CN107504319A - A kind of spiral driving pipe robot - Google Patents
A kind of spiral driving pipe robot Download PDFInfo
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- CN107504319A CN107504319A CN201710596435.0A CN201710596435A CN107504319A CN 107504319 A CN107504319 A CN 107504319A CN 201710596435 A CN201710596435 A CN 201710596435A CN 107504319 A CN107504319 A CN 107504319A
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- support
- tensioning
- pipe robot
- control device
- direct current
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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
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of spiral driving pipe robot disclosed by the invention, including rotating driving device, direct current generator and supply unit, electric apparatus control apparatus and the image collecting device being sequentially connected by flexible axle, solve the problems, such as that existing pipeline machine passes through poor-performing and pair radius pipeline bad adaptability complicated and changeable to right angle bend；By spiral driving principle, three groups of driving wheels are distributed in spatially spiral, using the teaching of the invention it is possible to provide larger tractive force, it ensure that handling capacity of the robot to vertical, complicated pipeline, and the change to pipe diameter has a good conformability, built-in power makes that robot architecture is compact, freedom of movement.
Description
Technical field
The invention belongs to pipe testing apparatus technical field, is related to a kind of spiral driving pipe robot.
Background technology
At present, pipeline is widely applied, pipeline transportation is made in the industry as a kind of important material conveying facility
For the important composition mode of the comprehensive system of transport, critical role is played in national economy, particularly in oil, natural gas etc.
In industrial circle, there is various types of pipelines, including oil gas long-distance transmission pipeline, oilfield internal collector tubing, water filling
The pipeline of various media is transmitted in pipeline, water supply line, petrochemical factory.Pipeline can be by being situated between during long-term use inside and outside pipe
The effect of matter and producing corrosion and scaling, crackle, perforation etc. causes pipeline failure, if safeguarded not in time, as pipeline is gradually old
Change, different degrees of corrosion and leakage have had a strong impact on the normal operation of pipeline, it is also possible to cause serious security incident.It is and big
Part pipeline is buried in underground, and the laying of pipeline is relevant with topography and geomorphology, can be also interweaved with other pipelines, therefore pipeline shape
Shape is intricate, and the thus detection to pipeline brings very big difficulty, but is the safety for ensuring oil-gas pipeline, and the past is logical
Frequently with hand excavation, the mode of inspection, complete to the regular of oil-gas pipeline or scrap detection in advance.Obviously, these method meetings
A large amount of economic losses are caused, and loss is high, efficiency is low.
Research both at home and abroad to pipe robot is numerous, according to its motion mode, can be divided into：Wheeled pipe robot, shoe
Belt pipe robot, creeping motion type pipe robot, spiral type pipeline robot.Wheeled pipe robot has effect in straight tube
The advantages that rate is high, stable movement, but movement interference problem can occur when it runs into bend pipe or irregular pipeline, seriously limit
The application of wheeled pipe robot；Its Area of bearing of crawler belt type pipeline robot is big, tractive force is big, cross-country ability is good, adapts to
Complicated pipeline, but it is complicated, in the less pipeline of diameter, very flexible；Creeping motion type pipe robot this type
Move mode mechanism is ingenious in design, but complicated, and drive mechanism is more, and control is complicated.
It is compact-sized and spiral type pipeline robot is realized by the rotation of rotation driving module and is axially moved, control letter
It is single, bend by functional.But the spiral type pipeline robot in application at present, complicated, transmission mechanism is cumbersome, effect
Rate is not high, and the situation adaptability to be changed to pipe radius is also poor, and most of pipe robots are mainly used in straight line
Pipeline or the larger bend of radius of curvature, can poor, Er Qie great to the 90 ° of limit traveling-capability in elbow usually occurred in actual life
Part is all operate in the big-diameter pipeline that bore is more than 100mm, and using wide with right angle bend in Practical Project
Medium-small diameter pipeline, it detects robot also in the experimental development stage.
The content of the invention
It is an object of the invention to provide a kind of spiral driving pipe robot, solves existing pipeline machine to right angle
The problem of pipeline bad adaptability that traveling-capability in elbow energy is poor and pair radius is complicated and changeable.
The technical solution adopted in the present invention is a kind of spiral driving pipe robot, including is connected successively by flexible axle
Rotating driving device, direct current generator and supply unit, electric apparatus control apparatus and the image collecting device connect.
The features of the present invention also resides in：
Rotating driving device includes the rotator rack for being sheathed on rack plate one end, and the rack plate other end passes through flexible axle
It is connected with direct current generator with supply unit, and rack plate is fixed with rotator rack by screw, is set on rotator rack
There are three connecting holes, adaptive mechanism is provided with each connecting hole, each adaptive mechanism includes being arranged in connecting hole
The tensioning traveller in portion, it is tensioned in traveller and is provided with driving wheel compression spring, driving wheel compression spring both ends are individually fixed in tensioning
Traveller has been bolted tensioning support with rack plate, being each tensioned traveller upper end, and each tensioning support both ends are logical
Cross bearing and be connected with driving wheel.
The angle of driving wheel axis and conduit axis is less than 90 °.
Each adaptive mechanism also includes tensioning traveller guide pad, tensioning traveller guide pad one end be fixed on rack plate and
In the fixing hole opened up in rotator rack side wall, the tensioning traveller guide pad other end is by being tensioned the U opened up in traveller side wall
Type groove contacts with the driving wheel compression spring.
120 ° each other of angle between each adaptive mechanism.
Direct current generator and supply unit include electric machine support, and direct current generator is fixed with by screw inside electric machine support, electric
Machine support one end is connected with the left joint of supply unit, and direct current generator output end is connected with motor transitional by the left joint of supply unit
Set, motor transitional set are connected by flexible axle with rotating driving device, and the electric machine support other end is connected with supply unit right connector, electricity
Source device right connector is connected by flexible axle with electric apparatus control apparatus；
Electric machine support side wall is provided with three groups of support adjustment mechanisms, and every group of support adjustment mechanism includes being fixed on electric machine support
Support slide in side wall, include the tension link of T-shape, tension link one end is fixed on inside support slide, and tensioning connects
The both sides outer portion of the bar other end is connected with support wheel by bearing, and support wheel compression spring is provided with tension link, branch
Support wheel compression both ends of the spring is fixed by tension link and electric machine support respectively, and support slide side is fixed with tension link guiding
Block, tension link guide pad are contacted by the U-type groove opened up in tension link with support wheel compression spring；In electric machine support side wall
It is further fixed on battery pack a.
Three groups of support adjustment mechanisms are uniformly distributed in electric machine support side wall in 120 °.
The axis of support wheel is vertical with conduit axis.
Electric apparatus control apparatus includes control device support, and control device support one end is connected with the left joint of control device, control
The left joint of device processed connects direct current generator and supply unit by flexible axle, and the control device support other end is connected with the control device right side
Joint, control device right connector connect image collecting device by flexible axle；
Control device internal stent be provided with wire interconnection controller, single-chip microcomputer and bluetooth, and controller,
Single-chip microcomputer and bluetooth are connected by the wire inside flexible axle with direct current generator with supply unit；Set on control device rack side wall
There are three groups of support adjustment mechanisms.
Image collecting device includes camera bracket, and camera bracket one end is connected with the left joint of image collecting device, figure
For the picture left joint of harvester by flexible axle connecting circuit control device, the camera bracket other end is connected with the image collecting device right side
End cap, image collecting device end cap are fixed with the camera with LED by screw, camera by the wire inside flexible axle with
Electric apparatus control apparatus connects；Three groups of support adjustment mechanisms are provided with image collecting device side wall, are gone back in camera bracket side wall
It is fixed with battery pack b.
The beneficial effects of the invention are as follows：
(1) spiral driving pipe robot of the invention, solves existing pipeline machine to right angle traveling-capability in elbow
The problem of pipeline bad adaptability that energy is poor and pair radius is complicated and changeable, by spiral driving principle, built-in power, make machine
People is compact-sized, freedom of movement；Three groups of driving wheels are distributed in spatially spiral, using the teaching of the invention it is possible to provide larger tractive force, ensure that machine
People is to the handling capacity of vertical, complicated pipeline, and the change to pipe diameter has good conformability.
(2) spiral driving pipe robot of the invention connects each module, pressure angle when avoiding transmission using flexible axle
Excessive appearance is stuck, realizes its 90 ° of limit bend entirely through medium-small diameter, and is not only limited to the performance of straight pipeline；
Four parts of the spiral driving pipe robot of the present invention are radially being respectively provided with an adaptive regulating mechanism on 120 ° of directions, and three
Kind mechanism is distributed into equilateral triangle, has Self-centering Action, so as to keep robot to be moved all the time along central axis.
(3) spiral driving pipe robot of the invention uses Bluetooth control, and single-chip microcomputer is sent instructions to by bluetooth,
Program is provided with inside single-chip microcomputer, the instruction received is converted into low and high level signal, is sent to relay module, so as to control
The rotating of motor and LED, realize that the spiral driving pipe robot of the present invention is efficiently clearly complete square to complicated pipeline
Position detection.
Brief description of the drawings
Fig. 1 is a kind of spiral driving pipe robot structural representation of the invention；
Fig. 2 is the rotating driving device structure chart in a kind of spiral driving pipe robot of the present invention；
Fig. 3 is the rotating driving device left view in a kind of spiral driving pipe robot of the present invention；
Fig. 4 is the direct current generator and power device structure figure in a kind of spiral driving pipe robot of the present invention；
Fig. 5 is the direct current generator and supply unit left view in a kind of spiral driving pipe robot of the present invention；
Fig. 6 is the support adjustment mechanism of direct current generator and supply unit in a kind of spiral driving pipe robot of the present invention
Schematic diagram；
Fig. 7 is the electric apparatus control apparatus structure chart in a kind of spiral driving pipe robot of the present invention；
Fig. 8 is the electric apparatus control apparatus left view in a kind of spiral driving pipe robot of the present invention；
Fig. 9 is the image collecting device structure chart in a kind of spiral driving pipe robot of the present invention；
Figure 10 is the image collecting device left view in a kind of spiral driving pipe robot of the present invention；
Figure 11 is a kind of electric operation control circuit figure of spiral driving pipe robot of the present invention；
Figure 12 is a kind of control circuit action schematic diagram of spiral driving pipe robot of the present invention.
In figure, 1. rotating driving devices, 101. rack plates, 102. rotator racks, 103. screws, 104. adaptive machines
Structure, 105. tensioning travellers, 106. driving wheel compression springs, 107. tensioning supports, 108. bearings, 109. driving wheels, 110. tensionings
Traveller guide pad, 2. direct current generators and supply unit, 201. electric machine supports, 202. direct current generators, the left joint of 203. supply units,
204. motor transitional sets, 205. supply unit right connectors, 206. support slides, 207. tension links, 208. support wheels, 209.
Support wheel compression spring, 210. tension link guide pads, 211. battery pack a, 3. electric apparatus control apparatus, 301. control device supports,
The left joint of 302. control devices, 303. control device right connectors, 304. controllers, 305. single-chip microcomputers, 306. bluetooths, 4. images are adopted
Acquisition means, 401. camera brackets, the left joint of 402. image collecting devices, 403. image collecting device right end caps, 404. shootings
Head, 405.LED lamps, 406. battery pack b.
Embodiment
The present invention is described in detail with reference to the accompanying drawings and detailed description.
A kind of spiral driving pipe robot of the invention, as shown in figure 1, including the rotation being sequentially connected by flexible axle 5
Drive device 1, direct current generator and supply unit 2, electric apparatus control apparatus 3 and image collecting device 4.
As shown in Fig. 2 rotating driving device 1 includes the rotator rack 102 for being sheathed on the one end of rack plate 101, support
The other end of cover plate 101 is connected by flexible axle 5 with direct current generator with supply unit 2, and rack plate 101 and rotator rack 102
Fixed by screw 103, three connecting holes are provided with rotator rack 102, adaptive machine is provided with each connecting hole
Structure 104, each adaptive mechanism 104 include being arranged at the tensioning traveller 105 inside connecting hole, are tensioned in traveller 105 and are provided with
Driving wheel compression spring 106, the both ends of driving wheel compression spring 106 are individually fixed on tensioning traveller 105 and rack plate 101,
Each tensioning traveller 105 upper end has been bolted tensioning support 107, and each both ends of support 107 that are tensioned pass through bearing 108
It is connected with driving wheel 109.
The angle of the axis of driving wheel 109 and conduit axis is less than 90 ° and causes drive wheel group is spinned along tube wall to move.
Each adaptive mechanism 104 also includes tensioning traveller guide pad 110, and the one end of tensioning traveller guide pad 110 is fixed on
In the fixing hole opened up on rack plate 101 and the side wall of rotator rack 102, the other end of tensioning traveller guide pad 110 is by opening
The U-type groove opened up in the tight side wall of traveller 105 contacts with driving wheel compression spring 106, and each adaptive mechanism 104 passes through driving wheel
Can be along moving radially under the effect of contraction of compression spring 106 and tensioning traveller guide pad 110, and it is tensioned traveller guide pad 110
Constrained by the end face of rack plate 101 and rotator rack 102.
As shown in figure 3,120 ° each other of angle between each adaptive mechanism 104 so that rotating driving device 1 is spinned
Motion is more stable.
As shown in figure 4, direct current generator includes electric machine support 201 with supply unit 2, pass through screw inside electric machine support 201
Direct current generator 202 is fixed with, the one end of electric machine support 201 is connected with the left joint 203 of supply unit, and the output end of direct current generator 202 is led to
Cross the left joint 203 of supply unit and be connected with motor transitional set 204, motor transitional set 204 passes through flexible axle 5 and rotating driving device 1
Connection, the other end of electric machine support 201 are connected with supply unit right connector 205, and supply unit right connector 205 passes through flexible axle 5 and electricity
Device control device 3 connects.
As shown in figure 5, battery pack a211 uniformly is fixed with 120 ° in the side wall of electric machine support 201, it is this into equilateral triangle
Arrangement there is Self-centering Action, the operation of Robot pipeline center is kept during actual motion.
The side wall of electric machine support 201 is provided with three groups of support adjustment mechanisms, and three groups of support adjustment mechanisms are uniformly distributed in 120 °
In in the side wall of electric machine support 201；As shown in fig. 6, every group of support adjustment mechanism includes the branch being fixed in the side wall of electric machine support 201
Slide 206 is supportted, includes the tension link 207 of T-shape, the one end of tension link 207 is fixed on inside support slide 206, tensioning
The both sides outer portion of the other end of connecting rod 207 is connected with support wheel 208 by bearing, and support wheel is provided with tension link 207
Compression spring 209, the both ends of support wheel compression spring 209 are fixed by tension link 207 and electric machine support 201 respectively, and support is slided
206 sides of seat are fixed with tension link guide pad 210, and tension link guide pad 210 in the tension link 207 by opening up
U-type groove contacts with support wheel compression spring 209；When run into caliber become it is small when, pressure of the support wheel 208 by tube wall so that connection
It is pressurized and moves radially in support slide 206 in the tension link 207 of support wheel 208.When run into caliber become it is big when, support wheel
Compression spring 209 extends, and tension link 207 radially deviates from pipeline center in the presence of support wheel compression spring 209 along pipeline
Axis moves, so that the moment of support wheel 208 is tensioned to tube wall, has well to the change of pipe diameter within the specific limits
Conformability.
As shown in fig. 7, electric apparatus control apparatus 3 includes control device support 301, the one end of control device support 301 is connected with
The left joint 302 of control device, the left joint 302 of control device connect direct current generator and supply unit 2, control device by flexible axle 5
The other end of support 301 is connected with control device right connector 303, and control device right connector 303 connects image collector by flexible axle 5
Put 5.
As shown in figure 8, control device support 301 is internally provided with the controller 304 being connected with each other by wire, single-chip microcomputer
305 and bluetooth 306, and controller 304, single-chip microcomputer 305 and bluetooth 306 are uniformly distributed in 301 side wall of control device support one week,
Controller 304, single-chip microcomputer 305 and bluetooth 306 are connected by the wire inside flexible axle 5 with direct current generator with supply unit 2；Control
In the side wall of appliance stand 301 three groups of support adjustment mechanisms are evenly arranged with 120 °.
As shown in figure 9, image collecting device 4 includes camera bracket 401, the one end of camera bracket 401 is connected with image
The left joint 402 of harvester, the left joint 402 of image collecting device pass through the connecting circuit control device 3 of flexible axle 5, camera bracket
401 other ends are connected with image collecting device right end cap 403, and image collecting device end cap 403 is fixed with band LED by screw
405 camera 404, set LED 405 to illuminate inside pipeline, obtain clearly duct wall image, the afterbody of camera 404
Blue-tooth device or WIFI module are installed, the image of collection is stored in itself SD card or bluetooth is driven through WiFi and is wirelessly transferred
To display and processing equipment, analyzing and processing of the staff to inner-walls of duct situation is realized.
Camera 404 is connected by the wire inside flexible axle 5 with electric apparatus control apparatus 3；As shown in Figure 10, image collector
Put and be evenly arranged with three groups of support adjustment mechanisms in 120 ° in 4 side walls, 401 side wall of camera bracket is also uniformly consolidated for one week in 120 °
Surely there is battery pack b406.
A kind of operation principle of spiral driving pipe robot of the present invention is：
The present invention be sequentially connected by flexible axle 5 rotating driving device 1, direct current generator and supply unit 2, electrical equipment control dress
3, image collecting device, 4 four parts are put, when direct current generator 202 is powered, rotation is driven by flexible axle 5 by motor transitional set 204
Rotary driving device 1 rotates, because the axis of driving wheel 109 and conduit axis are angled so that 109 groups of driving wheel is done along tube wall
Screw, direct current generator and all support adjustment mechanisms in supply unit 2, electric apparatus control apparatus 3 and image collecting device 4
Structure all same, and the axis of all support wheels is vertical with conduit axis so that direct current generator and supply unit 2, electrical equipment
Control device 3 and image collecting device 4 can only be moved along conduit axis in the presence of support wheel circumference frictional force and can not revolved
Turn, it is achieved thereby that motion of the whole robot in pipeline；Change the energization direction of motor, the shifting of pipe robot can be changed
Dynamic motion, so that robot is free to advance or retreat in pipe, the bluetooth 306 in electric apparatus control apparatus 3 is controlled directly by controller 304
The rotating of motor 202 is flowed, its electric operation control circuit figure is as shown in figure 11.
As shown in figure 12, a kind of control section of spiral driving pipe robot of the present invention includes direct current generator 202, control
Device 304, bluetooth 306, single-chip microcomputer 305 and LED 405 processed.Its control process is as follows, when the control terminal of bluetooth 306 inputs " z ",
Direct current generator 202 rotates forward, and LED 405 is bright；When the control terminal of bluetooth 306 inputs " f ", direct current generator 202 inverts, LED 405
Do not work；When the control terminal of bluetooth 306 inputs " t ", direct current generator 202 stops operating, and LED 405 does not work；It is embodied such as
Under：When the control terminal of bluetooth 306 inputs " z ", by the control of the plug-in of single-chip microcomputer 305, make its port " 3 ", " 7 " wind not defeated
Going out " 0 " and " 1 " signal, the single knife switch of relay 1 is connected with port " 1 ", and the single knife switch of relay 2 is connected with port " 4 ",
Direct current generator 202 rotates forward, and lamp is bright；When the control terminal of bluetooth 306 inputs " f ", by the control of the plug-in of single-chip microcomputer 305, make
Its port " 3 ", " 7 " wind do not export " 1 " and " 0 " signal, and the single knife switch of relay 1 is connected with port " 2 ", the list of relay 2
Knife-like switch is connected with port " 3 ", and direct current generator 202 inverts, and lamp does not work；When the control terminal of bluetooth 306 inputs " t ", pass through monolithic
The control of the plug-in of machine 305, its port " 3 ", " 7 " wind is set not to export " 1 " and " 1 " signal, the single knife switch of relay 1 and end
Mouthful " 2 " are connected, and the single knife switch of relay 2 is connected with port " 4 ", now, the both ends of direct current generator 202 with earth terminal GND phases
Even, direct current generator 202 stops, and lamp does not work.
By the above-mentioned means, a kind of spiral driving pipe robot of the present invention solves existing pipeline machine to right angle
The problem of pipeline bad adaptability that traveling-capability in elbow energy is poor and pair radius is complicated and changeable；By spiral driving principle, three groups
Driving wheel is distributed in spatially spiral, using the teaching of the invention it is possible to provide larger tractive force, ensure that robot passes through energy to vertical, complicated pipeline
Power, and the change to pipe diameter has a good conformability, built-in power, makes that robot architecture is compact, freedom of movement.
Claims (10)
1. a kind of spiral driving pipe robot, it is characterised in that including the rotation driving dress being sequentially connected by flexible axle (5)
Put (1), direct current generator and supply unit (2), electric apparatus control apparatus (3) and image collecting device (4).
A kind of 2. spiral driving pipe robot as claimed in claim 1, it is characterised in that the rotating driving device
(1) rotator rack (102) for being sheathed on rack plate (101) one end is included, rack plate (101) other end passes through soft
Axle (5) is connected with the direct current generator with supply unit (2), and the rack plate (101) passes through with rotator rack (102)
Screw (103) is fixed, and three connecting holes are provided with the rotator rack (102), is provided with each connecting hole
Adaptive mechanism (104), each adaptive mechanism (104) include being arranged at the tensioning traveller (105) inside connecting hole, institute
State and driving wheel compression spring (106) is provided with tensioning traveller (105), driving wheel compression spring (106) both ends are solid respectively
Due on the tensioning traveller (105) and rack plate (101), each described tensioning traveller (105) upper end is bolted
There is tensioning support (107), each described tensioning support (107) both ends are connected with driving wheel (109) by bearing (108).
A kind of 3. spiral driving pipe robot as claimed in claim 1, it is characterised in that driving wheel (109) axle
The angle of line and conduit axis is less than 90 °.
A kind of 4. spiral driving pipe robot as claimed in claim 2, it is characterised in that each adaptive mechanism
(104) tensioning traveller guide pad (110) is also included, the rack plate is fixed in described tensioning traveller guide pad (110) one end
(101) in the fixing hole and in rotator rack (102) side wall opened up, described tensioning traveller guide pad (110) other end passes through
The U-type groove opened up in tensioning traveller (105) side wall contacts with the driving wheel compression spring (106).
A kind of 5. spiral driving pipe robot as claimed in claim 4, it is characterised in that each adaptive mechanism
(104) 120 ° each other of the angle between.
6. a kind of spiral driving pipe robot as claimed in claim 1, it is characterised in that the direct current generator and power supply
Device (2) includes electric machine support (201), and the electric machine support (201) is internal to be fixed with direct current generator (202), institute by screw
State electric machine support (201) one end and be connected with the left joint of supply unit (203), direct current generator (202) output end passes through described
The left joint of supply unit (203) is connected with motor transitional set (204), the motor transitional set (204) by flexible axle (5) with it is described
Rotating driving device (1) connects, and electric machine support (201) other end is connected with supply unit right connector (205), the power supply
Device right connector (205) is connected by flexible axle (5) with electric apparatus control apparatus (3)；
Electric machine support (201) side wall is provided with three groups of support adjustment mechanisms, and support adjustment mechanism described in every group includes fixing
Support slide (206) in the electric machine support (201) side wall, include the tension link (207) of T-shape, the tensioning
Support slide (206) inside is fixed in connecting rod (207) one end, and the both sides outer portion of tension link (207) other end is logical
Cross bearing and be connected with support wheel (208), support wheel compression spring (209), the support are provided with the tension link (207)
Wheel compression spring (209) both ends are fixed by the tension link (207) and electric machine support (201) respectively, the support slide
(206) side is fixed with tension link guide pad (210), and the tension link guide pad (210) passes through the tension link
(207) U-type groove opened up on contacts with support wheel compression spring (209)；Electricity is further fixed in electric machine support (201) side wall
Pond group a (211).
7. a kind of spiral driving pipe robot as claimed in claim 6, it is characterised in that three groups of supports adjust machine
Structure is uniformly distributed in the electric machine support (201) side wall in 120 °.
8. a kind of spiral driving pipe robot as claimed in claim 6, it is characterised in that the support wheel (208)
Axis is vertical with conduit axis.
A kind of 9. spiral driving pipe robot as claimed in claim 1, it is characterised in that the electric apparatus control apparatus
(3) control device support (301) is included, described control device support (301) one end is connected with the left joint of control device (302),
The left joint of control device (302) connects the direct current generator and supply unit (2), the control device by flexible axle (5)
Support (301) other end is connected with control device right connector (303), and the control device right connector (303) is connected by flexible axle (5)
Connect described image harvester (5)；
The control device support (301) is internally provided with the controller (304) being connected with each other by wire, single-chip microcomputer (305)
And bluetooth (306), and the controller (304), single-chip microcomputer (305) and bluetooth (306) pass through the internal wire of flexible axle (5) and institute
Direct current generator is stated to be connected with supply unit (2)；Three groups of support regulation machines are provided with control device support (301) side wall
Structure.
A kind of 10. spiral driving pipe robot as claimed in claim 1, it is characterised in that described image harvester
(4) camera bracket (401) is included, described camera bracket (401) one end is connected with the left joint of image collecting device (402),
The left joint of described image harvester (402) connects the electric apparatus control apparatus (3), the camera bracket by flexible axle (5)
(401) other end is connected with image collecting device right end cap (403), and described image harvester end cap (403) is consolidated by screw
Surely there is the camera (404) with LED (405), the camera (404) passes through the internal wire of flexible axle (5) and the electrical equipment
Control device (3) connects；Three groups of support adjustment mechanisms, the camera branch are provided with described image harvester (4) side wall
Battery pack b (406) is further fixed in frame (401) side wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596435.0A CN107504319A (en) | 2017-07-20 | 2017-07-20 | A kind of spiral driving pipe robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710596435.0A CN107504319A (en) | 2017-07-20 | 2017-07-20 | A kind of spiral driving pipe robot |
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| CN107504319A true CN107504319A (en) | 2017-12-22 |
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| CN201710596435.0A Pending CN107504319A (en) | 2017-07-20 | 2017-07-20 | A kind of spiral driving pipe robot |
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| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
| CN109882679A (en) * | 2019-03-06 | 2019-06-14 | 王清国 | A kind of spiral type pipeline robot |
| CN110163823A (en) * | 2019-05-17 | 2019-08-23 | 深圳大学 | Multi-view image antidote and system based on capsule robot towards drainpipe |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
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| CN108758166B (en) * | 2018-07-17 | 2019-11-29 | 武汉理工大学 | Single driving creeping motion type pipe robot |
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| CN111350267A (en) * | 2018-12-20 | 2020-06-30 | 山东省科学院激光研究所 | Combined type in-pipe cleaning robot |
| CN109555933B (en) * | 2019-01-28 | 2021-04-23 | 江苏科技大学 | Spiral inner wall cleaning robot |
| CN109555933A (en) * | 2019-01-28 | 2019-04-02 | 江苏科技大学 | A kind of spiral inner wall sweeping robot |
| CN109882679A (en) * | 2019-03-06 | 2019-06-14 | 王清国 | A kind of spiral type pipeline robot |
| CN110163823B (en) * | 2019-05-17 | 2023-05-12 | 深圳市智源空间创新科技有限公司 | Multi-view image correction method and system based on capsule robot and oriented to drain pipe |
| CN110163823A (en) * | 2019-05-17 | 2019-08-23 | 深圳大学 | Multi-view image antidote and system based on capsule robot towards drainpipe |
| CN111207265A (en) * | 2020-01-20 | 2020-05-29 | 四川大学 | Automatic adjust multi-functional wheeled pipeline robot |
| CN111571358A (en) * | 2020-06-01 | 2020-08-25 | 杭州唛唐智能科技有限公司 | Pipeline inner wall solder joint processing apparatus |
| CN111571358B (en) * | 2020-06-01 | 2021-05-25 | 山东梁山华宇集团汽车制造有限公司 | Pipeline inner wall solder joint processing apparatus |
| CN112303377A (en) * | 2020-10-10 | 2021-02-02 | 重庆市交通规划勘察设计院有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
| CN112303377B (en) * | 2020-10-10 | 2022-04-01 | 中铁长江交通设计集团有限公司 | Pipeline flexible robot and control method thereof during movement in pipeline |
| CN112728287A (en) * | 2020-11-24 | 2021-04-30 | 中国矿业大学 | Pipeline robot based on worm gear transmission |
| CN113738997A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Crawling device suitable for pipeline inner wall anti-corrosion operation robot |
| CN113738995A (en) * | 2021-08-19 | 2021-12-03 | 苏州热工研究院有限公司 | Robot for corrosion prevention of inner wall of pipeline |
| CN113738995B (en) * | 2021-08-19 | 2023-09-01 | 苏州热工研究院有限公司 | Robot for pipeline inner wall corrosion prevention operation |
| CN113738997B (en) * | 2021-08-19 | 2023-09-01 | 苏州热工研究院有限公司 | Crawling device suitable for pipeline inner wall anti-corrosion operation robot |
| CN114055770A (en) * | 2021-12-01 | 2022-02-18 | 杭州电子科技大学 | Mechanical composite pipeline preparation method based on hydraulic drive |
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Application publication date: 20171222 |