CN109854862A - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
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- CN109854862A CN109854862A CN201910287625.3A CN201910287625A CN109854862A CN 109854862 A CN109854862 A CN 109854862A CN 201910287625 A CN201910287625 A CN 201910287625A CN 109854862 A CN109854862 A CN 109854862A
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- fuselage
- tooth
- wheel
- robot
- pipeline
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Abstract
The invention discloses a kind of pipe robots, pipe robot is made of main robot and fault detection monitoring system, main robot includes fuselage, driving device and tool rack, it is characterized by: the upper end of the fuselage is equipped with special spring, for riser tubing robot to the flexibility ratio of physical barrier, and light units are installed at the top of fuselage, the driving device is by support rod, three motors and six tooth-like wheel compositions, three motors can be manipulated by user or be automatically moved to the help of infrared sensor pipeline monitor mouth for controlling main robot, and each motor is responsible for the operation of two tooth-like wheels parallel with fuselage, the tooth-like wheel direction of travel and fuselage carry out axis parallel motion, the tooth-like wheel is made of tooth-like wheel wheel disc and tooth-like wheel wheel face.A kind of pipe robot of the present invention so that pipe robot may operate in the pipeline of situation complexity, while can carry out Function Extension to pipe robot by reserved extending space.
Description
Technical field
The invention belongs to robot field, in particular to a kind of pipe robot.
Background technique
With the development of science and technology, pipeline becomes part indispensable in people's daily life, is commonly used in fluid
And the conveying of gas, but ambient conditions locating for pipeline is complicated, and not easy to clean and maintenance, and there is crackings, infiltration for many pipelines
The case where leakage is even broken, in addition, pipeline there is also the feelings got rusty and consumed in humidity or there are in the environment of chemical products
Condition；These problems can all generate expensive maintenance cost or mounting cost.Existing pipe robot device there are certain drawbacks,
Since the mode moved in the duct is single, lead to the pipeline for not adapting to varying environment, different situations, and in bend and
It cannot be run well in the case that the gradient is excessive, for this purpose, it is proposed that a kind of pipe robot.
Summary of the invention
The main purpose of the present invention is to provide a kind of pipe robots, can effectively solve the problems in background technique.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of pipe robot, pipe robot are made of main robot and fault detection monitoring system, main robot packet
Fuselage, driving device and tool rack are included, the upper end of the fuselage is equipped with special spring, for riser tubing robot to physics
The flexibility ratio of barrier, and light units are installed at the top of fuselage, the driving device is by support rod, three motors and six
A tooth-like wheel composition, three motors can be manipulated by user for controlling main robot or with the help of infrared sensor it is automatic
It is moved to pipeline monitor mouth, and each motor is responsible for the operation of two tooth-like wheels parallel with fuselage, the tooth-like wheel direction of travel
Axis parallel motion is carried out with fuselage, which be made of tooth-like wheel wheel disc and tooth-like wheel wheel face, and the driving device passes through
Attachment device is connected with fuselage, is stretched or is shunk for the size to pipeline, and the gear-like and fuselage can pass through screw
The two sides of bar are fixed and supported, the side of the support rod is equipped with tooth-like wheel, and the other side of support rod is equipped with motor, described
There is extending space at the middle and upper part of fuselage, and controller is fixedly mounted on the tail portion of fuselage, for being connected with external equipment
It connects.
Connect preferred, the operations such as the driving device can be cut inside pipeline, be welded, milling, polishing are appointed
What tool, which can require to be extended according to user, to meet user's corresponding demand.
Preferably, the light units are made of the LED light of nine pairs of SMD types, and the direction of illumination and machine of light units
The direction of travel of body is identical, is used to be used cooperatively with other detecting devices.
Preferably, the extending space can be used for the peace of camera, sonar, ultrasonic equipment and infrared equipment etc.
Dress, can enhance the expansion capability of pipe robot.
Preferably, the motor only connects two tooth-like wheels on its place support rod, the tooth on different support rods
The speed of service of shape wheel can not be identical, which can be all kinds of for adapting to by the differential size of adjusting tooth-like wheel
Pipe condition, the support rod quantity is three, and the angle between support rod every two is identical.
Preferably, the controller is used to control the operation of motor, and the attachment device can be changed by the operating of motor
Itself angle between fuselage, for achieving the purpose that stretching, extension and contraction.
Preferably, the fault detection monitoring system has multiple functional sections and drive section, and user can be according to self-demand weight
New assembling and configuration, and fault detection monitoring system includes the camera for shooting photo and real-time imaging in pipeline, is used
In the laser radar of map in the infrared sensor and drafting pipeline of avoiding barrier.
Preferably, the motor can be used for controlling main robot, and by user's manipulation or in the help of infrared sensor
Under be automatically moved to pipeline monitor mouth, and fault detection monitoring system avoided by feedback channel situation it is any that may be present
Obstacle.Main robot can carry out path planning and guidance by the laser radar in system head.
Compared with prior art, the invention has the following beneficial effects: a kind of pipe robots, logical using driving device
Attachment device and fuselage and the cooperation being connected are crossed, the adaptability to line size variation is greatly improved；It is arranged simultaneously
Special spring enhance pipe robot to the flexibility ratio of physical barrier；And there are extending space designs in fuselage, significantly
Improve the extended capability of the pipe robot；Pipe robot is enabled to be suitable for the pipeline of situation complexity.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of pipe robot of the present invention.
Fig. 2 is a kind of front view of pipe robot of the present invention.
Fig. 3 is a kind of rearview of pipe robot of the present invention.
Fig. 4 is a kind of top view of pipe robot of the present invention.
In figure: 1, tooth-like wheel wheel disc；2, light units；3, tooth-like wheel wheel face；4, special spring；5, extending space；6, even
Connection device；7, fuselage；8, motor；9, controller；10, support rod.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As shown in Figs 1-4, a kind of pipe robot, pipe robot is by main robot and fault detection monitoring system group
At main robot includes fuselage 7, driving device and tool rack, and the upper end of the fuselage 7 is equipped with special spring 4, for being promoted
Pipe robot is to the flexibility ratio of physical barrier, and the top of fuselage 7 is equipped with light units 2, the driving device be by
10, three motors 8 of support rod and six tooth-like wheels composition, three motors 8 can be manipulated by user for controlling main robot or
Pipeline monitor mouth is automatically moved to the help of infrared sensor, and each motor 8 is responsible for two dentations parallel with fuselage 7
The operation of wheel, the tooth-like wheel direction of travel and fuselage 7 carry out axis parallel motion, which is by tooth-like wheel wheel disc 1 and dentation
Wheel face 3 is taken turns to constitute, the driving device is connected by attachment device 6 with fuselage 7, stretch for the size to pipeline or
It shrinks, the gear-like and fuselage 7 can be screwed the two sides with support rod 10, and the side installation of the support rod 10 is with teeth
Shape wheel, and the other side of support rod 10 is equipped with motor 8, has extending space 5, and controller 9 at the middle and upper part of the fuselage 7
It is fixedly mounted on the tail portion of fuselage 7, for being connected with external equipment, the model KY02S of controller 9.
Any tool of the operations such as the driving device can be cut inside pipeline, be welded, milling, polishing, should
Part can require to be extended according to user, to meet user's corresponding demand；Light units 2 by nine pairs of SMD types LED light
It constitutes, and the direction of illumination of light units 2 is identical as the direction of travel of fuselage 7, is used to be used cooperatively with other detecting devices；
Extending space 5 can be used for the installation of camera, sonar, ultrasonic equipment and infrared equipment etc., can enhance pipe robot
Expansion capability；8, motor two tooth-like wheels connected on support rod 10 where it, the tooth-like wheel on different support rods 10
The speed of service can not be identical, the pipe robot can by adjust tooth-like wheel differential size, for adapting to various pipes
Situation, 10 quantity of support rod is three, and the angle between support rod 10 every two is identical；The controller 9 is for controlling electricity
The operation of machine 8, the attachment device 6 can change itself angle between fuselage 7 by the operating of motor 8, stretch for reaching
Exhibition and the purpose shunk；The fault detection monitoring system has multiple functional sections and drive section, and user can be according to self-demand weight
New assembling and configuration, and fault detection monitoring system includes the camera for shooting photo and real-time imaging in pipeline, is used
In the laser radar of map in the infrared sensor and drafting pipeline of avoiding barrier；The motor 8 can be used for controlling host
Device people, and pipeline monitor mouth is manipulated by user or is automatically moved to the help of infrared sensor, and fault detection monitoring system
System avoids any obstacle that may be present by feedback channel situation.Main robot can pass through the laser radar in system head
Carry out path planning and guidance.
It should be noted that the present invention is a kind of pipe robot, pipe robot is supervised by main robot and fault detection
Control system composition, and main robot main body is by two parts, fuselage 7, driving device and tool rack form, and driving device can be in pipe
It cut, welded inside road, any tool of milling, the operations such as polishing, which can require be extended according to user, with
Meet user's corresponding demand, while in the end of fault detection monitoring system, can control main robot there are three motor 8,
And manipulated by user or be automatically moved to pipeline monitor mouth with the help of infrared sensor, in addition, system passes through feedback channel
Situation avoids any obstacle that may be present, robot can be carried out by the laser radar in system head path planning with
Guidance, and system is there are also multiple functional sections and drive section, user can re-assembly and configure according to self-demand.
Working principle: when pipe robot is when being worked, controller 9 controls the operation starting of motor 8, attachment device
6 change itself angle between fuselage 7 by the operating of motor 8, can make the radial direction progress for connecting equipment along pipeline
Stretching, extension is shunk, and by the method for presses against diaphragm, tooth-like wheel is the traveling wheel that wheel face is dentation, is increased by the wheel face of out-of-flatness
Its frictional force between pipeline, thus enhance the adaptability of pipe robot and pipe radius variation, when by bend,
It can be made a response by the differential that motor 8 is gone to pipe condition, when such as turning to the left, 8 speed of motor in 7 left side of fuselage subtracts
Small, 8 speed of right motor will increase, so that pipe robot hinders to reduce when passing through pipeline turning, it is even up to without hindrance
Pass through.
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 (8)
1. a kind of pipe robot, pipe robot is made of main robot and fault detection monitoring system, it is characterised in that: main
Robot includes fuselage (7), driving device and tool rack, and the upper end of the fuselage (7) is equipped with special spring (4), for mentioning
Riser pipeline robot is equipped with light units (2) to the flexibility ratio of physical barrier at the top of fuselage (7), the driving dress
It sets and is made of support rod (10), three motors (8) and six tooth-like wheels, which can for controlling main robot
Manipulated by user or be automatically moved to the help of infrared sensor pipeline monitor mouth, and each motor (8) be responsible for two with
The operation of the parallel tooth-like wheel of fuselage (7), the tooth-like wheel direction of travel and fuselage (7) carry out axis parallel motion, which is
It is made of tooth-like wheel wheel disc (1) and tooth-like wheel wheel face (3), the driving device is connected by attachment device (6) with fuselage (7)
It connects, is stretched or shunk for the size to pipeline, the gear-like and fuselage (7) can be screwed and support rod (10)
Two sides, the side of the support rod (10) is equipped with tooth-like wheel, and the other side of support rod (10) is equipped with motor (8), described
Have at the middle and upper part of fuselage (7) extending space (5), and controller (9) is fixedly mounted on the tail portion of fuselage (7), for
External equipment is connected.
2. a kind of pipe robot according to claim 1, it is characterised in that: the driving device can be inside pipeline
It cut, welded, any tool of milling, the operations such as polishing, which can require be extended according to user, to meet use
Family corresponding demand.
3. a kind of pipe robot according to claim 1, it is characterised in that: the light units (2) are by nine pairs of SMD classes
The LED light of type is constituted, and the direction of illumination of light units (2) is identical as the direction of travel of fuselage (7), is used to detect with other
Equipment is used cooperatively.
4. a kind of pipe robot according to claim 1, it is characterised in that: the extending space (5) can be used for imaging
The installation of head, sonar, ultrasonic equipment and infrared equipment etc. can enhance the expansion capability of pipe robot.
5. a kind of pipe robot according to claim 1, it is characterised in that: the motor (8) only connects branch where it
The speed of service of two tooth-like wheels on strut (10), the tooth-like wheel on different support rods (10) can not be identical, the pipe
Pipeline robot can be by the differential size of adjusting tooth-like wheel, and for adapting to various pipes situation, support rod (10) quantity is
Three, and the angle between support rod (10) every two is identical.
6. a kind of pipe robot according to claim 1, it is characterised in that: the controller (9) is for controlling motor
(8) operation, the attachment device (6) can be changed itself angle between fuselage (7) by the operating of motor (8), be used for
Achieve the purpose that stretching, extension and contraction.
7. a kind of pipe robot according to claim 1, it is characterised in that: the fault detection monitoring system has multiple
Functional section and drive section, user can re-assembly and configure according to self-demand, and fault detection monitoring system includes for clapping
The camera for taking the photograph the photo and real-time imaging in pipeline, for map in the infrared sensor and drafting pipeline of avoiding barrier
Laser radar.
8. a kind of pipe robot according to claim 1, it is characterised in that: the motor (8) can be used for controlling master
Robot, and pipeline monitor mouth is manipulated by user or is automatically moved to the help of infrared sensor, and fault detection monitors
System avoids any obstacle that may be present by feedback channel situation.Main robot can pass through the laser thunder in system head
Up to progress path planning and guidance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910287625.3A CN109854862A (en) | 2019-04-11 | 2019-04-11 | A kind of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910287625.3A CN109854862A (en) | 2019-04-11 | 2019-04-11 | A kind of pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109854862A true CN109854862A (en) | 2019-06-07 |
Family
ID=66903736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910287625.3A Pending CN109854862A (en) | 2019-04-11 | 2019-04-11 | A kind of pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109854862A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110715139A (en) * | 2019-11-04 | 2020-01-21 | 诸暨新伏给排水设备有限公司 | Underground drain pipe crack detection device |
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| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| CN105465551A (en) * | 2016-01-25 | 2016-04-06 | 武汉大学 | Supporting type pipeline inside detection robot with flexibility self-adapting function |
| CN205479976U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Nuclear facilities pipeline detection robot and drive unit with from adaptability |
| CN206191162U (en) * | 2016-11-09 | 2017-05-24 | 田雨 | Pipeline robot |
| CN106838543A (en) * | 2017-03-27 | 2017-06-13 | 合肥科的星测控科技有限公司 | A kind of robot for environment detection in city water pipeline |
| CN206637183U (en) * | 2017-03-30 | 2017-11-14 | 燕山大学 | It is a kind of to turn to controllable tapered pipeline robot |
| CN207094066U (en) * | 2017-08-29 | 2018-03-13 | 三峡大学 | Pipe robot |
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2019
- 2019-04-11 CN CN201910287625.3A patent/CN109854862A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101575111B1 (en) * | 2014-10-01 | 2015-12-07 | 부경대학교 산학협력단 | Pipe inspection robot assembly |
| CN105465551A (en) * | 2016-01-25 | 2016-04-06 | 武汉大学 | Supporting type pipeline inside detection robot with flexibility self-adapting function |
| CN205479976U (en) * | 2016-04-11 | 2016-08-17 | 西南科技大学 | Nuclear facilities pipeline detection robot and drive unit with from adaptability |
| CN206191162U (en) * | 2016-11-09 | 2017-05-24 | 田雨 | Pipeline robot |
| CN106838543A (en) * | 2017-03-27 | 2017-06-13 | 合肥科的星测控科技有限公司 | A kind of robot for environment detection in city water pipeline |
| CN206637183U (en) * | 2017-03-30 | 2017-11-14 | 燕山大学 | It is a kind of to turn to controllable tapered pipeline robot |
| CN207094066U (en) * | 2017-08-29 | 2018-03-13 | 三峡大学 | Pipe robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110715139A (en) * | 2019-11-04 | 2020-01-21 | 诸暨新伏给排水设备有限公司 | Underground drain pipe crack detection device |
| CN110715139B (en) * | 2019-11-04 | 2021-01-22 | 浙江希卡姆复合材料股份有限公司 | Underground drain pipe crack detection device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20190607 |