CN108380606A - A kind of combustion gas safety check terminal installation - Google Patents
A kind of combustion gas safety check terminal installation Download PDFInfo
- Publication number
- CN108380606A CN108380606A CN201810089141.3A CN201810089141A CN108380606A CN 108380606 A CN108380606 A CN 108380606A CN 201810089141 A CN201810089141 A CN 201810089141A CN 108380606 A CN108380606 A CN 108380606A
- Authority
- CN
- China
- Prior art keywords
- console
- shaft
- combustion gas
- safety check
- gas safety
- 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- Withdrawn
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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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
Abstract
The invention discloses a kind of combustion gas safety check terminal installations, 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, substrate is arranged in console side wall, the substrate connection side wall has the photographic device of camera, range sensor is arranged in the photographic device bottom surface, the range sensor acquisition bottom pipe range information is sent to control, and controller receives information and stores.
Description
Technical field
The present invention relates to a kind of pipeline climbing robots, and in particular to a kind of combustion gas safety check terminal installation.
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, and it is an object of the present invention to provide a kind of combustion gas safety check terminal installation, solves the above problems well.
The present invention is achieved through the following technical solutions：
A kind of combustion gas safety check terminal installation includes the console with controller, passes through movement at the top of the console
Frame connects first rotating shaft both ends, and the first rotating shaft outer surface is arranged plastic layer, hairbrush, the movement is arranged on the plastic layer
Frame is rotatably connected second shaft one end, and second shaft and first rotating shaft are mutually perpendicular to be controlled by controller, and described second
Shaft other end flexural pivot connects round turntable, and hairbrush is arranged on the round turntable side wall；The bottom setting two of the console
Substrate is arranged in a symmetrical Athey wheel, console side wall, and the substrate connection side wall has the photographic device of camera, described to take the photograph
As device bottom surface setting range sensor, the range sensor acquisition bottom pipe range information is sent to control, controller
Receive information and stores.For wheeled pipe robot, accurate kinematics model is the basis for realizing precise motion control.It is right
It is analyzed seldom, especially in terms of the single kinematics characteristic and control theory of wheel, wheeled mobile robot in canal surface
For the detection field of pipeline climbing robot, it can not accomplish a detection well when pipeline dust is prodigious, use
Do 2 improvement on traditional pipe robot, first increases the structure of two groups of hairbrush, to pipeline do one it is basic clear
Reason, clears the dust of willow catkins flying in the air, this is used for cleaning pipeline, can be from an external direction exhausting after cleaning up
Photographic device is then moved down and is done a fixed connection by the exclusion dust of machine or hair-dryer manually, this
Sample has the advantage that, the problem of for detection tube wall inner wall flatness, range sensor is lasting to be detected distance and send
To controller, follow-up work personnel obtain vertical range and the curve graph of duct length, root by the extraction to controller data
It can be obtained according to kink of curve situation internal whether smooth.
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.
LED illumination lamp is set on the substrate, further, the preferred embodiment as the present invention.
Compared with prior art, the present invention having the following advantages and advantages：
1, a kind of combustion gas safety check terminal installation of the present invention, first increases the structure of two groups of hairbrush, and a base is done to pipeline
The cleaning of plinth clears the dust of willow catkins flying in the air, this is used for cleaning pipeline；
2, a kind of combustion gas safety check terminal installation of the present invention, cleaning up after can from the one direction exhaust fan in outside or
The exclusion dust of hair-dryer manually；
Photographic device, is moved down and is done a fixed connection by a kind of 3, combustion gas safety check terminal installation of the present invention,
Have the advantage that in this way, the problem of for detection tube wall inner wall flatness, range sensor it is lasting to detect distance concurrent
It sending to controller, follow-up work personnel obtain vertical range and the curve graph of duct length by the extraction to controller data,
It can be obtained according to kink of curve situation internal whether smooth.
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, 4- photographic devices, 5- substrates, 7- consoles, 8- Athey wheels, first turn of 11-
Axis, 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, a kind of combustion gas safety check terminal installation of the present invention, includes the console 7 with controller, the control
The top of platform 7 connects 11 both ends of first rotating shaft by movable stand 6, and plastic layer, the plastic cement is arranged in 1 outer surface of the first rotating shaft
Hairbrush is set on layer, and 12 one end of the second shaft of rotatable connection of the movable stand 6, second shaft 12 and first rotating shaft 11 are mutual
Vertical to be controlled by controller, second shaft, 12 other end flexural pivot connects round turntable, is set on the round turntable side wall
Set hairbrush；Two symmetrical Athey wheels 8 are arranged in the bottom of the console 7, and substrate 5, the substrate 5 is arranged in 7 side wall of console
Connecting side wall, there is the photographic device 4 of camera 1,4 bottom surface of the photographic device range sensor 2, the Distance-sensing is arranged
Device 2 acquires bottom pipe range information and is sent to control, and controller receives information and stores.The disk of the round turntable is arranged
Gauze layer.The substrate 5 is connect by screw with console 7.LED illumination lamp is set on the substrate 5；
When work：By increasing the structure of two groups of hairbrush, a basic cleaning is done to pipeline, clears willow catkins flying in the air
Dust, this is used for cleaning pipeline, can be artificial from an external direction exhaust fan or hair-dryer after cleaning up
Dust is manually excluded, photographic device 4 is then moved down to and done a fixed connection, is had the advantage that in this way,
The problem of for detection tube wall inner wall flatness, range sensor 2 is lasting to be detected distance and is sent to controller, follow-up work
Make personnel by the extraction to controller data, vertical range and the curve graph of duct length is obtained, according to kink of curve feelings
Whether condition can obtain internal smooth.
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)
1. a kind of combustion gas safety check terminal installation includes the console (7) with controller, it is characterised in that：The console (7)
Top first rotating shaft (11) both ends are connected by movable stand (6), plastic layer is arranged in first rotating shaft (1) outer surface, described
Hairbrush, movable stand (6) rotatable connection the second shaft (12) one end, second shaft (12) and first are set on plastic layer
Shaft (11) is mutually perpendicular to be controlled by controller, and the second shaft (12) other end flexural pivot connects round turntable, the circle
Hairbrush is set on shape turntable side wall；
Two symmetrical Athey wheels (8) are arranged in the bottom of the console (7), and substrate (5) is arranged in console (7) side wall, described
Substrate (5) connects side wall, and there is the photographic device (4) of camera (1), photographic device (4) bottom surface range sensor is arranged
(2), range sensor (2) the acquisition bottom pipe range information is sent to control, and controller receives information and stores.
2. a kind of combustion gas safety check terminal installation according to claim 1, it is characterised in that：The disk of the round turntable is set
Set gauze layer.
3. a kind of combustion gas safety check terminal installation according to claim 1, it is characterised in that：The substrate (5) passes through screw
It is connect with console (7).
4. a kind of combustion gas safety check terminal installation according to claim 1, it is characterised in that：LED is set on the substrate (5)
Headlamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089141.3A CN108380606A (en) | 2018-01-30 | 2018-01-30 | A kind of combustion gas safety check terminal installation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810089141.3A CN108380606A (en) | 2018-01-30 | 2018-01-30 | A kind of combustion gas safety check terminal installation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108380606A true CN108380606A (en) | 2018-08-10 |
Family
ID=63074139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810089141.3A Withdrawn CN108380606A (en) | 2018-01-30 | 2018-01-30 | A kind of combustion gas safety check terminal installation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108380606A (en) |
-
2018
- 2018-01-30 CN CN201810089141.3A patent/CN108380606A/en not_active Withdrawn
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180810 |
|
| WW01 | Invention patent application withdrawn after publication |