CN110594525A - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
- Publication number
- CN110594525A CN110594525A CN201910897121.3A CN201910897121A CN110594525A CN 110594525 A CN110594525 A CN 110594525A CN 201910897121 A CN201910897121 A CN 201910897121A CN 110594525 A CN110594525 A CN 110594525A
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- CN
- China
- Prior art keywords
- cover plate
- plate
- ball screw
- pipeline
- inspection 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.)
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Classifications
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- 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
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
- H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
A pipeline inspection robot mainly comprises: the device comprises a cover plate support column, a cleaning motor, a walking motor, a supporting arm, a triangular plate, a ball screw, a connecting bolt, a lifting plate and other parts. The pipeline inspection robot adopts a roller moving mode, adopts electric drive, drives the lifting plate to move upwards or downwards through the ball screw, and enables the first lifting plate or the second lifting plate to move to drive the supporting arm to lift upwards and fold to be close to the ball screw or to hang downwards and open to be far away from the ball screw. Therefore, the pipeline inspection robot can keep certain pipeline passing performance and also have certain speed.
Description
Technical Field
The invention relates to the field of robots, in particular to a pipeline inspection robot.
Background
The breakage, clogging, etc. of the aged pipes require regular maintenance. Due to the inner diameter of the pipeline and the limitation of the internal and external environments, the pipeline robot is usually relied on for inspection and maintenance. However, since the sizes and the installation environments of the pipelines are various, it is not practical to design different pipeline robots for each size and each type of pipeline respectively according to the inspection requirements.
The walking mode of the present pipeline robot is as follows: peristaltic movement, caterpillar movement, roller movement, legged movement, piston movement, and the like. However, these walking modes are each deficient. On one hand, the driving mode needs to design a corresponding structure according to the inner diameter size of the pipeline, and is difficult to adapt to complicated and variable pipeline structures by a unified structural design; on the other hand, many existing driving modes cannot adapt to a vertical lifting pipeline, lifting control in the vertical direction cannot be achieved, external force is needed, operation is complex, and limitation is large.
Disclosure of Invention
The invention provides a pipeline inspection robot, aiming at the defects of the prior art, and aiming at providing the pipeline inspection robot, the pipeline inspection robot optimizes the structure of the robot, utilizes electric power to drive rollers to move, and improves the trafficability, the passing speed and the vertical movement capacity of the robot by selecting smaller wheel radius. The invention specifically adopts the following technical scheme.
First, in order to achieve the above object, a pipeline inspection robot is provided, which includes: the pipeline inspection robot comprises a ball screw, a pipeline inspection robot and a control system, wherein the ball screw is arranged in the middle of the pipeline inspection robot and is connected with a first screw nut and a second screw nut, the first screw nut is positioned at the lower part of the ball screw, and the second screw nut is positioned at the upper part of the ball screw; the center of the first cover plate is provided with a first screw rod through hole, and the bottom end of the ball screw rod penetrates through the first screw rod through hole and is rotatably connected with the first cover plate; a first lifting plate which is arranged above the first cover plate, is fixedly connected with the first lead screw nut, and surrounds the circumferential outer wall of the first lead screw nut; the second cover plate is arranged above the first lifting plate, a second screw rod through hole is formed in the center of the second cover plate, the middle of the ball screw rod penetrates through the second screw rod through hole, and the second cover plate is rotatably connected with the ball screw rod; a second lifting plate which is arranged above the second cover plate, is fixedly connected with the second lead screw nut, and surrounds the circumferential outer wall of the second lead screw nut;
the supporting arms comprise a plurality of supporting arms, the connecting end of each supporting arm is respectively connected with the edge of the first cover plate or the second cover plate, each supporting arm is respectively opened or closed along the radial direction of the first cover plate or the second cover plate by taking the connected edge as a rotating shaft, and the abutting end of each supporting arm is also respectively provided with a walking motor; the rollers are respectively connected with a motor shaft of a walking motor arranged at the abutting end of each supporting arm, and the rollers are driven by the motor shaft of the walking motor to abut against the inner wall of the pipeline to rotate so as to drive the pipeline inspection robot to walk; the center of the triangular plate is connected with the top end of the ball screw; the driving mechanism is arranged at the bottom of the first cover plate or at the top of the triangular plate, is connected with the bottom end or the top end of the ball screw and drives the ball screw to rotate so as to push the first lifting plate and the second lifting plate to move upwards or downwards along the ball screw; the supporting rods comprise a plurality of supporting rods, one end of each supporting rod is connected with the edge of the first lifting plate or the second lifting plate, the other end of each supporting rod is rotatably connected with a connecting bolt, and the connecting bolt is arranged in the middle of the supporting arm and is vertical to the length direction of the supporting arm; as the first lifting plate or the second lifting plate moves upwards or downwards, the first lifting plate or the second lifting plate drives the supporting arms to lift upwards and fold to be close to the ball screw or to hang downwards and expand to be far away from the ball screw.
Optionally, the robot is patrolled and examined to foretell pipeline, wherein, the top of set square still is connected with picture and passes module and camera, the image in the pipeline is gathered to the camera, through picture passes the module and carries out wired or wireless transmission to the image that it gathered.
Optionally, the pipeline inspection robot further includes a cleaning device mounting plate, connected to the bottom of the first cover plate, and including 4 hollow pillars extending upward from the top of the cleaning device mounting plate and inserted into the bottom of the first cover plate, the 4 pillars being uniformly arranged on the top of the cleaning device mounting plate in a Y-shape, wherein one pillar near the center of the cleaning device mounting plate is shorter than 3 pillars near the edge of the cleaning device mounting plate; the top of the base of the cleaning head is provided with a top plug connector which protrudes upwards, the top plug connector is plugged into the 4 pillars with the hollow structures, and the base of the cleaning head is fixed on the lower part of the cleaning device mounting plate; the bottom of the base of the cleaning head is also or is provided with two cleaning head mounting grooves which extend outwards and are arranged in parallel oppositely; the cleaning heads comprise two cleaning heads which are arranged oppositely and are parallel to each other, and the two cleaning heads are respectively inserted into the cleaning head mounting grooves and extend outwards; the cleaning motor is arranged inside the base of the cleaning head and located on the lower portion of the cleaning device mounting plate, and drives the cleaning head to stretch out of the cleaning head mounting groove and use the ball screw as axial rotation.
Optionally, foretell pipeline inspection robot, wherein, the outside end of clearance head is provided with the frizing of halfcylinder, the outer wall butt of halfcylinder the inner wall of pipeline is scraped the filth on inner wall surface.
Optionally, in the pipeline inspection robot, positions of the first cover plate, the second cover plate and the triangular plate, which are close to the edges, are further respectively provided with a support post through hole, and a cover plate support post is respectively arranged in the support post through holes in a penetrating manner; the apron pillar with the support arm is followed the even interval in circumference of pipeline inspection robot's ball screw sets up.
Optionally, the pipeline inspection robot further includes an ultrasonic sensor on a surface thereof, and the ultrasonic sensor is used for detecting an inner diameter of the pipeline.
Advantageous effects
The pipeline inspection robot adopts a roller moving mode and utilizes the principle similar to that of an automobile to control the pipeline inspection robot to operate. According to the pipeline inspection robot, the lifting plate is driven to move upwards or downwards by adopting electric drive, and the movement of the first lifting plate or the second lifting plate drives the supporting arm to be lifted upwards and folded to be close to the ball screw or to be hung downwards and unfolded to be far away from the ball screw.
Furthermore, as the accommodating space for accommodating the supporting arms and the rollers is formed by the space between the two cover plates, the overall size of the pipeline inspection robot can be reduced, and the pipeline inspection robot can be tightly abutted against the inner wall of the pipeline through the rollers with smaller radius sizes by opening or closing the supporting arms. Therefore, the pipeline inspection robot can keep certain pipeline passing performance and also have certain speed.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a three-dimensional schematic view of a pipeline inspection robot of the present invention;
FIG. 2 is a principal schematic view of the pipe inspection robot of the present invention;
FIG. 3 is a bottom view of the pipeline inspection robot of the present invention;
fig. 4 is a bottom view of a cleaning device mounting plate in the pipe inspection robot;
fig. 5 is a front view of a cleaning device mounting plate in the pipe inspection robot;
fig. 6 is a schematic view of a base structure of a cleaning head in the pipe inspection robot;
fig. 7 is a schematic view of a cover plate structure in the above pipe inspection robot.
In the drawings, 1 denotes a cleaning head; 2 denotes a cleaning device mounting plate; 3 denotes a cleaning motor; 4 denotes a strut; 5 denotes a support arm; 6 denotes a stay; 7, a roller; 8 denotes a second lead screw nut; 9 denotes a ball screw; 10 denotes a walking motor; 11 denotes a set square; 12 denotes a picture transmission module; 13 denotes a camera; 14 denotes a connecting bolt; 15 denotes a cover pillar; 17 denotes a support arm connecting portion; 18 denotes a post passing hole; and 19 a screw passing hole.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of 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 described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1, 2 and 3 are a three-dimensional view, a front view and a bottom view, respectively, of a pipe inspection robot according to the present invention. This robot is patrolled and examined to pipeline includes:
the ball screw 9 is arranged in the middle of the pipeline inspection robot and is connected with a first screw nut and a second screw nut 8, wherein the first screw nut is positioned at the lower part of the ball screw 9, and the second screw nut 8 is positioned at the upper part of the ball screw 9;
the center of the first cover plate is provided with a first screw rod through hole 19, the bottom end of the ball screw 9 penetrates through the first screw rod through hole 19, a deep groove ball bearing is arranged in the first screw rod through hole 19, and the inner wall of the deep groove ball bearing is rotatably connected with the first cover plate; a supporting arm connecting part 17 shown in fig. 7 is arranged on the circumferential edge of the supporting arm in an outward extending manner and is used for arranging a pin rod for supporting the supporting arm to rotate;
a first lifting plate which is arranged above the first cover plate, is fixedly connected with the first lead screw nut, and surrounds the circumferential outer wall of the first lead screw nut;
the second cover plate is arranged above the first lifting plate, a second screw rod through hole is formed in the center of the second cover plate, a deep groove ball bearing is arranged in the ball screw 9 after penetrating through the second screw rod through hole, and the inner wall of the deep groove ball bearing is rotatably connected with the second cover plate; the circumferential edge of the support arm is also provided with a support arm connecting part 17 which is similar to the support arm shown in figure 7 and extends outwards and is used for arranging a pin rod for supporting the support arm to rotate;
a second lifting plate which is arranged above the second cover plate, is fixedly connected with the second lead screw nut 8 and surrounds the circumferential outer wall of the second lead screw nut 8;
the supporting arms 5 comprise a plurality of supporting arms 5, the connecting end of each supporting arm 5 is respectively connected with a pin rod arranged on the edge of the first cover plate or the second cover plate, each supporting arm 5 is respectively opened or closed along the radial direction of the first cover plate or the second cover plate by taking the pin rod on the edge connected with the supporting arm as a rotating shaft, and the abutting end of each supporting arm 5 is also respectively provided with a walking motor 10;
the rollers 7 are respectively connected with a motor shaft of a walking motor 10 arranged at the abutting end of each supporting arm 5, and the rollers 7 are driven by the motor shaft of the walking motor 10 to abut against the inner wall of the pipeline to rotate so as to drive the pipeline inspection robot to walk;
the center of the triangular plate 11 is connected with the top end of the ball screw 9; the top of the triangular plate 11 is also connected with a picture transmission module 12 and a camera 13, the camera 13 collects images in the pipeline, and the images collected by the camera are transmitted in a wired or wireless mode through the picture transmission module 12;
the driving mechanism is arranged at the bottom of the first cover plate or at the top of the triangular plate 11, is connected with the bottom end or the top end of the ball screw 9, and drives the ball screw 9 to rotate so as to push the first lifting plate and the second lifting plate to move upwards or downwards along the ball screw 9;
a plurality of support rods 6, wherein one end of each support rod 6 is connected with the edge of the first lifting plate or the second lifting plate, the other end of each support rod 6 is rotatably connected with a connecting bolt 14, and the connecting bolt 14 is arranged in the middle of the support arm 5 and is vertical to the length direction of the support arm 5; as the first lifting plate or the second lifting plate moves upwards or downwards, the first lifting plate or the second lifting plate drives the supporting arm 5 to lift upwards and fold to be close to the ball screw 9 or to hang downwards and expand to be far away from the ball screw 9.
Therefore, the pipeline inspection robot can work in the following mode to realize the operation in the pipeline, and particularly, the pipeline inspection robot can realize the operation in the pipeline with a large vertical or inclined angle. The control steps required by the operation are as follows:
the method comprises the steps of firstly, acquiring the inner diameter of a pipeline obtained by the detection of an ultrasonic sensor;
secondly, driving a speed-per-hour ball screw 9 to rotate according to the inner diameter of the pipeline, adjusting the upper and lower positions of the first lifting plate and the second lifting plate, so that the first lifting plate and the second lifting plate drive the supporting arm 5 to be lifted upwards and folded to be close to the ball screw 9 or to be hung downwards and unfolded to be far away from the ball screw 9, and keeping the roller 7 to be tightly abutted to the inner wall of the pipeline;
thirdly, after the roller 7 is tightly abutted to the inner wall of the pipeline, controlling the running motor 10 to run, driving the roller 7 to run and driving the pipeline inspection robot to run;
fourthly, when the inner diameter of the pipeline obtained by the detection of the ultrasonic sensor is increased or decreased, the speed ball screw 9 is driven to rotate correspondingly according to the inner diameter of the pipeline, the first lifting plate and the second lifting plate are adjusted to move downwards or upwards, so that the first lifting plate and the second lifting plate drive the supporting arm 5 to vertically fall downwards and open to a position far away from the ball screw 9 or lift upwards and close to the ball screw 9, and the roller 7 is kept to be tightly abutted to the inner wall of the pipeline all the time.
Pipeline inspection robot, its mainly used detects through the camera and gathers the inside situation of pipeline and provide to the outside and show. Generally speaking, the invention can also carry out simple cleaning by arranging the following devices on the robot for the common pipe blockage condition:
referring to fig. 1, the pipeline inspection robot further includes a cleaning device mounting plate 2 connected to the bottom of the first cover plate, and referring to fig. 4 and 5, the pipeline inspection robot includes 4 hollow struts 4 extending upward from the top of the cleaning device mounting plate 2 and inserted into the bottom of the first cover plate, the 4 struts 4 are uniformly arranged on the top of the cleaning device mounting plate 2 in a Y-shape, wherein one strut 4 near the center of the cleaning device mounting plate 2 is shorter than 3 struts near the edge of the cleaning device mounting plate 2;
the base of the cleaning head is provided with a top plug connector which protrudes upwards and is plugged into the insides of the 4 pillars 4 with hollow structures, and the base of the cleaning head is fixed at the lower part of the cleaning device mounting plate 2, as shown in fig. 6; the bottom of the base of the cleaning head is also or is provided with two cleaning head mounting grooves which extend outwards and are arranged in parallel oppositely;
the cleaning heads 1, as shown in fig. 3, include two cleaning heads which are arranged in opposite directions and parallel to each other, and the two cleaning heads 1 are respectively inserted into the cleaning head mounting grooves and extend outward;
and the cleaning motor 3 is arranged inside the base of the cleaning head, is positioned at the lower part of the cleaning device mounting plate 2, and is used for synchronously driving the cleaning head 1 to extend out of the cleaning head mounting groove in the third step and rotate by taking the ball screw 9 as an axial direction. The outer side end of the cleaning head 1 can be further provided with a semi-cylinder scraping disc, and the outer wall of the semi-cylinder is abutted to the inner wall of the pipeline. In the rotating process, the arc-shaped outer wall of the cleaning head 1 is abutted to the inner wall of the pipeline to clean up dirt in the pipeline and scrape off the dirt on the surface of the inner wall. In the cleaning process, similar to the fourth step of controlling the robot walking, if the inner diameter of the pipeline obtained by the detection of the ultrasonic sensor becomes larger or smaller, the cleaning motor 3 is correspondingly driven to control the extending length of the cleaning head according to the inner diameter of the pipeline so as to keep the arc-shaped outer wall of the cleaning head 1 to be abutted against the inner wall of the pipeline for cleaning.
Wherein, ultrasonic detection device can set up to one or more, it can set up respectively and patrols and examines the anterior or circumference edge of robot at the pipeline to realize the detection to the pipeline internal diameter.
Further, in order to stabilize the overall structure of the robot and accommodate the rollers of the robot, the positions, close to the edges, of the first cover plate, the second cover plate and the triangular plate 11 are respectively provided with a support post through hole 18, and a cover plate support post 15 is respectively arranged in the support post through holes 18 in a penetrating manner; the cover plate supporting columns 15 and the supporting arms 5 are arranged along the circumferential uniform interval of the ball screw 9 of the pipeline inspection robot. The supporting arm 5 and a walking motor and a roller wheel which are connected with the outer end of the supporting arm can be close to the ball screw 9 and arranged in the space between the cover plate pillars 15 when the lifting plate moves upwards and the supporting arm is pulled to shrink. From this, the holding space that holds support arm and gyro wheel that the interval formed between two apron can reduce the whole volume that the robot was patrolled and examined to the pipeline to open or draw in through the support arm and make the robot is patrolled and examined to the pipeline can realize the inseparable butt with the pipeline inner wall through the less gyro wheel of radius size. Therefore, the pipeline inspection robot can keep certain pipeline passing performance and also have certain speed.
In one implementation, the robot is further connected with a remote control unit and an image display unit to form a system capable of being used for pipeline inspection. Specifically, when the traveling motor 10 operates, the image transmission module 12 and the camera 13 connected to the top of the triangle 11 work synchronously, the camera 13 collects images in the pipeline, and the image transmission module 12 performs wired or wireless transmission on the images collected by the camera 13. And the image display unit is used for receiving the image acquired by the camera 13 and transmitted by the image transmission module 12. And the remote control unit controls the running motor 10 and the cleaning motor 3 to run, and controls the pipeline inspection robot to run and the cleaning head 1 to rotate.
In one implementation, the main components of the pipeline inspection robot, such as the cover plate support 15, the cleaning motor 3, the walking motor, the supporting arm 5, the triangular plate 11, the ball screw 9, the connecting bolt 14, the lifting plate 8, and the like, can be assembled by themselves in the following manner.
Firstly, the maximum diameter of the cover plate of the pipeline inspection robot is selected according to the minimum pipe diameter which the pipeline inspection robot needs to pass through, and the size of the triangular plate and the length of the cover plate support 15 are correspondingly selected. The cover support posts 15 are inserted into the post through holes 18 of the first cover, the second cover, and the triangle in this order to form the main structure of the robot.
The motor base is installed at the tail end of the triangular plate 11, deep groove ball bearings are installed on the middle parts of the cover plates, ball screws 9 are installed in the middle of the cover plates, connecting bolts 14 are installed in the middle of the ball screws 9, and the lifting plate 8 is fixedly connected with the connecting bolts 14 and arranged between the two cover plates and between the second cover plate and the triangular plate.
When the installation of the parts is completed, 3 supporting arms 5 are respectively installed on the two cover plates, and a traveling motor 10 and a roller 7 are respectively installed on the six supporting arms 5 to form the main body structure of the machine shown in fig. 2. Then, after the support arm 5 and the roller 7 are mounted, the support arm 5 and the lifting plate 8 are pinned by the stay 6
The robot is integrally driven, and then a cleaning device mounting plate 2 is mounted at the front end of the cover plate, and three pillars 4 of the cleaning device mounting plate 2 are exactly butted with three rectangular holes in the cover plate, so that the cleaning device is firmly fixed at the top end of the cover plate, as shown in fig. 3. After the installation of the cleaning device installation plate 2 is completed, the cleaning head 1 is installed at the tail end or the bottom of the cover plate, and the camera 13 is installed at the other end. The driving walking motor 10, the cleaning motor and the camera synchronously work, and images of different parts in the pipeline are collected and uploaded.
Therefore, the robot can adapt to different pipe diameters; the whole moving process is that the ball screw 9 is driven by the motor to lift the supporting arm 5, so that the contact wheel on the supporting arm 5 is combined with the inner wall of the pipeline, after the pipeline is supported by the robot, the rear end cleaning head 1 begins to extend out, and after the pipe wall is contacted, the cleaning head 1 begins to rotate and clean, meanwhile, the camera 13 at the front end of the robot is controlled to transmit images through the image transmission module 12, and the condition inside the pipeline is fed back.
The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.
Claims (7)
1. A pipeline inspection robot, comprising:
the ball screw (9) is arranged in the middle of the pipeline inspection robot and is connected with a first screw nut and a second screw nut (8), wherein the first screw nut is positioned at the lower part of the ball screw (9), and the second screw nut (8) is positioned at the upper part of the ball screw (9);
a first cover plate, the center of which is provided with a first screw rod through hole (19), the bottom end of the ball screw rod (9) passes through the first screw rod through hole (19) and is rotatably connected with the first cover plate;
a first lifting plate which is arranged above the first cover plate, is fixedly connected with the first lead screw nut, and surrounds the circumferential outer wall of the first lead screw nut;
the second cover plate is arranged above the first lifting plate, a second screw rod through hole is formed in the center of the second cover plate, and the middle of the ball screw (9) penetrates through the second screw rod through hole and is rotatably connected with the second cover plate;
and the second lifting plate is arranged above the second cover plate, is fixedly connected with the second lead screw nut (8), and surrounds the circumferential outer wall of the second lead screw nut (8).
2. The pipeline inspection robot according to claim 1, further comprising:
the supporting arms (5) comprise a plurality of supporting arms, the connecting end of each supporting arm (5) is respectively connected with the edge of the first cover plate or the second cover plate, each supporting arm (5) is respectively opened or closed along the radial direction of the first cover plate or the second cover plate by taking the connected edge as a rotating shaft, and the abutting end of each supporting arm (5) is also respectively provided with a walking motor (10);
the rollers (7) comprise a plurality of rollers, each roller (7) is respectively connected with a motor shaft of a walking motor (10) arranged at the abutting end of each supporting arm (5), and the rollers are driven by the motor shafts of the walking motors (10) to abut against the inner wall of the pipeline to rotate so as to drive the pipeline inspection robot to walk;
the center of the triangular plate (11) is connected with the top end of the ball screw (9);
the driving mechanism is arranged at the bottom of the first cover plate or at the top of the triangular plate (11), is connected with the bottom end or the top end of the ball screw (9), and drives the ball screw (9) to rotate so as to push the first lifting plate and the second lifting plate to move upwards or downwards along the ball screw (9);
a plurality of support rods (6), wherein one end of each support rod (6) is connected with the edge of the first lifting plate or the second lifting plate, the other end of each support rod is rotatably connected with a connecting bolt (14), and the connecting bolt (14) is arranged in the middle of the support arm (5) and is vertical to the length direction of the support arm (5); as the first lifting plate or the second lifting plate moves upwards or downwards, the first lifting plate or the second lifting plate drives the supporting arm (5) to lift upwards to close to the ball screw (9) or to fall downwards to open away from the ball screw (9).
3. The pipeline inspection robot according to claims 1-2, wherein a drawing transmission module (12) and a camera (13) are further connected to the top of the triangle (11), the camera (13) collects images in the pipeline, and the images collected by the camera are transmitted in a wired or wireless mode through the drawing transmission module (12).
4. The pipe inspection robot according to claims 1-3, further comprising a cleaning device mounting plate (2) connected to the bottom of the first cover plate, including 4 hollow-structured posts (4) extending upward from the top of the cleaning device mounting plate (2) and inserted into the bottom of the first cover plate, the 4 posts (4) being uniformly arranged in a Y-shape on the top of the cleaning device mounting plate (2), wherein one post (4) near the center of the cleaning device mounting plate (2) is shorter than 3 posts near the edge of the cleaning device mounting plate (2);
the top of the base of the cleaning head is provided with a top plug connector which protrudes upwards, the top plug connector is plugged into the 4 pillars (4) with the hollow structures, and the base of the cleaning head is fixed at the lower part of the cleaning device mounting plate (2); the bottom of the base of the cleaning head is also or is provided with two cleaning head mounting grooves which extend outwards and are arranged in parallel oppositely;
the cleaning heads (1) comprise two cleaning heads which are arranged oppositely and are parallel to each other, and the two cleaning heads (1) are respectively inserted into the cleaning head mounting grooves and extend outwards;
and the cleaning motor (3) is arranged inside the base of the cleaning head and is positioned at the lower part of the cleaning device mounting plate (2) to drive the cleaning head (1) to extend out of the cleaning head mounting groove and use the ball screw (9) as axial rotation.
5. The pipeline inspection robot according to claims 1-4, wherein the outer side end of the cleaning head (1) is provided with a semi-cylindrical scraping disc, and the outer wall of the semi-cylindrical scraping disc abuts against the inner wall of the pipeline to scrape dirt on the surface of the inner wall.
6. The pipeline inspection robot according to claims 1-5, wherein the first cover plate, the second cover plate and the triangular plate (11) are further respectively provided with pillar through holes (18) at positions close to the edges, and cover plate pillars (15) respectively penetrate through the pillar through holes (18); the cover plate supporting columns (15) and the supporting arms (5) are arranged along the circumferential uniform interval of the ball screw (9) of the pipeline inspection robot.
7. The pipeline inspection robot according to claims 1-6, further including an ultrasonic sensor on a surface thereof for detecting an inner diameter of the pipeline.
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| CN201910897121.3A CN110594525A (en) | 2019-09-23 | 2019-09-23 | Pipeline inspection robot |
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| CN201910897121.3A CN110594525A (en) | 2019-09-23 | 2019-09-23 | Pipeline inspection robot |
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| CN110594525A true CN110594525A (en) | 2019-12-20 |
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| CN201910897121.3A Pending CN110594525A (en) | 2019-09-23 | 2019-09-23 | Pipeline inspection robot |
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| CN111064127A (en) * | 2019-12-30 | 2020-04-24 | 郝海燕 | Rolling type tubular power cable threading apparatus auxiliary traction head |
| CN111365563A (en) * | 2020-03-26 | 2020-07-03 | 湖北楚天卓越工程技术有限公司 | Running gear for detecting internal quality of concrete pipeline and operation method |
| CN112157081A (en) * | 2020-07-31 | 2021-01-01 | 红塔烟草(集团)有限责任公司 | Air pipe accumulated dust removing device |
| CN112605078A (en) * | 2020-11-30 | 2021-04-06 | 盐城大孙庄新城建设有限公司 | Cleaning robot for central air conditioner |
| CN112676263A (en) * | 2021-01-15 | 2021-04-20 | 中铁建电气化局集团第四工程有限公司 | Cleaning and sucking machine for sundry dirt in rail passing pipe and working method thereof |
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| CN114884005A (en) * | 2022-06-20 | 2022-08-09 | 南京信息工程大学 | Auxiliary assembly for electric power inspection |
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Application publication date: 20191220 |