CN112917265B - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
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- CN112917265B CN112917265B CN202110062210.3A CN202110062210A CN112917265B CN 112917265 B CN112917265 B CN 112917265B CN 202110062210 A CN202110062210 A CN 202110062210A CN 112917265 B CN112917265 B CN 112917265B
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- 238000007689 inspection Methods 0.000 title claims description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 238000005498 polishing Methods 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 27
- 230000008878 coupling Effects 0.000 claims description 47
- 238000010168 coupling process Methods 0.000 claims description 47
- 238000005859 coupling reaction Methods 0.000 claims description 47
- 230000005540 biological transmission Effects 0.000 claims description 18
- 238000004804 winding Methods 0.000 claims description 16
- 238000012545 processing Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 239000002390 adhesive tape Substances 0.000 description 8
- 238000013016 damping Methods 0.000 description 4
- 230000002950 deficient Effects 0.000 description 4
- 238000007569 slipcasting Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012797 qualification Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/36—Single-purpose machines or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B5/00—Machines or devices designed for grinding surfaces of revolution on work, including those which also grind adjacent plane surfaces; Accessories therefor
- B24B5/35—Accessories
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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
- F16L55/16—Devices for covering leaks in pipes or hoses, e.g. hose-menders
- F16L55/168—Devices for covering leaks in pipes or hoses, e.g. hose-menders from outside the pipe
- F16L55/1686—Devices for covering leaks in pipes or hoses, e.g. hose-menders from outside the pipe by winding a tape
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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
- F16L55/18—Appliances for use in repairing pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F17—STORING OR DISTRIBUTING GASES OR LIQUIDS
- F17D—PIPE-LINE SYSTEMS; PIPE-LINES
- F17D5/00—Protection or supervision of installations
- F17D5/02—Preventing, monitoring, or locating loss
Abstract
The invention relates to a detection robot, in particular to a pipeline detection robot. Including detecting support body, slide mechanism, grinding machanism, drive mechanism and power unit, a slide mechanism is connected respectively in the four corners of detecting the support body right-hand member, all connects a grinding machanism on every slide mechanism, and drive mechanism connects at the middle part of detecting the support body, and drive mechanism connects at the left end of detecting the support body, and power unit connects the lower extreme at the detection support body left end. The pipeline outer wall detection device can detect whether the outer wall of the pipeline has a bulge phenomenon or not, and prevent the bulge phenomenon from influencing the overall appearance of the pipeline, and the sliding mechanism drives the polishing mechanism to detect whether the outer wall of the pipeline with different diameters has the bulge or not and the phenomenon of sharp pricks generated in processing and manufacturing.
Description
Technical Field
The invention relates to a detection robot, in particular to a pipeline detection robot.
Background
For example, utility model CN202020188280.4 a pipeline inspection robot this utility model discloses a pipeline inspection robot, including pipeline inspection robot main part, the lower extreme surface of pipeline inspection robot main part is provided with withstand voltage damping device, withstand voltage damping device's lower extreme surface is provided with the amortization shock attenuation area, withstand voltage damping device's inside is provided with robot drive arrangement, withstand voltage damping device's upper end surface is provided with bluetooth module and visual monitoring module, bluetooth module is located one side surface of visual monitoring module. A pipeline inspection robot, have detection, slip casting, the restoration integration system of robot-this robot has the function that detects before the slip casting, punches, slip casting and slip casting back, can accomplish foretell four tasks simultaneously after once putting into the pipeline, shortened the engineering time greatly, improved the efficiency of construction, safety ring protects, the application is nimble changeable, brings better use prospect. But it cannot detect whether there is a protrusion phenomenon on the outer wall of the pipe.
Disclosure of Invention
The invention aims to provide a pipeline detection robot which can detect whether the outer wall of a pipeline has a bulge phenomenon.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a pipeline inspection robot, is including detecting support body, slide mechanism, grinding machanism, drive mechanism and power unit, a slide mechanism is connected respectively in the four corners of detecting the support body right-hand member, all connects a grinding machanism on every slide mechanism, and drive mechanism connects at the middle part that detects the support body, and drive mechanism connects at the left end that detects the support body, and power unit connects the lower extreme at the detection support body left end.
The detection frame body comprises a main body frame, a U-shaped frame, a winding roller, a lifting frame and side square plates, the U-shaped frame is fixedly connected to the left end of the main body frame, the winding roller is rotatably connected to the upper end of the front end of the U-shaped frame, the lifting frame is fixedly connected to the lower side of the middle of the main body frame, and the four corners of the right end of the main body frame are fixedly connected with the side square plates respectively.
Slide mechanism includes electric putter I, the carriage, the gag lever post, the arc frame, motor I and lead screw I, the upper end rigid coupling of carriage is at electric putter I's expansion end, the left end of gag lever post rigid coupling in the upper end of carriage, the lower extreme of carriage is equipped with the arc frame, I rotations of lead screw are connected at the middle part of carriage right-hand member, the output shaft of motor I passes through shaft coupling and I rigid coupling of lead screw, I rigid coupling of motor is on the carriage, slide mechanism is provided with four, the stiff end of electric putter I of the equal rigid coupling in the outside of every side board, equal sliding connection gag lever post on every side board.
Grinding machanism is including meshing seat, the telescopic link, the seat of polishing, the slide bar, motor II, belt I, the rotary rod, polish board and power rod, meshing seat rigid coupling is at the stiff end of telescopic link, the slide bar rigid coupling is at the expansion end of telescopic link, the middle part rigid coupling of seat of polishing is at the right-hand member of slide bar, II rigid couplings of motor are at the middle part of the seat of polishing, shaft coupling and power rod rigid coupling are passed through to the output shaft of motor II, both ends are rotated respectively around the seat of polishing and are connected a rotary rod, the board of polishing of the equal rigid coupling of lower extreme of every rotary rod, the power rod passes through belt I and is connected with two rotary rod transmissions, grinding machanism is provided with four, equal meshing seat of threaded connection on every lead screw I, equal sliding connection slide bar on every arc frame.
Drive mechanism includes electric putter II, lifter plate, motor III, drive pole and belt II, and the lifter plate rigid coupling drives the pole and is equipped with a plurality ofly at electric putter II's expansion end, and a plurality of drive poles pass through II transmissions of belt and connect, and motor III's output shaft passes through the shaft coupling and the drive pole rigid coupling that is located the left end, and motor III rigid couplings are on the lifter plate, and both ends difference sliding connection is at both ends around the crane around a plurality of drive poles.
The traction mechanism comprises a motor IV, a lead screw II, a vertical frame, an electric push rod III and a concave frame, an output shaft of the motor IV is fixedly connected with the lead screw II through a coupler, the lower end of the vertical frame is in threaded connection with the lead screw II, a fixed end of the electric push rod III is fixedly connected to the upper end of the vertical frame, the concave frame is fixedly connected to the movable end of the electric push rod III, the front end and the rear end of the lead screw II are rotatably connected to the front end and the rear end of the upper end of the U-shaped frame, and the motor IV is fixedly connected to the U-shaped frame.
Power unit includes motor V, dwang, horizontal pole, runner and belt III, and motor V's output shaft passes through shaft coupling and dwang rigid coupling, and both ends rigid coupling runner respectively about the horizontal pole, and the dwang passes through the transmission of belt III with the horizontal pole to be connected, and the horizontal pole rotates the lower extreme of connecting at U type frame middle part.
The detection frame body further comprises a base, the base is fixedly connected to the lower end of the U-shaped frame, and the motor V is fixedly connected to the base.
The detection frame body further comprises a base, the base is fixedly connected to the lower end of the main body frame, and the fixed end of the electric push rod II is fixedly connected to the upper portion.
The traction mechanism further comprises a bottom rod, the front end and the rear end of the bottom rod are fixedly connected to the front end and the rear end of the upper end of the U-shaped frame, and the lower end of the vertical frame is connected to the bottom rod in a sliding mode.
The pipeline detection robot has the beneficial effects that:
the pipeline outer wall polishing device can detect whether the outer wall of a pipeline has a protrusion phenomenon or not, and prevent the protrusion phenomenon from influencing the overall attractiveness of the pipeline, the sliding mechanism drives the polishing mechanism to detect the outer walls of pipelines with different diameters, and the protrusion phenomenon and the sharp thorn phenomenon generated by processing and manufacturing exist or not, so that the sliding mechanism drives the polishing mechanism to comprehensively polish the overall outer wall of the pipeline, the overall attractiveness of the pipeline is ensured, the overall attractiveness of a subsequent sales pipeline is further not influenced, and the pipeline polishing device is simple in structure and convenient to use.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic view of the overall structure of a pipeline inspection robot according to the present invention;
FIG. 2 is a partial schematic view of the first embodiment of the present invention;
FIG. 3 is a second partial schematic structural view of the present invention;
FIG. 4 is a third schematic view of a portion of the present invention;
FIG. 5 is a fourth schematic view of a portion of the present invention;
FIG. 6 is a schematic diagram of a portion of the present invention;
FIG. 7 is a schematic diagram six of a portion of the present invention;
FIG. 8 is a seventh schematic view of a portion of the present invention;
FIG. 9 is a partial schematic view eight of the present invention;
FIG. 10 is a partial schematic illustration nine of the present invention;
fig. 11 is a partial schematic structural diagram of the present invention.
In the figure: a detection frame body 1; a main body frame 101; a U-shaped frame 102; a wind-up roller 103; a crane 104; a side plate 105; a base 106; a base 107; a slide mechanism 2; an electric push rod I201; a carriage 202; a stopper rod 203; an arc frame 204; a motor I205; a lead screw I206; a polishing mechanism 3; an engagement seat 301; an extension pole 302; a polishing seat 303; a slide bar 304; a motor II 305; a belt I306; a rotating rod 307; the plate 308 is ground; a power rod 309; a transmission mechanism 4; an electric push rod II 401; a lifter plate 402; a motor III 403; driving the rod 404; a belt II 405; a pulling mechanism 5; a motor IV 501; a lead screw II 502; a vertical frame 503; an electric push rod III 504; a female frame 505; a bottom bar 506; a power mechanism 6; a motor V601; rotating the rod 602; a cross bar 603; a rotating wheel 604; a belt III 605;
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
as shown in fig. 1-11, a pipeline inspection robot includes a detection frame body 1, sliding mechanisms 2, polishing mechanisms 3, transmission mechanisms 4, a driving mechanism 5 and a power mechanism 6, wherein the four corners of the right end of the detection frame body 1 are respectively connected with one sliding mechanism 2, each sliding mechanism 2 is connected with one polishing mechanism 3, the transmission mechanisms 4 are connected at the middle part of the detection frame body 1, the driving mechanism 5 is connected at the left end of the detection frame body 1, and the power mechanism 6 is connected at the lower end of the left end of the detection frame body 1.
The pipeline outer wall polishing device can detect whether the outer wall of a pipeline has a bulge phenomenon or not, and prevent the bulge phenomenon from influencing the overall appearance of the pipeline, the sliding mechanism 2 drives the polishing mechanism 3 to detect the outer walls of the pipelines with different diameters, and the bulge phenomenon and the sharp thorn phenomenon generated by processing and manufacturing exist or not, so that the sliding mechanism 2 drives the polishing mechanism 3 to comprehensively polish the overall outer wall of the pipeline, and the overall appearance of the pipeline is ensured.
The second embodiment is as follows:
as shown in fig. 1-11, a pipeline inspection robot, the inspection frame body 1 includes a main frame 101, a U-shaped frame 102, a winding roller 103, a lifting frame 104 and side plates 105, the U-shaped frame 102 is fixedly connected to the left end of the main frame 101, the winding roller 103 is rotatably connected to the upper end of the front end of the U-shaped frame 102, the lifting frame 104 is fixedly connected to the lower side of the middle part of the main frame 101, and four corners of the right end of the main frame 101 are respectively fixedly connected to one side plate 105. During the use, can place the sticky tape on winding roller 103, be convenient for follow-up twining gluey work to the pipeline, and then increased the mode of whole device, all processed a hole and do the polishing treatment on every side square plate 105, the follow-up device of being convenient for removes at a downthehole.
The third concrete implementation mode:
as shown in fig. 1-11, a pipeline inspection robot, slide mechanism 2 includes electric putter I201, carriage 202, gag lever post 203, arc frame 204, motor I205 and lead screw I206, the upper end rigid coupling of carriage 202 is at the expansion end of electric putter I201, the left end of gag lever post 203 rigid coupling in the upper end of carriage 202, the lower extreme of carriage 202 is equipped with arc frame 204, lead screw I206 rotates the middle part of connecting at the carriage 202 right-hand member, the output shaft of motor I205 passes through shaft coupling and I206 rigid coupling of lead screw, motor I205 rigid coupling is on carriage 202, slide mechanism 2 is provided with four, the stiff end of electric putter I201 of equal rigid coupling in outside of every side board 105, gag lever post 203 of equal sliding connection on every side board 105. During the use, the carriage 202 that I201 of drive electric putter drove the lower extreme removes, thereby for guaranteeing that this carriage 202 steadily moves the gag lever post 203 sliding connection that is located carriage 202 upside left end on the strip hole on the side square plate 105, when four carriages 202 removed, the outer wall of pipeline can be laminated to four arc frames 204 of downside, make the pipeline more stable when follow-up measuring, have the positioning action, and adapt to different pipelines to the diameter, driving motor I205 drives I206 rotations of lead screw, power for follow-up polishing provides lateral shifting.
The fourth concrete implementation mode:
as shown in fig. 1-11, a pipeline inspection robot, the polishing mechanism 3 includes an engagement seat 301, a telescopic rod 302, a polishing seat 303, a sliding rod 304, motor II 305, belt I306, rotary rod 307, polish board 308 and power pole 309, meshing seat 301 rigid coupling is at the stiff end of telescopic link 302, the expansion end of slide bar 304 rigid coupling at telescopic link 302, the middle part rigid coupling of seat 303 of polishing is at the right-hand member of slide bar 304, motor II 305 rigid coupling is at the middle part of seat 303 of polishing, the output shaft of motor II 305 passes through shaft coupling and power pole 309 rigid coupling, both ends rotate respectively and connect a rotary rod 307 around seat 303 of polishing, polish board 308 of polishing of the equal rigid coupling of lower extreme of every rotary rod 307, power pole 309 is connected with two rotary rod 307 transmissions through belt I306, grinding machanism 3 is provided with four, meshing seat 301 of equal threaded connection on every lead screw I206, slide bar 304 of equal sliding connection on every arc frame 204. When the pipeline clamped by the arc-shaped frame 204 is ground, the driving motor II 305 drives the power rod 309 to rotate, the power rod 309 is synchronously driven to rotate by the transmission of the belt I306 when the power rod 309 rotates, and then the rotating rotary rod 307 drives the grinding plate 308 at the lower end to rotate, so that the outer wall of the pipeline is ground, the outer wall of the pipeline is smoother, the whole appearance is improved, in order to increase the grinding area, the screw I206 can drive the meshing seat 301 to move on the screw I206 when rotating, so that the slide rod 304 meets the arc-shaped frame 204 and carries out arc-shaped motion on the arc-shaped frame 204, so that the whole grinding seat 303 drives the two grinding plates 308 at the two ends to carry out grinding work on the surface of the pipeline, the omission phenomenon is prevented, burrs and bulges on the outer wall of the pipeline can be detected to carry out grinding work, manual operation is reduced, and batch grinding and polishing is facilitated, saving manpower and material resources.
The fifth concrete implementation mode:
as shown in fig. 1 to 11, a pipeline inspection robot, the transmission mechanism 4 includes an electric push rod ii 401, a lifting plate 402, a motor iii 403, a plurality of driving rods 404 and a belt ii 405, the lifting plate 402 is fixedly connected to the movable end of the electric push rod ii 401, the driving rods 404 are provided with a plurality of driving rods 404, the driving rods 404 are in transmission connection with the belt ii 405, an output shaft of the motor iii 403 is fixedly connected with the driving rod 404 at the left end through a coupler, the motor iii 403 is fixedly connected to the lifting plate 402, and the front end and the rear end of each driving rod 404 are respectively in sliding connection with the front end and the rear end of the lifting frame 104. When the outer wall of the pipeline is detected to have bulges and burrs to influence the overall appearance, the electric push rod II 401 is driven to drive the whole lifting plate 402 to ascend in order to save the fatigue identified by manpower, and then the driving motor III 403 drives a plurality of driving rods 404 to rotate, meanwhile, the pipeline is placed on the driving rods 404 to be pulled, and the pipeline is in other four arc frame 204 positioned state this moment, and this arc frame 204 has certain clearance with the pipeline, it makes the pipeline can not advance to take place to block when four arc frames 204 contact arch and spine promptly when being convenient for when the pipeline is driven the removal by drive rod 404, polish the polishing to the protruding department of spine by board 308 this moment, prevent that arch and burr from influencing the whole pleasing to the eye of pipeline, be convenient for carry out the processing in batches to the pipeline, prevent that there is defective product after the pipeline processing comes out, and then the qualification of inspection pipeline product.
The sixth specific implementation mode:
as shown in fig. 1 to 11, the pipeline inspection robot includes a motor iv 501, a lead screw ii 502, a vertical frame 503, an electric push rod iii 504, and a concave frame 505, an output shaft of the motor iv 501 is fixedly connected to the lead screw ii 502 through a coupling, a lower end of the vertical frame 503 is screwed to the lead screw ii 502, a fixed end of the electric push rod iii 504 is fixedly connected to an upper end of the vertical frame 503, the concave frame 505 is fixedly connected to a movable end of the electric push rod iii 504, front and rear ends of the lead screw ii 502 are rotatably connected to front and rear ends of an upper end of the U-shaped frame 102, and the motor iv 501 is fixedly connected to the U-shaped frame 102. When the pipeline grinding machine is used, the driving motor IV 501 drives the screw II 502 to rotate, the vertical frame 503 can move on the screw II 502, the driving electric push rod III 504 drives the concave frame 505 to move, power is provided for pulling out an adhesive tape subsequently, when the pipeline ground by the grinding plate 308 is further checked manually, when a crack phenomenon is found, the omission phenomenon is prevented for marking positions conveniently, one end of the adhesive tape is adhered to the concave frame 505 before work, the driving electric push rod III 504 drives the concave frame 505 at the lower end to pull off the adhesive tape on the winding roller 103 during marking, the driving motor IV 501 drives the screw II 502 to rotate, so that the vertical frame 503 moves, the adhesive tape on the winding roller 103 is pulled out, the crack position is conveniently marked, and defective products can be effectively detected.
The seventh embodiment:
as shown in fig. 1 to 11, the pipeline inspection robot includes a motor v 601, a rotating rod 602, a cross rod 603, a rotating wheel 604 and a belt iii 605, wherein an output shaft of the motor v 601 is fixedly connected to the rotating rod 602 through a coupling, the left and right ends of the cross rod 603 are respectively fixedly connected to one rotating wheel 604, the rotating rod 602 is in transmission connection with the cross rod 603 through the belt iii 605, and the cross rod 603 is rotatably connected to the lower end of the middle portion of the U-shaped frame 102. When the during operation needs the pipeline to rotate, driving motor V601 drives dwang 602 rotatory this moment, because the transmission of belt III 605, and then horizontal pole 603 drives two runners 604 rotatory, make the pipeline with two runners 604 contacts take place rotatoryly in step, thereby when the pipeline is rotatory, the sticky tape on winding roll 103 that is dragged by concave frame 505 can twine on the pipeline, not only can prevent the crack on the pipeline from further expanding according to the crack department of different work content winding sticky tape on the pipeline as the mark, be convenient for follow-up the restoration.
The specific implementation mode is eight:
as shown in fig. 1-11, the pipeline inspection robot includes a detection frame body 1, a base 106, the base 106 is fixedly connected to the lower end of the U-shaped frame 102, and a motor v 601 is fixedly connected to the base 106. The motor V601 is convenient to stabilize, so that the motor V601 works more stably.
The specific implementation method nine:
as shown in fig. 1-11, a pipeline inspection robot, the inspection frame body 1 further includes a base 107, the base 107 is fixedly connected to the lower end of the main frame 101, and the fixed end of the electric push rod ii 401 is fixedly connected thereto. The base 107 supports the electric push rod II 401.
The detailed implementation mode is ten:
as shown in fig. 1 to 11, in the pipeline inspection robot, the pulling mechanism 5 further includes a bottom rod 506, the front end and the rear end of the bottom rod 506 are fixedly connected to the front end and the rear end of the upper end of the U-shaped frame 102, and the lower end of the vertical frame 503 is slidably connected to the bottom rod 506. The bottom bar 506 prevents the vertical frame 503 from being displaced.
The invention relates to a pipeline detection robot, which has the working principle that:
the pipeline outer wall polishing device can detect whether the outer wall of a pipeline has a bulge phenomenon or not, and prevent the bulge phenomenon from influencing the overall appearance of the pipeline, the sliding mechanism 2 drives the polishing mechanism 3 to detect the outer walls of the pipelines with different diameters, and the bulge phenomenon and the sharp thorn phenomenon generated by processing and manufacturing exist or not, so that the sliding mechanism 2 drives the polishing mechanism 3 to comprehensively polish the overall outer wall of the pipeline, and the overall appearance of the pipeline is ensured. During the use, can place the sticky tape on winding roller 103, be convenient for follow-up twining gluey work to the pipeline, and then increased the mode of whole device, all processed a hole and do the polishing treatment on every side square plate 105, the follow-up device of being convenient for removes at a downthehole. During the use, the carriage 202 that I201 of drive electric putter drove the lower extreme removes, thereby for guaranteeing that this carriage 202 steadily moves the gag lever post 203 sliding connection that is located carriage 202 upside left end on the strip hole on the side square plate 105, when four carriages 202 removed, the outer wall of pipeline can be laminated to four arc frames 204 of downside, make the pipeline more stable when follow-up measuring, have the positioning action, and adapt to different pipelines to the diameter, driving motor I205 drives I206 rotations of lead screw, power for follow-up polishing provides lateral shifting. When the pipeline clamped by the arc-shaped frame 204 is ground, the driving motor II 305 drives the power rod 309 to rotate, the power rod 309 is synchronously driven to rotate by the transmission of the belt I306 when the power rod 309 rotates, and then the rotating rotary rod 307 drives the grinding plate 308 at the lower end to rotate, so that the outer wall of the pipeline is ground, the outer wall of the pipeline is smoother, the whole appearance is improved, in order to increase the grinding area, the screw I206 can drive the meshing seat 301 to move on the screw I206 when rotating, so that the slide rod 304 meets the arc-shaped frame 204 and carries out arc-shaped motion on the arc-shaped frame 204, so that the whole grinding seat 303 drives the two grinding plates 308 at the two ends to carry out grinding work on the surface of the pipeline, the omission phenomenon is prevented, burrs and bulges on the outer wall of the pipeline can be detected to carry out grinding work, manual operation is reduced, and batch grinding and polishing is facilitated, saving manpower and material resources. When the outer wall of the pipeline is detected to have bulges and burrs to influence the overall appearance, the electric push rod II 401 is driven to drive the whole lifting plate 402 to ascend in order to save the fatigue identified by manpower, and then the driving motor III 403 drives a plurality of driving rods 404 to rotate, meanwhile, the pipeline is placed on the driving rods 404 to be pulled, and the pipeline is in other four arc frame 204 positioned state this moment, and this arc frame 204 has certain clearance with the pipeline, it makes the pipeline can not advance to take place to block when four arc frames 204 contact arch and spine promptly when being convenient for when the pipeline is driven the removal by drive rod 404, polish the polishing to the protruding department of spine by board 308 this moment, prevent that arch and burr from influencing the whole pleasing to the eye of pipeline, be convenient for carry out the processing in batches to the pipeline, prevent that there is defective product after the pipeline processing comes out, and then the qualification of inspection pipeline product. When the pipeline grinding machine is used, the driving motor IV 501 drives the screw II 502 to rotate, the vertical frame 503 can move on the screw II 502, the driving electric push rod III 504 drives the concave frame 505 to move, power is provided for pulling out an adhesive tape subsequently, when the pipeline ground by the grinding plate 308 is further checked manually, when a crack phenomenon is found, the omission phenomenon is prevented for marking positions conveniently, one end of the adhesive tape is adhered to the concave frame 505 before work, the driving electric push rod III 504 drives the concave frame 505 at the lower end to pull off the adhesive tape on the winding roller 103 during marking, the driving motor IV 501 drives the screw II 502 to rotate, so that the vertical frame 503 moves, the adhesive tape on the winding roller 103 is pulled out, the crack position is conveniently marked, and defective products can be effectively detected. When the during operation needs the pipeline to rotate, driving motor V601 drives dwang 602 rotatory this moment, because the transmission of belt III 605, and then horizontal pole 603 drives two runners 604 rotatory, make the pipeline with two runners 604 contacts take place rotatoryly in step, thereby when the pipeline is rotatory, the sticky tape on winding roll 103 that is dragged by concave frame 505 can twine on the pipeline, not only can prevent the crack on the pipeline from further expanding according to the crack department of different work content winding sticky tape on the pipeline as the mark, be convenient for follow-up the restoration. The motor V601 is convenient to stabilize, so that the motor V601 works more stably. The base 107 supports the electric push rod II 401. The bottom bar 506 prevents the vertical frame 503 from being displaced.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (8)
1. The utility model provides a pipeline inspection robot, is including detecting support body (1), slide mechanism (2), grinding machanism (3), drive mechanism (4), drive mechanism (5) and power unit (6), its characterized in that: four corners of the right end of the detection frame body (1) are respectively connected with a sliding mechanism (2), each sliding mechanism (2) is connected with a polishing mechanism (3), a transmission mechanism (4) is connected to the middle of the detection frame body (1), a traction mechanism (5) is connected to the left end of the detection frame body (1), and a power mechanism (6) is connected to the lower end of the left end of the detection frame body (1);
the detection frame body (1) comprises a main body frame (101), a U-shaped frame (102), a winding roller (103), a lifting frame (104) and side plates (105), wherein the U-shaped frame (102) is fixedly connected to the left end of the main body frame (101), the winding roller (103) is rotatably connected to the upper end of the front end of the U-shaped frame (102), the lifting frame (104) is fixedly connected to the lower side of the middle part of the main body frame (101), and four corners of the right end of the main body frame (101) are fixedly connected with the side plates (105) respectively;
slide mechanism (2) are including electric putter I (201), carriage (202), gag lever post (203), arc frame (204), motor I (205) and lead screw I (206), the upper end rigid coupling of carriage (202) is at the expansion end of electric putter I (201), gag lever post (203) rigid coupling is at the left end of the upper end of carriage (202), the lower extreme of carriage (202) is equipped with arc frame (204), lead screw I (206) rotate to be connected at the middle part of carriage (202) right-hand member, the output shaft of motor I (205) passes through shaft coupling and I (206) rigid coupling of lead screw, motor I (205) rigid coupling is on carriage (202), slide mechanism (2) are provided with four, the stiff end of an electric putter I (201) of the equal rigid coupling in the outside of every side square plate (105), equal sliding connection gag lever post (203) on every side square plate (105).
2. The pipeline inspection robot of claim 1, wherein: the polishing mechanism (3) comprises a meshing seat (301), a telescopic rod (302), polishing seats (303), a sliding rod (304), a motor II (305), a belt I (306), rotating rods (307), polishing plates (308) and power rods (309), the meshing seat (301) is fixedly connected to the fixed end of the telescopic rod (302), the sliding rod (304) is fixedly connected to the movable end of the telescopic rod (302), the middle of the polishing seat (303) is fixedly connected to the right end of the sliding rod (304), the motor II (305) is fixedly connected to the middle of the polishing seat (303), an output shaft of the motor II (305) is fixedly connected to the power rods (309) through a coupler, the front end and the rear end of the polishing seat (303) are respectively and rotatably connected with one rotating rod (307), the lower end of each rotating rod (307) is fixedly connected with one polishing plate (308), the power rods (309) are in transmission connection with the two rotating rods (307) through the belt I (306), four polishing mechanisms (3) are arranged, an engaging seat (301) is in threaded connection with each lead screw I (206), and a sliding rod (304) is in sliding connection with each arc-shaped frame (204).
3. The pipeline inspection robot of claim 2, wherein: drive mechanism (4) are including electric putter II (401), lifter plate (402), motor III (403), drive pole (404) and belt II (405), lifter plate (402) rigid coupling is at the expansion end of electric putter II (401), drive pole (404) are equipped with a plurality ofly, a plurality of drive poles (404) are connected through belt II (405) transmission, the output shaft of motor III (403) passes through shaft coupling and drive pole (404) rigid coupling that is located the left end, motor III (403) rigid coupling is on lifter plate (402), both ends difference sliding connection is both ends around crane (104) around a plurality of drive poles (404).
4. The pipeline inspection robot of claim 3, wherein: the traction mechanism (5) comprises a motor IV (501), a lead screw II (502), a vertical frame (503), an electric push rod III (504) and a concave frame (505), an output shaft of the motor IV (501) is fixedly connected with the lead screw II (502) through a coupler, the lower end of the vertical frame (503) is in threaded connection with the lead screw II (502), a fixed end of the electric push rod III (504) is fixedly connected with the upper end of the vertical frame (503), the concave frame (505) is fixedly connected with a movable end of the electric push rod III (504), the front end and the rear end of the lead screw II (502) are rotatably connected with the front end and the rear end of the upper end of the U-shaped frame (102), and the motor IV (501) is fixedly connected with the U-shaped frame (102).
5. The pipeline inspection robot of claim 4, wherein: the power mechanism (6) comprises a motor V (601), a rotating rod (602), a cross rod (603), rotating wheels (604) and a belt III (605), an output shaft of the motor V (601) is fixedly connected with the rotating rod (602) through a coupler, the left end and the right end of the cross rod (603) are fixedly connected with one rotating wheel (604) respectively, the rotating rod (602) is in transmission connection with the cross rod (603) through the belt III (605), and the cross rod (603) is rotatably connected with the lower end of the middle part of the U-shaped frame (102).
6. The pipeline inspection robot of claim 5, wherein: the detection frame body (1) further comprises a base (106), the base (106) is fixedly connected to the lower end of the U-shaped frame (102), and the motor V (601) is fixedly connected to the base (106).
7. The pipeline inspection robot of claim 6, wherein: detect support body (1) and still include base (107), base (107) rigid coupling at the lower extreme of main part frame (101), the stiff end rigid coupling of electric putter II (401) is last.
8. The pipeline inspection robot of claim 7, wherein: the traction mechanism (5) further comprises a bottom rod (506), the front end and the rear end of the bottom rod (506) are fixedly connected with the front end and the rear end of the upper end of the U-shaped frame (102), and the lower end of the vertical frame (503) is connected to the bottom rod (506) in a sliding mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110062210.3A CN112917265B (en) | 2021-01-18 | 2021-01-18 | Pipeline inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110062210.3A CN112917265B (en) | 2021-01-18 | 2021-01-18 | Pipeline inspection robot |
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| CN112917265A CN112917265A (en) | 2021-06-08 |
| CN112917265B true CN112917265B (en) | 2022-02-15 |
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| BR112012004313B1 (en) * | 2009-10-06 | 2021-01-12 | Nsk Ltd | HUB UNIT SUPPORT |
| KR101375444B1 (en) * | 2012-03-29 | 2014-03-17 | 광동하이텍 주식회사 | Apparatus for grinding surface chassis of refrigerator |
| CN105081903A (en) * | 2015-09-06 | 2015-11-25 | 东莞市莞智成机器人技术有限公司 | Robot grinding system for outer surface of cylinder with boss |
| CN106002585B (en) * | 2016-07-28 | 2018-04-20 | 林福兴 | Cylindrical drum outer wall automatic polishing machine |
| CN109352478B (en) * | 2018-10-30 | 2019-11-05 | 徐州庆和新材料有限公司 | A kind of automatic processing system for the processing of vulcanie ring surface |
| CN109759952B (en) * | 2019-01-28 | 2020-02-18 | 上海瑞吉机械传动技术有限公司 | Polishing detection device for flange plate of rubber flange type elastic coupling and coupling |
| CN110509128A (en) * | 2019-08-19 | 2019-11-29 | 上海工程技术大学 | A kind of cylindrical grinder based on status predication control |
| CN111766296A (en) * | 2020-06-11 | 2020-10-13 | 江苏明宇石油机械有限公司 | Petroleum pipeline detection device based on ultrasonic detection and use method thereof |
| CN212059302U (en) * | 2020-06-17 | 2020-12-01 | 无锡信欧光电科技有限公司 | Precision detection and measurement device for optical instrument |
| CN111975583B (en) * | 2020-08-27 | 2021-08-06 | 大丰全力机械有限公司 | Condenser copper pipe assembling, assembling and processing machine and processing technology |
| CN112171403A (en) * | 2020-10-26 | 2021-01-05 | 东莞市优伟机电科技有限公司 | Polishing device capable of synchronously polishing inside and outside of automobile exhaust elbow |
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