CN111347433A - Piping lane inspection robot - Google Patents
Piping lane inspection robot Download PDFInfo
- Publication number
- CN111347433A CN111347433A CN201811561872.XA CN201811561872A CN111347433A CN 111347433 A CN111347433 A CN 111347433A CN 201811561872 A CN201811561872 A CN 201811561872A CN 111347433 A CN111347433 A CN 111347433A
- Authority
- CN
- China
- Prior art keywords
- bearing
- box body
- inspection robot
- body shell
- sealing
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a pipe gallery inspection robot, which comprises a bearing bottom plate; one end of the driving module is hung on the I-shaped steel guide rail, and the other end of the driving module is connected with the bearing bottom plate through two slewing bearings; the bearing box body shell is fixed on the bearing bottom plate, and the bearing box body shell and the bearing bottom plate enclose a sealed accommodating cavity; the battery is fixed on one side of the bearing bottom plate and is accommodated in the accommodating cavity; the gas sensor is accommodated in the accommodating cavity, and the detector of the gas sensor penetrates through the bottom of the shell of the bearing box body and extends to the outside of the accommodating cavity; the gas sensor is hermetically connected with the bearing box body shell through a first sealing element; one end of the camera penetrates through the bottom of the bearing box body shell and is fixed on the bearing box body shell, the other end of the camera extends to the outside of the accommodating cavity, and the camera and the bearing box body shell are connected in a sealing mode through a second sealing piece; the pipe gallery inspection robot is controlled by the sealing controller to operate, the sealing controller is accommodated in the accommodating cavity, a sealing space is formed independently, and the sealing performance is good.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipe gallery inspection robot.
Background
The inspection robot can be used in places such as a large supermarket, a warehouse, a farm, a factory, a power distribution room, a transformer substation and the like. At the present stage, along with the development of robot technology, various intelligent inspection monitoring robots are more and more widely applied, wherein rail type inspection robots are more and more favored due to stable and reliable operation lines, no floor space occupation and simple and convenient control, and the design of a walking mechanism as an important mechanism of the inspection robot is particularly important. At present, the existing pipe gallery inspection robot is roughly divided into two forms: overhead hanger rail type and ground wheel type. The aerial hanger rail type inspection device is suitable for inspection of pipe galleries, directionally moves in a narrow space for inspection, and is easy to control and arrange the space; the ground wheel type is relatively limited, is easily influenced by complex ground environment and is severely limited in use. The hanger rail formula inspection robot who uses at present is simple and easy structure mostly, does not have the protection grade, and turning radius is great, when meetting special pipeline environment, then can not satisfy the requirement of operation.
Disclosure of Invention
The invention mainly solves the technical problem of providing a pipe gallery inspection robot with higher protection grade and smaller turning radius.
The utility model provides a robot is patrolled and examined to piping lane, walks on the I-steel guide rail, includes:
a load floor;
one end of the driving module is hung on the I-shaped steel guide rail and used for driving the pipe gallery inspection robot to run along the I-shaped steel guide rail, and the other end of the driving module is connected with the bearing bottom plate through two slewing bearings;
the bearing box body shell is fixed on the bearing bottom plate, and a sealed accommodating cavity is formed by the bearing box body shell and the bearing bottom plate in a surrounding mode;
the battery is fixed on one side of the bearing bottom plate and is accommodated in the accommodating cavity;
a gas sensor; the detector of the gas sensor penetrates through the bottom of the bearing box body shell and extends to the outside of the accommodating cavity; the gas sensor is hermetically connected with the bearing box body shell through a first sealing element;
one end of the camera penetrates through the bottom of the bearing box body shell and is fixed on the bearing box body shell, the other end of the camera extends to the outside of the accommodating cavity, and the camera is hermetically connected with the bearing box body shell through a second sealing element;
and the sealing controller is used for controlling the operation of the pipe gallery inspection robot, and the sealing controller is accommodated in the accommodating cavity and independently forms a sealing space.
In one embodiment, the driving module comprises a driving assembly and a driven assembly, the driving assembly and the driven assembly are fixed on the bearing bottom plate, and the driving assembly is connected with a driving motor.
In one embodiment, the driving assembly and the driven assembly comprise pulley blocks, and the pulley blocks are clamped in the I-shaped steel guide rail groove and run along the I-shaped steel guide rail groove.
In one embodiment, the device further comprises a sensor bracket, and the first sealing piece is pressed between the bearing box shell and the sensor bracket.
In one embodiment, the camera device further comprises a camera bracket for fixedly supporting the camera, and the second sealing element is arranged between the bearing box shell and the camera bracket in a pressing mode.
In one embodiment, the bearing box shell and the bearing bottom plate are fixed through screws and nuts.
In one embodiment, a third seal is provided between the load box housing and the load floor.
In one embodiment, the first seal, the second seal and the third seal are all sealing rings.
The invention has the beneficial effects that: in the pipe gallery inspection robot, the pipe gallery inspection robot is hung on an I-shaped steel guide rail through the driving module to realize driving operation along the rail, and the driving module is connected with the bearing bottom plate through the two slewing bearings, so that the pipe gallery inspection robot can adapt to a curve with a large radian, and the passing performance of a pipeline with a complex terrain is improved. The inside 3 sealed regions that form of box expose partial gas sensor and camera, because sensor and vision subassembly (camera) all pass through the isolated effect of sealing member, can not influence the leakproofness of whole lower part box. The sealed controller is a totally-enclosed box which seals all board cards, and ensures a good operating environment of the control unit, so that the robot can work in a humid environment with very high humidity.
Drawings
Fig. 1 is a schematic structural diagram of a pipe gallery inspection robot according to an embodiment;
FIG. 2 is a cross-sectional view of an embodiment of a pipe gallery inspection robot;
the numbering in the drawings illustrates: 1. the device comprises a driving assembly, 2, a driven assembly, 3, a bearing box shell, 4, a bearing bottom plate, 5, a box sealing ring, 6, a first sealing element, 7, a second sealing element, 8, a sealing controller, 9, a rotary bearing, 10, a battery, 11, a gas sensor, 12, a camera, 13, a camera support, 14 and a sensor support.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
The invention provides an embodiment of a pipe gallery inspection robot, which runs along an I-steel guide rail and comprises a driving module, a bearing box body shell 3, a bearing bottom plate 4, a sealing controller 8, a battery 10, a gas sensor 11 and a camera 12. The driving module forms an upper driving module, the bearing bottom plate 4 and the bearing box body shell 3 wrap all internal components, and the lower main body module forms a lower main body module together with the exposed gas sensor 11 and the exposed camera 12.
Wherein, drive module includes drive assembly 1 and driven subassembly 2, and drive assembly 1 and driven subassembly 2 are fixed on bearing bottom plate 4, and drive assembly is connected with driving motor. One ends of the driving assembly 1 and the driven assembly 2 are hung on the I-steel guide rail and used for driving the pipe gallery inspection robot to run along the I-steel guide rail, and the other ends of the driving assembly 1 and the driven assembly 2 are connected with the bearing bottom plate 4 through the slewing bearings 9 respectively.
Specifically, the driving assembly 1 and the driven assembly 2 both comprise pulley blocks, and the pulley blocks are clamped in the grooves of the I-shaped steel guide rails and move along the grooves of the I-shaped steel guide rails.
In one embodiment, the carrying box housing 3 is fixed on the carrying bottom plate 4, and the carrying box housing 3 and the carrying bottom plate 4 enclose a sealed accommodating cavity. The accommodating cavity is used for accommodating each component.
Specifically, the battery 10 is accommodated in the accommodating cavity and fixed on the inner side of the bearing bottom plate 4 close to the i-shaped steel rail.
In an embodiment, the gas sensor 11 is accommodated in the accommodating cavity, and the detector of the gas sensor 11 extends to the outside of the accommodating cavity through the bottom of the bearing box housing 3, and the gas sensor 11 and the bearing box housing 3 are hermetically connected through a first sealing member, specifically, the first sealing member 6 may be a sealing ring. In one embodiment, a sensor holder 14 is also included for supporting the sensor 11. The first seal 6 is pressed between the bearing housing shell 3 and the sensor carrier 14.
In one embodiment, one end of the camera 12 penetrates through the bottom of the carrying case housing 3 and is fixed on the carrying case housing 3, the other end of the camera 12 extends to the outside of the accommodating cavity, and the camera 12 and the carrying case housing 3 are hermetically connected through the second sealing member 7. In particular, the second seal 7 may be a sealing ring.
In one embodiment, the device further comprises a camera bracket 13 for fixedly supporting the camera 12, and the second sealing member 7 is pressed between the carrying case housing 3 and the camera bracket 13.
In one embodiment, the sealing controller 8 is used for controlling the operation of the pipe gallery inspection robot, and the sealing controller 8 is contained in the containing cavity and independently forms a sealing space.
The pipe gallery inspection robot forms first-level sealing through the first sealing piece 6 and the second sealing piece 7, and the sealing controller 8 independently realizes second-level sealing in the sealing space.
In one embodiment, the load-bearing box housing 3 and the load-bearing floor 4 are secured by screws and nuts.
In one embodiment, a third seal is provided between the load carrying case housing 3 and the load carrying floor 4.
In above-mentioned piping lane patrols and examines robot, upper portion is drive module, and the lower part is for bearing the weight of the module, can change the modularization part according to different demands, the different operation requirements of adaptation. The pipe gallery inspection robot is hung on the I-shaped steel guide rail through the driving module to realize driving operation along the rail, and the driving module is connected with the bearing bottom plate through two slewing bearings, so that the pipe gallery inspection robot can adapt to a curve with a large radian and increase the passing performance of a pipeline in a complex terrain. The inside 3 sealed regions that form of box expose partial gas sensor and camera because sensor and vision subassembly all pass through the isolated effect of sealing member, can not influence the leakproofness of whole lower part box. The sealed controller is a totally-enclosed box which seals all board cards, and ensures a good operation environment of the control unit, so that the robot can work in a humid low-temperature environment with very high humidity.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "back", "top", "bottom", "inner", "outer", and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience only and to simplify the description, and which indicates or implies that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, is not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., 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 are not necessarily intended to 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. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above-described embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (8)
1. The utility model provides a robot is patrolled and examined to piping lane, walks on the I-steel guide rail, a serial communication port, include:
a load floor;
one end of the driving module is hung on the I-shaped steel guide rail and used for driving the pipe gallery inspection robot to run along the I-shaped steel guide rail, and the other end of the driving module is connected with the bearing bottom plate through two slewing bearings;
the bearing box body shell is fixed on the bearing bottom plate, and a sealed accommodating cavity is formed by the bearing box body shell and the bearing bottom plate in a surrounding mode;
the battery is fixed on one side of the bearing bottom plate and is accommodated in the accommodating cavity;
a gas sensor; the detector of the gas sensor penetrates through the bottom of the bearing box body shell and extends to the outside of the accommodating cavity; the gas sensor is hermetically connected with the bearing box body shell through a first sealing element;
one end of the camera penetrates through the bottom of the bearing box body shell and is fixed on the bearing box body shell, the other end of the camera extends to the outside of the accommodating cavity, and the camera is hermetically connected with the bearing box body shell through a second sealing element;
and the sealing controller is used for controlling the operation of the pipe gallery inspection robot, and the sealing controller is accommodated in the accommodating cavity and independently forms a sealing space.
2. The pipe rack inspection robot according to claim 1, wherein the driving module comprises a driving assembly and a driven assembly, the driving assembly and the driven assembly are fixed on the bearing bottom plate, and the driving assembly is connected with a driving motor.
3. The pipe rack inspection robot according to claim 2, wherein the drive assembly and the driven assembly include pulley blocks that snap into and run along the i-steel rail grooves.
4. The pipe rack inspection robot according to claim 1, further comprising a sensor support, wherein the first seal is compressed between the load box housing and the sensor support.
5. The pipe gallery inspection robot according to claim 1, further comprising a camera support for fixedly supporting the camera, wherein the second sealing member is pressed between the housing of the carrying box and the camera support.
6. The pipe rack inspection robot according to claim 1, wherein the load-bearing box housing and the load-bearing base plate are secured by screws and nuts.
7. The pipe rack inspection robot according to claim 6, wherein a third seal is provided between the load box housing and the load floor.
8. The pipe rack inspection robot according to claim 7, wherein the first, second and third seals are sealing rings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561872.XA CN111347433A (en) | 2018-12-20 | 2018-12-20 | Piping lane inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811561872.XA CN111347433A (en) | 2018-12-20 | 2018-12-20 | Piping lane inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111347433A true CN111347433A (en) | 2020-06-30 |
Family
ID=71188252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811561872.XA Pending CN111347433A (en) | 2018-12-20 | 2018-12-20 | Piping lane inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111347433A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114762971A (en) * | 2021-01-13 | 2022-07-19 | 京东科技信息技术有限公司 | Inspection robot |
| CN114905480A (en) * | 2021-02-09 | 2022-08-16 | 京东科技信息技术有限公司 | Rail-mounted robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758916A (en) * | 2010-02-11 | 2010-06-30 | 北京大学 | Autonomous type robotic fish |
| CN103612559A (en) * | 2013-12-10 | 2014-03-05 | 国家电网公司 | Route inspection robot and walking mechanism thereof |
| CN203616653U (en) * | 2013-12-19 | 2014-05-28 | 成都慧拓自动控制技术有限公司 | A track intelligent tour-inspection robot |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| CN207509203U (en) * | 2017-09-30 | 2018-06-19 | 岭东核电有限公司 | Nuclear power plant environment monitoring robot |
| JP2018126807A (en) * | 2017-02-06 | 2018-08-16 | トヨタ車体株式会社 | Workpiece transport device |
-
2018
- 2018-12-20 CN CN201811561872.XA patent/CN111347433A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101758916A (en) * | 2010-02-11 | 2010-06-30 | 北京大学 | Autonomous type robotic fish |
| CN103612559A (en) * | 2013-12-10 | 2014-03-05 | 国家电网公司 | Route inspection robot and walking mechanism thereof |
| CN203616653U (en) * | 2013-12-19 | 2014-05-28 | 成都慧拓自动控制技术有限公司 | A track intelligent tour-inspection robot |
| CN106512266A (en) * | 2016-10-27 | 2017-03-22 | 中国矿业大学 | Hanging rail type fire controlling and routing inspection robot |
| JP2018126807A (en) * | 2017-02-06 | 2018-08-16 | トヨタ車体株式会社 | Workpiece transport device |
| CN207509203U (en) * | 2017-09-30 | 2018-06-19 | 岭东核电有限公司 | Nuclear power plant environment monitoring robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114762971A (en) * | 2021-01-13 | 2022-07-19 | 京东科技信息技术有限公司 | Inspection robot |
| CN114762971B (en) * | 2021-01-13 | 2024-01-12 | 京东科技信息技术有限公司 | Inspection robot |
| CN114905480A (en) * | 2021-02-09 | 2022-08-16 | 京东科技信息技术有限公司 | Rail-mounted robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111347433A (en) | Piping lane inspection robot | |
| CN109899621B (en) | Intelligent spherical pipeline detection robot | |
| CN109945924B (en) | Adjustable spherical machine body structure for pipeline robot | |
| CN112888536A (en) | Robot and integrated joint thereof | |
| CN215944723U (en) | Building curtain wall check out test set carries on structure based on wall climbing robot | |
| CN110385730A (en) | A kind of modularization vibration insulating system for track machine people | |
| US9162719B2 (en) | Limbed vehicles, systems and methods using same, and post networks on which limbed vehicles travel | |
| CN109129401A (en) | A kind of explosion-proof type body construction | |
| CN201179899Y (en) | Flame-proof type robot platform for search operation in coal mine well | |
| CN209007529U (en) | A kind of explosion-proof type body construction | |
| CN204323703U (en) | Unmanned vehicle | |
| CN216302092U (en) | Novel sample save device | |
| CN105090752B (en) | A kind of pipeline geological disaster field monitoring stake | |
| CN208022301U (en) | Carrying robot | |
| CN209296251U (en) | The airtight detection auxiliary connecting device of battery pack | |
| CN207181376U (en) | A kind of liquefied gas content detection device | |
| CN207857392U (en) | A kind of quadrate lithium battery automatic measuring thickness picks device | |
| CN215265077U (en) | On-the-way monitoring terminal for transformer | |
| CN210181241U (en) | Portable underground pipeline detection early warning device | |
| CN220410861U (en) | Underwater crawler-type operation vehicle | |
| CN207159194U (en) | A kind of probiotics conveying arrangement | |
| CN219421229U (en) | Shell structure of one-dimensional turntable | |
| CN219295556U (en) | Explosion-proof leg-foot robot | |
| CN205723801U (en) | A kind of material jacking mechanism | |
| CN111288979B (en) | Surveying and mapping observation vehicle |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200630 |