CN112664755B - Climbing robot for pipeline detection - Google Patents
Climbing robot for pipeline detection Download PDFInfo
- Publication number
- CN112664755B CN112664755B CN202110018844.9A CN202110018844A CN112664755B CN 112664755 B CN112664755 B CN 112664755B CN 202110018844 A CN202110018844 A CN 202110018844A CN 112664755 B CN112664755 B CN 112664755B
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- Prior art keywords
- friction plate
- plate
- band
- type brake
- mounting
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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
- 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 discloses a climbing robot for pipeline detection, which structurally comprises a mounting bracket, a band-type brake mechanism, a camera, a driving box and traveling wheels, wherein four traveling wheels are mounted on two sides of the driving box, the mounting bracket is arranged on the top end surface of the driving box, the mounting bracket and the driving box are locked through a bolt, the camera is mounted on the mounting bracket, and the camera is mounted on a driving main shaft between the traveling wheels and the driving box.
Description
The invention relates to a divisional application of a climbing robot for pipeline detection, which is applied for 2019, 10 and 31 and has the application number of CN 201911056022.9.
Technical Field
The invention relates to the field of pipeline detection, in particular to a climbing robot for pipeline detection.
Background
In heavy industry area, its used pipeline all is used for transporting high temperature, fluid such as poisonous, these fluids take place to reveal and will accomplish great casualties and loss of property, these industry pipe arrangement are all very complicated, the pipeline kind of adoption and two liang between linking up the subassembly, all can let the whole diameter of pipeline change, it can be reducing pipeline even to adopt the pipeline, pipeline structure takes place the back that changes, the climbing stabilizer blade of the robot that the pipeline inspection was used at present does not have band-type brake mechanism, when changeing the direction in the pipeline, unable locking climbing stabilizer blade that stops immediately, camera equipment collides with the device, it is fuzzy to cause detection error or camera equipment to damage the shooting picture.
Disclosure of Invention
Aiming at the defects of the prior art, the invention is realized by the following technical scheme: the utility model provides a climbing robot for pipeline inspection, its structure includes installing support, band-type brake mechanism, camera, drive box, walking wheel, four walking wheels are installed to drive box both sides, drive box top end face is equipped with the installing support, installing support and drive box pass through the locking of spiral shell select, install the camera on the installing support, the driving spindle facial make-up between walking wheel and the drive box is equipped with the camera.
As a further optimization of this technical scheme, band-type brake mechanism is equipped with mounting panel, static friction piece, dress hole, moves the friction disc, mounting panel one side both ends are equipped with the dress hole, be equipped with the static friction piece on the mounting panel, static friction piece and mounting panel fixed connection are equipped with the friction piece with the relative position of static friction piece, move friction piece and static friction piece clearance fit, move friction piece and the laminating of mounting panel activity, the axis mutually perpendicular of static friction piece and the mounted position of moving the friction piece, the direction of opening and shutting is perpendicular.
As a further optimization of the technical scheme, the band-type brake mechanism is movably assembled on the driving box through the mounting hole of the mounting plate, and the edge of the mounting plate is of a smooth circular arc structure.
As the further optimization of this technical scheme, the static friction piece is equipped with fixed head, gusset plate, interior friction piece, arc shell inner wall is equipped with interior diaphragm, interior diaphragm and the mutual gomphosis of arc shell, be equipped with the fixed head in the middle of the arc shell is positive, fixed head and arc shell structure as an organic whole, be equipped with the gusset plate between arc shell and the fixed head.
As a further optimization of the technical scheme, the dynamic friction plate is provided with a rotating head, a second sleeve plate and a friction plate, one end of the second sleeve plate is provided with the rotating head, the rotating head is fixedly connected with the second sleeve plate, the friction plate is arranged on the inner surface of the second sleeve plate, and the friction plate and the second sleeve plate are embedded together.
As the further optimization of this technical scheme, the inner wall of friction plate is equipped with two above archs, and these archs are even equidistance and distribute, protruding and friction plate fixed connection mutually support with the drive spindle, and the band-type brake is more stable.
Advantageous effects
Compared with the prior art, the climbing robot for pipeline detection has the following advantages:
1. according to the invention, through the band-type brake mechanism, when the detected interior of the pipeline turns, the angle of the support leg is immediately locked, the support leg is stabilized, the problem of touch is prevented, and the shot main body is stabilized. A (c)
2. The dynamic friction plate of the band-type brake mechanism is provided with more than two bulges which are matched with the static friction plate, so that the contact friction coefficient with the driving main shaft is increased, the locking stability is improved, and the band-type brake is stable.
3. The central axes of the installation positions of the static friction plate and the dynamic friction plate are mutually vertical, the opening and closing directions are vertical, the effect of lubricating oil impurities is not easy to remain, the impurities are prevented from being adhered to the dynamic friction plate, the action sensitivity of the dynamic friction plate and the dynamic friction plate is reduced, the dynamic friction plate and the dynamic friction plate are ensured to be quickly attached, the brake contracting speed is improved, and the collision problem is further prevented.
4. The top end of the band-type brake mechanism is fixed on the driving box through the mounting hole, the bottom of the band-type brake mechanism is smooth and arc-shaped, the top of the band-type brake mechanism is stably installed, the bottom of the band-type brake mechanism does not collide or rub the inner wall of a pipeline in the walking process, the resistance in the walking process is reduced, and the band-type brake mechanism can walk more quickly.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic perspective view of a climbing robot for pipeline inspection according to the present invention.
Fig. 2 is a schematic plan view of the band-type brake mechanism of the present invention.
Figure 3 is a plan view of the band-type brake mechanism of the present invention when not in use.
Fig. 4 is a schematic plan view of a static friction plate of the present invention.
Fig. 5 is a schematic plan view of the dynamic friction plate of the present invention.
In the figure: the device comprises a mounting bracket 1, a band-type brake mechanism 2, a camera 3, a driving box 4, a travelling wheel 5, a mounting plate 6, a static friction plate 7, a mounting hole 8, a dynamic friction plate 9, a fixed head 71, a reinforcing plate 72, an inner friction plate 73, an arc-shaped outer shell 74, a rotating head 91, a second sleeve plate 92 and a friction plate 93.
Detailed Description
In order to make the technical means, the characteristics, the achievement purposes and the effects of the invention easy to understand, the preferred embodiment of the invention is further explained by combining the detailed description and the attached drawings.
Examples
Referring to fig. 1 to 5, the climbing robot for pipeline inspection provided by the invention structurally comprises a mounting bracket 1, a contracting brake mechanism 2, a camera 3, a driving box 4 and traveling wheels 5, wherein four traveling wheels 5 are mounted on two sides of the driving box 4, the mounting bracket 1 is arranged on the top end surface of the driving box 4, the mounting bracket 1 and the driving box 4 are locked through bolts, the camera 3 is mounted on the mounting bracket 1, and the camera 3 is mounted on a driving main shaft 10 between the traveling wheels 5 and the driving box 4.
Band-type brake mechanism 2 is equipped with mounting panel 6, static friction piece 7, dress hole 8, moves friction piece 9, 6 one side both ends of mounting panel are equipped with dress hole 8, be equipped with static friction piece 7 on the mounting panel 6, static friction piece 7 and 6 fixed connection of mounting panel are equipped with the relative position of static friction piece 7 and move friction piece 9, move friction piece 9 and 7 clearance fit of static friction piece, move friction piece 9 and 6 movable laminating of mounting panel, static friction piece 7 is mutually perpendicular with the axis of the mounted position who moves friction piece 9, and the direction of opening and shutting is perpendicular.
The band-type brake mechanism 2 is movably assembled on the driving box 4 through an assembling hole 8 of the mounting plate 6, and the edge of the mounting plate 6 is of a smooth circular arc structure.
The static friction plate 7 is provided with a fixed head 71, a reinforcing plate 72, an inner friction plate 73 and an arc-shaped outer shell 74, the inner wall of the arc-shaped outer shell 74 is provided with the inner membrane 73, the inner membrane 73 and the arc-shaped outer shell 74 are mutually embedded, the fixed head 71 is arranged in the middle of the arc-shaped outer shell 74, the fixed head 71 and the arc-shaped outer shell 74 are of an integrated structure, and the reinforcing plate 72 is arranged between the arc-shaped outer shell 74 and the fixed head 71.
The dynamic friction plate 9 is provided with a rotating head 91, a second sleeve plate 92 and a friction plate 93, one end of the second sleeve plate 92 is provided with the rotating head 91, the rotating head 91 is fixedly connected with the second sleeve plate 92, the inner surface of the second sleeve plate 92 is provided with the friction plate 93, and the friction plate 93 is embedded with the second sleeve plate 92.
The inner wall of friction plate 93 is equipped with more than two archs, and these archs are even equidistance and distribute, arch and friction plate 93 fixed connection mutually support with the drive spindle, and the band-type brake is more stable.
When the climbing support leg of the robot for pipeline detection changes direction in a pipeline, the static friction plate 7 and the dynamic friction plate 9 can be quickly clasped to the driving spindle 10 through the driving box 4, angle locking of the support leg is realized immediately, the support leg is stabilized, the problem of touch is prevented, a main body of shooting is stabilized, the camera 3 is protected, in the process, more than two bulges are arranged on the dynamic friction plate 9 and are matched with the static friction plate 7, the contact friction coefficient of the static friction plate and the driving spindle 10 is increased, the locking stability is improved, the band-type brake is stable, meanwhile, the mounting positions of the static friction plate 7 and the dynamic friction plate 9 are perpendicular to each other in central axis, the opening and closing directions are perpendicular, the effect of lubricating oil impurities is not easy to remain, impurities are prevented from being adhered to the dynamic friction plate 9, the moving sensitivity of the dynamic friction plate 7 and the dynamic friction plate 9 is reduced, the dynamic friction plate 7 and the dynamic friction plate 9 are quickly attached, the band-type brake speed is improved, the problem of collision is further prevented, in addition, the top end of the band-type brake mechanism 2 is fixed on the driving box 4 through the mounting hole 8, the bottom of the band-type brake mechanism is smooth arc shape, the top of the band-type brake mechanism 2 is stably mounted, the inner wall can not collide with the inner wall in the pipeline, and the inner wall in the process of the band-type brake mechanism, the process of the walking can be reduced, and the walking resistance can be more rapidly.
While there have been shown and described what are at present considered the fundamental principles of the invention, the essential features and advantages thereof, it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the principles of the invention, but rather, is capable of numerous changes and modifications in various forms without departing from the spirit or essential characteristics thereof, and it is intended that the invention be limited not by the foregoing descriptions, but rather by the appended claims and their equivalents.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (1)
1. The utility model provides a climbing robot for pipeline inspection which characterized in that: the structure of the device comprises a mounting support (1), a band-type brake mechanism (2), a camera (3), a driving box (4) and traveling wheels (5), wherein four traveling wheels (5) are mounted on two sides of the driving box (4), the mounting support (1) is arranged on the top end face of the driving box (4), the mounting support (1) and the driving box (4) are locked through bolt bolts, the camera (3) is mounted on the mounting support (1), and the camera (3) is mounted on a driving main shaft (10) between the traveling wheels (5) and the driving box (4); the band-type brake mechanism (2) is provided with a mounting plate (6), a static friction plate (7), mounting holes (8) and a dynamic friction plate (9), the mounting holes (8) are formed in two ends of one side of the mounting plate (6), the static friction plate (7) is arranged on the mounting plate (6), the dynamic friction plate (9) is arranged at a position opposite to the static friction plate (7), the dynamic friction plate (9) is movably matched with the static friction plate (7), the dynamic friction plate (9) is movably attached to the mounting plate (6), the central axes of the mounting positions of the static friction plate (7) and the dynamic friction plate (9) are perpendicular to each other, and the opening and closing directions are perpendicular; the band-type brake mechanism (2) is movably assembled on the driving box (4) through an installing hole (8) of the installing plate (6), and the edge of the installing plate (6) is of a smooth arc structure; the static friction plate (7) is provided with a fixing head (71), a reinforcing plate (72), an inner membrane (73) and an arc-shaped outer shell (74), the inner membrane (73) is arranged on the inner wall of the arc-shaped outer shell (74), the fixing head (71) is arranged in the middle of the arc-shaped outer shell (74), the reinforcing plate (72) is arranged between the arc-shaped outer shell (74) and the fixing head (71), the dynamic friction plate (9) is provided with a rotating head (91), a second sleeve plate (92) and a friction plate (93), one end of the second sleeve plate (92) is provided with the rotating head (91), the rotating head (91) is fixedly connected with the second sleeve plate (92), the friction plate (93) is arranged on the inner surface of the second sleeve plate (92), the inner wall of the friction plate (93) is provided with more than two bulges which are uniformly and equidistantly distributed, when the climbing support legs of the robot for pipeline detection are changed in the direction in the pipeline, the static friction plate (7) and the dynamic friction plate (9) can be quickly clasped to the driving main shaft (10) through the driving box (4), so that the angle locking of the support legs can be immediately locked, the support legs can be prevented from being touched, and the camera can be stably shot, and the camera can be used for protecting the camera (3); in the process, more than two bulges are arranged on the movable friction plate (9) and are matched with the static friction plate (7), so that the contact friction coefficient with the driving main shaft (10) is increased, the locking stability is improved, the band-type brake is stable, and meanwhile, because the central axes of the installation positions of the static friction plate (7) and the movable friction plate (9) are mutually vertical and the opening and closing directions are vertical, the effect of lubricating oil impurities is not easy to remain, the movable friction plate (9) is prevented from being adhered with impurities, the action sensitivity of the movable friction plate is reduced, the dynamic friction plate (7) and the movable friction plate (9) are ensured to be quickly adhered, the band-type brake speed is improved, and the collision problem is further prevented; in addition, because on band-type brake mechanism (2) top was through dress hole (8) fixed drive box (4), band-type brake mechanism (2) bottom was smooth circular-arc, and band-type brake mechanism (2) top installation is stable, and band-type brake mechanism (2) bottom is at the walking in-process, can not bump or rub with the pipeline inner wall, reduces the resistance of walking in-process, lets walk more rapidly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110018844.9A CN112664755B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911056022.9A CN110805785B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
| CN202110018844.9A CN112664755B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911056022.9A Division CN110805785B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112664755A CN112664755A (en) | 2021-04-16 |
| CN112664755B true CN112664755B (en) | 2022-11-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110018844.9A Active CN112664755B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
| CN201911056022.9A Active CN110805785B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911056022.9A Active CN110805785B (en) | 2019-10-31 | 2019-10-31 | Climbing robot for pipeline detection |
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| Country | Link |
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| CN (2) | CN112664755B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201306578Y (en) * | 2008-12-05 | 2009-09-09 | 北京凯迪管通工程设备有限公司 | Robot device for duct inspection |
| CN205311575U (en) * | 2015-12-22 | 2016-06-15 | 中国葛洲坝集团第三工程有限公司 | Tunnel grout platform truck arresting gear |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN108444469A (en) * | 2018-02-11 | 2018-08-24 | 南京晓庄学院 | A kind of mobile robot of independent navigation |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19547792A1 (en) * | 1995-12-20 | 1997-06-26 | Bayerische Motoren Werke Ag | Disc brake for motor vehicle |
| KR100398257B1 (en) * | 2001-08-21 | 2003-09-19 | 현대자동차주식회사 | drum break for vehicle |
| CN203419147U (en) * | 2013-08-08 | 2014-02-05 | 安徽俊意机械有限公司 | Brake device of track tractor |
| CN203805878U (en) * | 2014-05-07 | 2014-09-03 | 云南省农业机械研究所 | Brake device with function of reducing turning radius |
| CN204399139U (en) * | 2014-12-12 | 2015-06-17 | 刘予 | There is the wheel of speed-limit device |
| CN204870960U (en) * | 2015-07-11 | 2015-12-16 | 贵州大学 | Brake apparatus |
| CN105253119A (en) * | 2015-10-29 | 2016-01-20 | 正崴为升传感系统（芜湖）有限公司 | Automobile braking device |
| CN208074398U (en) * | 2018-04-17 | 2018-11-09 | 四川派普承压与动载设备检测有限公司 | A kind of pipe crawling device descending speed slowing device |
| CN208204343U (en) * | 2018-04-25 | 2018-12-07 | 郑州九泰科技有限公司 | A kind of crawl device wheel brake piece replacement mechanism |
| CN110260094B (en) * | 2019-05-30 | 2024-07-02 | 国网浙江宁波市鄞州区供电有限公司 | Walking type pipeline length measuring device |
-
2019
- 2019-10-31 CN CN202110018844.9A patent/CN112664755B/en active Active
- 2019-10-31 CN CN201911056022.9A patent/CN110805785B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201306578Y (en) * | 2008-12-05 | 2009-09-09 | 北京凯迪管通工程设备有限公司 | Robot device for duct inspection |
| CN106170370A (en) * | 2013-11-19 | 2016-11-30 | 普罗特克萨安全有限公司 | The robotic vehicle remotely controlled |
| CN205311575U (en) * | 2015-12-22 | 2016-06-15 | 中国葛洲坝集团第三工程有限公司 | Tunnel grout platform truck arresting gear |
| CN108444469A (en) * | 2018-02-11 | 2018-08-24 | 南京晓庄学院 | A kind of mobile robot of independent navigation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110805785A (en) | 2020-02-18 |
| CN112664755A (en) | 2021-04-16 |
| CN110805785B (en) | 2021-02-26 |
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Effective date of registration: 20221103 Address after: Room L01, Jiangsu International Business Building, No. 8, Zhaofeng Road, Kunshan Huaqiao Economic Development Zone, Kunshan, Suzhou, Jiangsu 215300 Applicant after: Kunshan Lianyuan Big Data Technology Co.,Ltd. Address before: 518000 Room 711, South District, Shenzhen Software Park, Shenzhen City, Guangdong Province Applicant before: Bi Guiyou |
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