CN113063747A - Walking robot for pipeline gas detection - Google Patents
Walking robot for pipeline gas detection Download PDFInfo
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- CN113063747A CN113063747A CN202110297254.4A CN202110297254A CN113063747A CN 113063747 A CN113063747 A CN 113063747A CN 202110297254 A CN202110297254 A CN 202110297254A CN 113063747 A CN113063747 A CN 113063747A
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 24
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 239000007789 gas Substances 0.000 description 12
- 238000005260 corrosion Methods 0.000 description 4
- 230000007797 corrosion Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000003112 inhibitor Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/25—Colour; Spectral properties, i.e. comparison of effect of material on the light at two or more different wavelengths or wavelength bands
- G01N21/31—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry
- G01N21/35—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light
- G01N21/3504—Investigating relative effect of material at wavelengths characteristic of specific elements or molecules, e.g. atomic absorption spectrometry using infrared light for analysing gases, e.g. multi-gas analysis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- Spectroscopy & Molecular Physics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a walking robot for pipeline gas detection, and relates to the technical field of gas detection. The invention comprises a supporting component and a walking component; the supporting component consists of a plurality of annular supports which are arranged at equal intervals; a plurality of mounting seats are uniformly fixed on the annular bracket; the corresponding mounting seats on the two adjacent annular brackets are fixedly connected through a connecting rod; the connecting rod is sleeved with a sliding block in a sliding manner; the upper surface of the sliding block is provided with a second hinged support; the connecting rod sleeve is provided with a spring; the walking assembly comprises supporting legs and supporting rods; one end of the supporting leg is hinged with the mounting seat; the other end of the supporting leg is rotatably provided with a roller. The support rod is pushed by the elastic force of the spring to support the support leg, the roller on the support leg is enabled to be tightly attached to the inner wall of the pipeline, the motor controls the roller to enable the walking robot to walk in the pipeline, the infrared methane sensor detects the gas concentration in the pipeline, the size of the robot can be adjusted freely according to the diameter of the pipeline, and the influence of accumulated water and obstacles in the pipeline on the advancing of the robot is avoided.
Description
Technical Field
The invention belongs to the technical field of gas detection, and particularly relates to a walking robot for pipeline gas detection.
Background
The long oil and gas pipeline is usually corroded by two environments, namely an inner environment and an outer environment, in the operation process, and the inner corrosion is mainly formed by combined action of a conveying medium, accumulated liquid in the pipeline, dirt, pipeline internal stress and the like; external corrosion is usually caused by coating failure. The internal corrosion is generally treated by means of heat pipe, corrosion inhibitor and the like, in recent years, with the enhancement of pipeline operation management and the strict requirement on a conveying medium by a pipeline owner, in recent years, with the wide popularization and application of computer technology, domestic and foreign detection technologies are rapidly developed, and the pipeline detection technology gradually forms two branches of the pipeline internal and external detection technologies.
With the development of petroleum, chemical industry and natural gas, the requirements for overhauling and maintaining the conveying pipeline are continuously increased, and the pipeline machine is deeply researched and widely used. The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer. Aiming at the water, gas, oil and the like of the conveying pipelines of various production equipment and the safety detection and maintenance of high-pressure pipelines, the pipeline device has important value and practical significance in practical application.
But the big many support frames of current gaseous detection device of pipeline are fixed, can not be according to pipeline size adjustment gyro wheel position, and the commonality is relatively poor.
Disclosure of Invention
The invention aims to provide a walking robot for pipeline gas detection, which solves the problems that the size of the existing pipeline exploration equipment cannot be adjusted and the exploration difficulty is high due to the fact that the walking robot is placed in a pipeline to be detected, a supporting rod is pushed by the elasticity of a spring to support a supporting leg, a roller on the supporting leg is enabled to be attached to the inner wall of the pipeline, a motor controls the roller to enable the walking robot to walk in the pipeline, and an infrared methane sensor detects the gas concentration in the pipeline.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a walking robot for pipeline gas detection, which comprises a supporting component and a walking component, wherein the supporting component is arranged on the walking component;
the supporting component consists of a plurality of annular supports which are arranged at equal intervals; a plurality of mounting seats are uniformly fixed on the annular bracket; a first hinged support is arranged on the outer side surface of the mounting seat; the corresponding mounting seats on the two adjacent annular brackets are fixedly connected through a connecting rod;
the connecting rod is sleeved with a sliding block in a sliding manner; the upper surface of the sliding block is provided with a second hinged support; the connecting rod sleeve is provided with a spring; one end of the spring is fixed with the mounting seat; the other end of the spring is fixed with the sliding block;
the walking assembly comprises supporting legs and supporting rods; one end of the supporting leg is provided with a first hinge; the other end of the supporting leg is rotatably provided with a roller; the first hinge is hinged with the first hinge base; a third hinged support is arranged in the middle of one side face of the supporting leg; a second hinge and a third hinge are respectively arranged at two ends of the supporting rod; the second hinge is hinged with the second hinge seat; the third hinge and the third hinge seat are hinged with each other.
Furthermore, an STM main control circuit board is arranged between the two annular supports; and two ends of the STM main control circuit board are fixed on the annular support through bolts.
Furthermore, a camera, an LED searchlight, a power supply and an infrared methane sensor are arranged on the STM main control circuit board; the STM main control circuit board is respectively connected with camera, LED searchlight, power and infrared methane sensor electric connection.
The invention has the following beneficial effects:
the support rod is pushed by the elastic force of the spring to support the support leg, the roller on the support leg is enabled to be tightly attached to the inner wall of the pipeline, the motor controls the roller to enable the walking robot to walk in the pipeline, the infrared methane sensor detects the gas concentration in the pipeline, the size of the robot can be adjusted freely according to the diameter of the pipeline, and the influence of accumulated water and obstacles in the pipeline on the advancing of the robot is avoided.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a walking robot for pipeline gas detection according to the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a front view of FIG. 1;
FIG. 4 is a schematic structural view of a connecting rod;
FIG. 5 is a schematic structural view of the mounting base;
FIG. 6 is a schematic structural view of the leg;
FIG. 7 is a schematic structural view of a strut;
in the drawings, the components represented by the respective reference numerals are listed below:
1-ring support, 2-mounting seat, 3-connecting rod, 4-sliding block, 5-supporting leg, 6-supporting rod, 7-circuit board, 201-first hinge seat, 301-spring, 401-second hinge seat, 501-first hinge, 502-roller, 503-third hinge seat, 601-second hinge, 602-third hinge, 701-camera and 702-LED searchlight.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 7, the present invention is a walking robot for pipeline gas detection, including a supporting component and a walking component;
the supporting component consists of three annular supports 1 which are arranged at equal intervals; three mounting seats 2 are uniformly fixed on the annular bracket 1; a first hinged support 201 is arranged on the outer side surface of the mounting seat 2; the corresponding mounting seats 2 on the two adjacent annular brackets 1 are fixedly connected through a connecting rod 3;
the connecting rod 3 is slidably sleeved with a sliding block 4; the upper surface of the sliding block 4 is provided with a second hinged support 401; the connecting rod 3 is sleeved with a spring 301; one end of the spring 301 is fixed with the mounting seat 2; the other end of the spring 301 is fixed with the sliding block 4;
the walking assembly comprises supporting legs 5 and supporting rods 6; one end of the supporting leg 5 is provided with a first hinge 501; the other end of the supporting leg 5 is rotatably provided with a roller 502; the first hinge 501 is hinged with the first hinge base 201; a third hinge seat 503 is arranged in the middle of one side surface of the supporting leg 5; a second hinge 601 and a third hinge 602 are respectively arranged at two ends of the supporting rod 6; the second hinge 601 is hinged with the second hinge base 401; the third hinge 602 is hinged to the third hinge base 503; the supporting rod 6 is pushed by the elasticity of the spring 301 to support the supporting leg 5, so that the roller 502 on the supporting leg 5 is tightly attached to the inner wall of the pipeline, the motor controls the roller 502 to enable the walking robot to walk in the pipeline, and the walking robot does not walk along the bottom of the pipeline; therefore, the robot cannot be influenced by accumulated water at the bottom of the pipe and cannot be blocked by an obstacle at the bottom of the pipe to block a traveling route.
Further, an STM main control circuit board 7 is arranged between the two annular supports 1; two ends of the STM main control circuit board 7 are fixed on the annular support 1 through bolts.
Further, a camera 701, an LED searchlight 702, a power supply and an infrared methane sensor are arranged on the STM main control circuit board 7; the STM main control circuit board 7 is electrically connected with the camera 701, the LED searchlight 702, the power supply and the infrared methane sensor respectively; but remote control or wired control of walking robot have motor control gyro wheel 502 to rotate, and infrared methane sensor can avoid the too high explosion accident that takes place of intraductal methane concentration along with the gas concentration in the continuous detection tube of marcing of walking robot simultaneously, and camera 701 is used for providing the field of vision of robot when in the pipeline, and LED searchlight 702 is used for seeing clearly the dim environment of pipeline.
The specific use method is as follows:
place this walking robot in to the pipeline, slider 4 is under the effect of spring force, promote slider 4 forward, slider 4 can promote landing leg 5 at the in-process that moves forward, landing leg 5 can be opened like folding umbrella and be strutted, gyro wheel 502 and the contact of pipeline inner wall until landing leg 5, the stability of robot walking in the pipeline has been ensured, ponding in the pipeline has been avoided, the barrier influences the marcing of robot, after walking robot fixes well in the pipeline, through remote control or wired control TM master control circuit board 7, thereby make gyro wheel 502 follow rotate thereby control walking robot gos forward or reverses in the pipeline, the route of marcing of while control LED searchlight 702 in to the pipeline is thrown light on, and shoot the condition in the pipeline through camera 701.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to 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 do not necessarily 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.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (3)
1. A walking robot for pipeline gas detection is characterized by comprising a supporting assembly and a walking assembly;
the supporting component consists of a plurality of annular supports (1) which are arranged at equal intervals; a plurality of mounting seats (2) are uniformly fixed on the annular support (1); a first hinged support (201) is arranged on the outer side surface of the mounting seat (2); the corresponding mounting seats (2) on the two adjacent annular supports (1) are fixedly connected through a connecting rod (3);
the connecting rod (3) is sleeved with a sliding block (4) in a sliding manner; a second hinged support (401) is arranged on the upper surface of the sliding block (4); the connecting rod (3) is sleeved with a spring (301); one end of the spring (301) is fixed with the mounting seat (2); the other end of the spring (301) is fixed with the sliding block (4);
the walking assembly comprises supporting legs (5) and supporting rods (6); one end of the supporting leg (5) is provided with a first hinge (501); the other end of the supporting leg (5) is rotatably provided with a roller (502); the first hinge (501) is hinged with the first hinge base (201); a third hinged support (503) is arranged in the middle of one side surface of the supporting leg (5); a second hinge (601) and a third hinge (602) are respectively arranged at two ends of the support rod (6); the second hinge (601) is hinged with the second hinge base (401); the third hinge (602) and the third hinge base (503) are hinged with each other.
2. The walking robot for pipeline gas detection according to claim 1, wherein an STM main control circuit board (7) is arranged between two ring supports (1); and two ends of the STM main control circuit board (7) are fixed on the annular support (1) through bolts.
3. The walking robot for pipeline gas detection according to claim 2, wherein a camera (701), an LED searchlight (702), a power supply and an infrared methane sensor are arranged on the STM main control circuit board (7); STM master control circuit board (7) respectively with camera (701), LED searchlight (702), power and infrared methane sensor electric connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110297254.4A CN113063747A (en) | 2021-03-19 | 2021-03-19 | Walking robot for pipeline gas detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110297254.4A CN113063747A (en) | 2021-03-19 | 2021-03-19 | Walking robot for pipeline gas detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113063747A true CN113063747A (en) | 2021-07-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110297254.4A Withdrawn CN113063747A (en) | 2021-03-19 | 2021-03-19 | Walking robot for pipeline gas detection |
Country Status (1)
| Country | Link |
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| CN (1) | CN113063747A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113700974A (en) * | 2021-07-23 | 2021-11-26 | 常州大学 | Industrial pipeline detection device |
| CN115875538A (en) * | 2022-10-11 | 2023-03-31 | 中建七局第二建筑有限公司 | Drainage pipeline fault detection device |
| CN117740667A (en) * | 2024-02-21 | 2024-03-22 | 辽宁乾源环保防腐管道有限公司 | Pipeline inner wall corrosion area metering and measuring device and measuring method |
-
2021
- 2021-03-19 CN CN202110297254.4A patent/CN113063747A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113700974A (en) * | 2021-07-23 | 2021-11-26 | 常州大学 | Industrial pipeline detection device |
| CN115875538A (en) * | 2022-10-11 | 2023-03-31 | 中建七局第二建筑有限公司 | Drainage pipeline fault detection device |
| CN117740667A (en) * | 2024-02-21 | 2024-03-22 | 辽宁乾源环保防腐管道有限公司 | Pipeline inner wall corrosion area metering and measuring device and measuring method |
| CN117740667B (en) * | 2024-02-21 | 2024-05-07 | 辽宁乾源环保防腐管道有限公司 | Pipeline inner wall corrosion area metering and measuring device and measuring method |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20210702 |