CN109647817B - Pipeline detection cleaning robot and control system thereof - Google Patents
Pipeline detection cleaning robot and control system thereof Download PDFInfo
- Publication number
- CN109647817B CN109647817B CN201811541452.5A CN201811541452A CN109647817B CN 109647817 B CN109647817 B CN 109647817B CN 201811541452 A CN201811541452 A CN 201811541452A CN 109647817 B CN109647817 B CN 109647817B
- Authority
- CN
- China
- Prior art keywords
- pipeline
- microprocessor
- wall
- control system
- cleaning 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.)
- Active
Links
Images
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
- B08B9/051—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 the cleaning devices having internal motors, e.g. turbines for powering cleaning tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of pipeline maintenance, in particular to a pipeline detection and cleaning robot and a control system thereof, which comprise hemispherical shells symmetrically arranged from left to right, wherein the opposite surfaces of the hemispherical shells on the left and right sides are respectively provided with an annular slide rail in a matching way, a roller is connected between the annular slide rails on the left and right sides, the left center of the hemispherical shell on the left side and the right center of the hemispherical shell on the right side are symmetrically provided with an L-shaped supporting leg, the bottom of the L-shaped supporting leg is provided with a driving wheel, the hemispherical shell on the left side is uniformly provided with supporting rods at intervals around the peripheral outer wall of the L-shaped supporting leg in an inclined way, the inclined direction of the supporting rods is vertical to the tangential direction of the surfaces of; the invention can effectively overcome the defects of low detection precision of the traditional pipeline and difficult dust accumulation operation in the pipeline in the prior art.
Description
Technical Field
The invention relates to the technical field of pipeline maintenance, in particular to a pipeline detecting and cleaning robot and a control system thereof.
Background
In recent years, the industrial efficiency is seriously influenced by the dirt of pipelines, the liquid, gas or slurry conveyed in the pipelines can cause the accumulation of the pipelines for a long time, and the unsmooth and blockage of pipeline conveying can be caused by the long-term accumulation, so that the production is seriously influenced. In order to ensure industrial production efficiency and improve economic benefits, pipelines need to be cleaned regularly in factories, public places and the like. The pipeline cleaning process can be simple physical cleaning or simple chemical cleaning, and is often the comprehensive application of physical and chemical cleaning technologies, and nowadays, the high-efficiency pipeline cleaning technology has become an important direction of research.
The pipeline can lead to the emergence of phenomenon such as the crack, damage to appear in the pipeline inner wall because of natural factor such as pipeline ageing after using for a long time, and at this moment, just, need utilize efficient pipeline cleaning technique with pipeline inner wall clean up to promote the precision that the pipeline detected. Especially, the subway ventilation air-conditioning pipeline can accumulate a lot of dust, germs, radiation and the like in long-term use, the harmful substances pollute the air in the air supply process, the long-term inhalation of the air-conditioning pipeline can harm the health of the public, the air pipe can easily breed and accumulate a large amount of harmful particles, dust mites, bacteria, viruses, carbon radiation and other harmful substances, after the air-conditioning is started, the dust and the germs in the air pipe and adhered to the dust filter screen can be blown indoors in the air supply process, and once the dust and the germs contact with the skin of a human body or the inhalation of the dust and the deposition of the dust and the germs in the respiratory tract can cause the discomfort of sneezing, skin itching, nasal obstruction, asthma and the like, even respiratory system diseases can be caused, and the human health can be seriously harmed.
Based on this, the pipeline cleaning robot comes along, and control system is the soul of tuber pipe cleaning robot system, and the various functions of robot all realize under control system's unified coordination.
Most of the existing robot control systems directly adopt flaw detection sensors to inspect the inner wall of a pipeline, and due to accumulation of dust and the like, the specific position of a pipeline damage part is difficult to determine in a dark pipeline, and the robot control systems are difficult to apply in a complex pipeline environment.
Therefore, the technical problem to be solved by the present invention is how to design a control system of a pipeline inspection and cleaning robot with a cleaning function, which can improve the inspection precision of the inner wall of the pipeline.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects in the prior art, the invention provides a pipeline detection and cleaning robot and a control system thereof, which can effectively overcome the defects of low detection precision of the traditional pipeline and difficult dust accumulation operation in the pipeline in the prior art.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme:
the utility model provides a pipeline inspection cleans robot and control system thereof, includes the hemisphere casing that bilateral symmetry set up, the left and right sides hemisphere casing's relative surface all forms a complete set and is equipped with annular slide rail, and is connected with cylinder, left side between the annular slide rail of left and right sides hemisphere casing's left side central authorities and right side hemisphere casing's right side central symmetry is equipped with L type supporting leg, the bottom of L type supporting leg is equipped with drive wheel, left side hemisphere casing encircles the even interval slope of outer wall all around of L type supporting leg and is equipped with branch, the incline direction and the branch of branch are mutually perpendicular at hemisphere casing surface tangential direction, and the top of branch is equipped with the ultrasonic inspection sensor, the top periphery of ultrasonic inspection sensor is equipped with probe shell.
Preferably, the left side it is equipped with the louvre to be cyclic annular interval between L type supporting leg and the branch of encircleing the setting, the right side be equipped with L type connecting pipe directly over the L type supporting leg, the tip of L type connecting pipe is equipped with laser sensor, the lateral wall middle part of cylinder is equipped with the first arc card lid of the supporting block with it, the top central authorities of cylinder are equipped with electric telescopic handle, electric telescopic handle's top rear side is equipped with takes off the hand, the inner wall of taking off the hand bonds and has the port to be the concertina type straw that the scarf set up.
Preferably, the supporting dust filtration room that is fixed with of inner chamber of cylinder, the dust filtration room left side is run through and is equipped with the filter screen, the left side of cylinder is for lining up the structure, the circulation of air of being convenient for, the lateral wall middle part of dust filtration room is equipped with the second arc card lid of supporting block with it, the surface top central authorities of second arc card lid are equipped with T type connecting piece, the preceding lateral wall central authorities of cylinder run through and are equipped with the arc wall, the bottom slip joint of first arc card lid in the inner chamber of arc wall, and the interior fixed surface connection of the top of the line connecting piece of T and first arc card lid, can open second arc card lid when pulling first arc card lid, the bottom of concertina type straw runs through in electric telescopic handle's inner chamber and with the top central through connection of dust filtration room.
Preferably, the top and the bottom left and right sides of cylinder all are equipped with electronic slider, the left and right sides electronic slider slip joint respectively in the inner chamber of left and right sides annular slide rail, the left side inner wall central authorities of hemisphere casing are equipped with the motor, the right side power take off end of motor rotates through pivot and shaft coupling and is connected with centrifugal fan, be equipped with the dust cover between the left side of centrifugal fan and cylinder, the top and the bottom of dust cover link to each other with the top inner wall and the bottom inner wall of left side hemisphere casing respectively, the right side inner wall central authorities of hemisphere casing are equipped with control system and include microprocessor, wireless transmission module, speed governing module, time-recorder and damage record module.
Preferably, the input end of the microprocessor is respectively and electrically connected with the ultrasonic flaw detection sensor, the laser sensor, the damage recording module, the speed regulation module, the timer and the wireless transmission module, the wireless transmission module is wirelessly connected with the mobile terminal, and the output end of the microprocessor is respectively and electrically connected with the motor, the driving wheel and the electric slider through the driving unit.
Preferably, the distance measuring sensor is embedded at the top of the pickpocket, the distance measuring sensor is electrically connected with the microprocessor through the signal processing unit, and the output end of the microprocessor is electrically connected with the electric telescopic rod through the driving unit.
Preferably, the laser sensor is used for monitoring whether the front of the pipeline is blocked or not and transmitting information to the microprocessor, if the blockage phenomenon exists, the microprocessor immediately transmits the signal to the mobile terminal through the wireless transmission module, controls the driving wheel, the motor and the electric sliding block to stop working, and waits for the mobile terminal to give an instruction and then operates.
Preferably, the microprocessor receives a signal sent by the ultrasonic flaw detection sensor, when a damage is detected at a certain position of the pipeline, the microprocessor stops the work of the driving wheel, the motor and the electric sliding block, the damage recording module calculates the approximate position of the damage position away from the inlet of the pipeline through the driving wheel traveling speed information sent by the speed regulating module and the time period corresponding to the traveling speed counted by the timer, and feeds the position information back to the microprocessor, so that the position information is transmitted to the mobile terminal for maintenance.
Preferably, microprocessor adjusts the length of electric telescopic rod so that adapt to the pipeline of different internal diameters through the information of range finding sensor conveying, when extending the pickpocket at electric telescopic rod top to pipeline inner wall department, start electronic slider and motor, make centrifugal fan begin to work, in the pipeline inner wall department dust absorption income dust filter chamber that will stretch out and draw back the relative of type straw, and suitably adjust the speed of traveling of drive wheel through the speed governing module, so that remove the ash with the complete coverage formula of pipeline circumference inner wall in the in-process that advances, be favorable to improving rear side ultrasonic inspection sensor's detection precision.
(III) advantageous effects
Compared with the prior art, the pipeline detection cleaning robot and the control system thereof provided by the invention adopt a mode of combining multiple functions to design a novel pipeline detection cleaning robot and the control system thereof, and the situations that the traditional pipeline detection precision is not high and the dust accumulation operation in the pipeline is difficult are abandoned, and the pipeline detection cleaning robot and the control system thereof have the beneficial effects that:
1. the rotary drum, the motor, the centrifugal fan, the control system and the like are connected together by using the hemispherical shell and the annular slide rail which are arranged in bilateral symmetry, the control system is wirelessly controlled by the mobile terminal, the laser sensor detects the front blocking condition and sends information to the mobile terminal for processing in time;
2. according to the invention, the driving wheel is used for driving the hemispherical shell to move forwards, and the roller is connected to the inner cavity of the annular slide rail in a sliding and clamping manner through the electric slide block, so that an electric telescopic rod, a raker and a telescopic suction pipe at the top of the roller can be driven to perform circulating operation;
3. according to the invention, the length of the electric telescopic rod is adjusted by the microprocessor through information transmitted by the distance measuring sensor so as to adapt to pipelines with different inner diameters, when a raker at the top of the electric telescopic rod extends to the inner wall of the pipeline, dust and the like adhered to the inner wall of the pipeline are scraped off by the raker, then the motor is started, so that the centrifugal fan starts to work, and the dust at the inner wall of the pipeline opposite to the telescopic suction pipe is absorbed into the dust filtering chamber, thereby being beneficial to improving the cleaning force of the inner wall of the pipeline;
4. the driving speed of the driving wheel is properly adjusted through the speed adjusting module so as to be matched with the roller to completely cover the circumferential inner wall of the pipeline in the advancing process for removing dust, and the detection precision of the rear-side ultrasonic flaw detection sensor is improved;
5. after cleaning is finished, the supporting rods arranged on the surface of the rear hemispherical shell at intervals are connected with the ultrasonic flaw detection sensor, omnibearing detection is facilitated, detection efficiency is improved, and the head of the ultrasonic flaw detection sensor is sleeved with the probe shell, so that the probe is prevented from falling into dust, and detection effect is prevented from being influenced;
6. the microprocessor receives a signal sent by the ultrasonic flaw detection sensor, when a certain position of the pipeline is detected to be damaged, the microprocessor stops the work of the driving wheel, the motor and the electric sliding block, the damage recording module calculates the approximate position of the damaged position from the inlet of the pipeline through the driving wheel travelling speed information sent by the speed regulating module and the time period of the corresponding travelling speed counted by the timer, and feeds the position information back to the microprocessor, so that the position information is transmitted to the mobile terminal for maintenance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial block diagram of FIG. 1 in accordance with the present invention;
FIG. 3 is a view showing an inner structure of the drum of FIG. 2 according to the present invention;
FIG. 4 is a partial cross-sectional view of the hemispherical shells on the left and right sides of the present invention;
FIG. 5 is a block diagram of the module relationship of the present invention;
in the figure:
1. a hemispherical shell; 2. an annular slide rail; 3. a drum; 4. an L-shaped support leg; 5. a drive wheel; 6. a strut; 7. an ultrasonic flaw detection sensor; 8. a probe housing; 9. a first arc-shaped clamping cover; 10. an L-shaped connecting pipe; 11. a laser sensor; 12. heat dissipation holes; 13. an electric telescopic rod; 14. a raking-off hand; 15. a telescopic straw; 16. a dust filtration chamber; 17. a second arc-shaped clamping cover; 18. a T-shaped connector; 19. a filter screen; 20. an arc-shaped slot; 21. an electric slider; 22. a dust cover; 23. a centrifugal fan; 24. a motor; 25. a control system; 26. a speed regulation module; 27. a timer; 28. a microprocessor; 29. a wireless transmission module; 30. a mobile terminal; 31. and a damage recording module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A pipeline detecting and cleaning robot and a control system thereof are disclosed, as shown in figures 1-5, the pipeline detecting and cleaning robot comprises hemispherical shells 1 which are arranged in bilateral symmetry, the opposite surfaces of the hemispherical shells 1 on the left and the right are both provided with annular slide rails 2 in a matching way, a roller 3 is connected between the annular slide rails 2 on the left and the right, L-shaped support legs 4 are symmetrically arranged at the left center of the hemispherical shell 1 on the left and the right center of the hemispherical shell 1 on the right, the bottom of each L-shaped support leg 4 is provided with a driving wheel 5, the hemispherical shell 1 on the left is provided with support rods 6 which are inclined at intervals around the peripheral outer wall of the L-shaped support leg 4, the inclined direction of each support rod 6 is vertical to the tangential direction of the support rod 6 on the surface of the hemispherical shell 1;
radiating holes 12 are formed between the left L-shaped supporting leg 4 and the support rods 6 arranged around the left L-shaped supporting leg at annular intervals, an L-shaped connecting pipe 10 is arranged right above the right L-shaped supporting leg 4, a laser sensor 11 is arranged at the end part of the L-shaped connecting pipe 10, a first arc-shaped clamping cover 9 matched and clamped with the roller 3 is arranged in the middle of the side wall of the roller 3, an electric telescopic rod 13 is arranged in the center of the top of the roller 3, a raking hand 14 is arranged on the rear side of the top of the electric telescopic rod 13, and a telescopic suction pipe 15 with an oblique-cutting port is bonded;
a dust filtering chamber 16 is fixed in an inner cavity of the roller 3 in a matched manner, a filter screen 19 is arranged on the left side of the dust filtering chamber 16 in a penetrating manner, the left side of the roller 3 is of a penetrating structure and is convenient for air circulation, a second arc-shaped clamping cover 17 which is matched and clamped with the dust filtering chamber 16 is arranged in the middle of the side wall of the dust filtering chamber 16, a T-shaped connecting piece 18 is arranged in the center of the top of the outer surface of the second arc-shaped clamping cover 17, an arc-shaped groove 20 is arranged in the center of the front side wall of the roller 3 in a penetrating manner, the bottom end of the first arc-shaped clamping cover 9 is clamped in the inner cavity of the arc-shaped groove 20 in a sliding manner, the top of the T-shaped connecting piece 18 is fixedly connected with the inner surface of the first arc-shaped clamping cover 9, the second arc-shaped clamping cover;
the top, the bottom, the left side and the right side of the roller 3 are both provided with electric sliders 21, the electric sliders 21 on the left side and the right side are respectively clamped in the inner cavities of the annular slide rails 2 on the left side and the right side in a sliding manner, the center of the inner wall on the left side of the hemispherical shell 1 on the left side is provided with a motor 24, the power output end on the right side of the motor 24 is rotatably connected with a centrifugal fan 23 through a rotating shaft and a coupler, a dust cover 22 is arranged between the centrifugal fan 23 and the left side of the roller 3, the top end and the bottom end of the dust cover 22 are respectively connected with the inner wall;
the control system 25 comprises a microprocessor 28, a wireless transmission module 29, a speed regulation module 26, a timer 27 and a damage recording module 31;
the input end of the microprocessor 28 is respectively and electrically connected with the ultrasonic flaw detection sensor 7, the laser sensor 11, the damage recording module 31, the speed regulating module 26, the timer 27 and the wireless transmission module 29, the wireless transmission module 29 is wirelessly connected with the mobile terminal 30, and the output end of the microprocessor 28 is respectively and electrically connected with the motor 24, the driving wheel 5 and the electric slider 21 through the driving unit;
the top of the pickpocket 14 is embedded with a distance measuring sensor which is electrically connected with the microprocessor 28 through a signal processing unit, and the output end of the microprocessor 28 is electrically connected with the electric telescopic rod 13 through a driving unit;
the laser sensor 11 is used for monitoring whether the front of the pipeline is blocked or not, and transmitting information to the microprocessor 28, if the pipeline is blocked, the microprocessor 28 immediately transmits the signal to the mobile terminal 30 through the wireless transmission module 29, controls the driving wheel 5, the motor 24 and the electric slider 21 to stop working, and waits for the mobile terminal 30 to give an instruction and then performs operation;
the microprocessor 28 receives the signal sent by the ultrasonic flaw detection sensor 7, when a certain damage is detected on the pipeline, the microprocessor 28 stops the work of the driving wheel 5, the motor 24 and the electric sliding block 21, the damage recording module 31 calculates the approximate position of the damage part from the inlet of the pipeline through the traveling speed information of the driving wheel 5 sent by the speed regulating module 26 and the time period corresponding to the traveling speed counted by the timer 27 respectively, and feeds the position information back to the microprocessor 28, so that the position information is transmitted to the mobile terminal 30 for maintenance;
the length of the electric telescopic rod 13 is adjusted by the microprocessor 28 through information transmitted by the distance measuring sensor so as to adapt to pipelines with different inner diameters, when the pickpocket 14 at the top of the electric telescopic rod 13 extends to the inner wall of the pipeline, the electric slide block 21 and the motor 24 are started to enable the centrifugal fan 23 to work, dust at the inner wall of the pipeline opposite to the telescopic suction pipe 15 is absorbed into the dust filtering chamber 16, the running speed of the driving wheel 5 is properly adjusted through the speed adjusting module 26, so that the circumferential inner wall of the pipeline is completely covered to remove dust in the advancing process, and the detection precision of the rear-side ultrasonic flaw detection sensor 7 is improved.
The pipeline detection cleaning robot and the control system thereof provided by the invention adopt a mode of combining multiple functions to design a novel pipeline detection cleaning robot and the control system thereof, and the situations that the traditional pipeline detection precision is not high and the dust in the pipeline is difficult to accumulate are abandoned, and the pipeline detection cleaning robot and the control system thereof have the beneficial effects that:
1. the rotary drum, the motor, the centrifugal fan, the control system and the like are connected together by using the hemispherical shell and the annular slide rail which are arranged in bilateral symmetry, the control system is wirelessly controlled by the mobile terminal, the laser sensor detects the front blocking condition and sends information to the mobile terminal for processing in time;
2. according to the invention, the driving wheel is used for driving the hemispherical shell to move forwards, and the roller is connected to the inner cavity of the annular slide rail in a sliding and clamping manner through the electric slide block, so that an electric telescopic rod, a raker and a telescopic suction pipe at the top of the roller can be driven to perform circulating operation;
3. according to the invention, the length of the electric telescopic rod is adjusted by the microprocessor through information transmitted by the distance measuring sensor so as to adapt to pipelines with different inner diameters, when a raker at the top of the electric telescopic rod extends to the inner wall of the pipeline, dust and the like adhered to the inner wall of the pipeline are scraped off by the raker, then the motor is started, so that the centrifugal fan starts to work, and the dust at the inner wall of the pipeline opposite to the telescopic suction pipe is absorbed into the dust filtering chamber, thereby being beneficial to improving the cleaning force of the inner wall of the pipeline;
4. the driving speed of the driving wheel is properly adjusted through the speed adjusting module so as to be matched with the roller to completely cover the circumferential inner wall of the pipeline in the advancing process for removing dust, and the detection precision of the rear-side ultrasonic flaw detection sensor is improved;
5. after cleaning is finished, the supporting rods arranged on the surface of the rear hemispherical shell at intervals are connected with the ultrasonic flaw detection sensor, omnibearing detection is facilitated, detection efficiency is improved, and the head of the ultrasonic flaw detection sensor is sleeved with the probe shell, so that the probe is prevented from falling into dust, and detection effect is prevented from being influenced;
6. the microprocessor receives a signal sent by the ultrasonic flaw detection sensor, when a certain position of the pipeline is detected to be damaged, the microprocessor stops the work of the driving wheel, the motor and the electric sliding block, the damage recording module calculates the approximate position of the damaged position from the inlet of the pipeline through the driving wheel travelling speed information sent by the speed regulating module and the time period of the corresponding travelling speed counted by the timer, and feeds the position information back to the microprocessor, so that the position information is transmitted to the mobile terminal for maintenance.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. The utility model provides a pipeline inspection cleans machine people which characterized in that: comprises hemispherical shells (1) which are arranged symmetrically left and right, annular slide rails (2) are matched and arranged on the opposite surfaces of the hemispherical shells (1) on the left and right sides, a roller (3) is connected between the left and right annular slide rails (2), L-shaped support legs (4) are symmetrically arranged at the left center of the left side of the hemispherical shell (1) and the right center of the right side of the hemispherical shell (1), the bottom of the L-shaped supporting leg (4) is provided with a driving wheel (5), the hemispherical shell (1) on the left side is uniformly provided with supporting rods (6) in an inclined manner at intervals around the peripheral outer wall of the L-shaped supporting leg (4), the inclination direction of the supporting rod (6) is vertical to the tangential direction of the supporting rod (6) on the surface of the hemispherical shell (1), an ultrasonic flaw detection sensor (7) is arranged at the top of the supporting rod (6), and a probe shell (8) is arranged at the periphery of the top of the ultrasonic flaw detection sensor (7);
left side L type supporting leg (4) and encircle and be cyclic annular interval between branch (6) that set up and be equipped with louvre (12), right side be equipped with L type connecting pipe (10) directly over L type supporting leg (4), the tip of L type connecting pipe (10) is equipped with laser sensor (11), the lateral wall middle part of cylinder (3) is equipped with first arc card lid (9) of the supporting block with it, the top central authorities of cylinder (3) are equipped with electric telescopic handle (13), the top rear side of electric telescopic handle (13) is equipped with raking hand (14), the inner wall of raking hand (14) bonds has the port to be telescopic type straw (15) that the scarf set up.
2. The pipeline inspecting and cleaning robot as claimed in claim 1, wherein: a dust filtering chamber (16) is fixed in the inner cavity of the roller (3) in a matching way, a filter screen (19) is arranged on the left side of the dust filtering chamber (16) in a penetrating way, the left side of the roller (3) is a through structure which is convenient for air circulation, the middle part of the side wall of the dust filtering chamber (16) is provided with a second arc-shaped clamping cover (17) which is matched and clamped with the dust filtering chamber, the center of the top of the outer surface of the second arc-shaped clamping cover (17) is provided with a T-shaped connecting piece (18), an arc-shaped groove (20) penetrates through the center of the front side wall of the roller (3), the bottom end of the first arc-shaped clamping cover (9) is clamped in an inner cavity of the arc-shaped groove (20) in a sliding manner, the top of the T-shaped connecting piece (18) is fixedly connected with the inner surface of the first arc-shaped clamping cover (9), the second arc-shaped clamping cover (17) can be opened when the first arc-shaped clamping cover (9) is pulled, the bottom of the telescopic suction pipe (15) penetrates through the inner cavity of the electric telescopic rod (13) and is connected with the center of the top of the dust filtering chamber (16) in a penetrating manner.
3. The pipeline inspecting and cleaning robot as claimed in claim 2, wherein: the top and the bottom left and right sides of cylinder (3) all are equipped with electronic slider (21), the left and right sides electronic slider (21) slide joint respectively in the inner chamber of left and right sides annular slide rail (2), the left side inner wall central authorities of hemisphere casing (1) are equipped with motor (24), the right side power take off end of motor (24) rotates through pivot and shaft coupling and is connected with centrifugal fan (23), be equipped with dust cover (22) between the left side of centrifugal fan (23) and cylinder (3), the top and the bottom of dust cover (22) link to each other with the top inner wall and the bottom inner wall of left side hemisphere casing (1) respectively, the right side inner wall central authorities of hemisphere casing (1) are equipped with control system (25).
4. The control system for the pipe inspecting and cleaning robot as claimed in claim 3, wherein: the control system (25) comprises a microprocessor (28), a wireless transmission module (29), a speed regulation module (26), a timer (27) and a damage recording module (31).
5. The control system of the pipeline inspecting and cleaning robot as claimed in claim 4, wherein: the input of microprocessor (28) respectively with ultrasonic inspection sensor (7), laser sensor (11), damage record module (31), speed governing module (26), time-recorder (27) and wireless transmission module (29) electric connection, wireless transmission module (29) wireless connection has mobile terminal (30), the output of microprocessor (28) passes through drive unit respectively with motor (24), drive wheel (5) and electronic slider (21) electric connection.
6. The control system of the pipeline inspecting and cleaning robot as claimed in claim 5, wherein: the distance measuring device is characterized in that a distance measuring sensor is embedded at the top of the pickpocket (14), the distance measuring sensor is electrically connected with a microprocessor (28) through a signal processing unit, and the output end of the microprocessor (28) is electrically connected with an electric telescopic rod (13) through a driving unit.
7. The control system of the pipeline inspecting and cleaning robot as claimed in any one of claims 5 to 6, wherein: the laser sensor (11) is used for monitoring whether the front of the pipeline is blocked or not and transmitting information to the microprocessor (28), if the pipeline is blocked, the microprocessor (28) immediately transmits the signal to the mobile terminal (30) through the wireless transmission module (29), controls the driving wheel (5), the motor (24) and the electric sliding block (21) to stop working, and waits for the mobile terminal (30) to give an instruction and then works.
8. The control system of the pipeline inspecting and cleaning robot as claimed in claim 7, wherein: the microprocessor (28) receives a signal sent by the ultrasonic flaw detection sensor (7), when a damage is detected at a certain position of the pipeline, the microprocessor (28) stops the work of the driving wheel (5), the motor (24) and the electric sliding block (21), the damage recording module (31) calculates the approximate position of the damage position from the inlet of the pipeline through the traveling speed information of the driving wheel (5) sent by the speed regulating module (26) and the time period corresponding to the traveling speed counted by the timer (27), and feeds the position information back to the microprocessor (28), so that the position information is transmitted to the mobile terminal (30) for maintenance.
9. The control system of the pipeline inspecting and cleaning robot as claimed in claim 8, wherein: microprocessor (28) adjust the length of electric telescopic handle (13) so that adapt to the pipeline of different internal diameters through the information that range finding sensor conveyed, when extending the pickpocket (14) at electric telescopic handle (13) top to pipeline inner wall department, start electronic slider (21) and motor (24), make centrifugal fan (23) begin work, absorb into dust filtering chamber (16) with the pipeline inner wall department dust that concertina type straw (15) is relative, and suitably adjust the speed of traveling of drive wheel (5) through speed governing module (26), so that remove the ash with pipeline circumference inner wall complete coverage formula in the in-process that gos forward, be favorable to improving the detection precision of rear side ultrasonic sensor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811541452.5A CN109647817B (en) | 2018-12-17 | 2018-12-17 | Pipeline detection cleaning robot and control system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811541452.5A CN109647817B (en) | 2018-12-17 | 2018-12-17 | Pipeline detection cleaning robot and control system thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109647817A CN109647817A (en) | 2019-04-19 |
| CN109647817B true CN109647817B (en) | 2020-09-01 |
Family
ID=66113752
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811541452.5A Active CN109647817B (en) | 2018-12-17 | 2018-12-17 | Pipeline detection cleaning robot and control system thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109647817B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486569A (en) * | 2019-09-29 | 2019-11-22 | 南方工程检测修复技术研究院 | Defect inspection and restorative procedure outside a kind of buried drain pipe road |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
| CN110906108A (en) * | 2019-12-03 | 2020-03-24 | 响水县正响建设发展有限公司 | Running gear of defectoscope for circular pipeline |
| CN112547702A (en) * | 2020-12-09 | 2021-03-26 | 济南森峰科技有限公司 | Laser cleaning device for seabed oil and gas pipeline |
| CN114295616B (en) * | 2022-03-11 | 2022-05-10 | 西南石油大学 | Casing detection equipment based on image recognition |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101308998B (en) * | 2008-06-19 | 2011-01-26 | 江苏省电力公司无锡供电公司 | Sweeper for dredging underground pipeline |
| GB2473595B (en) * | 2009-06-09 | 2013-11-06 | Balfour Beatty Plc | Live pipe cleaning pig with centre bore |
| CN201529644U (en) * | 2009-11-20 | 2010-07-21 | 高铭阳 | Pipeline inner wall walking cleaner |
| CN106733961A (en) * | 2016-12-26 | 2017-05-31 | 广州大学 | A kind of clean robot of automatic adaptation internal diameter of the pipeline |
| CN207662853U (en) * | 2017-11-22 | 2018-07-27 | 宋欢 | A kind of pipeline flaw detection device |
| CN108106487A (en) * | 2017-12-18 | 2018-06-01 | 中国矿业大学(北京) | A kind of eliminating sludge in pipe optimized operating device |
-
2018
- 2018-12-17 CN CN201811541452.5A patent/CN109647817B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109647817A (en) | 2019-04-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109647817B (en) | Pipeline detection cleaning robot and control system thereof | |
| CN108036416B (en) | Intelligent air purifier who has clean pipeline function based on thing networking | |
| CN105268694A (en) | Dust remover of air conditioner | |
| CN106247448A (en) | Automatically cleaning defecator is imitated in a kind of air conditioner ventilating system junior middle school | |
| CN110821543B (en) | Explosion-proof ventilation unit for underground works | |
| CN206296271U (en) | A kind of bookshelf cleaning plant | |
| CN108979699A (en) | A kind of ventilating system of tunnel dust removal by filtration | |
| CN212059901U (en) | Be used for infrared induction system of environmental air quality in pig farm house | |
| CN206234931U (en) | A kind of wired home air purifier | |
| CN204483997U (en) | A kind of solar energy automatic cleaner | |
| CN206944407U (en) | A kind of ventilative amount monitoring system of the filter of air purifier | |
| CN206561336U (en) | A kind of lead pig sanding apparatus | |
| CN211043285U (en) | Interior decoration risk monitoring system | |
| CN203591658U (en) | Cleaning unit of filter and self-cleaning air purifying equipment | |
| CN207076720U (en) | A kind of hairbrush dust arrester | |
| CN214551837U (en) | Anhydrous raise dust processing apparatus for building engineering | |
| CN205867880U (en) | Automatic dust collector is used in flour processing | |
| CN208769696U (en) | A kind of industry spot vacuum cleaner of PLC control | |
| CN213148679U (en) | Filter belt type beta-ray smoke direct-reading detector | |
| CN205126113U (en) | Dust suction apparatus | |
| CN207899181U (en) | A kind of coal yard dedusting environment friendly equipment | |
| CN108444785B (en) | Automatic grinding device for preparing powder containing chloride ions | |
| CN208642102U (en) | A kind of micro moving dry dust removal apparatus | |
| CN206739484U (en) | A kind of indoor air-purification device | |
| CN206732403U (en) | Automatic tracking type welding smoke purification device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200805 Address after: 410300 Xiejia formation, Jingping village, chengtanjiang Town, Liuyang City, Changsha City, Hunan Province Applicant after: Liuyang Hengxin Packaging Printing Co., Ltd Address before: 239500 Qingyun Group 4, Mashan Village, Cross Township, Quanjiao County, Chuzhou City, Anhui Province Applicant before: Fan Jianming |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |