CN108662350A - A kind of pipeline detection robot - Google Patents
A kind of pipeline detection robot Download PDFInfo
- Publication number
- CN108662350A CN108662350A CN201810237773.XA CN201810237773A CN108662350A CN 108662350 A CN108662350 A CN 108662350A CN 201810237773 A CN201810237773 A CN 201810237773A CN 108662350 A CN108662350 A CN 108662350A
- Authority
- CN
- China
- Prior art keywords
- pipeline detection
- detection robot
- groups
- pars contractilis
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention discloses a kind of pipeline detection robot, including probe portion, pars contractilis and walking component, the probe portion includes camera and multiple ultrasonic sensors, the probe portion is set to the head of pars contractilis, the pars contractilis is telescoping tube, and the walking component includes at least two groups, is respectively arranged on the head and tail portion of pars contractilis, component of walking described in every group includes two groups of wheel carriers, and two groups of wheel carriers are dislocatedly distributed.Phenomena such as pipeline detection robot of the present invention, the advance that robot can stablize is not in stuck, the flexible realization robot of pars contractilis is in pipeline inside turn, and wheel carrier spacing is adjustable, and realization robot adapts to various calibers.
Description
Technical field
The present invention relates to pipeline cleaning technical field more particularly to a kind of pipeline detection robots.
Background technology
Various pipelines are ubiquitous in industrial production and daily life, the materials of fluid properties for example water, gas,
Oil, powder and other industrial chemicals are all conveyed by pipeline.Pipeline fault such as blocks, burn into crack can drop
The efficiency of low material transferring causes security risk even to cause serious accident.Tradition is by artificial and special testing instrument
The method for carrying out pipeline detection, cannot increasingly meet actual needs.It, can be certainly with the fast development of robot the relevant technologies
The dynamic robot for carrying out pipeline detection is constantly developed.
The pipeline detection robot of foreign countries' mainstream uses wheeled or caterpillar traveling mode substantially at present, using this side
The pipeline detection robot of formula gait of march in the ideal conduits such as Large Diameter Pipeline, drying is very fast, but its applicable surface is still narrow,
Such as in small-caliber pipeline it is excessively curved when, it is difficult to pass through；In the case where tube wall is wet and slippery, muddy, the gradient is larger, then exist
It skids, the problem of being obstructed of advancing；When encountering barrier, avoidance scarce capacity.In addition, existing majority pipeline detection robot is adopted
It is self-powered and communication, which results in robot overall dimension is bigger than normal, signal transmission effect difference etc. is many
Problem, to seriously affect the detection efficient of robot.
Therefore, the existing technology needs to be improved and developed.
Invention content
The technical problem to be solved in the present invention is that：For technical problem of the existing technology, the present invention provides one
Kind pipeline detection robot, allows the robot to stable advance.
In order to solve the above technical problems, technical solution proposed by the present invention is：
A kind of pipeline detection robot, including probe portion, pars contractilis and walking component, the probe portion include camera and
Multiple ultrasonic sensors, the probe portion are set to the head of pars contractilis, and the pars contractilis is telescoping tube, the walking component packet
At least two groups are included, the head and tail portion of pars contractilis are respectively arranged on, component of walking described in every group includes two groups of wheel carriers, and two groups of wheel carriers are wrong
Bit distribution.
As a further improvement of the above technical scheme：
The telescoping tube is flexible, and bending angle is not more than 180 °.
As a preferred embodiment, being equipped with hinged pipe support in the telescoping tube.
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.
As a preferred embodiment, the angle between the wheel carrier is not more than 180 °.
The traveling wheel of wheel carrier described in two groups is driven by a motor.
Wheel carrier described in two groups is connected by a width adjusting part.
Compared with the prior art, the advantages of the present invention are as follows：
The pipeline detection robot of the present invention, wheel carrier dislocation arrangement, ensures the advance that robot can stablize, bypass pipeline
Interior foreign matter；The flexible realization robot of pars contractilis is in pipeline inside turn, and wheel carrier spacing is adjustable, and realization robot adapts to various pipes
Diameter, to sum up, the pipeline detection robot are smooth excessively curved easily in small-caliber pipeline；In wet and slippery, muddy, the gradient the is larger feelings of tube wall
Under condition, it is not easy to skid, advances and be obstructed；And when encountering barrier, avoidance is carried out by the wheel carrier of dislocation.In addition, robot is total
Body size is small, can be in all types of industries production with creeping and detect in pipeline.
Description of the drawings
Fig. 1 is one preferred embodiment overlooking structure diagram of pipeline detection robot provided by the invention；
Fig. 2 is one preferred embodiment front view of pipeline detection robot provided by the invention；
Fig. 3 is pipeline detection robot width adjusting part internal structure chart provided by the invention；
Fig. 4 is another preferred embodiment overlooking structure diagram of pipeline detection robot provided by the invention；
Fig. 5 is another preferred embodiment overlooking structure diagram of pipeline detection robot provided by the invention；
Wherein, 1, probe portion；11, camera；12, ultrasonic sensor；2, pars contractilis；3, walking component；31, wheel carrier；
32, width adjusting part.
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.
Embodiment 1
As shown in FIG. 1 to 3, the pipeline detection robot of the present embodiment, including probe portion 1, pars contractilis 2 and walking component
3, probe portion 1 includes camera 11 and multiple ultrasonic sensors 12, and probe portion 1 is set to the head of pars contractilis 2, and pars contractilis 2 is
Telescoping tube, walking component 3 includes four groups, and the head and tail portion of pars contractilis 2 are respectively equipped with two groups of walking components 3, every group of walking group
Part 3 includes two groups of wheel carriers 31, and two groups of wheel carriers 31 are dislocatedly distributed.
In the present embodiment, telescoping tube is flexible, and bending angle is not more than 180 °.
In the present embodiment, hinged pipe support is equipped in the telescoping tube.
In the present embodiment, walking component 3 further includes actuator.
In the present embodiment, every group of wheel carrier 31 of walking component 3 is set there are two traveling wheel, and traveling wheel is symmetrical, every group of wheel
Angle between frame 31 is not more than 180 °.
In the present embodiment, the traveling wheel of two groups of wheel carriers 31 is driven by a motor.
In the present embodiment, two groups of wheel carriers 31 are connected by a width adjusting part 32, and a specially both ends are equipped with the drive of screw thread
Lever and with the thread bush that is connect respectively with wheel carrier, drive rod and thread bush are spirally connected.
Embodiment 2
As shown in figure 4, the present embodiment and embodiment 1 the difference is that, the angle between every group of wheel carrier 31 is 90 °.
Embodiment 3
As shown in figure 5, the present embodiment and embodiment 1 the difference is that, telescoping tube is screwed pipe in the present embodiment, manage in nothing
Hinged pipe support need to be set, which is equipped with two groups of walking components 3, is divided into the head and tail portion of pars contractilis 2,
Every group of walking component 3 includes two groups of wheel carriers 31, without being arranged width adjusting part 32 between two groups of wheel carriers, between every group of wheel carrier 31
Angle is not more than 180 °.
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 (8)
1. a kind of pipeline detection robot, which is characterized in that described including probe portion (1), pars contractilis (2) and walking component (3)
Probe portion (1) includes camera (11) and multiple ultrasonic sensors (12), and the probe portion (1) is set to the head of pars contractilis (2)
Portion, the pars contractilis (2) are telescoping tube, and the walking component (3) includes at least two groups, is respectively arranged on the head of pars contractilis (2)
And tail portion, component (3) of walking described in every group includes two groups of wheel carriers (31), and two groups of wheel carriers (31) are dislocatedly distributed.
2. pipeline detection robot according to claim 1, which is characterized in that the telescoping tube is flexible, bending angle
No more than 180 °.
3. pipeline detection robot according to claim 2, which is characterized in that be equipped with hinged pipe in the telescoping tube
Frame.
4. pipeline detection robot according to claim 1, which is characterized in that the walking component (3) further includes driving
Part.
5. pipeline detection robot according to claim 1, which is characterized in that every group of wheel carrier of the walking component (3)
(31) at least two traveling wheels are equipped with, traveling wheel is symmetrical.
6. pipeline detection robot according to claim 5, which is characterized in that the angle between the wheel carrier (31) is little
In 180 °.
7. pipeline detection robot according to claim 5, which is characterized in that the traveling wheel of wheel carrier (31) described in two groups is logical
Cross a motor driving.
8. pipeline detection robot according to claim 4, which is characterized in that wheel carrier (31) described in two groups passes through a width
Regulating part (32) connects.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017113389878 | 2017-12-14 | ||
| CN201711338987 | 2017-12-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108662350A true CN108662350A (en) | 2018-10-16 |
Family
ID=63696193
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810237641.7A Active CN108626516B (en) | 2017-12-14 | 2018-03-21 | Pipeline detection robot |
| CN201810237773.XA Pending CN108662350A (en) | 2017-12-14 | 2018-03-21 | A kind of pipeline detection robot |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810237641.7A Active CN108626516B (en) | 2017-12-14 | 2018-03-21 | Pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN108626516B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113531304A (en) * | 2021-06-11 | 2021-10-22 | 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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| CN103867848A (en) * | 2012-12-14 | 2014-06-18 | 许雪梅 | Spiral driving 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 |
| CN105864570A (en) * | 2016-06-06 | 2016-08-17 | 西安石油大学 | Steerable multifunctional petroleum pipeline robot capable of automatically adapting to pipe diameters |
| 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 |
| CN106224690A (en) * | 2016-07-26 | 2016-12-14 | 佛山科学技术学院 | A kind of pipeline detection robot |
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe 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 |
| CN106623296A (en) * | 2017-02-27 | 2017-05-10 | 山东科技大学 | Novel telescopic pipeline cleaning robot |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN107270026B (en) * | 2017-08-08 | 2019-11-05 | 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 |
-
2018
- 2018-03-21 CN CN201810237641.7A patent/CN108626516B/en active Active
- 2018-03-21 CN CN201810237773.XA patent/CN108662350A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103867848A (en) * | 2012-12-14 | 2014-06-18 | 许雪梅 | Spiral driving 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 |
| CN105864570A (en) * | 2016-06-06 | 2016-08-17 | 西安石油大学 | Steerable multifunctional petroleum pipeline robot capable of automatically adapting to pipe diameters |
| CN106224690A (en) * | 2016-07-26 | 2016-12-14 | 佛山科学技术学院 | A kind of pipeline detection robot |
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe 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 |
| CN106623296A (en) * | 2017-02-27 | 2017-05-10 | 山东科技大学 | Novel telescopic pipeline cleaning robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108626516B (en) | 2021-01-26 |
| CN108626516A (en) | 2018-10-09 |
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Application publication date: 20181016 |