CN108626516A - Detecting robot of pipe - Google Patents
Detecting robot of pipe Download PDFInfo
- Publication number
- CN108626516A CN108626516A CN201810237641.7A CN201810237641A CN108626516A CN 108626516 A CN108626516 A CN 108626516A CN 201810237641 A CN201810237641 A CN 201810237641A CN 108626516 A CN108626516 A CN 108626516A
- Authority
- CN
- China
- Prior art keywords
- telescopic
- leading portion
- robot according
- pipeline detection
- detection robot
- 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.)
- Granted
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a kind of detecting robot of pipe, including leading portion, stage casing and back segment, the leading portion, stage casing and back segment pass sequentially through telescopic segment and connect, the leading portion is equipped with camera and at least one ultrasonic sensor, the detecting robot of pipe further includes at least two groups walking component, the walking component is respectively arranged on leading portion and back segment, and component of walking described in every group includes two groups of wheel carriers, and two groups of wheel carriers are dislocatedly distributed.The detecting robot of pipe of the present invention, can adapt to various pipes, size is small, can turn round or stretch, and strong by the extensible member in stage casing and its light obstacle detouring of magnetic assembly, detectability.
Description
Technical field
The present invention relates to boiler or pipeline inspection technology field more particularly to a kind of detecting robot of pipe.
Background technology
Currently, the inspection method of foreign matter includes mainly two means in boiler header.A kind of inspection method is to open header
Hand hole, foreign matter situation in header is visually inspected in the case of illumination sufficient (flashlight).This method need to carry out hand hole
Cutting, since hand hole position tube wall is thicker, caliber is thicker, hand hole is cut and later stage welding restores, the workload of heat treatment is larger.
Another inspection method is the pipeline cut open with header unicom, by endoscope foreign matter in header is checked.Endoscope
Into after header, since the intensity of light source that endoscope carries is insufficient, range of observation is smaller.Simultaneously as station boiler header
Size is larger, and after endoscope enters header, signal wire will bend, and can not determine and control the specific sight of endoscope camera head
Examine position.
Invention content
The invention solves technology between inscribe and be that：For technical problem of the existing technology, the present invention provides one
Kind detecting robot of pipe, can pick up various foreign matters, and cleaning ability is strong.
In order to solve the above technical problems, technical solution proposed by the present invention is：
A kind of detecting robot of pipe, including leading portion, stage casing and back segment, the leading portion, stage casing and back segment, which pass sequentially through, to be stretched
Contracting section connect, the leading portion be equipped with camera and at least one ultrasonic sensor, the detecting robot of pipe further include to
Few two groups of walking components, the walking component are respectively arranged on leading portion and back segment, and component of walking described in every group includes two groups of wheel carriers, and two
Group wheel carrier is dislocatedly distributed.
As a further improvement of the above technical scheme：
The telescopic segment includes at least one telescopic unit, and the telescopic unit includes that a telescopic body and being respectively arranged on is stretched
The telescopic bone and flexible nest at contracting main body both ends, adjacent expansion unit are connected with each other by telescopic bone and flexible nest.
The telescopic bone is freely rotated in flexible nest.
The leading portion and back segment are clamped by an opening with the telescopic bone at telescopic unit both ends or flexible nest respectively.
The stage casing is fixedly arranged on the telescopic body of a telescopic unit.
There is a groove on the stage casing, an extensible member is installed in the groove, the extensible member is to detection duct orientation
It is flexible.
The extensible member includes several telescopic elements being socketed to form, the extensible member realized by telescopic element extend and
It shrinks.
The telescopic element top surface and inside of the extensible member outermost end are equipped with magnetic assembly, the magnetic assembly with it is to be measured
Pipeline magnetism connects.
The walking component further includes actuator.
Every group of wheel of the walking component is provided at least two traveling wheels, and traveling wheel is symmetrical.
Compared with the prior art, the advantages of the present invention are as follows：
The detecting robot of pipe of the present invention, can adapt to various pipes, and size is small, can turn round or stretch, and pass through
The light obstacle detouring of extensible member and its magnetic assembly of section, detectability are strong.
Description of the drawings
Fig. 1 is detecting robot of pipe front view provided by the invention；
Fig. 2 is detecting robot of pipe stage casing provided by the invention schematic diagram；
Wherein, 1, leading portion；2, stage casing；21, groove；22, extensible member；221, magnetic assembly；3, back segment；4, telescopic segment；41、
Telescopic unit；411, telescopic body；412, telescopic bone；413, stretch nest；5, walking component；51, wheel carrier.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As depicted in figs. 1 and 2, the detecting robot of pipe of the present embodiment, including leading portion 1, stage casing 2 and back segment 3, leading portion 1,
Stage casing 2 and back segment 3 pass sequentially through the connection of telescopic segment 4, and leading portion 1 is equipped with camera and at least one ultrasonic sensor, pipeline inspection
It further includes at least two groups walking component 5 to survey robot, and walking component 5 is respectively arranged on leading portion 1 and back segment 3, and every group of walking component 5 wraps
Two groups of wheel carriers 51 are included, two groups of wheel carriers 51 are dislocatedly distributed.
In the present embodiment, telescopic segment 4 includes at least one telescopic unit 41, and telescopic unit 41 includes a telescopic body 411
With the telescopic bone 412 and flexible nest 413 for being respectively arranged on 411 both ends of telescopic body, adjacent expansion unit 41 passes through 412 He of telescopic bone
Flexible nest 413 is connected with each other.
In the present embodiment, telescopic bone 412 is freely rotated in flexible nest 413.
In the present embodiment, leading portion 1 and back segment 3 by the telescopic bone 412 at an opening and 41 both ends of telescopic unit or are stretched respectively
Contracting nest 413 is clamped.
In the present embodiment, stage casing 2 is fixedly arranged on the telescopic body 411 of a telescopic unit 41.
In the present embodiment, there is a groove 21 on stage casing 2, an extensible member 22 is installed in groove 21, extensible member 22 is to detection
Duct orientation is flexible.
In the present embodiment, extensible member 22 includes several telescopic elements being socketed to form, and extensible member 22 passes through telescopic element reality
Now extend and shrinks.
In the present embodiment, the telescopic element top surface and inside of 22 outermost end of extensible member are equipped with magnetic assembly 221, magnetic group
Part 221 is connect with pipe under test magnetism.
In the present embodiment, walking component 5 further includes actuator.
In the present embodiment, every group of wheel carrier 51 of walking component 5 is equipped at least two traveling wheels, and traveling wheel is symmetrical.
Above-mentioned only presently preferred embodiments of the present invention, is not intended to limit the present invention in any form.Although of the invention
Disclosed above with preferred embodiment, however, it is not intended to limit the invention.Therefore, every without departing from technical solution of the present invention
Content, technical spirit any simple modifications, equivalents, and modifications made to the above embodiment, should all fall according to the present invention
In the range of technical solution of the present invention protection.
Claims (10)
1. a kind of detecting robot of pipe, which is characterized in that including leading portion (1), stage casing (2) and back segment (3), the leading portion (1),
Stage casing (2) and back segment (3) pass sequentially through telescopic segment (4) connection, and the leading portion (1) is equipped with camera and at least one ultrasonic wave passes
Sensor, the detecting robot of pipe further include at least two groups walking component (5), and the walking component (5) is respectively arranged on leading portion
(1) and back segment (3), component (5) of walking described in every group include two groups of wheel carriers (51), and two groups of wheel carriers (51) are dislocatedly distributed.
2. pipeline detection robot according to claim 1, which is characterized in that the telescopic segment (4) includes at least one
Telescopic unit (41), the telescopic unit (41) is including a telescopic body (411) and is respectively arranged on telescopic body (411) both ends
Telescopic bone (412) and flexible nest (413), adjacent expansion unit (41) are mutually interconnected by telescopic bone (412) with flexible nest (413)
It connects.
3. pipeline detection robot according to claim 2, which is characterized in that the telescopic bone (412) is in flexible nest
(413) it is freely rotated in.
4. pipeline detection robot according to claim 1, which is characterized in that the leading portion (1) and back segment (3) lead to respectively
It crosses an opening and the telescopic bone (412) or flexible nest (413) at telescopic unit (41) both ends is clamped.
5. pipeline detection robot according to claim 1, which is characterized in that it is flexible single that the stage casing (2) is fixedly arranged on one
On the telescopic body (411) of first (41).
6. pipeline detection robot according to claim 1, which is characterized in that there is a groove (21) on the stage casing (2),
One extensible member (22) is installed, the extensible member (22) is flexible to detection duct orientation in the groove (21).
7. pipeline detection robot according to claim 6, which is characterized in that the extensible member (22) includes several sockets
Made of telescopic element, the extensible member (22) pass through telescopic element realize extend and shrink.
8. pipeline detection robot according to claim 6, which is characterized in that extensible member (22) outermost end is stretched
Component top surface and inside are equipped with magnetic assembly (221), and the magnetic assembly (221) connect with pipe under test magnetism.
9. pipeline detection robot according to claim 1, which is characterized in that the walking component (5) further includes driving
Part.
10. pipeline detection robot according to claim 1, which is characterized in that every group of wheel carrier of the walking component (5)
(51) at least two traveling wheels are equipped with, traveling wheel is symmetrical.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017113389878 | 2017-12-14 | ||
| CN201711338987 | 2017-12-14 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108626516A true CN108626516A (en) | 2018-10-09 |
| CN108626516B CN108626516B (en) | 2021-01-26 |
Family
ID=63696193
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810237773.XA Pending CN108662350A (en) | 2017-12-14 | 2018-03-21 | A kind of pipeline detection robot |
| CN201810237641.7A Active CN108626516B (en) | 2017-12-14 | 2018-03-21 | Pipeline detection robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810237773.XA Pending CN108662350A (en) | 2017-12-14 | 2018-03-21 | A kind of pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108662350A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022257225A1 (en) * | 2021-06-11 | 2022-12-15 | 南京昱晟机器人科技有限公司 | Automatic path correction system and method for industrial robot |
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| CN106224690A (en) * | 2016-07-26 | 2016-12-14 | 佛山科学技术学院 | A kind of pipeline detection robot |
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| CN107270026A (en) * | 2017-08-08 | 2017-10-20 | 浙江海洋大学 | A kind of mobile device for gas pipeline crusing robot |
| CN206637183U (en) * | 2017-03-30 | 2017-11-14 | 燕山大学 | It is a kind of to turn to controllable tapered pipeline robot |
| CN107387939A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of bridge construction pipeline welded joint flaw detection positioning support walking structure |
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| CN103867848B (en) * | 2012-12-14 | 2016-03-23 | 张瀚文 | A kind of helical driving type pipeline robot |
| CN205402089U (en) * | 2016-03-29 | 2016-07-27 | 广东技术师范学院 | Self -adaptation pipeline pipe diameter passes through device |
| CN205651358U (en) * | 2016-04-14 | 2016-10-19 | 小煷伴（深圳）智能科技有限公司 | Robot with environment monitor function |
| CN105864570B (en) * | 2016-06-06 | 2017-11-24 | 西安石油大学 | A kind of adaptive caliber can turn multi-functional formula petroleum pipeline robot |
| CN106439386B (en) * | 2016-10-09 | 2021-03-02 | 西安石油大学 | Intelligent pipeline inner wall walking robot |
| CN206159741U (en) * | 2016-10-21 | 2017-05-10 | 东南大学成贤学院 | Pipeline is visited and is decreased robot |
| CN106623296B (en) * | 2017-02-27 | 2022-10-14 | 山东科技大学 | Novel scalable pipeline cleaning robot |
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- 2018-03-21 CN CN201810237773.XA patent/CN108662350A/en active Pending
- 2018-03-21 CN CN201810237641.7A patent/CN108626516B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106224690A (en) * | 2016-07-26 | 2016-12-14 | 佛山科学技术学院 | A kind of pipeline detection robot |
| CN206191162U (en) * | 2016-11-09 | 2017-05-24 | 田雨 | Pipeline robot |
| CN206637183U (en) * | 2017-03-30 | 2017-11-14 | 燕山大学 | It is a kind of to turn to controllable tapered pipeline robot |
| CN107270026A (en) * | 2017-08-08 | 2017-10-20 | 浙江海洋大学 | A kind of mobile device for gas pipeline crusing robot |
| CN107387939A (en) * | 2017-08-31 | 2017-11-24 | 洛阳高昌机电科技有限公司 | A kind of bridge construction pipeline welded joint flaw detection positioning support walking structure |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022257225A1 (en) * | 2021-06-11 | 2022-12-15 | 南京昱晟机器人科技有限公司 | Automatic path correction system and method for industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108662350A (en) | 2018-10-16 |
| CN108626516B (en) | 2021-01-26 |
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