CN110319299A - A kind of pipeline panorama detection robot - Google Patents
A kind of pipeline panorama detection robot Download PDFInfo
- Publication number
- CN110319299A CN110319299A CN201910625320.9A CN201910625320A CN110319299A CN 110319299 A CN110319299 A CN 110319299A CN 201910625320 A CN201910625320 A CN 201910625320A CN 110319299 A CN110319299 A CN 110319299A
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- CN
- China
- Prior art keywords
- fuselage
- pipeline
- fixed
- race
- robot
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- 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.)
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Classifications
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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
-
- 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)
- Manipulator (AREA)
Abstract
The invention belongs to robot fields, it is related to a kind of pipeline panorama detection robot when especially, including fuselage, the fuselage left end are fixed with rotary taking mechanism, it symmetrically is fixed with supporting mechanism at left and right sides of the fuselage, the middle fuselage is fixed with tensioning driving mechanism.The present invention is mainly by rotary taking mechanism, supporting mechanism and tensioning driving mechanism composition, after robot enters pipeline, supporting mechanism supports entire robot, driving wheel is equipped with three stepping motor synchronous driving driving wheel walkings, when being moved to position while welding, robot stops walking, two Image Acquisition cameras with 180 degree distribution carry out 12 picture of rotating acquisition, when robot leaves pipeline, tensioning driving mechanism is unclamped automatically very only to be moved, to more comprehensive to the detection of pipeline, it ensure that detection effect, it is adjusted to adapt to different tube diameters pipeline, to using more convenient, applicability is higher, can a variety of occasions carry out using.
Description
Technical field
The present invention relates to robotic technology fields more particularly to a kind of pipeline panorama to detect robot.
Background technique
The most buried-pipe laying of China's oil-gas pipeline, with the development of economic construction, a large amount of underground utilities step into aging
Situations such as phase, burn into weld damage occurs for pipeline inside, when underground piping conveys danger medium, pipeline is once damaged, so that it may
Biggish leakage, or even explosion can be caused, jeopardizes personal safety, but China is not mature enough the technology of pipe detection, ground
The safe operation problem of lower pipeline also increasingly attracts people's attention.
The detection device that people use at present often detects not comprehensive enough, and the damage in pipeline cannot be carried out completely
Detection, while being detected by data transmission, it is not convenient enough because environmental restrictions cause detecting distance shorter；And it is existing
Detection device can not adapt to the pipelines of different tube diameters, need complicated debugging, the pipeline that just can be carried out different occasions adds survey.
For this purpose, it is proposed that a kind of pipeline panorama detects robot to solve the above problems.
Summary of the invention
1, goal of the invention.
The invention proposes one kind can overcome the shortcomings of traditional chin-up frame at present, and providing one kind can be with complete detection
Robot is detected with the pipeline panorama for adapting to different tube diameters.
2, the technical solution adopted in the present invention.
A kind of pipeline panorama detection robot, including fuselage, the fuselage left end is fixed with rotary taking mechanism, described
It symmetrically is fixed with supporting mechanism at left and right sides of fuselage, the middle fuselage is fixed with tensioning driving mechanism.
In above-mentioned pipeline panorama detection robot, the rotary taking mechanism includes two Image Acquisition cameras and rotation
Turntable, the turntable are fixedly mounted on fuselage left end, and it is separate that two described image acquisition cameras are symmetrically fixed on turntable
On the end face of fuselage, the first stepper motor of its rotation of driving is fixedly installed in the turntable.
In above-mentioned pipeline panorama detection robot, the supporting mechanism includes that fixed first be set on fuselage is consolidated
Determine ring, three support rods are evenly equipped with around first fixed ring, the support rod is solid by hinge arrangement and the first fixed ring
Fixed connection, the support rod are fixedly installed with traveling wheel far from one end of the first fixed ring.
In above-mentioned pipeline panorama detection robot, the tensioning driving mechanism includes that waist bilateral symmetry is fixed
Two the second fixed rings of installation, it is uniformly distributed there are three race around the fuselage, it is symmetrically installed that there are two drivings on the race
It takes turns, the second stepper motor of driving left side drive wheel rotation is fixedly installed on the race, it is right between the race and fuselage
Claim to be equipped with two connecting rods, described connecting rod one end and the second fixed ring are rotatablely connected, and the connecting rod other end and race rotate
Connection, the race, two connecting rods and fuselage form parallelogram sturcutre, one of them described second fixed ring is far from another
The side of one the second fixed ring is equipped with sliding block, and the sliding block is set on fuselage, is all provided between the sliding block and three races
There is connecting rod, described connecting rod one end and race are rotatablely connected, and the connecting rod other end and sliding block are rotatablely connected, on the fuselage
Screw rod slide block mechanism equipped with control slide position.
In above-mentioned pipeline panorama detection robot, the screw rod slide block mechanism includes being rotatably installed in fuselage side
Screw rod, the fuselage are fixedly installed with the third stepper motor of driving screw rod rotation, and the sliding block is equipped with matched with screw rod
Threaded hole.
In above-mentioned pipeline panorama detection robot, the torsion bullet to its elastic spacing is equipped in the hinge arrangement
Spring.
In above-mentioned pipeline panorama detection robot, one of them described race on the end face of fuselage far from being fixedly mounted
There is infrared range-measurement system, the third stepper motor is electrically connected with infrared range-measurement system.
3, technical effect caused by the present invention.
1, by that two Image Acquisition cameras can be allowed to carry out 12 pictures of rotating acquisition provided with rotary taking mechanism,
The problem of avoiding data transmission guarantees to protect the comprehensive of pipe detection to carry out commissure the detection of careful precision
The effect for demonstrate,proving detection compares existing detection device with better detection effect.
2, by setting tensioning driving mechanism and rotary supporting mechanism, the driving wheel for driving can be with branch
The inclination of strut is placed in pipeline to adapt to different calibers by the device, under the action of infrared range-measurement system, third stepping
The rotation of motor driven screw rod, to control the position of sliding block, slide position, which generates, to be changed and can control three by three connecting rods
A race inclination movement changes tensioning degree, so that the pipeline of different tube diameters is adapted to, and adaptation process is that automation adapts to,
More convenient, applicability is higher, and prospect of the application is extensive.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of pipeline panorama proposed by the present invention detects robot；
Fig. 2 is the side structure schematic view that a kind of pipeline panorama proposed by the present invention detects robot.
Description of symbols:
In figure: 1 Image Acquisition camera, 2 turntables, 3 traveling wheels, 4 support rods, 5 races, 6 driving wheels, 7 connecting rods, 8 are slided
Block, 9 second fixed rings, 10 first fixed rings, 11 fuselages, 12 screw rod slide block mechanisms, 13 infrared range-measurement systems, 14 second steppings electricity
Machine, 15 rotary taking mechanisms, 16 supporting mechanisms, 17 tensioning driving mechanisms.
Specific embodiment
Following embodiment only exists in illustrative purpose, limits the scope of the invention without being intended to.
Embodiment
Referring to Fig.1-2, a kind of pipeline panorama detects robot, including fuselage 11, and 11 left end of fuselage is fixed with rotation and claps
Mechanism 15 is taken the photograph, rotary taking mechanism 15 includes two Image Acquisition cameras 1 and turntable 2, and Image Acquisition camera 1 uses existing skill
Art does not repeat them here, and can carry out shot detection, and turntable 2 is fixedly mounted on fuselage 11, and two Image Acquisition cameras 1 are symmetrical
It is fixed on turntable 2, the first stepper motor is fixedly installed in turntable 2, the first stepper motor can drive 2 turns of turntable
It is dynamic, so that two Image Acquisition cameras 1 be driven to rotate, pipeline inner case is shot, plays the role of panorama detection.
Wherein, 11 left and right sides of fuselage is symmetrically fixed with supporting mechanism 16, and supporting mechanism 16 includes that fixation is set in machine
The first fixed ring 10 on body 11, is evenly equipped with three support rods 4 around the first fixed ring 10, support rod 4 by hinge arrangement with
First fixed ring 10 is fixedly connected, to can relatively rotate between 4 fuselage 11 of support rod, is equipped in hinge arrangement to its elasticity
The torque spring of limit, torque spring provide elastic force, the position of support rod 4 can be limited, to guarantee that traveling wheel 3 is fitted in pipe
On road inner wall, support rod 4 is fixedly installed with traveling wheel 3 far from one end of the first fixed ring 10, to play to whole walking
The effect of supporting & stablizing.
Wherein, 11 middle section of fuselage is fixed with tensioning driving mechanism 17, and tensioning driving mechanism 17 includes that 11 middle part of fuselage is left
Two the second fixed rings 9 that the right side is symmetrically fixedly mounted, the fixation of the second fixed ring 9 is set on fuselage 11, uniformly distributed around fuselage 11
It there are three race 5, is symmetrically installed on race 5 there are two driving wheel 6, is fixedly installed with driving left side drive wheel 6 on race 5 and rotates
Second stepper motor 14, be symmetrically arranged with two connecting rods 7 between race 5 and fuselage 11,7 one end of connecting rod and the second fixed ring
9 rotation connections, and 7 other end of connecting rod and race 5 are rotatablely connected, 5, two connecting rods 7 of race form parallel four with fuselage 11
Side shape structure, parallelogram have unstability, can produce deformation, one of them second fixed ring 9 far from another the
The side of two fixed rings is equipped with sliding block 8, and sliding block 8 is set on fuselage 11, is equipped with connecting rod between sliding block 8 and three races 5
7,7 one end of connecting rod and race 5 are rotatablely connected, and 7 other end of connecting rod and sliding block 8 are rotatablely connected, and sliding block 8 is mobile, can band
5 inclination movement of driving wheel slot.
Wherein, fuselage 11 is equipped with the screw rod slide block mechanism 12 of control 8 position of sliding block, and screw rod slide block mechanism 12 includes rotation
It is mounted on the screw rod of 11 side of fuselage, fuselage 11 is fixedly installed with the third stepper motor of driving screw rod rotation, and sliding block 8 is equipped with
With the matched threaded hole of screw rod, the work of third stepper motor can drive screw rod to rotate, thus change the position of sliding block 8, wherein
Infrared range-measurement system 13, third stepper motor and infrared range-measurement system 13 are fixedly installed on one end face of the race 5 far from fuselage 11
Electrical connection, infrared range-measurement system 13 can detecte the distance between race 5 and inner wall of the pipe, when distance is greater than driving wheel 6 to race 5
Distance, driving third stepper motor work, is adjusted, when infrared range-measurement system 13 can't detect tube wall, automatically to complete tensioning
The rotation of third stepper motor is driven, withdrawal is played the role of.
When specific works, which is put into pipeline, because the effect of infrared range-measurement system 13 drives third step into motor
Work, third stepping motor drives screw mandrel rotation, sliding block 8 be equipped with the matched threaded hole of screw rod, thus 8 position of sliding block with
Change, 5, two connecting rods 7 of race and fuselage 11 form parallelogram sturcutre, because of the connecting rod 7 being rotatablely connected with sliding block 8
Effect, 5 run-off the straight of drive wheel groove is mobile, drives multiple driving wheels 6 mobile, infrared when driving wheel 6 is bonded inner wall of the pipe
Rangefinder 13 detects and transmits signal, stops the work of third stepper motor, completes tensioning and adjusts, passes through second stepper motor 14
Driving wheel 6 is driven to rotate, to drive whole walking, when being moved to position while welding, robot stops walking, robot front end
Turntable 2 rotated by the first stepping motor driven, two Image Acquisition cameras 1 carry out the (rotation every time of 12 pictures of rotating acquisition
Turn 30 °), after acquisition, robot leaves pipeline, and tensioning driving mechanism is unclamped automatically very only to be moved.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Although Image Acquisition camera 1, turntable 2, traveling wheel 3, support rod 4, race 5, driving is used more herein
Take turns 6, connecting rod 7, sliding block 8, the second fixed ring 9, the first fixed ring 10, fuselage 11, screw rod slide block mechanism 12, infrared range-measurement system
13, the terms such as second stepper motor 14, rotary taking mechanism 15, supporting mechanism 16 and tensioning driving mechanism 17, but be not precluded
A possibility that using other terms.The use of these items is only for be more convenient to describe and explain essence of the invention；?
They, which are construed to any additional limitation, is disagreed with spirit of that invention.
In the description of the present invention, it is to be understood that, indicating position or the term of positional relationship are based on shown in attached drawing
Orientation or positional relationship, be merely for convenience of description of the present invention and simplification of the description, rather than the equipment of indication or suggestion meaning
Or element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
In addition, the terms such as term "horizontal", "vertical", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to indicate the structure if "horizontal" only refers to that its direction is more horizontal with respect to for "vertical"
It has to fully horizontally, but can be slightly tilted.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be on or below second feature
Directly contacted including the first and second features, also may include the first and second features be not direct contact but by them it
Between other characterisation contact.Moreover, fisrt feature is on second feature, top and above include fisrt feature second spy
Right above sign and oblique upper, or first feature horizontal height is merely representative of higher than second feature.Fisrt feature second feature it
Under, lower section and fisrt feature included below be directly below and diagonally below the second feature, or be merely representative of first feature horizontal height
Less than second feature.
Claims (7)
1. a kind of pipeline panorama detects robot, including fuselage (11), which is characterized in that fuselage (11) left end is fixed with
Rotary taking mechanism (15), fuselage (11) left and right sides is symmetrically fixed with supporting mechanism (16), in the fuselage (11)
Section is fixed with tensioning driving mechanism (17).
2. a kind of pipeline panorama according to claim 1 detects robot, which is characterized in that the rotary taking mechanism
It (15) include two Image Acquisition cameras (1) and turntable (2), the turntable (2) is fixedly mounted on fuselage (11) left end,
Two described image acquisitions camera (1) are symmetrically fixed on the end face of turntable (2) separate fuselage (11), the turntable (2)
Inside it is fixedly installed with the first stepper motor of its rotation of driving.
3. a kind of pipeline panorama according to claim 1 detects robot, which is characterized in that supporting mechanism (16) packet
Fixed the first fixed ring (10) being set on fuselage (11) is included, is evenly equipped with three support rods around first fixed ring (10)
(4), the support rod (4) is fixedly connected by hinge arrangement with the first fixed ring (10), and the support rod (4) is solid far from first
The one end for determining ring (10) is fixedly installed with traveling wheel (3).
4. a kind of pipeline panorama according to claim 1 detects robot, which is characterized in that the tensioning driving mechanism
(17) include two the second fixed rings (9) that bilateral symmetry is fixedly mounted in the middle part of fuselage (11), be evenly distributed with around the fuselage (11)
It there are three race (5), is symmetrically installed on the race (5) there are two driving wheel (6), is fixedly installed with drive on the race (5)
The second stepper motor (14) of dynamic left side drive wheel (6) rotation, is symmetrically arranged with two companies between the race (5) and fuselage (11)
Extension bar (7), described connecting rod (7) one end and the second fixed ring (9) are rotatablely connected, and connecting rod (7) other end and race (5) turn
Dynamic connection, the race (5), two connecting rods (7) and fuselage (11) form parallelogram sturcutre, one of them described second
Fixed ring (9) is equipped with sliding block (8) far from the side of another the second fixed ring, and the sliding block (8) is set on fuselage (11), institute
It states and is equipped with connecting rod (7) between sliding block (8) and three races (5), described connecting rod (7) one end and race (5) are rotatablely connected,
And connecting rod (7) other end and sliding block (8) are rotatablely connected, the screw rod that the fuselage (11) is equipped with control sliding block (8) position is sliding
Block mechanism (12).
5. a kind of pipeline panorama according to claim 4 detects robot, which is characterized in that the screw rod slide block mechanism
It (12) include the screw rod for being rotatably installed in fuselage (11) side, the fuselage (11) is fixedly installed with the third of driving screw rod rotation
Stepper motor, the sliding block (8) are equipped with and the matched threaded hole of screw rod.
6. a kind of pipeline panorama according to claim 1 detects robot, which is characterized in that be equipped in the hinge arrangement
To the torque spring of its elastic spacing.
7. a kind of pipeline panorama according to claim 5 detects robot, which is characterized in that one of them described race
(5) it is fixedly installed with infrared range-measurement system (13) on the end face far from fuselage (11), the third stepper motor and infrared range-measurement system
(13) it is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625320.9A CN110319299A (en) | 2019-07-11 | 2019-07-11 | A kind of pipeline panorama detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910625320.9A CN110319299A (en) | 2019-07-11 | 2019-07-11 | A kind of pipeline panorama detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110319299A true CN110319299A (en) | 2019-10-11 |
Family
ID=68121970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910625320.9A Pending CN110319299A (en) | 2019-07-11 | 2019-07-11 | A kind of pipeline panorama detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110319299A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111735485A (en) * | 2020-05-14 | 2020-10-02 | 国网浙江宁波市鄞州区供电有限公司 | Waterproof cable duct detection device |
| CN112066158A (en) * | 2019-12-10 | 2020-12-11 | 天目爱视（北京）科技有限公司 | Intelligent pipeline robot |
| CN113108156A (en) * | 2021-04-15 | 2021-07-13 | 盐城工学院 | Drainage pipe ultraviolet curing equipment that can support |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113483197A (en) * | 2021-06-30 | 2021-10-08 | 国机传感科技有限公司 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
| CN114893648A (en) * | 2022-05-24 | 2022-08-12 | 矞虹(南京)科技有限公司 | Self-adaptive inner wall pipeline robot |
| KR102470629B1 (en) * | 2022-05-20 | 2022-11-25 | 주식회사 주안엔지니어링 | Water pipe endoscope device with leak detection |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830308A (en) * | 2017-12-16 | 2018-03-23 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
-
2019
- 2019-07-11 CN CN201910625320.9A patent/CN110319299A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830308A (en) * | 2017-12-16 | 2018-03-23 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112066158A (en) * | 2019-12-10 | 2020-12-11 | 天目爱视（北京）科技有限公司 | Intelligent pipeline robot |
| CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
| CN111735485A (en) * | 2020-05-14 | 2020-10-02 | 国网浙江宁波市鄞州区供电有限公司 | Waterproof cable duct detection device |
| CN113108156A (en) * | 2021-04-15 | 2021-07-13 | 盐城工学院 | Drainage pipe ultraviolet curing equipment that can support |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113483197A (en) * | 2021-06-30 | 2021-10-08 | 国机传感科技有限公司 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
| KR102470629B1 (en) * | 2022-05-20 | 2022-11-25 | 주식회사 주안엔지니어링 | Water pipe endoscope device with leak detection |
| CN114893648A (en) * | 2022-05-24 | 2022-08-12 | 矞虹(南京)科技有限公司 | Self-adaptive inner wall pipeline robot |
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