CN112013205A - Flow multiplication propulsion pipeline detection robot - Google Patents
Flow multiplication propulsion pipeline detection robot Download PDFInfo
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- CN112013205A CN112013205A CN202010949010.5A CN202010949010A CN112013205A CN 112013205 A CN112013205 A CN 112013205A CN 202010949010 A CN202010949010 A CN 202010949010A CN 112013205 A CN112013205 A CN 112013205A
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- pipeline
- detection
- machine shell
- robot
- flow
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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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- 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
- F16L55/40—Constructional aspects of the body
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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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of pipeline detection, and discloses a flow multiplication propulsion pipeline detection robot, which comprises: a machine housing; the driving assembly is arranged in the machine shell and used for providing driving power for the pipeline detection robot; the main detector is arranged in the machine shell and used for detecting the full water pipeline; the auxiliary part is arranged in the machine shell, is fixedly connected with the machine shell and is used for assisting the pipeline detection of the main detector so as to enable the pipeline robot to collect pipeline information; the cable sets up on machine housing, respectively with main detector, auxiliary member signal connection for connect outside remote terminal and with pipeline information transmission to remote terminal that main detector and auxiliary member gathered. The device can directly work in the full pipeline, and has high working efficiency; the system can automatically move in the center of the pipeline, and the acquired pipeline data is more accurate and clear; the detection device is convenient to operate, simple and rapid, and can greatly improve the detection efficiency while ensuring the detection precision.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a flow multiplication propulsion pipeline detection robot.
Background
The full-pipe water pipeline is one of the common pipe network conditions in the current urban pipe network, and the full-pipe water has many unpredictable complex conditions such as impurities, obstacles, vortexes, rapid flow velocity and the like, so that the detection work of the full-pipe water pipeline cannot be as easy as the detection work of a clean pipeline and a low-water-level pipeline.
In the prior art, the existing method for detecting the full-pipe water pipeline is to carry out frogman detection or to block the pipeline, pump water to reduce the water level and then carry out detection, the mode of frogman detection has high risk and high cost, the mode of blocking the pipeline, which pumps water, wastes time and labor, and the full-pipe water pipeline detection is a difficult problem in the pipe network detection industry.
Therefore, how to detect the full water pipeline becomes a technical problem to be solved urgently.
Disclosure of Invention
The invention aims to solve the technical problem of how to detect a full pipeline.
To this end, according to a first aspect, an embodiment of the present invention discloses a flow multiplication propulsion pipeline detection robot, including: a machine housing having an annular configuration; the driving assembly is arranged in the machine shell and used for providing driving power for the pipeline detection robot; the main detector is arranged in the machine shell, is fixedly connected with the machine shell and is used for detecting a full water pipeline; the auxiliary part is arranged in the machine shell, is fixedly connected with the machine shell and is used for assisting the pipeline detection of the main detector so as to enable the pipeline robot to collect pipeline information; the cable, set up in on the machine casing, respectively with main detector auxiliary member signal connection for connect outside remote terminal and with main detector with the pipeline information transmission to remote terminal that the auxiliary member was gathered.
Optionally, the drive assembly comprises three shaftless propellers equally spaced apart within the machine housing.
Optionally, the shaftless propeller comprises a propeller housing embedded in the machine housing, and a propeller impeller for propelling by using water flow negative pressure is fixedly arranged in the propeller housing.
Optionally, three propelling blades are arranged in the propelling impeller and distributed at equal intervals, and the propelling blades are spirally arranged.
Optionally, the primary detector is sonar or radar.
Optionally, the number of the auxiliary members is two, and the two auxiliary members are symmetrically distributed in the machine shell.
Optionally, the auxiliary is a camera or a sensor.
Optionally, the remote terminal is a computer.
The invention has the following beneficial effects: the device can directly work in the full pipeline, and has high working efficiency; the system can automatically move in the center of the pipeline, and the acquired pipeline data is more accurate and clear; the detection device is convenient to operate, simple and rapid, and can greatly improve the detection efficiency while ensuring the detection precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic perspective view of a flow multiplication propulsion pipeline inspection robot disclosed in this embodiment;
FIG. 2 is a schematic diagram of an explosion structure of a flow-multiplying impulse piping inspection robot disclosed in this embodiment;
FIG. 3 is a schematic diagram of an explosion structure of a shaftless propeller in a flow multiplication propulsion pipeline inspection robot according to the embodiment;
FIG. 4 is a schematic diagram of an application of the flow-multiplying impulse piping inspection robot disclosed in this embodiment;
fig. 5 is a schematic view of the working principle of the flow multiplication propulsion pipeline inspection robot disclosed in this embodiment.
Reference numerals: 1. a machine housing; 2. a drive assembly; 21. a shaftless propeller; 211. a propulsion housing; 212. propelling the impeller; 2121. a propulsion blade; 3. a primary detector; 4. an auxiliary member; 5. a cable.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not 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.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention discloses a flow multiplication propulsion pipeline detection robot, which comprises the following components as shown in figures 1 and 2: machine housing 1, drive assembly 2, main detector 3, auxiliary 4 and cable 5, wherein: the machine shell 1 is of a circular ring-shaped structure; the driving assembly 2 is arranged in the machine shell 1, and the driving assembly 2 is used for providing driving power for the pipeline detection robot; the main detector 3 is arranged in the machine shell 1, the main detector 3 is fixedly connected with the machine shell 1, and the main detector 3 is used for detecting a full water pipeline; the auxiliary part 4 is arranged in the machine shell 1, the auxiliary part 4 is fixedly connected with the machine shell 1, and the auxiliary part 4 is used for assisting the pipeline detection of the main detector 3 so as to enable the pipeline robot to collect pipeline information; cable 5 sets up on machine housing 1, and cable 5 respectively with main detector 3, auxiliary member 4 signal connection, cable 5 are used for connecting outside remote terminal and transmit the pipeline information transmission to remote terminal that main detector 3 and auxiliary member 4 gathered.
The machine shell 1 is of a circular structure, so that water flow resistance can be reduced when the pipeline detection robot is propelled, negative pressure can be formed when water flow passes through the center of a circular ring in an accelerated manner, so that fluid around the pipeline detection robot can extrude the pipeline detection robot to the center, the pipeline detection robot can move forward in the center of the pipeline all the time, and the driving component 2 plays a driving role and further drives the pipeline detection robot to move in the pipeline; the flow multiplication propulsion pipeline detection robot disclosed by the embodiment can directly work in a full pipeline, and is high in working efficiency; the system can automatically move in the center of the pipeline, and the acquired pipeline data is more accurate and clear; the detection device is convenient to operate, simple and rapid, and can greatly improve the detection efficiency while ensuring the detection precision.
As shown in fig. 1-3, the drive assembly 2 comprises three shaftless propellers 21 equally spaced within the machine housing 1.
As shown in fig. 1 to 3, the shaftless propeller 21 includes a propeller housing 211 embedded in the machine housing 1, and a propeller impeller 212 for negative pressure propulsion using water flow is fixedly provided in the propeller housing 211.
As shown in fig. 1-3, three propelling blades 2121 are disposed in the propelling impeller 212 at equal intervals, and the propelling blades 2121 are spirally disposed.
As shown in fig. 2, the main detector 3 is a sonar or radar. In a specific implementation process, an indication arrow for indicating downward is arranged on the main detector 3.
It should be noted that the main probe 3 is arranged at the bottom of the pipeline inspection robot, and the main probe 3 is kept at the bottom of the pipeline inspection robot under the action of gravity because the main probe 3 has a relatively large weight. Meanwhile, the pipeline detection robot can be stabilized, and the equipment is prevented from rotating in the pipeline.
As shown in fig. 2, the number of the auxiliary members 4 is set to two, and the two auxiliary members 4 are symmetrically distributed in the machine case 1.
As shown in fig. 2, the auxiliary 4 is a camera or a sensor.
In a specific implementation, the remote terminal is a computer.
The working principle is as follows: the machine shell 1 is of a circular ring structure, so that water flow resistance when the pipeline detection robot is propelled can be reduced, negative pressure can be formed when water flow accelerates through the center of a circular ring, peripheral fluid extrudes the pipeline detection robot towards the center, the pipeline detection robot can always advance at the center of the pipeline, the driving component 2 plays a driving role, the water flow accelerates through the shaftless propeller 21, the pipeline detection robot is further driven to move in the pipeline, the thrust of the pipeline detection robot is balanced, and the pipeline detection robot is propelled more stably; the flow multiplication propulsion pipeline detection robot disclosed by the embodiment can directly work in a full pipeline, and is high in working efficiency; the system can automatically move in the center of the pipeline, and the acquired pipeline data is more accurate and clear; the detection device is convenient to operate, simple and rapid, and can greatly improve the detection efficiency while ensuring the detection precision.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (8)
1. A flow multiplying impulse piping inspection robot, comprising:
a machine housing (1) having an annular structure;
the driving assembly (2) is arranged in the machine shell (1) and used for providing driving power for the pipeline detection robot;
the main detector (3) is arranged in the machine shell (1), is fixedly connected with the machine shell (1) and is used for detecting a full water pipeline;
the auxiliary part (4) is arranged in the machine shell (1), is fixedly connected with the machine shell (1), and is used for assisting the pipeline detection of the main detector (3) so as to enable a pipeline robot to acquire pipeline information;
the cable (5) is arranged on the machine shell (1), is respectively in signal connection with the main detector (3) and the auxiliary piece (4) and is used for connecting an external remote terminal and transmitting the main detector (3) and the pipeline information collected by the auxiliary piece (4) to the remote terminal.
2. The flow multiplying impulse piping inspection robot of claim 1, characterized in that the drive assembly (2) comprises three shaftless propellers (21) equally spaced within the machine housing (1).
3. The flow rate multiplication propulsion pipe detection robot according to claim 2, characterized in that the shaftless propeller (21) comprises a propulsion housing (211) embedded in the machine housing (1), and a propulsion impeller (212) for negative pressure propulsion by water flow is fixedly arranged in the propulsion housing (211).
4. The flow multiplying impulse piping inspection robot of claim 3, where in the impulse impeller (212) there are three equally spaced impulse blades (2121), and the impulse blades (2121) are arranged in a spiral.
5. The flow multiplying impulse piping inspection robot of claim 1, where the main detector (3) is sonar or radar.
6. The flow-multiplying impulse piping detection robot according to claim 1, characterized in that the number of said auxiliary members (4) is set to two, two of said auxiliary members (4) being symmetrically distributed within said machine housing (1).
7. A flow multiplying impulse piping detection robot as claimed in claim 6, characterized in, that said auxiliary (4) is a camera or a sensor.
8. The flow multiplying impulse piping detection robot of claim 1, in which the remote terminal is a computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010949010.5A CN112013205B (en) | 2020-09-10 | 2020-09-10 | Flow multiplication propulsion pipeline detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010949010.5A CN112013205B (en) | 2020-09-10 | 2020-09-10 | Flow multiplication propulsion pipeline detection robot |
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| CN112013205A true CN112013205A (en) | 2020-12-01 |
| CN112013205B CN112013205B (en) | 2021-12-28 |
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| CN202010949010.5A Active CN112013205B (en) | 2020-09-10 | 2020-09-10 | Flow multiplication propulsion pipeline detection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112762274A (en) * | 2021-01-14 | 2021-05-07 | 武汉理工大学 | Crude oil pipeline leakage detection robot |
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| US6686950B1 (en) * | 1997-09-05 | 2004-02-03 | Michel Caffon | Device for inspecting ventilation or air-conditioning conduits, or other types of conduits |
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| CN109268697A (en) * | 2018-11-07 | 2019-01-25 | 廖庆斌 | Robot is used in detection inside water-filled pipe |
| CN110525622A (en) * | 2019-09-29 | 2019-12-03 | 杭州诺祥科技有限公司 | Shaftless propeller |
| CN211010418U (en) * | 2019-11-28 | 2020-07-14 | 武汉天仪海波仪器有限公司 | Pipeline detection robot and pipeline detection system |
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2020
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| US6686950B1 (en) * | 1997-09-05 | 2004-02-03 | Michel Caffon | Device for inspecting ventilation or air-conditioning conduits, or other types of conduits |
| CN102349827A (en) * | 2011-07-21 | 2012-02-15 | 长沙学院 | Miniature robot facing tiny pipes of inner cavity of human body and motion method of miniature robot |
| CN106428479A (en) * | 2015-08-06 | 2017-02-22 | 欧舶智能科技（上海）有限公司 | Unmanned remote-controlled underwater robot and control method thereof |
| CN107010188A (en) * | 2017-05-11 | 2017-08-04 | 深圳潜水侠创新动力科技有限公司 | Underwater robot and underwater information acquisition system |
| CN206885305U (en) * | 2017-05-11 | 2018-01-16 | 深圳潜水侠创新动力科技有限公司 | Underwater robot and underwater information acquisition system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112762274A (en) * | 2021-01-14 | 2021-05-07 | 武汉理工大学 | Crude oil pipeline leakage detection robot |
| CN112762274B (en) * | 2021-01-14 | 2022-06-28 | 武汉理工大学 | Crude oil pipeline leakage detection robot |
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| CN112013205B (en) | 2021-12-28 |
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Address after: 518000 cdefgh unit, block a, building 9, Baoneng science and Technology Park, Qinghu village, Qinghu community, Longhua street, Longhua District, Shenzhen City, Guangdong Province Patentee after: Shenzhen bomingwei Technology Co.,Ltd. Address before: 518000 cdefgh unit, block a, building 9, Baoneng science and Technology Park, Qinghu village, Qinghu community, Longhua street, Longhua District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN BOMINWELL ROBOTICS Co.,Ltd. |
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