CN201072503Y - Multifunctional circular pipe robot - Google Patents
Multifunctional circular pipe robot Download PDFInfo
- Publication number
- CN201072503Y CN201072503Y CNU2007200812156U CN200720081215U CN201072503Y CN 201072503 Y CN201072503 Y CN 201072503Y CN U2007200812156 U CNU2007200812156 U CN U2007200812156U CN 200720081215 U CN200720081215 U CN 200720081215U CN 201072503 Y CN201072503 Y CN 201072503Y
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- central controller
- robot
- pipeline
- signal transmitter
- interface
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Abstract
The utility model discloses a multipurpose round pipeline robot with a battery as a power and a screw-driven mechanism as a drive mechanism. An input interface of a central controller (C) is connected with a point contact sensor (S1), a photosensitive sensor (S2), a video camera (V) and a wireless signal receiver (R); a control interface of the central controller (C) is connected with a dust collector (D) and a light emitting diode (LED); a signal output interface of the central controller (C) is connected with a video signal transmitter (VT). The robot has the advantages of convenient and stable walking in the pipeline, a variety of functions, wide application scope, high intelligence degree, easy monitoring, strong controllability and high reliability.
Description
Technical field
The utility model relates to a kind of robot, relates in particular to a kind of round pipe robot
Background technology
The development of pipe robot is an important directions of domestic and international Robotics development.In systems such as chemical industry, oil refining, printing and dyeing, IC manufacturing, central air conditioner, there is the different metallic conduit of diameter, can occur after the long-term work such as various problems such as burn into dirt, obstruction, damages.To the cleaning of these pipelines be must and complicated work: narrow space in the pipeline first, manpower is difficult to arrive, labor cleaning's difficulty is big, even is difficult to cleaning; Second environment is poisonous and hazardous in some pipeline, and human body is had infringement.It is also extremely inconvenient to connect up in the especially long curved pipe of pipeline simultaneously.Therefore, be necessary to develop a kind ofly in pipeline, survey, dedusting, multi-functional pipe robot such as pull strings.
Existing pipe robot function singleness is generally only had a dedusting function, and intelligent degree is low, poor controllability, enter pipeline after, uncontrollable and its duty of monitoring runs into obstacle in pipeline, can not withdraw from automatically; Power pack needs the external power supply lead-in wire, and the walking inconvenience easily produces fault in pipeline.
The utility model content
The purpose of this utility model just provides a kind of multi-functional round pipe robot, and it is convenient, stable that this kind robot walks in pipeline, diverse in function, and usage range is wide, and intelligent degree height is convenient to monitoring, and controllability is strong, the reliability height.
The utility model solves its technical matters, and the technical scheme that is adopted is:
A kind of multi-functional round pipe robot comprises the driving mechanism of power supply, central controller and the central controller controls of installing on the body, and its design feature is: power supply is a battery, and driving mechanism is a screw drives mechanism.The central controller input interface is connected with and a little touches sensor, light sensor, camera, the wireless signal receptacle; The central controller controls interface is connected with suction cleaner, light emitting diode; The central controller signal output interface is connected with visual-signal transmitter.
Compared with prior art, the beneficial effects of the utility model are:
Driving mechanism adopts screw drives mechanism, makes robot spiral advancing in pipeline, operates steadily, and is difficult for taking place skew or rollover; Power supply adopts battery, without circumscripted power line, both having made in the robot pipeline walking convenient, is difficult for again being short-circuited, open circuit fault, improves the operational reliability of robot.
Utilize point to touch the barrier that sensor can monitor the place ahead, and output signal to central controller, robot brain device people withdraws from, with avoid robot stuck at the barrier place.Utilize camera to take situation in the pipeline in real time, and by visual-signal transmitter the scene in the pipeline is emitted by controlling display and to show, realized the detection of pipeline and the monitoring of robot working condition.Also be convenient to the operator and pass through telepilot-wireless signal receptacle-central controller according to the surveillance map picture, realize remote effectively control targetedly to robot, open speed, the advance and retreat of suction cleaner and control robot in good time, significantly improve the work efficiency of robot, reduce fault.Further, the light in light sensor detects pipeline is crossed when dark, and the central controller controls lumination of light emitting diode guarantees that camera can normally make a video recording.
In a word, robot ambulation of the present utility model is stable, convenient, the reliability height.Can carry out dedusting to pipeline, can also survey, and withdraw from automatically can meet obstacle the time pipeline, diverse in function, usage range is wide, and controllability is strong, intelligent degree height.
Above-mentioned central controller output interface also is connected with time signal transmitter, sound signal transmitter.
Before the robot work, according to the situation of the capacity and the pipeline of current battery, the maximum operating time, the suction cleaner that preestablish robot in central controller are filled the maximum operating time that the dirt bits time is suction cleaner; The machine man-hour, central controller is transmitted to the outer time display of pipeline with robot working time, suction cleaner working time by the time signal transmitter and shows in the mode of countdown, so that operating personnel grasp the progress of work of robot, and take corresponding operation.When central controller judges that the robot battery remaining power only enough withdraws from pipeline, or the dirt of judging suction cleaner is considered to be worth doing when having filled, central controller robot brain device people in time withdraws from pipeline, avoid robot because power supply can't withdraw from the situation of pipeline after using up takes place, or avoid robot effectively dust suction and produce waste in pipeline.At this moment, central controller is also launched the voice suggestion signal by audio emitter, and alert is taked corresponding operating.
Above-mentioned central controller input interface also is connected with microphone.Microphone picks up the acoustic information in the pipeline, and signal is sent by the sound signal transmitter, be sent in the outer audio frequency apparatus of pipeline, operating personnel can monitor the abnormal sound in the pipeline in real time outside pipeline like this, thus the interior situation of pipelines more fully.
The utility model is described in further detail below in conjunction with accompanying drawing and concrete embodiment.
Description of drawings
Fig. 1 is the circuit structure schematic block diagram of the utility model embodiment.
Fig. 2 is the physical construction synoptic diagram of a kind of screw drives mechanism that adopts of robot of the present utility model.
Embodiment
Embodiment
Fig. 1 illustrates, a kind of embodiment of the present utility model:
A kind of multi-functional round pipe robot comprises the driving mechanism of power supply, central controller C and the central controller C control of installing on the body.Power supply wherein is a battery, and driving mechanism is a screw drives mechanism.Central controller C input interface is connected with and a little touches sensor S1, light sensor S2, camera V, wireless signal receptacle R; Central controller C control interface is connected with suction cleaner D, LED; Central controller C signal output interface is connected with visual-signal transmitter VT.
Central controller C output interface is connected with time signal transmitter TT, sound signal transmitter AT.Central controller C input interface also is connected with microphone M.
The utility model is when implementing, and sound signal transmitter AT, visual-signal transmitter VT can integrate and form incorporate sound, video generator.Sound, vision signal can also be modulated into radiofrequency signal and send.
The utility model is when implementing, and its driving mechanism can adopt various existing screw drives mechanism.Also can adopt the screw drives mechanism of structure shown in Figure 2:
At After-Body direct current generator 1 is installed.Be equipped with on 1 in the direct current generator and drive wheel carrier 2, drive wheel carrier 2 and be provided with three support arms, article three, the end of support arm is hinged with the middle part of the driving wheel bar 3 of body length direction respectively, the rear end of driving wheel bar 3 is equipped with driving wheel 4, and the axis of rotation of driving wheel 4 and the angle theta of body axis are 3～30 degree.The middle part of body or front portion also are installed with guiding wheel carrier 12, guiding wheel carrier 12 is provided with three support arms, article three, the end of support arm is hinged with the middle part of the guide wheel rod 10 of body length direction respectively, the two ends of guide wheel rod 10 are equipped with angle sheave 6, and the axis of rotation of angle sheave 6 is vertical with body axis.The rear portion that drives three driving wheel bars 3 on the wheel carrier 2 is interconnected by flexible member 13, perhaps links to each other with body by flexible member 13; Three guide wheel rod 10 front portions or the rear portion of guiding on the wheel carrier 12 interconnected by flexible member 13, perhaps links to each other with body by flexible member 13.
The course of work and the principle of this driving mechanism are: the front portion or the rear portion of driving wheel bar 3 front portions and guide wheel rod 10 interconnect by flexible member 13, perhaps link to each other with body by flexible member 13.Under the elastic force effect of flexible member 13, driving wheel 4 and angle sheave 6 are stretched to extending out, and envelope is pressed on the tube wall of round pipe.During work, 1 in direct current generator drives and drives wheel carrier 2 rotations, because being the pipeline bus, the axis of rotation of driving wheel 4 and body axis be 3～30 degree angles, thereby driving wheel 4 will form the helical trajectory that spiral advances on duct wall, produce driving force forward, because the axis of rotation of angle sheave 6 is vertical with the pipeline bus, the rotation working direction that also is angle sheave 6 is consistent with the pipeline generatrix direction, angle sheave 6 will be under the effect of driving force, rotate forward along the pipeline bus, finally make robot in pipeline, advance along generatrix direction.Because the rotating direction of angle sheave 6 is consistent with the pipeline generatrix direction, can not produce horizontal rolling, also be that the friction force of angle sheave 6 and duct wall will stop the entire machine people to rotate along pipeline axial.
Claims (3)
1. multi-functional round pipe robot comprises it is characterized in that the driving mechanism of power supply, central controller (C) and central controller (C) control of installing on the body:
Described power supply is a battery, and driving mechanism is a screw drives mechanism;
Described central controller (C) input interface is connected with and a little touches sensor (S1), light sensor (S2), camera (V), wireless signal receptacle (R); Central controller (C) control interface is connected with suction cleaner (D), light emitting diode (LED); Central controller (C) signal output interface is connected with visual-signal transmitter (VT).
2. a kind of multi-functional round pipe according to claim 1 robot, it is characterized in that: described central controller (C) output interface is connected with time signal transmitter (TT), sound signal transmitter (AT).
3. a kind of multi-functional round pipe according to claim 1 robot, it is characterized in that: described central controller (C) input interface also is connected with microphone (M).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200812156U CN201072503Y (en) | 2007-09-25 | 2007-09-25 | Multifunctional circular pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200812156U CN201072503Y (en) | 2007-09-25 | 2007-09-25 | Multifunctional circular pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201072503Y true CN201072503Y (en) | 2008-06-11 |
Family
ID=39551059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200812156U Expired - Fee Related CN201072503Y (en) | 2007-09-25 | 2007-09-25 | Multifunctional circular pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201072503Y (en) |
-
2007
- 2007-09-25 CN CNU2007200812156U patent/CN201072503Y/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080611 Termination date: 20100925 |