CN109488837A - A kind of more mesh wireless pipe sniffing robots of retractable support formula - Google Patents
A kind of more mesh wireless pipe sniffing robots of retractable support formula Download PDFInfo
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- CN109488837A CN109488837A CN201910026157.4A CN201910026157A CN109488837A CN 109488837 A CN109488837 A CN 109488837A CN 201910026157 A CN201910026157 A CN 201910026157A CN 109488837 A CN109488837 A CN 109488837A
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- carrying body
- arm
- pipe
- axis
- walking mechanism
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a kind of more mesh wireless pipe sniffing robots of retractable support formula, including carrying body, walking mechanism, telescoping drive mechanism, pipe detection group and control system, carrying body is the cavity body structure that cross section is rectangle, totally four, walking mechanism, it is evenly distributed with around carrying body axis and is connected with each other respectively by telescoping drive mechanism and carrying body side surface, pipe detection group at least four, carrying body upper surface and lower end surface are evenly arranged on around carrying body axis, control system is in carrying body, and respectively with walking mechanism, telescoping drive mechanism, the electrical connection of pipe detection group.It is round to cross section and the needs of the autonomous detection operation of regular polygon pipeline inside progress that one aspect of the present invention, which can effectively meet, and detection data is comprehensive, data communication capabilities are strong, on the other hand while meeting detection operation operation, it effectively prevent causing inner wall of the pipe scuffing to happen because interface pressure is excessive, greatly improves the reliability of detection operation.
Description
Technical field
The present invention relates to a kind of more mesh wireless pipe sniffing robots of retractable support formula, belongs to robotic technology field.
Background technique
Pipeline as it is a kind of it is economical, efficient and safe material transportation means are of interest by people always, pipeline transportation is
As important means of transportation of different fields such as nation-building, industrial and agricultural production, people's lives.In order to improve pipeline life, in advance
The generation of the problems such as anti-pipeline aging, burn into fracture prevents the pipeline leak hole caused by the factors such as objective or artificial, effectively
It solves the problems, such as that pipeline internal fault is checked, reduces collective and country suffers huge economic losses, there is an urgent need to develop various pipe machines
Device people.
And as scientific and technological level is continuously improved, the application range requirement of pipe robot is more and more wider, although working as
It is preceding also to develop a plurality of types of robot devices for detection operation inside pipeline, but these current robot devices are transporting
It is relatively fixed to there is robot housing construction in row in various degree, it cannot be according to pipe diameter variation, pipe bending radius etc.
Housing construction is adjusted flexibly, only adapts to limited operability range so as to cause current pipe robot system, and cause pipe machine
The popularization of device National People's Congress range applications is restricted, and furthermore current pipe robot equipment in operation, often lacks effective
Operating status management and protective capability, easily because being driven when pipe robot equipment operation failure or pipe robot equipment are run
Power is excessive and damages to pipeline, to seriously affect the reliability and safety of pipe detection operation.
Simultaneously, also there is Data Detection low precision, inspection in current pipe robot equipment in various degree in operation
The deficiencies of measured data type is single and the timeliness and also relatively poor continuity of Data Detection transmission, also to pipe robot skill
The promotion and application of art affect greatly.
Therefore, for this status, there is an urgent need to develop a kind of completely new pipe robot equipment, to meet actual use
Needs.
Summary of the invention
In order to solve the deficiency in the prior art, the present invention provides a kind of more mesh wireless pipe detection machines of retractable support formula
People.
In order to realize effect above-mentioned, a kind of more mesh wireless pipe sniffing robots of retractable support formula are proposed,
Including the following contents:
A kind of more mesh wireless pipe sniffing robots of retractable support formula, including carrying body, walking mechanism, telescoping drive mechanism,
Pipe detection group and control system, carrying body are the cavity body structure that cross section is rectangle, totally four, walking mechanism, surround carrying
Body axis is uniformly distributed and is connected with each other respectively by telescoping drive mechanism and carrying body side surface, pipe detection group at least four
It is a, carrying body upper surface and lower end surface, pipe detection group detection axis and carrying body are evenly arranged on around carrying body axis
Axis claims 0 ° -90 ° angles, and is in 0 ° -90 ° angles between the direction of motion of walking mechanism and the detection axis of pipe detection group,
Control system is electrically connected in carrying body, and respectively with walking mechanism, telescoping drive mechanism, pipe detection group.
Further, the described carrying body is any one in airtight cavity structure and frame structure, and described is held
Carrier aircraft body is evenly distributed with several positioning plates, and the telescoping drive mechanism, pipe detection group and control system pass through positioning plate and carrying
Body is connected with each other.
Further, the walking mechanism includes pedestal, traveling wheel, endless screw electric motor, axle bed, wherein the traveling wheel is extremely
Two few, each traveling wheel is uniformly distributed along base axis direction and is connected with each other with pedestal lower end surface, under the endless screw electric motor and pedestal
End face is connected with each other and is connected with each other at least one traveling wheel, and the pedestal upper surface sets two axle beds, and two axle beds are along base
Seat axis direction distribution, the base via shaft seat are hinged with telescoping drive mechanism, and the endless screw electric motor and control are
System electrical connection.
Further, the telescoping drive mechanism includes lead screw motor, sliding block, feed screw nut, horizontal connection arm, driving
Arm, main transmission arm, accessory drive arm, locating hinge and pressure sensor, wherein the lead screw motor is embedded in carrying body simultaneously
It is coaxially distributed with carrying body, the sliding block is coated on outside feed screw nut and is coaxially distributed with feed screw nut, and sliding block passes through silk
Thick stick nut is engaged with the screw part of spindle motor to be slidably connected along lead screw motor axis direction with lead screw motor, and the level is even
Totally four, arm are connect, is connect around sliding block axis with outside face thereof, the sliding block axis and lead screw motor and walking mechanism axis
Vertically and intersect, and every horizontal connection arm front end face is hinged with the rear end face of an actuating arm, the actuating arm is embedded in and holds
In carrier aircraft body, and each actuating arm is uniformly distributed around carrying body axis, and the drive arm axis and lead screw motor and walking mechanism
Axis is in 10 ° -90 ° angles and intersects, and every actuating arm front end face is hinged with a main transmission arm rear end face, the master
Transmission arm constitutes a working group with an accessory drive arm, main transmission arm, the distribution of accessory drive arm in same working group
In the same plane with carrying body side surface vertical distribution, and the accessory drive arm be located at main transmission arm lower section and with master
It is parallel to each other between transmission arm point, main transmission arm, accessory drive arm axle line intersect with carrying body and walking structure axis and be in
0 ° -90 ° angles, the main transmission arm, accessory drive arm front end are hinged between walking mechanism, and main transmission arm, auxiliary pass
Swing arm separately passes through locating hinge and is hinged with carrying body side surface, and main transmission arm, accessory drive arm in same working group
Locating hinge be respectively positioned on carrying body side surface midline position, and it is uniformly distributed from top to bottom along carrying body axis direction, it is described
Pressure sensor is several, and each pressure sensor is respectively and at main transmission arm, accessory drive arm and walking mechanism articulated position, institute
Lead screw motor and pressure sensor is stated to be electrically connected with control system.
Further, it is connected with each other between the horizontal connection arm and actuating arm by spring coupling.
Further, the pipe detection group includes more mesh cameras, Temperature Humidity Sensor, baroceptor, gas
Sensor, water quality sensor, oil product sensor, secondary light source, turntable mechanism and angular transducer, the turntable mechanism rear end face
With carrying body be connected with each other, front end face respectively with more mesh cameras, Temperature Humidity Sensor, baroceptor, gas sensor,
Water quality sensor, oil product sensor, secondary light source are connected with each other, wherein more mesh cameras and secondary light source are with turntable mechanism
Axisymmetrical distribution, and mesh camera and secondary light source optical axis parallelly distribute on, the Temperature Humidity Sensor, baroceptor, gas
Body sensor, water quality sensor, oil product sensor ring are uniformly distributed around turntable mechanism shaft line, the angular transducer and turntable mechanism phase
It connects.
Further, the turntable mechanism is any one in dimensional turntable and three-dimensional turntable.
Further, it is connected with each other between the control circuit and carrying body by protecting crust, the protecting crust is close
Cavity body structure is closed, and the corresponding protection side surfaces of control circuit are evenly distributed with several connecting terminals.
Further, the control system include data processing circuit based on single chip foundation, data communication bus,
Driving circuit, satellite positioning module, wireless data communication module, serial data communication module, I/O port module, gyroscope and
Power supply wiring module, wherein the data communication bus respectively with based on single chip foundation data processing circuit, driving circuit,
Satellite positioning module, wireless data communication module, serial data communication module, I/O port module and gyroscope connect,
The driving circuit is connect with walking mechanism, telescoping drive mechanism, pipe detection group and power supply wiring modular electrical respectively.
The configuration of the present invention is simple, using flexible run high degree of automation, and versatility is good, on the one hand can effectively meet pair
Cross section is round and regular polygon pipeline inside carries out the needs of autonomous detection operation, and detection data is comprehensive, data communication
Ability is strong, persistently can obtain accurate video data and gas in pipelines, liquid substance ingredient analysis number in the detection process
According to realize to line clogging, burn into rupture and the comprehensive accurate testing goal of pipeline internal medium component progress, on the other hand
It is each that housing construction is effectively adjusted flexibly according to pipe diameter, bending change when carrying out detection operation, it is ensured that matrix and pipeline enclosure
Pressure is stablized, while in failures such as burst devices power-off, can be self-locking between the present invention and inner wall of the pipe, keeps the present invention and pipeline
Positioning stablity between inner wall, to effectively prevent leading to pipe because interface pressure is excessive while meeting detection operation operation
Inner wall scuffing in road happens, and greatly improves the reliability of detection operation.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments；
Fig. 1 is overlooking structure diagram of the present invention；
Fig. 2 is telescoping drive mechanism and walking mechanism and carrying body connection relationship partial structural diagram；
Fig. 3 is pipe detection group；
Fig. 4 is control system electrical principle structural schematic diagram.
Specific embodiment
To make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to construct, below with reference to specific
Embodiment, the present invention is further explained.
The more mesh wireless pipe sniffing robots of a kind of retractable support formula as described in Fig. 1-4, including carrying body 1, walking
Mechanism 2, telescoping drive mechanism 3, pipe detection group 4 and control system 5, carrying body 1 are the cavity body structure that cross section is rectangle,
It totally four, walking mechanism 2, is evenly distributed with around carrying 1 axis of body and respectively by telescoping drive mechanism 2 and carrying 1 side surface of body
It is connected with each other, pipe detection group 4 at least four, is evenly arranged on carrying 1 upper surface of body and lower end surface around carrying 1 axis of body,
4 detection axis of pipe detection group and carrying 1 axis of body claim 0 ° -90 ° angles, and the direction of motion of walking mechanism 2 and pipeline are examined
Between the detection axis of survey group 4 be in 0 ° -90 ° angles, control system 5 embedded in carrying body 1 in, and respectively with walking mechanism 2, stretch
Contracting driving mechanism 3, pipe detection group 4 are electrically connected.
Wherein, the described carrying body 1 is any one in airtight cavity structure and frame structure, and the carrying machine
Body 1 is evenly distributed with several positioning plates 6, and the telescoping drive mechanism 2, pipe detection group 4 and control system 5 pass through positioning plate 6 and hold
Carrier aircraft body 1 is connected with each other.
Meanwhile the walking mechanism 2 includes pedestal 21, traveling wheel 22, endless screw electric motor 23, axle bed 24, wherein the row
Wheel 22 at least two is walked, each traveling wheel 22 is uniformly distributed along 21 axis direction of pedestal and is connected with each other with 21 lower end surface of pedestal, the snail
Bar motor 23 and 21 lower end surface of pedestal are connected with each other and are connected with each other at least one traveling wheel 22, and 21 upper surface of pedestal is set
Two axle beds 24, and two axle beds 24 are distributed along 21 axis direction of pedestal, the pedestal 21 passes through axle bed 24 and telescoping drive mechanism 3
It is hinged, and the endless screw electric motor 23 and control system 5 are electrically connected.
It needs to particularly point out, the telescoping drive mechanism 3 includes lead screw motor 31, sliding block 32, feed screw nut 33, water
Flushconnection arm 34, actuating arm 35, main transmission arm 36, accessory drive arm 37, locating hinge 38 and pressure sensor 39, wherein described
Lead screw motor 31 embedded in carrying body 1 in and with carrying the coaxial distribution of body 1, the sliding block 32 be coated on feed screw nut 33 outside simultaneously
With the coaxial distribution of feed screw nut 33, and sliding block 32 engaged by feed screw nut 33 with the screw part of spindle motor 31 it is electric along screw rod
31 axis direction of machine is slidably connected with lead screw motor 31, and totally four, the horizontal connection arm 34, around 32 axis of sliding block and sliding block
The connection of 32 outer surfaces, 32 axis of sliding block is vertical with lead screw motor 31 and 2 axis of walking mechanism and intersects, and every level is even
It is hinged with the rear end face of an actuating arm 35 to connect 34 front end face of arm, the actuating arm 35 is in carrying body 1, and each driving
Arm 35 is uniformly distributed around carrying 1 axis of body, and 35 axis of the actuating arm is in lead screw motor 31 and 2 axis of walking mechanism
10 ° -90 ° angles simultaneously intersect, and every 35 front end face of actuating arm is hinged with 36 rear end face of main transmission arm, the main biography
Swing arm 36 constitutes a working group, main transmission arm 36, accessory drive arm in same working group with an accessory drive arm 37
37 are distributed in the same plane with carrying 1 side surface vertical distribution of body, and the accessory drive arm 37 is located at main transmission arm
36 lower sections are simultaneously parallel to each other between main transmission arm 36 point, main transmission arm 36,37 axis of accessory drive arm with carrying body 1 and capable
It walks 2 axis of structure to intersect and be in 0 ° -90 ° angles, the main transmission arm 36,37 front end of accessory drive arm are between walking mechanism 2
It being hinged, main transmission arm 36, accessory drive arm 37 are another to be hinged by positioning 38 chains of hinge and carrying 1 side surface of body, and
Main transmission arm 36 in same working group, accessory drive arm 37 locating hinge 38 be respectively positioned on carrying 1 side surface midline position of body,
And it is uniformly distributed from top to bottom along carrying 1 axis direction of body, the pressure sensor 39 is several, each pressure sensor 39 respectively with
At main transmission arm 36, accessory drive arm 37 and 2 articulated position of walking mechanism, the lead screw motor 31 and pressure sensor 39 with
Control system 5 is electrically connected.
Wherein, it is connected with each other between the horizontal connection arm 34 and actuating arm 35 by spring coupling 7.
In addition, the pipe detection group 4 includes more mesh cameras 41, Temperature Humidity Sensor 42, baroceptor 43, gas
Body sensor 44, water quality sensor 45, oil product sensor 46, secondary light source 47, turntable mechanism 48 and angular transducer 49, it is described
48 rear end face of turntable mechanism and carrying body 1 be connected with each other, front end face respectively with mesh camera 41, Temperature Humidity Sensor 42, gas
Pressure sensor 43, gas sensor 44, water quality sensor 45, oil product sensor 46, secondary light source 47 are connected with each other, wherein described
More mesh cameras 41 and secondary light source 47 are distributed with 48 axisymmetrical of turntable mechanism, and 47 optical axis of mesh camera 41 and secondary light source
Parallelly distribute on, the Temperature Humidity Sensor 42, baroceptor 43, gas sensor 44, water quality sensor 45, oil product sensor
46 is uniformly distributed around 48 axis of turntable mechanism, and the angular transducer 49 is connected with each other with turntable mechanism 48, and the turntable machine
Structure 48 is any one in dimensional turntable and three-dimensional turntable.
Further, it is connected with each other between the control circuit 5 and carrying body 1 by protecting crust 8, the protecting crust 8
For airtight cavity structure, and corresponding 8 side surface of protecting crust of control circuit 5 is evenly distributed with several connecting terminals 9, the control system
5 include data processing circuit, data communication bus, driving circuit, satellite positioning module, wireless data based on single chip foundation
Communication module, serial data communication module, I/O port module, gyroscope and power supply wiring module, wherein the data communication is total
Line respectively with based on single chip foundation data processing circuit, driving circuit, satellite positioning module, wireless data communication module,
Serial data communication module, I/O port module and gyroscope connect, the driving circuit respectively with walking mechanism, stretch
Contracting driving mechanism, pipe detection group and the connection of power supply wiring modular electrical.
The present invention in operation, is transported according to the internal diameter of pipeline by control system driving telescoping drive mechanism lead screw motor first
Row, and operation up and down is carried out along lead screw motor axis direction by bar motor driven sliding block, then pass through horizontal connection arm, driving
Driving force when arm, main transmission arm are by the amount of exercise of sliding block and movement is transferred in each walking mechanism, adjustment walking mechanism with
Spacing between body is carried, while meeting different tube diameters pipe detection operation and need, separately makes each walking mechanism synchronous and pipeline
Inner wall offsets and reliable contacts, and completion runs positioning operation to the present invention in pipeline and rubs when providing operation for walking mechanism
Wipe power.
In addition, on the one hand can accurately be examined by pressure sensor to interface pressure between walking mechanism and inner wall of the pipe
It surveys, while satisfaction runs required frictional force, separately effectively prevent that inner wall of the pipe is caused to draw due to pressure and frictional force are excessive
Injure abrasion, on the other hand can by between the lead screw motor and horizontal connection arm of telescoping drive mechanism and horizontal connection arm, drive
Swing arm, main transmission arm, accessory drive arm are made up of the link mechanism for having self-lock ability locating hinge, realize the present invention disconnected
The failures such as electricity can effectively be kept when occurring the present invention inner wall of the pipe between carry out self-locking, while can also pass through worm screw in walking mechanism
The drive mechanism of motor, realize the traveling wheel of walking mechanism is carried out when the failures such as power-off occur it is self-locking, to effectively keep away
Exempt to cause positioning to be not allowed because of walking mechanism and inner wall of the pipe loosening due to and cause situations such as scratching to inner wall of the pipe.
It is realized from there through walking mechanism, telescoping drive mechanism and structure of the invention is carried out flexibly and accurately to adjust positioning,
Simultaneously reach under fault condition to the reliable lock-bit of structure of the invention, thus reach improve the present invention operation when it is flexible
The purpose of property and reliability.
When the present invention carries out detecting operation to pipeline inside, by being distributed in the extra-organismal each pipe detection group of carrying simultaneously
Continuous detection operation comprehensively is carried out to pipeline within the scope of 360 ° centered on carrying body.
And when detecting operation, on the one hand under secondary light source assistance, it can be directly acquired in pipeline by more mesh cameras
Portion's video data, so that the accurate position data information of the fault points such as the blocking of discovery pipeline inside, corrosion and slight crack in time, another
Aspect is by Temperature Humidity Sensor, baroceptor, gas sensor, water quality sensor, oil product sensor to gas in pipelines
Environment, liquid environment and component carry out complete detection, to obtain comprehensive conduit running environment measuring job information, improve pipeline
The comprehensive and accuracy of detection data.
It, can satellite positioning module by control system, wireless data communication mould in addition, when carrying out pipe detection operation
Block realizes that being remotely located manipulation and teledata continuously transmits the purpose of operation, to greatly improve detection data processing and pass
Defeated ability.
The configuration of the present invention is simple, using flexible run high degree of automation, and versatility is good, on the one hand can effectively meet pair
Cross section is round and regular polygon pipeline inside carries out the needs of autonomous detection operation, and detection data is comprehensive, data communication
Ability is strong, persistently can obtain accurate video data and gas in pipelines, liquid substance ingredient analysis number in the detection process
According to realize to line clogging, burn into rupture and the comprehensive accurate testing goal of pipeline internal medium component progress, on the other hand
It is each that housing construction is effectively adjusted flexibly according to pipe diameter, bending change when carrying out detection operation, it is ensured that matrix and pipeline enclosure
Pressure is stablized, while in failures such as burst devices power-off, can be self-locking between the present invention and inner wall of the pipe, keeps the present invention and pipeline
Positioning stablity between inner wall, to effectively prevent leading to pipe because interface pressure is excessive while meeting detection operation operation
Inner wall scuffing in road happens, and greatly improves the reliability of detection operation.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (9)
1. a kind of more mesh wireless pipe sniffing robots of retractable support formula, it is characterised in that: the more mesh of retractable support formula without
Spool road sniffing robot includes carrying body, walking mechanism, telescoping drive mechanism, pipe detection group and control system, described
Carrying body is the cavity body structure that cross section is rectangle, totally four, the walking mechanism, is evenly distributed with and divides around carrying body axis
Not Tong Guo telescoping drive mechanism and carrying body side surface be connected with each other, the pipe detection group at least four, around carrying machine
Body axis is evenly arranged on carrying body upper surface and lower end surface, the pipe detection group detection axis and carrying body axis claim 0 °-
90 ° of angles, and be in 0 ° -90 ° angles, the control between the direction of motion of the walking mechanism and the detection axis of pipe detection group
System processed is electrically connected in carrying body, and respectively with walking mechanism, telescoping drive mechanism, pipe detection group.
2. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 1, which is characterized in that described
Carrying body be any one in airtight cavity structure and frame structure, and the carrying body is evenly distributed with several positioning plates,
The telescoping drive mechanism, pipe detection group and control system pass through positioning plate and carrying body is connected with each other.
3. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 1, which is characterized in that described
Walking mechanism include pedestal, traveling wheel, endless screw electric motor, axle bed, wherein the traveling wheel at least two, each traveling wheel is along pedestal
Axis direction is uniformly distributed and is connected with each other with pedestal lower end surface, and the endless screw electric motor and pedestal lower end surface are connected with each other and at least one
A traveling wheel is connected with each other, and the pedestal upper surface sets two axle beds, and two axle beds are along base axis directional spreding, the pedestal
It is hinged by axle bed and telescoping drive mechanism, and the endless screw electric motor and control system are electrically connected.
4. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 1, which is characterized in that described
Telescoping drive mechanism include lead screw motor, sliding block, feed screw nut, horizontal connection arm, actuating arm, main transmission arm, accessory drive
Arm, locating hinge and pressure sensor, wherein the lead screw motor is coaxially distributed in carrying body and with carrying body, institute
It states sliding block to be coated on outside feed screw nut and be coaxially distributed with feed screw nut, and sliding block passes through the lead screw of feed screw nut and spindle motor
Part engagement is slidably connected along lead screw motor axis direction with lead screw motor, and totally four, the horizontal connection arm, around sliding block axis
Line is connect with outside face thereof, and the sliding block axis is vertical with lead screw motor and walking mechanism axis and intersects, and every level
Linking arm front end face is hinged with the rear end face of an actuating arm, and the actuating arm respectively drives armlet in carrying body
It is uniformly distributed around carrying body axis, and the drive arm axis and lead screw motor and walking mechanism axis are in 10 ° -90 ° angles and phase
Hand over, and every actuating arm front end face is hinged with a main transmission arm rear end face, the main transmission arm with an accessory drive
Arm constitutes a working group, and the main transmission arm, accessory drive arm in same working group are distributed in same and carrying body side surface
In the plane of vertical distribution, and the accessory drive arm is located at below main transmission arm and is parallel to each other between main transmission arm point, leads
Transmission arm, accessory drive arm axle line intersect with carrying body and walking structure axis and are in 0 ° -90 ° angles, the main transmission
Arm, accessory drive arm front end are hinged between walking mechanism, and main transmission arm, accessory drive arm separately pass through locating hinge and hold
Carrier aircraft body side surface is hinged, and the locating hinge of main transmission arm in same working group, accessory drive arm is respectively positioned on carrying machine
Body side surface midline position, and it is uniformly distributed from top to bottom along carrying body axis direction, and the pressure sensor is several, and each pressure passes
Sensor is respectively and at main transmission arm, accessory drive arm and walking mechanism articulated position, the lead screw motor and pressure sensor
It is electrically connected with control system.
5. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 4, which is characterized in that described
Horizontal connection arm and actuating arm between pass through spring coupling be connected with each other.
6. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 1, which is characterized in that described
Pipe detection group include more mesh cameras, Temperature Humidity Sensor, baroceptor, gas sensor, water quality sensor, oil product
Sensor, secondary light source, turntable mechanism and angular transducer, the turntable mechanism rear end face and carrying body are connected with each other, preceding
End face is sensed with more mesh cameras, Temperature Humidity Sensor, baroceptor, gas sensor, water quality sensor, oil product respectively
Device, secondary light source are connected with each other, wherein more mesh cameras and secondary light source are distributed with turntable mechanism axisymmetrical, and mesh is taken the photograph
As head and secondary light source optical axis parallelly distribute on, the Temperature Humidity Sensor, baroceptor, gas sensor, water quality sensor,
Oil product sensor ring is uniformly distributed around turntable mechanism shaft line, and the angular transducer and turntable mechanism are connected with each other.
7. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 5, which is characterized in that described
Turntable mechanism be any one in dimensional turntable and three-dimensional turntable.
8. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 1, which is characterized in that described
Control circuit and carrying body between be connected with each other by protecting crust, the protecting crust is airtight cavity structure, and control circuit
Corresponding protection side surfaces are evenly distributed with several connecting terminals.
9. the more mesh wireless pipe sniffing robots of a kind of retractable support formula according to claim 1, which is characterized in that described
Control system include data processing circuit, data communication bus, driving circuit, satellite positioning mould based on single chip foundation
Block, wireless data communication module, serial data communication module, I/O port module, gyroscope and power supply wiring module, wherein institute
State data communication bus respectively with based on single chip foundation data processing circuit, driving circuit, satellite positioning module, without line number
Connect according to communication module, serial data communication module, I/O port module and gyroscope, the driving circuit respectively with
Walking mechanism, telescoping drive mechanism, pipe detection group and the connection of power supply wiring modular electrical.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910026157.4A CN109488837B (en) | 2019-01-11 | 2019-01-11 | Telescopic support type multi-view wireless pipeline detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910026157.4A CN109488837B (en) | 2019-01-11 | 2019-01-11 | Telescopic support type multi-view wireless pipeline detection robot |
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| CN109488837A true CN109488837A (en) | 2019-03-19 |
| CN109488837B CN109488837B (en) | 2020-12-22 |
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Cited By (6)
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| CN109760104A (en) * | 2019-03-26 | 2019-05-17 | 焦作大学 | A kind of intelligent pipeline detection robot Self-locking flexible arm |
| CN109945014A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of pipe robot hoofing part mechanism |
| CN110297001A (en) * | 2019-08-14 | 2019-10-01 | 西南石油大学 | A kind of tapered pipeline crack detection equipment |
| CN110375151A (en) * | 2019-08-22 | 2019-10-25 | 台州市岩土工程有限公司 | A kind of autonomous type pipe-dredging machine people and dredging method |
| CN110953439A (en) * | 2019-11-22 | 2020-04-03 | 清华大学 | Integrated robot suitable for complex pipeline |
| CN118066382A (en) * | 2024-04-17 | 2024-05-24 | 山东建筑大学设计集团有限公司 | Urban and rural planning municipal construction water supply and drainage pipeline structure |
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| CN110953439B (en) * | 2019-11-22 | 2020-11-06 | 清华大学 | Integrated robot suitable for complex pipeline |
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