CN108071893A - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
- Publication number
- CN108071893A CN108071893A CN201810027969.6A CN201810027969A CN108071893A CN 108071893 A CN108071893 A CN 108071893A CN 201810027969 A CN201810027969 A CN 201810027969A CN 108071893 A CN108071893 A CN 108071893A
- Authority
- CN
- China
- Prior art keywords
- wheel
- fixed
- ring
- iris
- right 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.)
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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
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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
- F16L55/40—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
A kind of detecting robot of pipe, including photographing section, preceding function part, front ring, preceding middle wheel assembly, front right wheel assembly, front left wheel assembly, middle ring, rear middle wheel assembly, rear right wheel assembly, rear left wheel assembly, rear function part, rear ring, iris device, right guard bar part, left guard bar part；It turns left successively from the right side as photographing section, photographing section is located at front ring center, the right of function part before photographing section is fixed on；Front ring is fixed on the right side of preceding function part, middle ring is fixed in left side；Middle ring is fixed on the right side of function part afterwards, rear ring is fixed on the left of rear function part；Middle wheel assembly, rear right wheel assembly, rear left wheel assembly after being set respectively by trisection on ring afterwards；Iris device is fixed on the left side of rear ring；The right side of front ring and rear ring is fixed in right guard bar part；The left side of front ring and rear ring is fixed in left guard bar part.Present invention seek to address that existing detecting robot of pipe avoidance energy force difference, Image Acquisition is not complete and unintelligible, does not adapt to the problem of different size caliber.
Description
Technical field
The present invention relates to plumbing installation field, more specifically to a kind of detecting robot of pipe.
Background technology
Pipeline is widely used general in daily life, greatly to underground large size blow-off line, the small blood vessel to people.Pipeline is in length
It during phase use, inevitably has impurity and some things with corrosiveness so that duct wall is thinning, so as to which pipeline occurs
Crackle, leakage phenomenon so that pipeline service life shortens, and causes the wasting of resources, in order to avoid problems, makes the use of pipeline
Service life is elongated, reduces cost, and just must carry out periodic detection to pipeline pinpoints the problems in time, due to duct size and bad environments
Situations such as, manual work should not be suitble to, and use pipe robot that can effectively replace manually carrying out pipe detection operation, it takes precautions against
The problems such as above-mentioned crackle, leakage.
Application number 201521137171.5 discloses " bevel gear direct-drive type detecting robot of pipe ", including：Drive system,
Preposition infrared camera, all rotating motors, obliquity sensor, postposition infrared camera, turnaround system and driving motor；Drive system
Including driving wheel leg mechanism and driving transfer device；Driving motor drives driving transfer device；Transfer device is driven synchronously to drive
Three driving wheel leg mechanisms；Turnaround system includes epicyclic wheel leg mechanism and turnover transfer device；All rotating motor driving turnover transfers
Device；Have enough to meet the need transfer device synchronously three epicyclic wheel leg mechanisms of driving；Fixed synchronous pulley and turnover on driving wheel leg mechanism
Fixed synchronous pulley passes through synchronous band connection on wheel leg mechanism.Although can realize detection function to a certain extent, from froming the perspective of
It is seen on bright book attached drawing or the functions such as good avoidance, Image Acquisition be complete and unintelligible is not achieved, while whole device looks at
It is excessively stiff.
The content of the invention
In view of this, it is an object of the invention to provide a kind of detecting robot of pipe, it is intended to solve existing pipeline inspection
Survey robot obstacle-avoiding energy force difference, Image Acquisition is not complete and unintelligible, does not adapt to the problem of different size caliber.
In order to achieve the above object, the present invention provides following technical solution：
A kind of detecting robot of pipe, including photographing section 1, preceding function part 2, front ring 3, preceding middle wheel assembly 4, front right wheel group
Part 5, front left wheel assembly 6, middle ring 7, it is rear in wheel assembly 8, rear right wheel assembly 9, rear left wheel assembly 10, rear function part 11, rear ring 12,
Iris device 13, right guard bar part 14, left guard bar part 15；It is characterized in that, the photographing section 1 includes video camera 11 and takes the photograph
Camera fixed frame 12 is fixed on the front of the preceding function part 2, at the center of the front ring 3；The preceding function part 2 wraps
Arduino control panels 21, front end panel 22 and infrared sensor 23 are included, the Arduino control panels 21 are arranged at the preceding branch
Fagging 22 the upper surface of, the infrared sensor 23 is arranged at the forepart right end of the front end panel 22 in the following, the front end panel
22 are fixed in a manner that the convex block on its corner is connected among the front ring 3 and middle ring 7；The front ring 3 is located at
Before whole device；
As preferred：It is described before in wheel assembly 4 include preceding middle wheel carrier fixed seat 41, preceding middle wheel carrier 42, velocity sensor 43,
Brake block 44, it is preceding it is middle wheel 45, it is preceding it is middle wheel connector 46, it is preceding it is middle wheel adjustment sliding block 47, it is preceding it is middle wheel guide post 48, it is preceding it is middle wheel spring 49,
Preceding middle wheel support 410；Wheel carrier fixed seat 41 is fixed at the upper trisection point of the front ring in before described, middle wheel carrier 42 before described
The preceding middle wheel carrier fixed seat 41 is connected to screw, the afterbody two sides of middle wheel carrier 42 sets the velocity pick-up respectively before described
Device 43 and it is described it is preceding it is middle wheel 45, the brake block 44 be located at it is described degree sensor 43 opening, the brake block 44 with it is described
Preceding middle wheel 45 by axis connection, it is described before in wheel connector 46 one end be connected to it is described before in wheel carrier 42 centre, before described
It is middle wheel 46 other end of connector with it is shown it is preceding it is middle wheel adjustment sliding block 47 be connected, it is described before in wheel adjust sliding block 47 be socketed on it is described before
Middle wheel guide post 48, it is described before in wheel guide post 48 be fixed on it is described before in wheel support 410, it is described before in wheel support 410 shaped like character cut in bas-relief,
The front ring 3 is fixed in 410 one end of wheel support in before described and the other end is fixed on the middle ring 7, middle wheel spring 49 before described
One side of the guide post 48 is socketed on, middle wheel spring 49 plays promotion to the preceding middle wheel adjustment sliding block 47 before described and resistance is made
With；
As preferred：The front right wheel assembly 5 includes front right wheel carrier fixed seat 51, front right wheel carrier 52, front right wheel drive electricity
Machine retainer 53, front right wheel driving motor 54, front right wheel 55, front right wheel connector 56, front right wheel adjustment sliding block 57, front right wheel are led
Column 58, front right wheel spring 59, front right wheel support 510；The right that the front right wheel carrier fixed seat 51 is arranged at the front ring 3 is third
At branch, the front right wheel carrier fixed seat 51, the other end of the front right wheel carrier 52 are fixed in one end of the front right wheel carrier 52
Two sides the front right wheel driving motor retainer 53 and the front right wheel 55 be set respectively, the front right wheel driving motor 54 is solid
Due to the front right wheel driving motor retainer 53, the front right wheel driving motor 54 and the front right wheel 55 by axis connection,
The front right wheel 55 is driven to rotate, one end of the front right wheel connector 56 is connected by screw in the front right wheel carrier 52
Between, the other end of the front right wheel connector 56 is connected with the front right wheel adjustment sliding block 57, and the front right wheel adjusts sliding block 57
The front right wheel guide post 58 is socketed on, the front right wheel guide post 58 is fixed on the front right wheel support 510, the front right wheel support
510 shaped like character cut in bas-relief, and the front ring 3 is fixed in described 510 one end of front right wheel support and the other end is fixed on the middle ring 7；It is described
Front right wheel spring 59 is socketed on the front right wheel guide post 58, and in the middle ring 7 here, front right wheel adjustment sliding block 57 is risen
Adjustment effect；
As preferred：The front left wheel assembly 6 includes front left wheel carrier fixed seat 61, front left wheel carrier 62, preceding revolver 63, front left
Ratchet 64, front left ratchet fastener 65, front left check pawl 66, preceding revolver connector 67, preceding revolver adjustment sliding block 68, preceding revolver
Guide post 69, preceding revolver spring 610, front left wheel support 611, preceding servo-driver 612；The front left wheel carrier fixed seat 61 is fixed on
At the left side trisection point of the front ring 3, described 62 one end of front left wheel carrier is connected to the front left wheel carrier fixed seat 61, before described
The two sides of the other end of revolver frame 62 is respectively used to set the preceding revolver 63 and the front left ratchet 64, and the preceding revolver 63 is logical
Axis and the front left ratchet 64 are crossed, the front left ratchet fastener 65 is used to fasten the front left ratchet 64, the front left wheel carrier
62 centre is connected with the front left check pawl 66 and preceding revolver connector 67, the pawl card of the front left check pawl 66 and institute
In the slot for stating front left ratchet 64 so that the front left ratchet 64 can not turn round, so that the preceding revolver 63 back rolls；Institute
67 one end of revolver connector is connected with the preceding revolver adjustment sliding block 68 before stating, the preceding revolver adjustment sliding block 68 be placed on it is described before
On revolver guide post 69, the preceding revolver spring 610 is equally placed on the preceding revolver guide post 69 the close middle ring 7, before described
For revolver spring 610 for adjusting the preceding revolver adjustment sliding block 68, the preceding revolver guide post 69 is fixed on the front left wheel support
611, the front ring 3 is fixed in described 611 one end of front left wheel support and the other end is fixed on the middle ring 7, and the preceding servo is driven
Dynamic device 612 is arranged on the front left wheel support 611；
As preferred：Wheel carrier fixed seat 81, rear middle wheel carrier 82, rear middle wheel drive during middle wheel assembly 8 is included afterwards after described
Motor retainer 83, it is rear in wheel drive motor 84, it is rear in wheel 85, it is rear in wheel connector 86, it is rear in wheel adjustment sliding block 87, it is rear in wheel
Guide post 88, rear middle wheel spring 89, rear middle wheel support 810；Wheel carrier fixed seat 81 is arranged at the upper third of the middle ring 7 in after described
At branch, the rear middle wheel carrier fixed seat 81, the other end of middle wheel carrier 52 after described are fixed in one end of the rear middle wheel carrier 82
Two sides set respectively it is described after in wheel drive motor retainer 83 and it is described after in wheel 85, it is described after in wheel drive motor 84 it is solid
Wheel drive motor retainer 83 in after described, it is described after in wheel drive motor 84 with it is described after in wheel 85 by axis connection,
Drive it is described after in wheel 85 rotate, it is described after in wheel connector 86 one end be connected by screw after described in wheel carrier 52
Between, the other end of middle wheel connector 86 is connected with the rear middle wheel and adjusts sliding block 87 after described, middle after described to take turns adjustment sliding block 87
Be socketed on it is described after in wheel guide post 88, it is described after in wheel guide post 88 be fixed on it is described after in wheel support 810, it is described after in wheel support
810 shaped like character cut in bas-relief, and the middle ring 7 is fixed in middle 810 one end of wheel support after described and the other end is fixed on the rear ring 12；It is described
Middle spring 89 of taking turns is socketed on the rear middle wheel guide post 88 afterwards, and in the middle ring 7 here, the rear middle adjustment sliding block 87 of taking turns is risen
Adjustment effect；
As preferred：The rear right wheel assembly 9 include rear right wheel carrier fixed seat 91, rear right wheel carrier 92, rear right wheel 93, after
Right ratchet 94, rear right ratchet fastener 95, rear right check pawl 96, rear right wheel connector 97, rear right wheel adjustment sliding block 98, rear right
Take turns guide post 99, rear right wheel spring 910, rear right wheel support 911, rear servo-driver 912；The rear right wheel carrier fixed seat 91 is fixed
At the right trisection point of the middle ring 7, described 92 one end of rear right wheel carrier is connected to the rear right wheel carrier fixed seat 91, after described
The two sides of the other end of right wheel frame 92 is respectively used to set the rear right wheel 93 and the rear right ratchet 94, and the rear right wheel 93 is logical
Axis and the rear right ratchet 94 are crossed, the rear right ratchet fastener 95 is used to fasten the rear right ratchet 94, the rear right wheel carrier
92 centre is connected with the rear right check pawl 96 and rear right wheel connector 97, the pawl card of the rear right check pawl 96 and institute
In the slot for stating rear right ratchet 94 so that the rear right ratchet 94 can not turn round, so that the rear right wheel 93 back rolls；Institute
State 97 one end of rear right wheel connector and be connected with rear right wheel adjustment sliding block 98, the rear right wheel adjustment sliding block 98 be placed on it is described after
On right wheel guide post 99, the rear right wheel spring 910 is equally placed on the rear right wheel guide post 99 the close middle ring 7, after described
For right wheel spring 910 for adjusting the rear right wheel adjustment sliding block 98, the rear right wheel guide post 99 is fixed on the rear right wheel support
911, the middle ring 7 is fixed in described 911 one end of rear right wheel support and the other end is fixed on the rear ring 12；Servo is driven after described
Dynamic device 912 is arranged on the rear right wheel support 911, and the rear servo-driver 912 is used to control in the iris device 13
Servomotor；
As preferred：The rear left wheel assembly 10 includes rear left wheel carrier fixed seat 101, rear left wheel carrier 102, rear revolver and drives
Dynamic motor retainer 103, rear left wheel drive motor 104, rear revolver 105, rear revolver connector 106, rear revolver adjustment sliding block
107th, rear revolver guide post 108, rear revolver spring 109, rear left wheel support 1010；The rear left wheel carrier fixed seat 101 is arranged at institute
It states at the left trisection point of middle ring 7, the rear left wheel carrier fixed seat 101 is fixed in one end of the rear left wheel carrier 102, after described
The two sides of the other end of revolver frame 102 sets the rear left wheel drive motor retainer 103 and the rear revolver 105, institute respectively
State rear left wheel drive motor 104 and be fixed on the rear left wheel drive motor retainer 103, the rear left wheel drive motor 104 with
Revolver 105 drives the rear revolver 105 to rotate, one end of the rear revolver connector 106 passes through spiral shell by axis connection after described
Nail is connected among the rear left wheel carrier 102, and the other end of the rear revolver connector 106 is connected with the rear revolver adjustment and slides
Block 107, the rear revolver adjustment sliding block 107 are socketed on the rear revolver guide post 108, and the rear revolver guide post 108 is fixed on institute
Rear left wheel support 1010 is stated, the rear left wheel support 1010 shaped like character cut in bas-relief, be fixed on described by described 1010 one end of rear left wheel support
Middle ring 7 and the other end are fixed on the rear ring 12；Revolver spring 109 is socketed on the rear revolver guide post 108 after described, in institute
It states middle ring 7 here, the rear revolver adjustment sliding block 107 is played regulatory role；
As preferred：Function part 11 includes solar energy support plate 111, red indicator light 112, green indicator light 113 after described；
The solar energy support plate 111 is arranged between the middle ring 7 and the rear ring 12, and the solar energy support plate 111 plays storage
Solar energy and supporting role convert solar energy into electric energy action for device；The red indicator light 112 and the green instruction
Lamp 113 is arranged in the solar energy support plate 111, and green 113 light yellow of indicator light represents device normal operation, the red finger
Show that lamp 112 is bright and represent that device is faulty；
As preferred：The iris device 13 includes iris lid 131, iris cap bore 132, iris blade 133, blade head
134th, iris pedestal 135, iris base seat groove 136, iris base seat support 137, swingle 138, servomotor 139；The iris
Device 13 is fixed on the rear ring 12 by three iris base seat supports 137, and three iris base seat supports 137 are third
Distribution is placed on the rear ring 12；The iris pedestal 135 is arranged on the iris base seat support 137, the iris pedestal
135 open up the iris base seat groove 136, and the iris base seat groove 136 is used to fix the described of one end on the iris blade 133
Blade first 134, the blade first 134 on 133 other end of iris blade are fixed on the iris that the iris lid 131 opens up
In cap bore 132, the iris lid 131 is fixed on by screw on the iris base seat support 137, and the iris lid 131 is set
In the right of the iris pedestal 135；The swingle 138 is fixed on by screw on the iris lid 131, the swingle
138 are arranged at the left side of the iris pedestal 135, and the centre of the swingle 138 is provided with the servomotor 139；It is described
Servo-driver 912 controls the startup of the servomotor 139 afterwards, and the servomotor 139 drives 138 turns of the swingle
Dynamic, the swingle 138 drives the iris lid 131 to rotate, and the iris lid 131 drives the iris pedestal 135 to rotate, institute
Stating iris pedestal 135 drives the iris base seat support 137 to rotate, and the iris base seat support 137 drives rear 12 turns of the ring
Dynamic, running into barrier so as to fulfill whole device, laterally overturning is avoided；The iris device 13 has iris recognition imaging technique,
The iris image in pipeline can be got to store and be sent to terminal；
As preferred：The right guard bar part 14 is including solid after fixed seat 142, right guard bar before right guard bar 141, right guard bar
Reservation 143；Fixed seat 142 is fixed on the front ring 3 before the right guard bar, and fixed seat 143 is fixed on described after the right guard bar
Ring 12 afterwards, the both ends of the right guard bar 141 are individually fixed in before the right guard bar fixed seat after fixed seat 142 and the right guard bar
143, right protective effect is played in the right guard bar part 14, is collided to prevent the right；
As preferred：The left guard bar part 15 is including solid after fixed seat 152, left guard bar before left guard bar 151, left guard bar
Reservation 153；Fixed seat 152 is fixed on the front ring 3 before the left guard bar, and fixed seat 153 is fixed on described after the left guard bar
Ring 12 afterwards, the both ends of the left guard bar 151 are individually fixed in before the left guard bar fixed seat after fixed seat 152 and the left guard bar
153, left protective effect is played in the left guard bar part 15, is collided to prevent the left side；
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the overall structure diagram of detecting robot of pipe；
Fig. 2 is the bottom view of detecting robot of pipe；
Fig. 3 is the structure diagram of preceding middle wheel assembly；
Fig. 4 is the structure diagram of front right wheel assembly；
Fig. 5 is the structure diagram of front left wheel assembly；
Fig. 6 is the structure diagram of rear middle wheel assembly；
Fig. 7 is the structure diagram of rear right wheel assembly；
Fig. 8 is the structure diagram of rear left wheel assembly；
Fig. 9 is the rear structure schematic diagram of iris device；
Figure 10 is the front portion structure schematic diagram of iris device；
Wherein, marked in attached drawing as follows：
1 photographing section, 11 video cameras, 12 camera fixing frames, function part, 21Arduino control panels, 22 front supports before 2
Plate, 23 infrared sensors, 3 front rings, middle wheel carrier, 43 velocity sensors, 44 before middle wheel carrier fixed seat, 42 before middle wheel assembly, 41 before 4
Middle wheel adjusts middle middle wheel spring, 410 before taking turns guide post, 49 before sliding block, 48 before middle wheel connector, 47 before middle wheel, 46 before brake block, 45
Preceding middle wheel support, 5 front right wheel assemblies, 51 front right wheel carrier fixed seats, 52 front right wheel carriers, 53 front right wheel driving motor retainers, 54
Front right wheel driving motor, 55 front right wheels, 56 front right wheel connectors, 57 front right wheels adjustment sliding block, 58 front right wheel guide posts, 59 front right wheels
Spring, 510 front right wheel supports, revolver, 64 front left spine before 6 front left wheel assemblies, 61 front left wheel carrier fixed seats, 62 front left wheel carriers, 63
Revolver is led before revolver adjustment sliding block, 69 before revolver connector, 68 before wheel, 65 front left ratchet fasteners, 66 front left check pawls, 67
Servo-driver before revolver spring, 611 front left wheel supports, 612 before column, 610,7 middle rings, middle wheel carrier is consolidated behind middle wheel assembly, 81 after 8
Middle wheel connection behind middle wheel, 86 behind middle wheel drive motor, 85 behind middle wheel drive motor retainer, 84 behind middle wheel carrier, 83 behind reservation, 82
Middle wheel adjustment sliding block behind part, 87, middle wheel support behind middle wheel spring, 810 behind middle wheel guide post, 89 after 88, behind 9 rear right wheel assemblies, 91
Right wheel frame fixed seat, 92 rear right wheel carriers, 93 rear right wheels, 94 rear right ratchets, 95 rear right ratchet fasteners, 96 rear right check pawls,
97 rear right wheel connectors, 98 rear right wheels adjustment sliding block, 99 rear right wheel guide posts, 910 rear right wheel springs, 911 rear right wheel supports, 912
Servo-driver afterwards, 10 rear left wheel assemblies, 101 rear left wheel carrier fixed seats, 102 rear left wheel carriers, 103 rear left wheel drive motors are kept
Revolver is led behind revolver adjustment sliding block, 108 behind revolver connector, 107 behind revolver, 106 behind frame, 104 rear left wheel drive motors, 105
Revolver spring, 1010 rear left wheel supports behind column, 109 are function part after 11,111 solar energy support plates, 112 red indicator lights, 113 green
Indicator light, ring after 12,13 iris devices, 131 iris lids, 132 iris cap bore, 133 iris blades, 134 blade heads, 135 irises
Pedestal, 136 iris base seat grooves, 137 iris base seat supports, 138 swingles, 139 servomotors, 14 right guard bar parts, 141 right shields
Fixed seat after fixed seat, 143 right guard bars before bar, 142 right guard bars, it is fixed before 15 left guard bar parts, 151 left guard bars, 152 left guard bars
Fixed seat after seat, 153 left guard bars.
Specific 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.
In one particular embodiment of the present invention, as depicted in figs. 1 and 2, a kind of pipe detection device, including shoot part
Point 1, preceding function part 2, front ring 3, preceding middle wheel assembly 4, front right wheel assembly 5, front left wheel assembly 6, middle ring 7, it is rear in wheel assembly 8, after
Right wheel component 9, rear left wheel assembly 10, rear function part 11, rear ring 12, iris device 13, right guard bar part 14, left guard bar part
15；It turns left successively from the right side as photographing section 1, photographing section 1 is located at 3 center of front ring, and photographing section 1 is fixed on preceding function part 2
The right；Front ring 3 is fixed on preceding 2 right side of function part, and middle ring 7 is fixed in left side；Front ring 3 takes three trisection points, sets respectively
Preceding middle wheel assembly 4, front right wheel assembly 5 and front left wheel assembly 6；Middle ring 7 is fixed on the right side of function part 11 afterwards, rear function part 11
Rear ring 12 is fixed in left side；Middle wheel assembly 8, rear right wheel assembly 9, rear left wheel assembly after being set respectively by trisection on ring 12 afterwards
10；Iris device 13 is fixed on the left side of rear ring 12；The right side of front ring 3 and rear ring 12 is fixed in right guard bar part 14；Left guard bar
The left side of front ring 3 and rear ring 12 is fixed in part 15.
As shown in Figure 1 and Figure 2, preceding function part 2 includes Arduino control panels 21, front end panel 22 and infrared sensor 23,
Arduino control panels 21 are the control axis of entire robot, are held on front end panel 22, and infrared sensor 23 is fixed on preceding branch
The lower right of fagging 22, infrared sensor are the characteristics that infra-red radiation is generated using object, it is possible in light than dark
Place carries out object measurement；Function part 11 includes solar energy support plate 111, red indicator light 112, green indicator light 113, solar energy afterwards
Support plate 111 is arranged between middle ring 7 and rear ring 12, and solar energy support plate 111 plays storage solar energy and supporting role, by the sun
Electric energy action for device can be changed into；Red indicator light 112 and green indicator light 113 are arranged in solar energy support plate 111, green
113 light yellow of indicator light represents device normal operation, and red indicator light 112 is bright to represent that device is faulty.
As shown in figure 3, preceding middle wheel assembly 4 includes preceding middle wheel carrier fixed seat 41, preceding middle wheel carrier 42, velocity sensor 43, brake
Vehicle piece 44, preceding middle wheel 45, preceding middle wheel connector 46, preceding middle wheel adjustment sliding block 47, preceding middle wheel guide post 48, preceding middle wheel spring 49, preceding
Middle wheel support 410；Preceding middle wheel carrier fixed seat 41 is fixed at the upper trisection point of front ring, before preceding middle wheel carrier 42 is connected to screw
Middle wheel carrier fixed seat 41, the afterbody two sides of preceding middle wheel carrier 42 set velocity sensor 43 and preceding middle wheel 45, brake block 44 respectively
In the opening of degree sensor 43, with preceding middle wheel 45 by axis connection, one end of preceding middle wheel connector 46 is connected to brake block 44
The centre of preceding middle wheel carrier 42, preceding middle wheel 46 other end of connector are connected with preceding middle wheel adjustment sliding block 47, preceding middle wheel adjustment sliding block 47
Wheel guide post 48 in before being socketed on, preceding middle wheel guide post 48 be fixed on before in wheel support 410, preceding middle wheel support 410 is shaped like character cut in bas-relief, in preceding
Front ring 3 is fixed in 410 one end of wheel support and the other end is fixed on middle ring 7, and preceding middle wheel spring 49 is socketed on one side of guide post 48, preceding
Middle wheel spring 49 plays promotion and drag effect to preceding middle wheel adjustment sliding block 47；It is different for different tube diameters or pipe surface height,
Preceding middle wheel 45 can be adjusted, and adjust process：If convex and pipeline become smaller, preceding middle wheel 45 will be jacked up, and and then be acted on
Wheel carrier 42 will be pressurized in before connected to it, and preceding middle wheel carrier 42 middle wheel connector 46 before promoting, preceding middle wheel connector 46 promotes
Preceding middle wheel adjustment sliding block 47 is slided in preceding middle wheel guide post 48, and and then preceding middle wheel spring 49 is compressed；Such as recess face and pipeline
Become larger, preceding middle wheel 45 into recess, preceding middle wheel carrier 42 will tension, preceding middle wheel carrier 42 pull before in wheel connector 46, preceding middle wheel
Connector 46 draws preceding middle wheel adjustment sliding block 47 to be slided in preceding middle wheel guide post 48, and and then preceding middle spring 49 of taking turns is stretched；If it needs
Slow down or brake, velocity sensor 43 will receive the instruction from Arduino control panels 21, and brake block 44 is carried out
Clamping is braked, because to brake block 44 with preceding middle wheel 45 by axis connection, middle wheel 45 is just braked before.
It is protected as shown in figure 4, front right wheel assembly 5 includes front right wheel carrier fixed seat 51, front right wheel carrier 52, front right wheel driving motor
Hold frame 53, front right wheel driving motor 54, front right wheel 55, front right wheel connector 56, front right wheel adjustment sliding block 57, front right wheel guide post
58th, front right wheel spring 59, front right wheel support 510；Front right wheel carrier fixed seat 51 is arranged at the right trisection point of front ring 3, preceding
Front right wheel carrier fixed seat 51 is fixed in one end of right wheel frame 52, and the two sides of the other end of front right wheel carrier 52 sets front right wheel to drive respectively
Dynamic motor retainer 53 and front right wheel 55, front right wheel driving motor 54 are fixed on front right wheel driving motor retainer 53, front right wheel
Driving motor 54 is with front right wheel 55 by axis connection, and driving front right wheel 55 rotates, and one end of front right wheel connector 56 passes through screw
It is connected among front right wheel carrier 52, the other end of front right wheel connector 56 is connected with front right wheel adjustment sliding block 57, front right wheel adjustment
Sliding block 57 is socketed on front right wheel guide post 58, and front right wheel guide post 58 is fixed on front right wheel support 510, and front right wheel support 510 is shaped like recessed
Word, front ring 3 is fixed in 510 one end of front right wheel support and the other end is fixed on middle ring 7；Front right wheel spring 59 is socketed on front right wheel and leads
On column 58, in middle ring 7 here, front right wheel adjustment sliding block 57 is played regulatory role；Front right wheel driving motor 54 is controlled by Arduino
Plate 21 controls, and driving motor 54, which rotates, drives front right wheel 55 to roll, and passes through axis connection between the two；For different tube diameters or pipeline
Face height is different, and front right wheel 55 can be adjusted, and adjusts process：If convex and pipeline become smaller, front right wheel 55 will be jacked up,
And then acting on front right wheel carrier 52 connected to it will be pressurized, and front right wheel carrier 52 promotes front right wheel connector 56, and front right wheel connects
Fitting 56 promotes front right wheel adjustment sliding block 57 to be slided in front right wheel guide post 58, and and then front right wheel spring 59 is compressed；In case of recessed
Place face and pipeline become larger, front right wheel 55 enter recess, front right wheel carrier 52 will tension, front right wheel carrier 52 pull front right wheel connector
56, front right wheel connector 56 pulls front right wheel adjustment sliding block 57 to be slided in front right wheel guide post 58, and then 59 quilt of front right wheel spring
It stretches.
Middle wheel assembly 8 and Fig. 8 rear lefts wheel assembly 10 and 5 structure of front right wheel assembly and realization method be all after Fig. 6；
As shown in figure 5, front left wheel assembly 6 includes front left wheel carrier fixed seat 61, front left wheel carrier 62, preceding revolver 63, front left spine
Wheel 64, front left ratchet fastener 65, front left check pawl 66, preceding revolver connector 67, preceding revolver adjustment sliding block 68, preceding revolver are led
Column 69, preceding revolver spring 610, front left wheel support 611, preceding servo-driver 612；Front left wheel carrier fixed seat 61 is fixed on front ring 3
Left side trisection point at, 62 one end of front left wheel carrier is connected to front left wheel carrier fixed seat 61, the two of the other end of front left wheel carrier 62
Face is respectively used to revolver 63 and front left ratchet 64, preceding revolver 63 before setting and passes through axis and front left ratchet 64, front left ratchet fastener
65 for fastening front left ratchet 64, and the centre of front left wheel carrier 62 is connected with front left check pawl 66 and preceding revolver connector 67, preceding
In the pawl card of left check pawl 66 and the slot of front left ratchet 64 so that front left ratchet 64 can not turn round, so that preceding revolver 63
Back roll；Revolver adjustment sliding block 68 before preceding 67 one end of revolver connector is connected with, preceding revolver adjustment sliding block 68 are placed on preceding revolver
On guide post 69, close to middle ring 7 on revolver guide post 69 before preceding revolver spring 610 is equally placed on, preceding revolver spring 610 is used for before adjusting
Revolver adjusts sliding block 68, and preceding revolver guide post 69 is fixed on front left wheel support 611,611 one end of front left wheel support be fixed on front ring 3 and
The other end is fixed on middle ring 7, and preceding servo-driver 612 is arranged on front left wheel support 611；In case of convex and pipeline become smaller, recessed
Situations such as place and pipeline become larger, adjustment process are identical with preceding middle wheel assembly 4.
Fig. 7 rear rights wheel assembly 9 is identical with 6 structure of front left wheel assembly and realization function.
As shown in Figure 9 and Figure 10, iris device 13 includes iris lid 131, iris cap bore 132, iris blade 133, blade
First 134, iris pedestal 135, iris base seat groove 136, iris base seat support 137, swingle 138, servomotor 139；Iris fills
It puts 13 and is fixed on rear ring 12 by three iris base seat supports 137, after three 137 trisections of iris base seat support are arranged in
On ring 12；Iris pedestal 135 is arranged on iris base seat support 137, and iris pedestal 135 opens up iris base seat groove 136, iris base
Seat slot 136 is used to fixing the blade first 134 of one end on iris blade 133, and the blade first 134 on 133 other end of iris blade is solid
Due in the iris cap bore 132 that iris lid 131 opens up, iris lid 131 is fixed on by screw on iris base seat support 137, rainbow
Membrane cover 131 is arranged at the right of iris pedestal 135；Swingle 138 is fixed on by screw on iris lid 131, and swingle 138 is set
The left side of iris pedestal 135 is placed in, the centre of swingle 138 is provided with servomotor 139；The control of servo-driver 912 afterwards is watched
The startup of motor 139 is taken, servomotor 139 drives swingle 138 to rotate, and swingle 138 drives iris lid 131 to rotate, iris
Lid 131 drives iris pedestal 135 to rotate, and iris pedestal 135 drives iris base seat support 137 to rotate, 137 band of iris base seat support
Ring 12 rotates after dynamic, and running into barrier so as to fulfill whole device, laterally overturning is avoided；Iris device 13 have iris recognition into
As technology, the iris image in pipeline can be got and store and be sent to terminal.
All driving motor, servo-driver, velocity sensor and infrared sensors are all controlled with cable and Arduino
Plate is connected, and is controlled by it.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid 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 element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in process, method, article or equipment including the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (1)
1. a kind of detecting robot of pipe, including photographing section 1, preceding function part 2, front ring 3, preceding middle wheel assembly 4, front right wheel assembly
5th, front left wheel assembly 6, middle ring 7, rear middle wheel assembly 8, rear right wheel assembly 9, rear left wheel assembly 10, rear function part 11, rear ring 12, rainbow
Film device 13, right guard bar part 14, left guard bar part 15；It is characterized in that, the photographing section 1 includes video camera 11 and camera shooting
Machine fixed frame 12 is fixed on the front of the preceding function part 2, at the center of the front ring 3；The preceding function part 2 includes
Arduino control panels 21, front end panel 22 and infrared sensor 23, the Arduino control panels 21 are arranged at the front support
Plate 22 the upper surface of, the infrared sensor 23 is arranged at the forepart right end of the front end panel 22 in the following, the front end panel 22
It is fixed in a manner that the convex block on its corner is connected among the front ring 3 and middle ring 7；The front ring 3 is located at whole
Before a device；
It is described before in wheel assembly 4 include preceding middle wheel carrier fixed seat 41, preceding middle wheel carrier 42, velocity sensor 43, brake block 44, it is preceding in
Wheel 45, preceding middle wheel connector 46, preceding middle wheel adjustment sliding block 47, preceding middle wheel guide post 48, preceding middle wheel spring 49, preceding middle wheel support 410；
Wheel carrier fixed seat 41 is fixed at the upper trisection point of the front ring in before described, and middle wheel carrier 42 is connected to institute with screw before described
Wheel carrier fixed seat 41 in before stating, it is described before in wheel carrier 42 afterbody two sides set respectively the velocity sensor 43 and it is described before in
Wheel 45, the brake block 44 are located at the opening of the degree sensor 43, and the brake block 44 passes through axis with the preceding middle wheel 45
It connects, middle one end for taking turns connector 46 is connected to the centre of the preceding middle wheel carrier 42 before described, middle before described to take turns connector 46 separately
One end with it is shown it is preceding it is middle wheel adjustment sliding block 47 be connected, it is described before in wheel adjustment sliding block 47 be socketed on it is described before in wheel guide post 48, institute
Middle wheel guide post 48 is fixed on the preceding middle wheel support 410 before stating, and middle wheel support 410 is middle before described to take turns branch shaped like character cut in bas-relief before described
The front ring 3 is fixed in 410 one end of frame and the other end is fixed on the middle ring 7, and middle wheel spring 49 is socketed on described lead before described
One side of column 48, middle wheel spring 49 plays promotion and drag effect to the preceding middle wheel adjustment sliding block 47 before described；
The front right wheel assembly 5 includes front right wheel carrier fixed seat 51, front right wheel carrier 52, front right wheel driving motor retainer 53, preceding
Right wheel driving motor 54, front right wheel 55, front right wheel connector 56, front right wheel adjustment sliding block 57, front right wheel guide post 58, front right wheel bullet
Spring 59, front right wheel support 510；The front right wheel carrier fixed seat 51 is arranged at the right trisection point of the front ring 3, before described
The front right wheel carrier fixed seat 51 is fixed in one end of right wheel frame 52, and the two sides of the other end of the front right wheel carrier 52 is set respectively
The front right wheel driving motor retainer 53 and the front right wheel 55, the front right wheel driving motor 54 are fixed on the front right wheel
Driving motor retainer 53, the front right wheel driving motor 54, by axis connection, drive the front right wheel with the front right wheel 55
55 rotate, and one end of the front right wheel connector 56 is connected by screw among the front right wheel carrier 52, and the front right wheel connects
The other end of fitting 56 is connected with the front right wheel adjustment sliding block 57, and the front right wheel adjustment sliding block 57 is socketed on the front right wheel
Guide post 58, the front right wheel guide post 58 are fixed on the front right wheel support 510, and the front right wheel support 510 is described shaped like character cut in bas-relief
The front ring 3 is fixed in 510 one end of front right wheel support and the other end is fixed on the middle ring 7；The front right wheel spring 59 is socketed
In on the front right wheel guide post 58, in the middle ring 7 here, front right wheel adjustment sliding block 57 is played regulatory role；
The front left wheel assembly 6 includes front left wheel carrier fixed seat 61, front left wheel carrier 62, preceding revolver 63, front left ratchet 64, front left spine
Take turns fastener 65, front left check pawl 66, preceding revolver connector 67, preceding revolver adjustment sliding block 68, preceding revolver guide post 69, preceding revolver
Spring 610, front left wheel support 611, preceding servo-driver 612；The front left wheel carrier fixed seat 61 is fixed on a left side for the front ring 3
At the trisection point of side, described 62 one end of front left wheel carrier is connected to the front left wheel carrier fixed seat 61, the front left wheel carrier 62 it is another
The two sides of one end is respectively used to set the preceding revolver 63 and the front left ratchet 64, the preceding revolver 63 by axis with it is described before
Left ratchet 64, the front left ratchet fastener 65 connect for fastening the front left ratchet 64 among the front left wheel carrier 62
There are the front left check pawl 66 and preceding revolver connector 67, the pawl card of the front left check pawl 66 and the front left ratchet 64
Slot in so that the front left ratchet 64 can not turn round, so that the preceding revolver 63 back rolls；The preceding revolver connection
67 one end of part is connected with the preceding revolver adjustment sliding block 68, and the preceding revolver adjustment sliding block 68 is placed on the preceding revolver guide post 69
On, the preceding revolver spring 610 is equally placed on the preceding revolver guide post 69 close to the middle ring 7, the preceding revolver spring 610
For adjusting the preceding revolver adjustment sliding block 68, the preceding revolver guide post 69 is fixed on the front left wheel support 611, the front left
The front ring 3 is fixed in 611 one end of wheel support and the other end is fixed on the middle ring 7, and the preceding servo-driver 612 is arranged at
On the front left wheel support 611；
In after described wheel assembly 8 include it is rear in wheel carrier fixed seat 81, it is rear in wheel carrier 82, it is rear in wheel drive motor retainer 83, after
Middle wheel drive motor 84, it is rear in wheel 85, it is rear in wheel connector 86, it is rear in wheel adjustment sliding block 87, it is rear in wheel guide post 88, it is rear in wheel bullet
Spring 89, rear middle wheel support 810；Wheel carrier fixed seat 81 is arranged at the upper trisection point of the middle ring 7 in after described, it is described after in
The rear middle wheel carrier fixed seat 81 is fixed in one end of wheel carrier 82, and the two sides of the other end of middle wheel carrier 52 sets institute respectively after described
Middle wheel drive motor retainer 83 and the rear middle wheel 85 after stating, middle wheel drive motor 84 is fixed on the rear middle wheel and drives after described
Motor retainer 83 is moved, middle wheel drive motor 84 passes through axis connection with the rear middle wheel 85 after described, middle after driving is described to take turns 85
Rotation, one end of middle wheel connector 86 is connected by screw among the rear middle wheel carrier 52 after described, and middle wheel connects after described
The other end of part 86 be connected with it is described after in wheel adjustment sliding block 87, it is described after in wheel adjustment sliding block 87 be socketed on it is described after in wheel lead
Column 88, it is described after in wheel guide post 88 be fixed on it is described after in wheel support 810, it is described after in wheel support 810 shaped like character cut in bas-relief, after described
The middle ring 7 is fixed in middle 810 one end of wheel support and the other end is fixed on the rear ring 12；Wheel spring 89 is socketed in after described
On the rear middle wheel guide post 88, in the middle ring 7 here, the rear middle adjustment sliding block 87 of taking turns is played regulatory role；
The rear right wheel assembly 9 includes rear right wheel carrier fixed seat 91, rear right wheel carrier 92, rear right wheel 93, rear right ratchet 94, rear right spine
Take turns fastener 95, rear right check pawl 96, rear right wheel connector 97, rear right wheel adjustment sliding block 98, rear right wheel guide post 99, rear right wheel
Spring 910, rear right wheel support 911, rear servo-driver 912；The rear right wheel carrier fixed seat 91 is fixed on the right side of the middle ring 7
At trisection point, described 92 one end of rear right wheel carrier is connected to the rear right wheel carrier fixed seat 91, the rear right wheel carrier 92 it is another
The two sides at end is respectively used to set the rear right wheel 93 and the rear right ratchet 94, and the rear right wheel 93 passes through axis and the rear right
Ratchet 94, for fastening the rear right ratchet 94, the centre of the rear right wheel carrier 92 is connected with the rear right ratchet fastener 95
The rear right check pawl 96 and rear right wheel connector 97, the pawl card of the rear right check pawl 96 and the rear right ratchet 94
In slot so that the rear right ratchet 94 can not turn round, so that the rear right wheel 93 back rolls；The rear right wheel connector
97 one end are connected with the rear right wheel adjustment sliding block 98, and the rear right wheel adjustment sliding block 98 is placed on the rear right wheel guide post 99,
The rear right wheel spring 910 is equally placed on the rear right wheel guide post 99 close to the middle ring 7, and the rear right wheel spring 910 is used
In adjusting the rear right wheel adjustment sliding block 98, the rear right wheel guide post 99 is fixed on the rear right wheel support 911, the rear right wheel
The middle ring 7 is fixed in 911 one end of stent and the other end is fixed on the rear ring 12；Servo-driver 912 is arranged at after described
On the rear right wheel support 911, the rear servo-driver 912 is used to control the servomotor in the iris device 13；
The rear left wheel assembly 10 includes rear left wheel carrier fixed seat 101, rear left wheel carrier 102, rear left wheel drive motor retainer
103rd, rear left wheel drive motor 104, rear revolver 105, rear revolver connector 106, rear revolver adjustment sliding block 107, rear revolver guide post
108th, rear revolver spring 109, rear left wheel support 1010；The left side that the rear left wheel carrier fixed seat 101 is arranged at the middle ring 7 is third
At branch, the rear left wheel carrier fixed seat 101 is fixed in one end of the rear left wheel carrier 102, the rear left wheel carrier 102 it is another
The two sides at end sets the rear left wheel drive motor retainer 103 and the rear revolver 105, the rear left wheel drive motor respectively
104 are fixed on the rear left wheel drive motor retainer 103, and the rear left wheel drive motor 104 passes through with the rear revolver 105
Axis connection drives the rear revolver 105 to rotate, and one end of the rear revolver connector 106 is connected by screw in the rear left
Among wheel carrier 102, the other end of the rear revolver connector 106 is connected with the rear revolver adjustment sliding block 107, the rear revolver
Adjustment sliding block 107 is socketed on the rear revolver guide post 108, and the rear revolver guide post 108 is fixed on the rear left wheel support 1010,
The rear left wheel support 1010 is shaped like character cut in bas-relief, and described 1010 one end of rear left wheel support is fixed on the middle ring 7 and the other end is fixed
The ring 12 after described；Revolver spring 109 is socketed on the rear revolver guide post 108 after described, in the middle ring 7 here, to institute
Rear revolver adjustment sliding block 107 is stated to play regulatory role；
Function part 11 includes solar energy support plate 111, red indicator light 112, green indicator light 113 after described；The solar energy support
Plate 111 is arranged between the middle ring 7 and the rear ring 12, and the solar energy support plate 111 plays storage solar energy and support is made
With converting solar energy into electric energy action for device；The red indicator light 112 and the green indicator light 113 are arranged at institute
It states in solar energy support plate 111, green 113 light yellow of indicator light represents device normal operation, the red 112 bright expression of indicator light
Device is faulty；
The iris device 13 includes that iris lid 131, iris cap bore 132, iris blade 133, blade be first 134, iris pedestal
135th, iris base seat groove 136, iris base seat support 137, swingle 138, servomotor 139；The iris device 13 passes through three
A iris base seat support 137 is fixed on the rear ring 12, and three 137 trisections of iris base seat support are arranged in described
Afterwards on ring 12；The iris pedestal 135 is arranged on the iris base seat support 137, and the iris pedestal 135 opens up the rainbow
Film base seat groove 136, the iris base seat groove 136 are used to fix the blade first 134 of one end on the iris blade 133, institute
It states the blade first 134 on 133 other end of iris blade to be fixed in the iris cap bore 132 that the iris lid 131 opens up, institute
It states iris lid 131 to be fixed on the iris base seat support 137 by screw, the iris lid 131 is arranged at the iris base
The right of seat 135；The swingle 138 is fixed on by screw on the iris lid 131, and the swingle 138 is arranged at institute
The left side of iris pedestal 135 is stated, the centre of the swingle 138 is provided with the servomotor 139；Servo-driver after described
The startup of the 912 control servomotors 139, the servomotor 139 drive the swingle 138 to rotate, the swingle
138 drive the iris lid 131 to rotate, and the iris lid 131 drives the iris pedestal 135 to rotate, the iris pedestal 135
The iris base seat support 137 is driven to rotate, the iris base seat support 137 drives the rear ring 12 to rotate, so as to fulfill whole
A device runs into barrier, and laterally overturning is avoided；The iris device 13 has iris recognition imaging technique, can get pipe
Iris image in road stores and is sent to terminal；
The right guard bar part 14 includes fixed seat 143 after fixed seat 142, right guard bar before right guard bar 141, right guard bar；The right side
Fixed seat 142 is fixed on the front ring 3 before guard bar, and fixed seat 143 is fixed on the rear ring 12, the right shield after the right guard bar
The both ends of bar 141 are individually fixed in before the right guard bar fixed seat 143, the right guard bar after fixed seat 142 and the right guard bar
Right protective effect is played in part 14, is collided to prevent the right；
The left guard bar part 15 includes fixed seat 153 after fixed seat 152, left guard bar before left guard bar 151, left guard bar；The left side
Fixed seat 152 is fixed on the front ring 3 before guard bar, and fixed seat 153 is fixed on the rear ring 12, the left shield after the left guard bar
The both ends of bar 151 are individually fixed in before the left guard bar fixed seat 153, the left guard bar after fixed seat 152 and the left guard bar
Left protective effect is played in part 15, is collided to prevent the left side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810027969.6A CN108071893A (en) | 2018-01-11 | 2018-01-11 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810027969.6A CN108071893A (en) | 2018-01-11 | 2018-01-11 | A kind of detecting robot of pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108071893A true CN108071893A (en) | 2018-05-25 |
Family
ID=62156637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810027969.6A Withdrawn CN108071893A (en) | 2018-01-11 | 2018-01-11 | A kind of detecting robot of pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108071893A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506074A (en) * | 2018-11-22 | 2019-03-22 | 河海大学常州校区 | A kind of Bionic inchworm for creeping in pipeline |
| CN109541713A (en) * | 2018-12-11 | 2019-03-29 | 国网新疆电力有限公司乌鲁木齐供电公司 | Remote-controlled pipe endoscopic monitoring device |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111878661A (en) * | 2020-07-22 | 2020-11-03 | 上海大学 | Tubular crawling robot induced by three-pipe flexible actuating mechanism |
| WO2020238305A1 (en) * | 2019-05-29 | 2020-12-03 | 南京灵雀智能制造有限公司 | Pipeline type intelligent spraying robot and working method thereof |
| US20200400419A1 (en) * | 2019-01-21 | 2020-12-24 | Shenzhen University | Pipeline three-dimensional curve measuring robot and implementation method therefor |
-
2018
- 2018-01-11 CN CN201810027969.6A patent/CN108071893A/en not_active Withdrawn
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109506074A (en) * | 2018-11-22 | 2019-03-22 | 河海大学常州校区 | A kind of Bionic inchworm for creeping in pipeline |
| CN109541713A (en) * | 2018-12-11 | 2019-03-29 | 国网新疆电力有限公司乌鲁木齐供电公司 | Remote-controlled pipe endoscopic monitoring device |
| US20200400419A1 (en) * | 2019-01-21 | 2020-12-24 | Shenzhen University | Pipeline three-dimensional curve measuring robot and implementation method therefor |
| US11796299B2 (en) * | 2019-01-21 | 2023-10-24 | Shenzhen University | Pipeline three-dimensional curve measuring robot and implementation method therefor |
| WO2020238305A1 (en) * | 2019-05-29 | 2020-12-03 | 南京灵雀智能制造有限公司 | Pipeline type intelligent spraying robot and working method thereof |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111878661A (en) * | 2020-07-22 | 2020-11-03 | 上海大学 | Tubular crawling robot induced by three-pipe flexible actuating mechanism |
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