CN107917878A - Mobile device based on oil-gas pipeline inspection - Google Patents
Mobile device based on oil-gas pipeline inspection Download PDFInfo
- Publication number
- CN107917878A CN107917878A CN201711377058.8A CN201711377058A CN107917878A CN 107917878 A CN107917878 A CN 107917878A CN 201711377058 A CN201711377058 A CN 201711377058A CN 107917878 A CN107917878 A CN 107917878A
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- Prior art keywords
- oil
- camera
- driver plate
- mobile device
- gas pipeline
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
- G01N21/15—Preventing contamination of the components of the optical system or obstruction of the light path
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9009—Non-optical constructional details affecting optical inspection, e.g. cleaning mechanisms for optical parts, vibration reduction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/9072—Investigating the presence of flaws or contamination in a container or its contents with illumination or detection from inside the container
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/90—Investigating the presence of flaws or contamination in a container or its contents
- G01N21/909—Investigating the presence of flaws or contamination in a container or its contents in opaque containers or opaque container parts, e.g. cans, tins, caps, labels
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the mobile device based on oil-gas pipeline inspection, including the robot base being made of driver plate and 4 wheels, the wheel is connected two-by-two by two shafts, the shaft is located in driver plate, described driver plate one end sets jet, the other end sets wide-angle stent, the wide-angle stent connects wide-angle camera, driver plate bottom centre position sets Oil sucking device, the Oil sucking device includes the rectangular cavity of an opening, rectangular cavity is between two shafts, and rectangular cavity width is identical with shaft length, rectangle cavity length is identical with the diameter of wheel, rectangular cavity opening sets arc panel, oil absorbing cloth is set outside the arc panel；X Display Racks and camera accumulator tank are set on the driver plate, the slot bottom of the camera accumulator tank connects CCD camera assembly by horizontal extension bar, the CCD camera assembly includes U-shaped outline border, the opening horizontal 360-degree rotatable connection camera lens frame of the U-shaped outline border, camera lens frame face where camera lens set dipped headlight.
Description
Technical field
The present invention relates to a kind of mobile equipment, and in particular to the mobile device based on oil-gas pipeline inspection.
Background technology
In the fields such as municipal sewage, natural gas transportation, industrial material transport, plumbing and constructure ventilation system, pipe
A kind of road extensive use as effective material transportation means.Pipeline can inevitably be ruptured, blocked in long-term use, product
Dirt, to improve the generation of the accidents such as the service life of pipeline, prevent leakage, must just carry out pipeline effective detection maintenance etc., but
It is the detection of pipeline, cleaning, safeguards not very convenient, often spends substantial amounts of people to find a crackle on pipeline
Power and material resources.And pipe detection and maintenance are carried out using pipeline climbing robot more at present.So-called pipeline climbing robot is just
Be one kind can along automatically walk inside or outside pipeline, carry one or more senser element such as positions and attitude transducer, super
Sonic transducer, eddy current sensor etc. and operation machinery such as pipeline crack and pipe joint welder, anti-corrosion spray device, behaviour
Make hand, spray gun, brush etc., can be in extremely rugged environment under remote operation or the computer control of staff, can
Complete a series of electro-mechanical system of pipe detection maintenance activities.The achievable pipeline operations of pipeline climbing robot have：
Quality testing inside and outside pipeline in production, work progress；Cleaning, polishing, welding, spraying etc. are safeguarded inside pipeline；Butt weld
Flaw detection, repaired mouth operation；Old pipeline extent of corrosion, breakage detection and leakage forecast etc..
Now, be unable to do without various pipelines and pipeline in industrial production and life, these pipelines often occur it is internal block or
Phenomena such as broken, but since pipeline relative closure, specific blocking and breakage are not easy to be found.Pipe robot is one
Kind can be along automatically walk, the one or more sensors of carrying and operation machinery inside or outside small sized pipeline, staff's
Under straighforward operation or computer controlled automatic, a series of pipeline operations are carried out.The driving of the pipeline climbing robot of the prior art
Source substantially has following several：Micromachine, Piezoelectric Driving, marmem (SMA), pneumatic actuation, magnetostriction driving, electricity
Magnetic conversion driving etc..
That either existing robot, all there is pass through to use when detection image insufficient light and inner-walls of duct
, certain spot dust is had, the camera lens for gathering image is particularly easy to be contaminated, and causes Image Acquisition effect poor；Detecting
During original image, since insufficient light in pipeline and camera lens can not gather the high-definition image of inner-walls of duct, cause many pipelines
Inside there is the problems such as crack microgroove not find in time, if again can not be by manually too complete by flaw detection oil covering using flaw detection oil
Face, and the cleaning in pipeline to flaw detection oil is pretty troublesome, causes no one to do mode using this.
The content of the invention
Present invention aims at the mobile device based on oil-gas pipeline inspection is provided, solve the problem above-mentioned.
The present invention is achieved through the following technical solutions：
Based on the mobile device of oil-gas pipeline inspection, including the robot base being made of driver plate and 4 wheels, it is described
Wheel is connected two-by-two by two shafts, and the shaft is located in driver plate, and described driver plate one end sets jet, the other end
Wide-angle stent is set, and the wide-angle stent connects wide-angle camera, and driver plate bottom centre position sets Oil sucking device, the suction
Oily device includes the rectangular cavity of an opening, rectangular cavity between two shafts, and rectangular cavity width it is identical with shaft length,
Rectangle cavity length is identical with the diameter of wheel, and rectangular cavity opening sets arc panel, and oil absorbing cloth is set outside the arc panel；It is described
X Display Racks and camera accumulator tank are set on driver plate, and the slot bottom of the camera accumulator tank is connected by horizontal extension bar to image
Head assembly, the CCD camera assembly include U-shaped outline border, the opening horizontal 360-degree rotatable connection camera lens frame of the U-shaped outline border,
Camera lens frame face where camera lens sets dipped headlight, and dust exhaust apparatus is being set at the top of face where camera lens.The first telescoping mechanism is employed,
Whole CCD camera assembly is arranged in camera accumulator tank, is when needing to detect the duct size information on straight line, it is possible to
Meet, second, when needing camera lens left rotation and right rotation, whole CCD camera assembly is released by telescoping mechanism, then pass through horizontal 360-degree
Rotating camera lens frame control direction, and the dust exhaust apparatus set on camera lens frame, this dust exhaust apparatus are can to use dust suction
Device structure, the further reduction contaminated problem of camera lens, the 3rd, the dipped headlight that camera lens frame is set, this light meets big portion
Point collection demand, the 4th, flaw detection oil is employed to solve gap tiny in pipe, passes through the oil suction dress set in robot bottom
Put to solve the problems, such as this, robot drives arc panel to do relative displacement, and the amount of this flaw detection oil during creeping
Less, so the oil absorbing cloth on arc panel can adsorb away completely, then the wide-angle camera collection image by postposition, work people
Member can be easy learn crannied pipeline location, taken the photograph by the flexible setting wide-angle that can be better of wide-angle stent
As the position of head, solves the deficiency of traditional problem.
The X Display Racks include first support and second support.Further, first support and second support quantity are all 2, are handed over
Fork connection, further infall set cross bar, reach the lifting of X Display Racks, can meet the pipeline of more dimensions.
The robot base sets photosensitive sensors, and the photosensitive sensors collection light information is sent to controller.
Further, operating personnel learn pipeline specifying information.
Camera accumulator tank face where notch sets high beam, and institute's main furnace building light switch button is arranged on controller
On, further, the light transmittance of different pipelines is different, so using the combination of high beam and dipped headlight, more completely solves
The problem of traditional.
The oil absorbing cloth is the roll paper shape of built-in open tubular column, and fixed connecting rod, the oil suction are set in the open tubular column
Cloth extended end covers arc panel and is fixedly connected with recycling shaft.It is further used as the preferred solution of the present invention.
Motor is further included, the recycling shaft is controlled by motor, as the preferred solution for being further used as the present invention
Oil absorbing effect is more preferable, and oil absorbing cloth allows for that the effect of oil suction is more preferable slowly moving, before adsorbed the oil suctions of many greases
Cloth adsorption capacity weakens, and will be recycled by recycling shaft, new oil absorbing cloth reaches oil suction position again, and such effect is added on brocade
Flower.
Compared with prior art, the present invention have the following advantages and advantages：
1st, the mobile device of the invention based on oil-gas pipeline inspection, robot drive arc panel to do during creeping
Relative displacement, and the amount of this flaw detection oil is little, so the oil absorbing cloth on arc panel can adsorb away completely；
2nd, the mobile device of the invention based on oil-gas pipeline inspection, the first telescoping mechanism, whole CCD camera assembly is set
It is when needing to detect the duct size information on straight line, it is possible to meet, second, needing camera lens in camera accumulator tank
During left rotation and right rotation, whole CCD camera assembly is released by telescoping mechanism, then pass through the rotating camera lens frame controlling party of horizontal 360-degree
To, and the dust exhaust apparatus set on camera lens frame, this dust exhaust apparatus are can to use structure of dust collector, it is further to reduce
The contaminated problem of camera lens；
3rd, the mobile device of the invention based on oil-gas pipeline inspection, further includes motor, and the recycling shaft passes through motor control
System, oil absorbing effect is more preferable, and oil absorbing cloth allows for that the effect of oil suction is more preferable slowly moving, before adsorbed many greases
Oil absorbing cloth adsorption capacity weakens, and will be recycled by recycling shaft, new oil absorbing cloth reaches oil suction position again.
Brief description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, forms one of the application
Point, do not form the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is present invention transmission plate structure schematic diagram.
Mark and corresponding parts title in attached drawing：
1- first supports, 2- high beams, 3- CCD camera assemblies, 4- dust exhaust apparatuses, 5- camera lens frames, 6- dipped headlights, 7- shootings
Head accumulator tank, 8- second supports, 9- driver plates, 10- wheels, 11- wide-angle cameras, 12- wide-angle stents, 13- Oil sucking devices,
14- jets.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation are only used for explaining the present invention, do not make
For limitation of the invention.
Embodiment
As shown in Figs. 1-2, the mobile device of the invention based on oil-gas pipeline inspection, including by driver plate 9 and 4 wheels 10
The robot base of composition, the wheel 10 are connected two-by-two by two shafts, and the shaft is located in driver plate 9, the biography
9 one end of movable plate sets jet 14, and the other end sets wide-angle stent 12, and the wide-angle stent 12 connects wide-angle camera 11, passes
9 bottom centre position of movable plate sets Oil sucking device 13, and the Oil sucking device 13 includes the rectangular cavity of an opening, and rectangular cavity is located at
Between two shafts, and rectangular cavity width is identical with shaft length, rectangle cavity length is identical with the diameter of wheel 10, and rectangular cavity is opened
Arc panel is set at mouthful, oil absorbing cloth is set outside the arc panel；X Display Racks and camera accumulator tank 7 are set on the driver plate 9,
The slot bottom of the camera accumulator tank 7 connects CCD camera assembly 3 by horizontal extension bar, and the CCD camera assembly 3 includes U-shaped outer
Frame, the opening horizontal 360-degree rotatable connection camera lens frame 5 of the U-shaped outline border, the face where camera lens of camera lens frame 5 sets dipped headlight
6, dust exhaust apparatus 4 is being set where camera lens at the top of face.The X Display Racks include first support 1 and second support 8.The robot
Base sets photosensitive sensors, and the photosensitive sensors collection light information is sent to controller.The camera accumulator tank 7 exists
Face where notch sets high beam 2, and 2 switch button of institute's high beam is set on the controller.The oil absorbing cloth is built-in open tubular column
Roll paper shape, fixed connecting rod is set in the open tubular column, and the oil absorbing cloth extended end covering arc panel is consolidated with recycling shaft
Fixed connection.Motor is further included, the recycling shaft is controlled by motor.Flaw detection oil is employed to solve gap tiny in pipe,
The recycling shaft is controlled by motor, for oil absorbing cloth slowly moving, it is more preferable to allow for the effect of oil suction, before adsorb
The oil absorbing cloth adsorption capacity of many greases weakens, and will be recycled by recycling shaft, new oil absorbing cloth reaches oil suction position again, leads to
The Oil sucking device 13 in robot bottom setting is crossed to solve the problems, such as this, robot drives arc panel during creeping
Relative displacement is done, and the amount of this flaw detection oil is little, so the oil absorbing cloth on arc panel can adsorb away completely, then by rear
The wide-angle camera 11 put gathers image, and what staff can be easy learns crannied pipeline location, passes through wide-angle
The position of the flexible setting wide-angle camera 11 that can be better of stent 12.
Above-described embodiment, has carried out the purpose of the present invention, technical solution and beneficial effect further
Describe in detail, it should be understood that the foregoing is merely the embodiment of the present invention, be not intended to limit the present invention
Protection domain, within the spirit and principles of the invention, any modification, equivalent substitution, improvement and etc. done, should all include
Within protection scope of the present invention.
Claims (6)
1. based on the mobile device of oil-gas pipeline inspection, including the robot bottom being made of driver plate (9) and 4 wheels (10)
Seat, the wheel (10) are connected two-by-two by two shafts, and the shaft is located in driver plate (9), it is characterised in that：The biography
Movable plate (9) one end sets jet (14), and the other end sets wide-angle stent (12), and the wide-angle stent (12) connects wide-angle imaging
Head (11), driver plate (9) bottom centre position set Oil sucking device (13), and the Oil sucking device (13) includes the square of an opening
Shape chamber, rectangular cavity is between two shafts, and rectangular cavity width is identical with shaft length, rectangle cavity length and wheel (10)
Diameter is identical, and rectangular cavity opening sets arc panel, and oil absorbing cloth is set outside the arc panel；X exhibitions are set on the driver plate (9)
Frame and camera accumulator tank (7), the slot bottom of the camera accumulator tank (7) connect CCD camera assembly (3) by horizontal extension bar,
The CCD camera assembly (3) includes U-shaped outline border, the opening horizontal 360-degree rotatable connection camera lens frame (5) of the U-shaped outline border, mirror
Head frame (5) face where camera lens sets dipped headlight (6), is setting dust exhaust apparatus (4) where camera lens at the top of face.
2. the mobile device according to claim 1 based on oil-gas pipeline inspection, it is characterised in that：The X Display Racks include
First support (1) and second support (8).
3. the mobile device according to claim 1 based on oil-gas pipeline inspection, it is characterised in that：The robot base
Photosensitive sensors are set, and the photosensitive sensors collection light information is sent to controller.
4. the mobile device according to claim 3 based on oil-gas pipeline inspection, it is characterised in that：The camera recycling
Groove (7) face where notch sets high beam (2), and institute high beam (2) switch button is set on the controller
5. the mobile device according to claim 1 based on oil-gas pipeline inspection, it is characterised in that：The oil absorbing cloth is interior
The roll paper shape of stem is emptied, fixed connecting rod is set in the open tubular column, and the oil absorbing cloth extended end covering arc panel is with returning
Shaft is received to be fixedly connected.
6. the mobile device according to claim 5 based on oil-gas pipeline inspection, it is characterised in that：Motor is further included, institute
Recycling shaft is stated to control by motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377058.8A CN107917878A (en) | 2017-12-19 | 2017-12-19 | Mobile device based on oil-gas pipeline inspection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711377058.8A CN107917878A (en) | 2017-12-19 | 2017-12-19 | Mobile device based on oil-gas pipeline inspection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107917878A true CN107917878A (en) | 2018-04-17 |
Family
ID=61893661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711377058.8A Withdrawn CN107917878A (en) | 2017-12-19 | 2017-12-19 | Mobile device based on oil-gas pipeline inspection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107917878A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111675133A (en) * | 2020-07-07 | 2020-09-18 | 中国能源建设集团山西电力建设有限公司 | Pipeline lifting and pulling moving device and method in narrow space |
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
-
2017
- 2017-12-19 CN CN201711377058.8A patent/CN107917878A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111675133A (en) * | 2020-07-07 | 2020-09-18 | 中国能源建设集团山西电力建设有限公司 | Pipeline lifting and pulling moving device and method in narrow space |
| CN117451556A (en) * | 2023-11-13 | 2024-01-26 | 山东省路桥集团有限公司 | Concrete rain sewage pipeline strength detection device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180417 |