CN108361469A - Lens anti-pollution device for detector - Google Patents
Lens anti-pollution device for detector Download PDFInfo
- Publication number
- CN108361469A CN108361469A CN201810089887.4A CN201810089887A CN108361469A CN 108361469 A CN108361469 A CN 108361469A CN 201810089887 A CN201810089887 A CN 201810089887A CN 108361469 A CN108361469 A CN 108361469A
- Authority
- CN
- China
- Prior art keywords
- console
- shaft
- flexible
- asepwirator pump
- controller
- 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.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
- B08B9/0492—Heavy-type cleaning devices, e.g. crawlers with plural cleaning members
-
- 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
-
- 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
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses the lens anti-pollution devices for detector, it include the console with controller, the top of the console connects first rotating shaft both ends by movable stand, plastic layer is arranged in the first rotating shaft outer surface, hairbrush, second shaft one end of the movable stand rotatable connection are set on the plastic layer, and second shaft is mutually perpendicular to be controlled by controller with first rotating shaft, the second shaft other end flexural pivot connects round turntable, and hairbrush is arranged on the round turntable side wall；Two symmetrical Athey wheels are arranged in the bottom of the console, the flexible asepwirator pump of console side wall setting and substrate, the flexible asepwirator pump, described flexible asepwirator pump one end are connect across console outer wall with slag recovering box, the other end is plastic bend tube, and the switch of flexible asepwirator pump is controlled by controller；There is the substrate connection side wall photographic device of camera, the photographic device bottom surface range sensor is arranged.
Description
Technical field
The present invention relates to a kind of pipe robots, and in particular to is used for the lens anti-pollution device of detector.
Background technology
Climbing robot carrying platform is also known as " movement carrying platform ", is to be appointed using motion as carrier according to production
The alternative platform for carrying coherent detection instrument of business.It has been applied to military affairs, electric power, petroleum and petrochemical industry, non-destructive testing, municipal administration.It is empty
Between wheel and the wall surface of in-pipe robot of more wheel constructions when contacting, the radial direction of the line of contact point and core wheel in cylinder
On, and the travel direction of wheel is parallel with the busbar of cylinder, and this is that single wheel one kind of pose in canal surface is special
Situation.When wheeled mobile robot is run in the duct, due to line size size not, have bend and " T " type joint etc., wheel
The pose of each wheel of formula mobile robot in the duct is that the axis direction of uncertain production wheel may out of plumb
In the radial direction of pipe, meet pure rolling and without side in free-position on pipe curved surface it is therefore necessary to analyze single wheel
Kinematics characteristic under sliding condition.For wheeled pipe robot in asking of encountering of actual application Shanghai for example in bend pipe,
Movement interference occurs when with irregular pipeline, since driving force caused by in-fighting is insufficient, the deformation ten thousand due to wall surface and machine
The error of people itself causes robot to deviate correct posture, or even rollover and these stuck problems in the duct.It is both domestic and external
Researcher mainly from structure, is such as solved using differential mechanism, flexible connected etc., but this can make structure more multiple
It is miscellaneous, increase cost.
For wheeled pipe robot, accurate kinematics model is the basis for realizing precise motion control.To individually taking turns
It is analyzed seldom, in particular for pipe in terms of son, kinematics characteristic and control theory of the wheeled mobile robot in canal surface
The detection field of pipeline creeping robot can not accomplish a detection well when pipeline dust is prodigious.
Invention content
The technical problem to be solved by the present invention is to for wheeled pipe robot, accurate kinematics model is to realize essence
The basis of true motion control.To the kinematics characteristic and control theory of single wheel, wheeled mobile robot in canal surface
Aspect analysis is seldom, in particular for the detection field of pipeline climbing robot, can not accomplish when pipeline dust is prodigious
One is detected the lens anti-pollution device, and it is an object of the present invention to provide for detector well, is solved the above problems.
The present invention is achieved through the following technical solutions：
For the lens anti-pollution device of detector, includes the console with controller, pass through at the top of the console
Movable stand connects first rotating shaft both ends, and the first rotating shaft outer surface is arranged plastic layer, hairbrush is arranged on the plastic layer, described
Second shaft one end of movable stand rotatable connection, second shaft is mutually perpendicular to be controlled by controller with first rotating shaft, described
Second shaft other end flexural pivot connects round turntable, and hairbrush is arranged on the round turntable side wall；The bottom of the console is set
Set two symmetrical Athey wheels, the flexible asepwirator pump of console side wall setting and substrate, the flexible asepwirator pump, the flexible air-breathing
Pump one end is connect across console outer wall with slag recovering box, and the other end is plastic bend tube, and the switch of flexible asepwirator pump is controlled by control
Device；The substrate connection side wall has a photographic device of camera, and the photographic device bottom surface is arranged range sensor, it is described away from
It is sent to control from sensor acquisition bottom pipe range information, controller receives information and stores.For wheeled pipeline machine
People, accurate kinematics model are the bases for realizing precise motion control.To single wheel, wheeled mobile robot in pipeline song
Analysis is seldom in terms of kinematics characteristic on face and control theory, in particular for the detection field of pipeline climbing robot,
Pipeline dust can not accomplish a detection well when prodigious, use and do three on traditional pipe robot and change
Into first increases the structure of two groups of hairbrush, does a basic cleaning to pipeline, clears the dust of willow catkins flying in the air, just by
Two are collected, and second is the increase in flexible asepwirator pump, this principle used is identical with common dust catcher on the market, but
Pipeline climbing robot field is no, and this programme combines the two, accomplishes an effect to dust adsorption in pipeline, and
And in order to avoid dust raises up, then plastic bend tube in bottom dust suction；Photographic device is moved down and does one by third
Fixed connection, has the advantage that in this way, for detection tube wall inner wall flatness the problem of, the lasting detection of range sensor
To distance and it is sent to controller, it is long with pipeline to obtain vertical range by the extraction to controller data by follow-up work personnel
Whether the curve graph of degree can obtain internal smooth according to kink of curve situation.
Gauze layer is arranged in the disk of the round turntable.Further, the preferred embodiment as the present invention.
The substrate is connect by screw with console.Further, the preferred embodiment as the present invention.
The rotating speed of the first rotating shaft and the second shaft is 1000-1500r/min, further, as the preferred of the present invention
Scheme.
Compared with prior art, the present invention having the following advantages and advantages：
1, the present invention is used for the lens anti-pollution device of detector, increases the structure of two groups of hairbrush, a base is done to pipeline
The cleaning of plinth clears the dust of willow catkins flying in the air；
2, the present invention is used for the lens anti-pollution device of detector, increases flexible asepwirator pump, this principle used and city
Common dust catcher is identical on face, but is no in pipeline climbing robot field, and this programme combines the two, accomplishes one
A effect to dust adsorption in pipeline, and in order to avoid dust raises up, then plastic bend tube in bottom dust suction；
3, the present invention is used for the lens anti-pollution device of detector, and photographic device is moved down and does a fixed company
Connect, have the advantage that in this way, for detection tube wall inner wall flatness the problem of, range sensor it is lasting detects distance simultaneously
It is sent to controller, follow-up work personnel obtain the curve of vertical range and duct length by the extraction to controller data
Whether figure can obtain internal smooth according to kink of curve situation.
Description of the drawings
Attached drawing described herein is used for providing further understanding the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is the structural schematic diagram of an embodiment of the present invention.
Label and corresponding component names in attached drawing：
1- cameras, 2- range sensors, 3- stretch asepwirator pump, 4- photographic devices, 5- substrates, 7- consoles, 8- crawler belts
Wheel, 11- first rotating shafts, the second shafts of 12-.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, 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 1
As shown in Figure 1, the present invention is used for the lens anti-pollution device of detector, and include the console 7 with controller, it is described
The top of console 7 connects 11 both ends of first rotating shaft by movable stand 6, and plastic layer is arranged in 1 outer surface of the first rotating shaft, described
Hairbrush, 12 one end of the second shaft of rotatable connection of the movable stand 6, second shaft 12 and first rotating shaft 11 are set on plastic layer
It is mutually perpendicular to be controlled by controller, second shaft, 12 other end flexural pivot connects round turntable, the round turntable side wall
Upper setting hairbrush；Two symmetrical Athey wheels 8 are arranged in the bottom of the console 7, and the asepwirator pump 3 that stretches is arranged in 7 side wall of console
With substrate 5, the flexible asepwirator pump 3, described 3 one end of flexible asepwirator pump is connect across 7 outer wall of console with slag recovering box, the other end
Switch for plastic bend tube, flexible asepwirator pump 3 is controlled by controller；The substrate 5 connects side wall, and there is the camera shooting of camera 1 to fill
4 are set, range sensor 2 is arranged in 4 bottom surface of the photographic device, and the range sensor 2 acquires bottom pipe range information and sends
To control, controller receives information and stores.Gauze layer is arranged in the disk of the round turntable.The substrate 5 by screw with
Console 7 connects.The rotating speed of the first rotating shaft 11 and the second shaft 12 is 1000-1500r/min：
When work：Photographic device 4 is moved down to and done a fixed connection, is had the advantage that in this way, for
The problem of detecting tube wall inner wall flatness, range sensor 2 is lasting to be detected distance and is sent to controller, follow-up work people
Member obtains vertical range and the curve graph of duct length by the extraction to controller data, can according to kink of curve situation
It is internal whether smooth to obtain.
Above-described specific implementation mode has carried out further the purpose of the present invention, technical solution and advantageous effect
It is described in detail, it should be understood that the foregoing is merely the specific implementation mode of the present invention, is not intended to limit the present invention
Protection domain, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (4)
- Include the console (7) with controller 1. for the lens anti-pollution device of detector, it is characterised in that：The control The top of platform (7) connects first rotating shaft (11) both ends by movable stand (6), and plastic layer is arranged in first rotating shaft (1) outer surface, Hairbrush is set on the plastic layer, the movable stand (6) is rotatably connected the second shaft (12) one end, second shaft (12) with First rotating shaft (11) is mutually perpendicular to be controlled by controller, and the second shaft (12) other end flexural pivot connects round turntable, institute It states and hairbrush is set on round turntable side wall；Two symmetrical Athey wheels (8), the flexible asepwirator pump (3) of console (7) side wall setting is arranged in the bottom of the console (7) With substrate (5), the flexible asepwirator pump (3), described flexible asepwirator pump (3) one end passes through console (7) outer wall to connect with slag recovering box It connects, the other end is plastic bend tube, and the switch of flexible asepwirator pump (3) is controlled by controller；There is substrate (5) the connection side wall photographic device (4) of camera (1), photographic device (4) bottom surface distance is arranged Sensor (2), range sensor (2) the acquisition bottom pipe range information are sent to control, and controller receives information and deposits Storage.
- 2. the lens anti-pollution device according to claim 1 for detector, it is characterised in that：The disk of the round turntable Gauze layer is arranged in face.
- 3. the lens anti-pollution device according to claim 1 for detector, it is characterised in that：The substrate (5) passes through Screw is connect with console (7).
- 4. the lens anti-pollution device according to claim 1 for detector, it is characterised in that：The first rotating shaft (11) Rotating speed with the second shaft (12) is 1000-1500r/min.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089887.4A CN108361469A (en) | 2018-01-30 | 2018-01-30 | Lens anti-pollution device for detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089887.4A CN108361469A (en) | 2018-01-30 | 2018-01-30 | Lens anti-pollution device for detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108361469A true CN108361469A (en) | 2018-08-03 |
Family
ID=63007676
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810089887.4A Withdrawn CN108361469A (en) | 2018-01-30 | 2018-01-30 | Lens anti-pollution device for detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108361469A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630807A (en) * | 2018-12-24 | 2019-04-16 | 傅秋莹 | A kind of climbing robot of pipeline electric wire non-destructive testing |
-
2018
- 2018-01-30 CN CN201810089887.4A patent/CN108361469A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630807A (en) * | 2018-12-24 | 2019-04-16 | 傅秋莹 | A kind of climbing robot of pipeline electric wire non-destructive testing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180803 |