VB softwares on PC through Rs232 realize with
The communication of single-chip microcomputer, PC directly drive camera as control terminal.Core of the single-chip microcomputer as control unit, control after
Electrical equipment 1 and 2, relay 1 and 2 control two reversal valves respectively again, and two reversal valves are connected with two cylinders respectively completes machinery
Folding and unfolding of the big forearm of hand in perpendicular, wherein air pump provide gases at high pressure for cylinder.Single-chip microcomputer by control relay 3 come
Rotary motion of the mechanical arm in perpendicular is realized, single-chip microcomputer realizes opening for image gathering device by control relay 3
Close.Single-chip microcomputer controls two 298 motor-drive circuits simultaneously, and one of them 298 motor-drive circuit drives two movable motors,
The advance of robot is realized, retreats, turn left, turning right, another 298 motor-drive circuit driving electric rotating machine realizes robot
Ultrasonic wave detector the rotary motion in the horizontal plane of switch and manipulator, single-chip microcomputer also directly drives a photoelectricity simultaneously
Switch, realize the barrier avoiding function of robot.
The beneficial effects of the invention are as follows：By the use of caterpillar chassis as the running gear of robot, using common electric machine, slow down
Motor and cylinder realize the folding and unfolding of rotary motion and manipulator large arm and forearm in perpendicular of manipulator in the horizontal plane
And the relative rotation between big forearm, while install the detection that ultrasonic wave emission detection device completes pipeline additional, add before robot
Dress camera can monitor the flaw detection robot of the working condition of pipeline inner case and robot in real time.
Brief description of the drawings
Fig. 1 is the principle schematic diagram front view of the robot,
Fig. 2 is the frame diagram of the control unit of the robot
Wherein, 1, ultrasonic wave detector, 2, camera, 3, optoelectronic switch, 4, caterpillar chassis, 5, image gathering device,
6th, control unit, 61 single-chip microcomputers, 62RS232 buses, 63PC machines, 64 relays, 65 reversal valves, 66298 motor-drive circuits, 67
Movable motor, 68 electric rotating machines, 7, forearm, 8, large arm, 9, cylinder I, 10, reducing motor, 11, cylinder I I, 12 rotating bases.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.
In Fig. 1, it includes a caterpillar chassis 4, is provided with optoelectronic switch 3 in the side of caterpillar chassis 4, opposite side is set
There are image gathering device 5 and control unit 6；Be additionally provided with camera 2 and cylinder II11 on caterpillar chassis 4, cylinder I I11 with
Large arm 8 is connected, and a reducing motor 10 is provided with large arm 8, and large arm 8 is connected by cylinder I 9 with forearm 7, and the end of forearm 7 is set
There is ultrasonic wave detector 1；Large arm 8 and camera 2 are arranged on a rotating base 12, and rotating base 12 connects with electric rotating machine 68
Connect；Movable motor 67 is provided with caterpillar chassis 4, electric rotating machine 68 and movable motor 67 are connected with control unit 6, and control is single
Member 6 is also connected with optoelectronic switch 3, image gathering device 5, ultrasonic wave detector 1.
In Fig. 2, described control unit 6 includes single-chip microcomputer 61, and it directly drives camera 2 by RS232 buses 62；Monolithic
Machine 61 also drives two reversal valves 65 by two relays 64, and two reversal valves 65 coordinate with two cylinders respectively；Single-chip microcomputer
61 control the switch of image gathering device 5 by the 3rd relay 64；Single-chip microcomputer 61 is also connected with optoelectronic switch 3；Single-chip microcomputer
61 also drive the movable motor 67 and rotating base of caterpillar chassis 4 respectively by two 298 motor-drive circuits 66 respectively
12 and the electric rotating machine 68 of ultrasonic wave detector 1.
Machine man-hour, robot is connected with PC 63 by cable and RS232 buses 66 first, then machine
Device people is put into the import of pipeline, and illuminating lamp and camera 2 in robot are opened by the control software of PC 63, passes through shooting
Situation inside first 2 outlet terminal observation pipeline, opens ultrasonic wave detector 1.Allow robot to advance simultaneously, pass through control two
Cylinder and electric rotating machine 68 change the locus of camera 2, realize the comprehensive detection of pipeline.Image collection dress is opened simultaneously
Put 5 image documents detected to collect for later stage research, flaw detection Wan Hou robots are along backtracking.If in airduct
Inside runs into obstacle, and obstacle avoidance apparatus meeting automatic alarm reminds operator, and operator determines whether to surmount obstacles by video terminal,
Because robot has good cross-country ability, can cross only 40 degree of slope and no more than 3 using caterpillar chassis 4
Centimetre step.
Claims (2)
1. a kind of ultrasonic inspection robot in pipeline, it is characterized in that, it includes a caterpillar chassis, in caterpillar chassis
Side be provided with optoelectronic switch, opposite side is provided with image gathering device and control unit；Shooting is additionally provided with caterpillar chassis
Head and cylinder II, cylinder I I are connected with large arm, and a reducing motor is provided with large arm, and large arm is connected by cylinder I with forearm,
Forearm end is provided with ultrasonic wave detector；Large arm and camera are arranged on a rotating base, rotating base and electric rotating machine
Connection；Movable motor is provided with caterpillar chassis, electric rotating machine and movable motor are connected with control unit, control unit also with
Optoelectronic switch, image gathering device, ultrasonic wave detector connection.
2. ultrasonic inspection robot in pipeline as claimed in claim 1, it is characterized in that, described control unit includes monolithic
Machine, it directly drives camera by RS232 buses；Also by two relay drivings, two reversal valves, two are changed single-chip microcomputer
Coordinate respectively with two cylinders to valve；The switch that single-chip microcomputer passes through the 3rd Control image gathering device；Single-chip microcomputer is also
It is connected with optoelectronic switch；Single-chip microcomputer also drives the walking electricity of caterpillar chassis respectively by two 298 motor-drive circuits respectively
The electric rotating machine of machine and rotating base and ultrasonic wave detector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819671.4A CN107448729A (en) | 2017-09-13 | 2017-09-13 | A kind of ultrasonic inspection robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710819671.4A CN107448729A (en) | 2017-09-13 | 2017-09-13 | A kind of ultrasonic inspection robot in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107448729A true CN107448729A (en) | 2017-12-08 |
Family
ID=60496307
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710819671.4A Pending CN107448729A (en) | 2017-09-13 | 2017-09-13 | A kind of ultrasonic inspection robot in pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107448729A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| CN201833366U (en) * | 2010-10-09 | 2011-05-18 | 贾聚华 | Pipeline inside ultrasonic flaw detection robot |
| 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 |
| CN105856235A (en) * | 2016-06-08 | 2016-08-17 | 江苏若博机器人科技有限公司 | Wireless transmission two-core six-axis crawler type natural gas pipeline robot control system |
| CN105972381A (en) * | 2016-05-05 | 2016-09-28 | 湖北三江航天红阳机电有限公司 | Pipeline interior radiographic inspection robot |
| US20170191601A1 (en) * | 2016-01-04 | 2017-07-06 | Veysel Firat Sever | Pipeline Inspection Device |
-
2017
- 2017-09-13 CN CN201710819671.4A patent/CN107448729A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101979223A (en) * | 2010-10-09 | 2011-02-23 | 贾聚华 | Ultrasonic inspection robot in pipeline |
| CN201833366U (en) * | 2010-10-09 | 2011-05-18 | 贾聚华 | Pipeline inside ultrasonic flaw detection robot |
| 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 |
| US20170191601A1 (en) * | 2016-01-04 | 2017-07-06 | Veysel Firat Sever | Pipeline Inspection Device |
| CN105972381A (en) * | 2016-05-05 | 2016-09-28 | 湖北三江航天红阳机电有限公司 | Pipeline interior radiographic inspection robot |
| CN105856235A (en) * | 2016-06-08 | 2016-08-17 | 江苏若博机器人科技有限公司 | Wireless transmission two-core six-axis crawler type natural gas pipeline robot control system |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20171208 |