CN114593307A - Spiral roller pipeline inspection robot - Google Patents
Spiral roller pipeline inspection robot Download PDFInfo
- Publication number
- CN114593307A CN114593307A CN202210242881.2A CN202210242881A CN114593307A CN 114593307 A CN114593307 A CN 114593307A CN 202210242881 A CN202210242881 A CN 202210242881A CN 114593307 A CN114593307 A CN 114593307A
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- China
- Prior art keywords
- main body
- body controller
- inspection robot
- power mechanism
- pipeline
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a spiral roller pipeline detection robot, which comprises a main body controller for controlling the operation of the whole equipment; power mechanisms for driving the whole equipment to move are installed on two sides of the main body controller through connecting plates; the front end and the rear end of the power mechanism are installed through connecting discs; the power mechanism is controlled by the main body controller to operate; the connecting plate is movably connected with the connecting disc through a bolt; connecting discs at two ends of the power mechanism are connected through a connecting shaft; a fixed block is arranged in the middle of the connecting shaft; the fixed block is controlled by an adjusting cylinder arranged on the main body controller; the piston end of the adjusting cylinder is connected with the fixed block, and the cylinder body of the adjusting cylinder is fixed on the main body controller; the invention can better enable the robot to run in the pipeline, ensures the smooth detection of the robot, greatly reduces the resistance brought by sundries or sludge in the pipeline by the design of the front-end obstacle breaking head, effectively and quickly breaks the obstacle and ensures the accuracy of information acquisition.
Description
Technical Field
The invention relates to a spiral roller pipeline detection robot, and belongs to the technical field of pipeline detection.
Background
The in-pipeline detection refers to the operation of utilizing a detector to run in a pipeline, detecting and recording the damage conditions of deformation, corrosion and the like of the pipeline in real time and accurately positioning.
With the development of science and technology, pipelines have been widely applied in the current society. The pipeline is inevitably cracked, blocked and the like in long-term use; some pipelines convey highly toxic or radioactive media, if cracks and leaking holes are generated in the pipelines, the media can leak, accidents and disasters can be caused, the pipelines must be regularly detected and maintained in order to prevent accidents, but some pipelines are buried underground or even in the sea bottom, the caliber of some pipelines is small, people cannot enter the pipelines, the pipeline digging-out for detection and maintenance is not economical and unrealistic, a pipeline robot can replace people for detection, however, the environment in a sewer pipeline is complicated and changeable, particularly, the high-water-level or muddy-water mixed environment exists in some pipelines, and a common detection robot cannot adapt to the environment and cannot smoothly complete a detection task.
Disclosure of Invention
Aiming at the technical problems, the invention provides a spiral roller pipeline detection robot.
The technical solution of the invention is realized as follows: a spiral roller pipeline detection robot comprises a main body controller for controlling the operation of the whole equipment;
power mechanisms for driving the whole equipment to move are installed on two sides of the main body controller through connecting plates;
the front end and the rear end of the power mechanism are installed through connecting discs;
the power mechanism is controlled by the main body controller to operate;
the connecting plate is movably connected with the connecting disc through a bolt;
connecting discs at two ends of the power mechanism are connected through a connecting shaft;
a fixed block is arranged in the middle of the connecting shaft; the fixed block is controlled by an adjusting cylinder arranged on the main body controller;
the piston end of the adjusting cylinder is connected with the fixed block, and the cylinder body of the adjusting cylinder is fixed on the main body controller;
the power mechanism is controlled by an adjusting cylinder to adjust the angle;
an obstacle breaking head in an oblique cone shape is arranged below the front end of the main body controller, and a plurality of searchlights are arrayed on the surface of the obstacle breaking head;
and a front-end camera for information collection and image transmission is arranged above the obstacle breaking head.
In a preferable scheme, the power mechanism is a spiral roller.
In a preferable scheme, an auxiliary detector controlled by a main body controller is symmetrically arranged above the obstacle breaking head.
In a preferred embodiment, the auxiliary detector is a radar scanner.
In a preferred embodiment, the auxiliary detector is a sonar sensor.
Preferably, a 360-degree spherical camera is arranged above the rear end of the controller main body.
Preferably, a connection socket is arranged below the rear end of the controller main body.
Preferably, an arc-shaped protection block is arranged at the rear end of the controller main body.
In a preferred scheme, the main body controller, the power mechanism, the adjusting cylinder, the searchlight, the front-end camera and the auxiliary detector are all subjected to waterproof treatment.
In a preferable scheme, a waterproof cover is arranged outside the 360-degree spherical camera.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
according to the spiral roller pipeline detection robot, the robot is driven to move in a manner of rotating the spiral blade of the power mechanism, the capability of the robot in adapting to various detection environments can be greatly improved, meanwhile, the angle of the power mechanism is controlled by the adjusting cylinder, so that different pipeline environments can be dealt with, the robot can be better enabled to run in a pipeline, the smooth detection of the robot is ensured, the resistance caused by sundries or sludge in the pipeline is greatly reduced due to the design of the front-end obstacle breaking head, the obstacle is effectively and quickly broken, and the accuracy of information acquisition is ensured.
Drawings
The technical scheme of the invention is further explained by combining the accompanying drawings as follows:
FIG. 1 is a schematic structural diagram of a spiral drum pipeline inspection robot according to the present invention;
FIG. 2 is another schematic view of the helical drum pipeline inspection robot according to the present invention;
wherein: 1. a main body controller; 2. a connecting plate; 3. a power mechanism; 4. a connecting disc; 5. a connecting shaft; 6. a fixed block; 7. adjusting the cylinder; 8. breaking the barrier head; 9. a searchlight; 10. a front-end camera; 11. an auxiliary detector; 12. a 360-degree spherical camera; 13. a wiring socket; 14. an arc-shaped protection block; 15. a water shield.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
The invention is described below with reference to the accompanying drawings.
As shown in fig. 1 and 2, the spiral roller pipeline inspection robot of the present invention comprises a main body controller 1 for controlling the operation of the whole equipment, which is a control center of the whole equipment; two sides of the main body controller 1 are provided with power mechanisms 3 for driving the whole device to move through connecting plates 2, the power mechanisms 3 are spiral rollers, and the spiral rollers are spindle-shaped and can be beneficial to moving in a pipeline; the front end and the rear end of the spiral roller are installed through the connecting discs 4, so that the spiral roller can rotate better; the operation of the spiral roller is controlled by a main body controller 1; the connecting plate 2 is movably connected with the connecting plate 4 through a bolt; connecting discs 4 at two ends of the spiral roller are connected through a connecting shaft 5; a fixed block 6 is arranged in the middle of the connecting shaft 5; the fixed block 6 is controlled by an adjusting cylinder 7 arranged on the main body controller 1; the piston end of the adjusting cylinder 7 is connected with the fixed block 6, and the cylinder body of the adjusting cylinder is fixed on the main body controller 1; the spiral roller is controlled by the adjusting cylinder 7 to adjust the angle, so that the opening and closing distance of the spiral roller can be adjusted to meet different pipelines, the pipelines are different in size and have various models, the opening and closing distance of the spiral roller is controlled by the adjusting cylinder 7 to match the size of the pipeline, more pipelines can be operated as far as possible, the adjusting cylinder 7 is controlled by the main body controller 1 to operate, the overall adjustment is more stable, 4 adjusting cylinders can be set, the two ends of the spiral roller on two sides can be independently adjusted in a distributed mode, multi-angle fine adjustment of the spiral roller can be achieved, and more complex conditions in the pipeline can be met; an oblique cone-shaped obstacle breaking head 8 is arranged below the front end of the main body controller 1, a plurality of searchlights 9 are arrayed on the surface of the obstacle breaking head 8, sundries in a pipeline can be rapidly processed by the oblique cone-shaped obstacle breaking head 8, the equipment can conveniently move forwards, and the plurality of searchlights 9 in the array provide enough light and brightness for a front-end camera 10; a front-end camera 10 for information collection and image transmission is arranged above the obstacle breaking head 8; obstacle breaking head 8 top still symmetry be equipped with by the auxiliary detector 11 of main part controller 1 control, auxiliary detector 11 is radar scanner or sonar sensor, the different situation in the reply pipeline that can be better, the condition when radar scanner or sonar sensor can deal with front end camera 10 can not shoot to guarantee going on smoothly of surveying in the pipeline.
Controller main part rear end top is equipped with 360 spherical cameras 12, 360 spherical cameras 12 outside is equipped with buckler 15, and the degree of accuracy of whole pipeline detection is strengthened to 360 spherical cameras 12 of rear end can be further, and the better more complete condition feedback that provides the interior operation of pipeline.
The rear end of the controller main body is provided with the connecting line socket 13, the connecting line socket 13 is designed to better facilitate the operation of the robot, the power supply of the robot can be selected to carry out pipeline detection according to the pipeline condition, the connecting line socket 13 can also be connected through a cable, the continuous power supply can be provided for the robot if the connecting line socket 13 is connected through the cable, the condition that the robot is powered off and stopped cannot occur, the detection condition in a transmission pipeline can be transmitted through the cable more quickly, and the defect is that the cable length determines the detection depth of the robot.
For better protection of the robot, the rear end of the controller main body is provided with an arc-shaped protection block 14 to prevent the rear end of the robot from being collided by unnecessary objects.
The main body controller 1, the power mechanism 3, the adjusting cylinder 7, the searchlight 9, the front end camera 10 and the auxiliary detector 11 are all subjected to waterproof treatment, and in order to enable the robot to work in a pipeline better, the waterproof treatment is indispensable, and after all, the interior of the pipeline is mostly wet.
According to the spiral roller pipeline detection robot, the robot is driven to move in a manner of rotating the spiral blade of the power mechanism 3, the capability of the robot in adapting to various detection environments can be greatly improved, meanwhile, the adjustment cylinder 7 controls the angle of the power mechanism 3 to respond to different pipeline environments, the robot can be better enabled to run in a pipeline, the smooth detection of the robot is guaranteed, the resistance caused by sundries or sludge in the pipeline is greatly reduced due to the design of the front-end obstacle breaking head 8, the obstacle is effectively and quickly broken, and the accuracy of information acquisition is guaranteed.
The above-mentioned embodiments are merely illustrative of the technical idea and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the scope of the present invention.
Claims (10)
1. The utility model provides a spiral cylinder pipeline inspection robot which characterized in that: the system comprises a main body controller for controlling the operation of the whole equipment;
power mechanisms for driving the whole equipment to move are installed on two sides of the main body controller through connecting plates;
the front end and the rear end of the power mechanism are installed through connecting discs;
the power mechanism is controlled by the main body controller to operate;
the connecting plate is movably connected with the connecting disc through a bolt;
connecting discs at two ends of the power mechanism are connected through a connecting shaft;
a fixed block is arranged in the middle of the connecting shaft; the fixed block is controlled by an adjusting cylinder arranged on the main body controller;
the piston end of the adjusting cylinder is connected with the fixed block, and the cylinder body of the adjusting cylinder is fixed on the main body controller;
the power mechanism is controlled by an adjusting cylinder to adjust the angle;
an obstacle breaking head in an oblique cone shape is arranged below the front end of the main body controller, and a plurality of searchlights are arrayed on the surface of the obstacle breaking head;
and a front-end camera for information collection and image transmission is arranged above the obstacle breaking head.
2. A spiral drum pipe inspection robot as recited in claim 1, wherein: the power mechanism is a spiral roller.
3. A spiral drum pipe inspection robot as recited in claim 1, wherein: and auxiliary detectors controlled by the main body controller are symmetrically arranged above the obstacle breaking head.
4. A spiral drum pipe inspection robot as recited in claim 3, wherein: the auxiliary detector is a radar scanner.
5. A spiral drum pipe inspection robot as recited in claim 3, wherein: the auxiliary detector is a sonar sensor.
6. A spiral drum pipe inspection robot as claimed in claim 1 or 2, wherein: and a 360-degree spherical camera is arranged above the rear end of the controller main body.
7. A spiral drum pipe inspection robot as claimed in claim 1 or 2, wherein: and a connecting wire socket is arranged below the rear end of the controller main body.
8. The spiral drum pipe inspection robot of claim 7, wherein: the rear end of the controller main body is provided with an arc-shaped protection block.
9. A spiral drum pipe inspection robot as recited in claim 3, wherein: and the main body controller, the power mechanism, the adjusting cylinder, the searchlight, the front-end camera and the auxiliary detector are all subjected to waterproof treatment.
10. The spiral drum pipeline inspection robot of claim 6, wherein: and a waterproof cover is arranged outside the 360-degree spherical camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210242881.2A CN114593307A (en) | 2022-03-11 | 2022-03-11 | Spiral roller pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210242881.2A CN114593307A (en) | 2022-03-11 | 2022-03-11 | Spiral roller pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114593307A true CN114593307A (en) | 2022-06-07 |
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ID=81817790
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210242881.2A Pending CN114593307A (en) | 2022-03-11 | 2022-03-11 | Spiral roller pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114593307A (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206066414U (en) * | 2016-08-31 | 2017-04-05 | 广州鸿鑫勘测技术有限公司 | Intelligent pipeline detects robot |
| CN110219333A (en) * | 2019-07-02 | 2019-09-10 | 天津市环境保护技术开发中心设计所 | Fast reaction formula screw propulsion excavates machine |
| CN210566981U (en) * | 2019-07-05 | 2020-05-19 | 武汉中仪物联技术股份有限公司 | Spiral roller robot |
| CN211010418U (en) * | 2019-11-28 | 2020-07-14 | 武汉天仪海波仪器有限公司 | Pipeline detection robot and pipeline detection system |
| US20210009219A1 (en) * | 2017-12-28 | 2021-01-14 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Robot maneuverable by combined sprawl and four-bar extension mechanisms |
| CN212377561U (en) * | 2020-04-30 | 2021-01-19 | 武汉中仪物联技术股份有限公司 | Pipeline inspection robot |
| CN112590969A (en) * | 2020-12-22 | 2021-04-02 | 华东勘测设计院(福建)有限公司 | Spiral roller assembly and pipeline box culvert detection robot |
| CN112747191A (en) * | 2020-12-28 | 2021-05-04 | 苏州江创智能科技有限公司 | Pipeline robot that many senses fuse |
| CN112828899A (en) * | 2019-11-22 | 2021-05-25 | 湖南千智机器人科技发展有限公司 | Robot base capable of walking stably |
| CN112894833A (en) * | 2020-12-28 | 2021-06-04 | 冯玉梅 | Sewage pipeline detection intelligent robot and intelligent sewage treatment system |
-
2022
- 2022-03-11 CN CN202210242881.2A patent/CN114593307A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206066414U (en) * | 2016-08-31 | 2017-04-05 | 广州鸿鑫勘测技术有限公司 | Intelligent pipeline detects robot |
| US20210009219A1 (en) * | 2017-12-28 | 2021-01-14 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Robot maneuverable by combined sprawl and four-bar extension mechanisms |
| CN110219333A (en) * | 2019-07-02 | 2019-09-10 | 天津市环境保护技术开发中心设计所 | Fast reaction formula screw propulsion excavates machine |
| CN210566981U (en) * | 2019-07-05 | 2020-05-19 | 武汉中仪物联技术股份有限公司 | Spiral roller robot |
| CN112828899A (en) * | 2019-11-22 | 2021-05-25 | 湖南千智机器人科技发展有限公司 | Robot base capable of walking stably |
| CN211010418U (en) * | 2019-11-28 | 2020-07-14 | 武汉天仪海波仪器有限公司 | Pipeline detection robot and pipeline detection system |
| CN212377561U (en) * | 2020-04-30 | 2021-01-19 | 武汉中仪物联技术股份有限公司 | Pipeline inspection robot |
| CN112590969A (en) * | 2020-12-22 | 2021-04-02 | 华东勘测设计院(福建)有限公司 | Spiral roller assembly and pipeline box culvert detection robot |
| CN112747191A (en) * | 2020-12-28 | 2021-05-04 | 苏州江创智能科技有限公司 | Pipeline robot that many senses fuse |
| CN112894833A (en) * | 2020-12-28 | 2021-06-04 | 冯玉梅 | Sewage pipeline detection intelligent robot and intelligent sewage treatment system |
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