CN107971999A - A kind of pipeline intelligent robot - Google Patents
A kind of pipeline intelligent robot Download PDFInfo
- Publication number
- CN107971999A CN107971999A CN201610936845.0A CN201610936845A CN107971999A CN 107971999 A CN107971999 A CN 107971999A CN 201610936845 A CN201610936845 A CN 201610936845A CN 107971999 A CN107971999 A CN 107971999A
- Authority
- CN
- China
- Prior art keywords
- turntable
- shaft
- master control
- shell
- wheel
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline intelligent robot; including base; its internal front rotary shaft and rear shaft are provided through on the base; front rotary shaft is provided at both ends with front jockey wheel; shaft is provided at both ends with rear directive wheel afterwards; the front jockey wheel and rear directive wheel are main drive wheel; master control shell is provided with the top of the base; turntable is provided with the top of the master control shell; the outer sheath of the turntable is equipped with turntable protective shell; main pipeline detector is provided with the top of the turntable protective shell, the master control shell is internally provided with steering driving motor.The present invention can be detected urban duct processing, when needed, siltation that can be to urban duct, the position blocked are handled, greatly reduce artificial labor intensity, work efficiency greatly improves, dredging processing can be carried out to the position deposited, blocked, at the same time, moreover it is possible to which more convenient gripper handles the position deposited, blocked.
Description
Technical field
The present invention relates to pipeline robot technique field, is specially a kind of pipeline intelligent robot.
Background technology
Urban duct will discharge substantial amounts of rubbish daily, often make pipeline not smooth, easily siltation, blocking, city inside pipeline
Area frequently suffers from flood, and loss is extremely serious.The dredging dredging problem of pipeline has become current intractable of government department and has asked
Topic.
At present, the detection process work of China's urban duct is also generally in the backward state of manual work, labor intensity
Greatly, efficiency is low.
The content of the invention
It is an object of the invention to provide a kind of pipeline intelligent robot, and possessing can be by intelligent robot to urban duct
The advantages of detection process, greatly reduces artificial labor intensity, and work efficiency greatly improves, solves the current city pipe in China
The problem of detection process work in road is also generally in the backward state of manual work, and labor intensity is big, and efficiency is low.
To achieve the above object, the present invention provides following technical solution：A kind of pipeline intelligent robot, including base, institute
State front rotary shaft that its inside is provided through on base and rear shaft, front rotary shaft are provided at both ends with front jockey wheel, rear shaft
Rear directive wheel is provided at both ends with, the front jockey wheel and rear directive wheel are main drive wheel, and master is provided with the top of the base
Control shell.
Turntable is provided with the top of the master control shell, the outer sheath of the turntable is equipped with turntable protective shell, the turntable
Main pipeline detector is provided with the top of protective shell, the master control shell is internally provided with steering driving motor, the steering
The shaft on motor is driven, with being fixedly connected at the axle center of turntable, upright bar, institute to be provided with the top of the turntable by shaft coupling
The one end for stating upright bar and hydraulic telescopic rod is hinged, and the one end of the hydraulic telescopic rod away from upright bar is connected with one end of control box
Connect, the other end of the control box is connected with gripper, and subsidiary conduit detector is provided with the top of the control box.
The side that the master control enclosure turns to driving motor is provided with master control area, and the master control area is internally provided with
Power supply, the side of the master control enclosure steering driving motor, which is provided with, crushes driving motor, on the broken driving motor
Shaft be connected by shaft coupling with broken shaft, the both sides of the broken shaft be both provided be spaced substantially equidistant it is broken
Tooth.
Preferably, equally distributed anti-slop serrations are both provided with the lateral surface of the front jockey wheel and rear directive wheel.
Preferably, equally distributed ball, institute are provided between the lateral surface of the turntable and turntable protective shell madial wall
State and be both provided with the lateral surface and turntable protective shell madial wall of turntable and the corresponding sliding slot of ball.
Preferably, the outer sheath of upright bar is equipped with outer guard bar set at the top of the turntable protective shell, and the outer guard bar set is close to machine
The side of machinery claw is provided with hydraulically extensible strut, and the hydraulically extensible strut is away from one end that outer guard bar covers and hydraulic telescopic rod phase
Connection.
Preferably, the base top master control shell is provided with storage bin hopper away from the side for crushing shaft.
Compared with prior art, beneficial effects of the present invention are as follows：.
1st, the present invention by front jockey wheel, rear directive wheel, master control shell, turntable, turntable protective shell, main pipeline detector,
Being used in conjunction with each other between driving motor, upright bar, hydraulic telescopic rod, control box, gripper and subsidiary conduit detector is turned to,
Processing can be detected to urban duct, when needed, siltation that can be to urban duct, the position blocked are handled, significantly
Artificial labor intensity is reduced, work efficiency greatly improves.
2nd, the present invention is by broken driving motor, broken being used in conjunction with each other between shaft and crushing teeth, can to siltation,
The position of blocking carries out dredging processing, at the same time, moreover it is possible to which more convenient gripper handles the position deposited, blocked.
Brief description of the drawings
Fig. 1 is cross-sectional view of the structure of the present invention；
Fig. 2 is schematic structural view of the invention；
Fig. 3 is A-A schematic enlarged-scale views of the present invention.
In figure：Directive wheel, 4 master control shells, 5 turntables, 6 turntable protective shells, the inspection of 7 main pipelines behind 1 base, 2 front jockey wheels, 3
Survey instrument, 8 steering driving motors, 9 upright bars, 10 hydraulic telescopic rods, 11 control box, 12 grippers, 13 subsidiary conduit detectors, 14 masters
Control area, 15 broken driving motors, 16 broken shafts, 17 crushing teeths, 18 anti-slop serrations, 19 balls, 20 outer guard bar sets, 21 hydraulically extensibles
Strut, 22 storage bin hoppers.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Please refer to Fig.1-3, a kind of pipeline intelligent robot, including base 1, be provided through on base 1 its it is internal before
Shaft and rear shaft, front rotary shaft are provided at both ends with front jockey wheel 2, and rear shaft is provided at both ends with rear directive wheel 3, front jockey wheel
2 and rear directive wheel 3 lateral surface on be both provided with equally distributed anti-slop serrations 18, front jockey wheel 2 and rear directive wheel 3 based on drive
Driving wheel, substantially increases the driving force of robot, and the top of base 1 is provided with master control shell 4,1 top master control shell 4 of base
The side for crushing shaft is provided with storage bin hopper 22, the article of the crawl of gripper 12 can be stored, effectively increase gripper 12
Freight volume.
The top of master control shell 4 is provided with turntable 5, and the outer sheath of turntable 5 is equipped with turntable protective shell 6, the lateral surface of turntable 5
Equally distributed ball 19, the lateral surface of turntable 5 and the inner side of turntable protective shell 6 are provided between 6 madial wall of turntable protective shell
It is both provided with wall and 19 corresponding sliding slot of ball, the top of turntable protective shell 6 is provided with main pipeline detector 7, outside master control
Shell 4 is internally provided with steering driving motor 8, turns to the shaft on driving motor 8 by shaft coupling with consolidating at the axle center of turntable 5
Fixed connection, the top of turntable 5 are provided with upright bar 9, turn to driving motor 8 and drive turntable 5 to rotate, turntable 5 drives while rotation
Upright bar 9 rotates, and ball 19 effectively reduces the coefficient of sliding friction between 6 madial wall of lateral surface and turntable protective shell of turntable 5,
Enable the more flexible rotation of turntable 5, the outer sheath of 6 top upright bar 9 of turntable protective shell is equipped with outer guard bar set 20, and outer guard bar set 20 leans on
The side of nearly gripper 12 is provided with hydraulically extensible strut 21, hydraulically extensible strut 21 one end and hydraulic pressure away from outer guard bar set 20
Telescopic rod 10 is connected, and upright bar 9 and one end of hydraulic telescopic rod 10 are hinged, hydraulic telescopic rod 10 one end and control away from upright bar 9
One end of box 11 processed is connected, and the other end of control box 11 is connected with gripper 12, and the top of control box 11 is provided with auxiliary
Pipeline detector 13, upright bar 9, which rotates, have been achieveed the purpose that to control hydraulic telescopic rod 10 and gripper 12 to rotate, and staff is led to again
The elongation and shortening of control hydraulically extensible strut 21 are crossed, the mesh for changing control 12 height of hydraulic telescopic rod 10 and gripper can be reached
So that, effectively increase the flexibility of gripper 12, by front jockey wheel 2, rear directive wheel 3, master control shell 4, turntable 5, turn
Disk protective shell 6, main pipeline detector 7, turn to driving motor 8, upright bar 9, hydraulic telescopic rod 10, control box 11,12 and of gripper
Being used in conjunction with each other between subsidiary conduit detector 13, can be detected urban duct processing, when needed, can be to city
The siltation of pipeline, the position blocked are handled, and greatly reduce artificial labor intensity, work efficiency greatly improves.
The side of 4 internal turn of master control shell driving motor 8 is provided with master control area 14, and master control area 14 is internally provided with electricity
Source, the side of 4 internal turn of master control shell driving motor 8 are provided with broken driving motor 15, crush and turn on driving motor 15
Axis is connected by shaft coupling with broken shaft 16, and the both sides of broken shaft 16 are both provided with the crushing teeth 17 being spaced substantially equidistant,
, can be to the position depositing, block by broken driving motor 15, broken being used in conjunction with each other between shaft 16 and crushing teeth 17
Dredging processing is carried out, at the same time, moreover it is possible to which more convenient gripper 12 handles the position deposited, blocked.
Operation principle：When in use, front jockey wheel 2 and rear directive wheel 3 substantially increase the driving force of robot, make machine
Device people can move in rugged environment, turn to driving motor 8 and drive turntable 5 to rotate, upright bar 9 is driven while turntable 5 rotates
Rotate, ball 19 effectively reduces the coefficient of sliding friction between 6 madial wall of lateral surface and turntable protective shell of turntable 5, makes to turn
The more flexible rotation of the energy of disk 5, upright bar 9, which rotates, have been achieveed the purpose that to control hydraulic telescopic rod 10 and gripper 12 to rotate, and work people
Member by controlling the elongation and shortening of hydraulically extensible strut 21, can reach change control hydraulic telescopic rod 10 and gripper 12 is high again
The purpose of degree, so that, the flexibility of gripper 12 is effectively increased, passes through main pipeline detector 7 and subsidiary conduit detector 13
It is detected, then cooperating personnel are analyzed, and substantially increase the efficiency of work, by broken driving motor 15, are crushed
Being used in conjunction with each other between shaft 16 and crushing teeth 17, can carry out dredging processing, at the same time to the position deposited, blocked, moreover it is possible to
More convenient gripper 12 handles the position deposited, blocked.
In summary：The pipeline intelligent robot, by front jockey wheel 2, rear directive wheel 3, master control shell 4, turntable 5, turn
Disk protective shell 6, main pipeline detector 7, turn to driving motor 8, upright bar 9, hydraulic telescopic rod 10, control box 11,12 and of gripper
Being used in conjunction with each other between subsidiary conduit detector 13, can be detected urban duct processing, when needed, can be to city
The siltation of pipeline, the position blocked are handled, and greatly reduce artificial labor intensity, work efficiency greatly improves, and passes through
Broken driving motor 15, broken being used in conjunction with each other between shaft 16 and crushing teeth 17, can carry out the position deposited, blocked
Dredging is handled, at the same time, moreover it is possible to which more convenient gripper 12 handles the position deposited, blocked.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions.By sentence " including one ... the key element limited, it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element ".
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of pipeline intelligent robot, including base (1), it is characterised in that：It is provided through on the base (1) inside it
Front rotary shaft and rear shaft, front rotary shaft be provided at both ends with front jockey wheel (2), rear shaft is provided at both ends with rear directive wheel (3),
The front jockey wheel (2) and rear directive wheel (3) are main drive wheel, and master control shell (4) is provided with the top of the base (1)；
Turntable (5) is provided with the top of the master control shell (4), the outer sheath of the turntable (5) is equipped with turntable protective shell (6),
Main pipeline detector (7) is provided with the top of the turntable protective shell (6), the master control shell (4) is internally provided with steering
Motor (8) is driven, described turn to drives the shaft on motor (8) by shaft coupling with being fixedly connected at the axle center of turntable (5), institute
State and upright bar (9) is provided with the top of turntable (5), the upright bar (9) and one end of hydraulic telescopic rod (10) are hinged, and the hydraulic pressure is stretched
The one end of contracting bar (10) away from upright bar (9) is connected with one end of control box (11), the other end and machine of the control box (11)
Machinery claw (12) is connected, and subsidiary conduit detector (13) is provided with the top of the control box (11)；
The side of master control shell (4) the internal turn driving motor (8) is provided with master control area (14), the master control area (14)
Power supply is internally provided with, the side of master control shell (4) the internal turn driving motor (8) is provided with broken driving motor
(15), the shaft on the broken driving motor (15) is connected by shaft coupling with broken shaft (16), the broken shaft
(16) both sides are both provided with the crushing teeth (17) being spaced substantially equidistant.
A kind of 2. pipeline intelligent robot according to claim 1, it is characterised in that：The front jockey wheel (2) and after lead
Equally distributed anti-slop serrations (18) are both provided with to the lateral surface of wheel (3).
A kind of 3. pipeline intelligent robot according to claim 1, it is characterised in that：The lateral surface of the turntable (5) with
Equally distributed ball (19), lateral surface and the turntable protection of the turntable (5) are provided between turntable protective shell (6) madial wall
It is both provided with shell (6) madial wall and ball (19) corresponding sliding slot.
A kind of 4. pipeline intelligent robot according to claim 1, it is characterised in that：At the top of the turntable protective shell (6)
The outer sheath of upright bar (9) is equipped with outer guard bar set (20), and the outer guard bar set (20) is provided with liquid close to the side of gripper (12)
Telescopic strut (21) is pressed, the one end of the hydraulically extensible strut (21) away from outer guard bar set (20) is connected with hydraulic telescopic rod (10)
Connect.
A kind of 5. pipeline intelligent robot according to claim 1, it is characterised in that：At the top of the base (1) outside master control
Shell (4) is provided with storage bin hopper (22) away from the side for crushing shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936845.0A CN107971999A (en) | 2016-10-24 | 2016-10-24 | A kind of pipeline intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610936845.0A CN107971999A (en) | 2016-10-24 | 2016-10-24 | A kind of pipeline intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107971999A true CN107971999A (en) | 2018-05-01 |
Family
ID=62004066
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610936845.0A Pending CN107971999A (en) | 2016-10-24 | 2016-10-24 | A kind of pipeline intelligent robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107971999A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110606138A (en) * | 2019-09-11 | 2019-12-24 | 国营芜湖机械厂 | Airplane air inlet excess article checking image recognition robot and recognition method thereof |
| CN111720662A (en) * | 2020-05-14 | 2020-09-29 | 国网浙江宁波市鄞州区供电有限公司 | Rescue device for underground pipeline detection |
| CN112113062A (en) * | 2018-06-14 | 2020-12-22 | 芜湖易泽中小企业公共服务股份有限公司 | Operation method of dredging robot suitable for various pipelines |
| CN114405943A (en) * | 2022-01-26 | 2022-04-29 | 江苏诚丰建设有限公司 | Municipal administration pipeline cleaning device |
-
2016
- 2016-10-24 CN CN201610936845.0A patent/CN107971999A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112113062A (en) * | 2018-06-14 | 2020-12-22 | 芜湖易泽中小企业公共服务股份有限公司 | Operation method of dredging robot suitable for various pipelines |
| CN110606138A (en) * | 2019-09-11 | 2019-12-24 | 国营芜湖机械厂 | Airplane air inlet excess article checking image recognition robot and recognition method thereof |
| CN110606138B (en) * | 2019-09-11 | 2022-05-31 | 国营芜湖机械厂 | Airplane air inlet excess article checking image recognition robot and recognition method thereof |
| CN111720662A (en) * | 2020-05-14 | 2020-09-29 | 国网浙江宁波市鄞州区供电有限公司 | Rescue device for underground pipeline detection |
| CN111720662B (en) * | 2020-05-14 | 2022-12-06 | 国网浙江宁波市鄞州区供电有限公司 | Rescue device for underground pipeline detection |
| CN114405943A (en) * | 2022-01-26 | 2022-04-29 | 江苏诚丰建设有限公司 | Municipal administration pipeline cleaning device |
| CN114405943B (en) * | 2022-01-26 | 2023-09-01 | 江苏诚丰建设有限公司 | Municipal pipeline cleaning device |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180501 |