CN204901203U - Water supply line inner wall sniffing robot - Google Patents
Water supply line inner wall sniffing robot Download PDFInfo
- Publication number
- CN204901203U CN204901203U CN201520663383.0U CN201520663383U CN204901203U CN 204901203 U CN204901203 U CN 204901203U CN 201520663383 U CN201520663383 U CN 201520663383U CN 204901203 U CN204901203 U CN 204901203U
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- China
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- cabin
- water supply
- drive
- wing arm
- connecting rod
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Abstract
The utility model discloses a water supply line inner wall sniffing robot, including detecting the pressurized cabin, supporting wing arm, pulley, connecting rod and drive cabin. Be equipped with interconnect's detection equipment and controlling means in the detection pressurized cabin, detecting the pressurized cabin afterbody and passing through the connecting rod and drive the cabin to link to each other, the drive under -deck is equipped with the drive screw, be equipped with communication cable in the connecting rod, the drive screw that detects interior controlling means of pressurized cabin and drive under -deck is connected respectively at the communication cable both ends, detect pressurized cabin afterbody, drive cabin head and drive cabin afterbody and all be equipped with support wing arm, support wing arm end and be equipped with the pulley. The utility model discloses an it can go on with the sonar location that whole journey writes down and the point location is oozed in the hourglass to the water supply line inner wall to carry miniature camera equipment at sniffing robot front seal under -deck, through detecting the not unidimensional water supply line of support wing arm adaptation who installs outside pressurized cabin and the drive cabin, and making inspection robot turn in narrower pipeline space, good market prospect has.
Description
Technical field
The utility model belongs to robotics, is specifically related to a kind of water supply pipe inwall sniffing robot.
Background technique
At present, the reasons such as the most water facilities of China is outmoded, technical merit raising is slow make public supply mains leak rate higher than 8% of " the water supply industry object of planning in 2000 " defined, advanced level apart from international developed country also has very large gap, some town water supply leak rates of China are 25% ~ 30%, and wherein about 70% is that pipe leakage causes.Various places water supply company carry out the main auditory experience by veteran worker of investigation of leaking (along water pipe carefully differentiate foggara flowing water/leak sound), therefore most leakage point can't find.In addition, due to the device that existing water supply pipe is hunted leak, as ultrasonic leak detection method (CN201210361748) in water supply pipe, water pipe leak detection system (CN201020255028) etc., existence cannot adapt to the inner problem such as high hydraulic pressure and line size of water supply pipe, therefore cannot use at these devices of most occasion.For this reason, the utility model proposes the robot of a kind of novel water supply pipe inwall detection.Use this robot conveniently can carry miniature video camera equipment through the video recording of row pipe inner wall, carry out leakage orienting detection in conjunction with Sonar Signal simultaneously.Thus provide a kind of new tool for the long distance of leak off water pipe detects, can detect in the water supply pipe of different size simultaneously.
Summary of the invention
The purpose of this utility model solves problems of the prior art, and provide a kind of water supply pipe inwall sniffing robot, and concrete technological scheme is as follows:
A kind of water supply pipe inwall sniffing robot, comprises and detects sealed compartment, braced wing arm, pulley, connecting rod and driving cabin; Detect in sealed compartment and be provided with interconnective detecting devices and control gear; Detect sealed compartment afterbody to be connected with driving cabin by connecting rod, drive in cabin and be provided with driving propeller cavitation; Be provided with telecommunication cable in connecting rod, telecommunication cable two ends connect the control gear detected in sealed compartment and the driving propeller cavitation driven in cabin respectively; Detect sealed compartment afterbody, drive cabin head and drive cabin afterbody to be equipped with braced wing arm, braced wing arm end is provided with pulley.
As preferably, described detecting devices comprises picture pick-up device and sonar positioning equipment.
As preferably, described connecting rod is elastic rod, and body of rod shell is seal tube, and inside is provided with spring, and spring is wrapped up by seal tube, and described telecommunication cable is arranged in seal tube.
As preferably, described braced wing arm comprises base and several supporting elements, and has through hole in the middle of base, supporting element is fixed on braced wing arm in hinged way, and hinge point is provided with Returnning spring.
As further preferred, described supporting element has 4, is symmetricly set on base, and the angle between adjacent supporting piece is 90 °, and each supporting element end is equipped with a pulley.
The beneficial effects of the utility model are: by carry in sniffing robot forward end seal cabin miniature video camera equipment and sonar location can to water supply pipe inwall carry out whole process record and leakage ooze point location; By detecting sealed compartment and driving the braced wing arm installed to adapt to the water supply pipe of different size out of my cabin; The pulley installed by braced wing arm top can make measuring robots slide along water (flow) direction in pipeline; Utilize the crooking ability connecting the flexible connecting rod detecting sealed compartment and drive cabin, measuring robots can be made to turn in narrower pipeline space; By the utility model, water supply pipe inwall situation effectively can be detected, the water supply pipe that minimum detectable pipe with small pipe diameter is 4 inches.
Accompanying drawing explanation
Fig. 1 is a kind of perspective view of water supply pipe inwall sniffing robot;
Fig. 2 is a kind of plane structure schematic diagram of water supply pipe inwall sniffing robot;
Fig. 3 is braced wing arm configuration schematic diagram of the present utility model.
In figure: detect sealed compartment 1, braced wing arm 2, pulley 3, connecting rod 4, driving cabin 5 and base 6.
Embodiment
Below in conjunction with accompanying drawing, the utility model is described further.
As illustrated in fig. 1 and 2, a kind of water supply pipe inwall sniffing robot, comprises and detects sealed compartment 1, braced wing arm 2, pulley 3, connecting rod 4 and drive cabin 5; Detect in sealed compartment 1 and be provided with interconnective detecting devices and control gear.Detecting devices can carry out selection related elements according to detection needs, and control gear can select the controller such as single-chip microcomputer, arm.Detect sealed compartment 1 afterbody to be connected with driving cabin 5 by connecting rod 4, drive in cabin 5 and be provided with driving propeller cavitation, propeller cavitation is advanced by rotation forces sniffing robot.Be provided with telecommunication cable in connecting rod 4, telecommunication cable two ends connect the control gear detected in sealed compartment 1 and the driving propeller cavitation driven in cabin 5 respectively; Detect sealed compartment 1 afterbody, drive cabin 5 head and drive cabin 5 afterbody to be equipped with braced wing arm 2, braced wing arm 2 end is provided with pulley 3.Meanwhile, be also provided with power supply in robot, power supply is connected with detecting devices, control gear, driving propeller cavitation and other current consuming apparatus, for being power electricity consuming apparatus.
Described detecting devices comprises picture pick-up device and sonar positioning equipment, and picture pick-up device adopts miniature video camera equipment.
As preferably, described connecting rod 4 is elastic rod, and elastic rod body of rod shell is seal tube, and inside is provided with spring, and whole piece spring is wrapped up by seal tube, forms the connecting rod structure that can arbitrarily bend.Seal tube with detect sealed compartment 1, drive the joint in cabin 5 also to seal.Telecommunication cable is arranged in seal tube and carries out waterproof.
As shown in Figure 3, described braced wing arm 2 comprises base 6 and several supporting elements 7, has through hole in the middle of base 6, and hole size is with detection sealed compartment 1 or drive cabin 5 shell to match.Supporting element 7 is fixed on braced wing arm 2 with flexible articulated manner, and the axle of hinge point is provided with Returnning spring.Supporting element can remain on equilibrium position when not being subject to external force, and during equilibrium position, supporting element is with detection sealed compartment 1 or drive cabin 5 shell vertical, makes the span of braced wing arm maximum.When supporting element is under pressure, can overturn along hinge, reduce the span; When external force disappears, restore balance again position.
As one preferred embodiment, supporting element 7 has 4, is symmetricly set on base 6, and the angle between adjacent supporting piece 7 is 90 °, and each supporting element 7 end is equipped with a pulley 3, can keep balance when this robot is advanced in the duct.
The method of work of water supply pipe inwall sniffing robot of the present invention is: detect in sealed compartment 1 and carried miniature video camera equipment and sonar positioning equipment, after sniffing robot puts into water supply pipe, according to water supply pipe size, by supporting element 7 bending on braced wing arm 2, the pulley 3 on braced wing arm top is utilized to withstand water supply pipe inwall, utilize hydraulic pressure and tap water mobilization force in water supply pipe to promote sniffing robot to advance along water (flow) direction, the micro-photographic head timing detecting sealed compartment 1 lift-launch in advance process is taken pictures to water supply pipe inwall, sonar set transmitting framing signal positions position of taking pictures simultaneously.When sniffing robot motion speed is partially slow or when stopping, detecting sealed compartment 1 and send a control signal to driving cabin 5 by connecting rod 4, open the driving propeller cavitation driving and carry in cabin 5, driving sniffing robot advances.When meeting water supply pipe turning, detecting sealed compartment 1 and passing through in advance, and utilizing the toughness of connecting rod 4, drive and drive cabin 4 to turn.
Claims (5)
1. a water supply pipe inwall sniffing robot, is characterized in that, comprises and detects sealed compartment (1), braced wing arm (2), pulley (3), connecting rod (4) and drive cabin (5); Detect in sealed compartment (1) and be provided with interconnective detecting devices and control gear; Detect sealed compartment (1) afterbody to be connected with driving cabin (5) by connecting rod (4), drive in cabin (5) and be provided with driving propeller cavitation; Connecting rod is provided with telecommunication cable in (4), and telecommunication cable two ends connect the control gear detected in sealed compartment (1) and the driving propeller cavitation driven in cabin (5) respectively; Detect sealed compartment (1) afterbody, drive cabin (5) head and drive cabin (5) afterbody to be equipped with braced wing arm (2), braced wing arm (2) end is provided with pulley (3).
2. water supply pipe inwall sniffing robot as claimed in claim 1, it is characterized in that, described detecting devices comprises picture pick-up device and sonar positioning equipment.
3. water supply pipe inwall sniffing robot as claimed in claim 1, it is characterized in that, described connecting rod (4) is elastic rod, body of rod shell is seal tube, inside is provided with spring, and spring is wrapped up by seal tube, and described telecommunication cable is arranged in seal tube.
4. water supply pipe inwall sniffing robot as claimed in claim 1, it is characterized in that, described braced wing arm (2) comprises base (6) and several supporting elements (7), through hole is had in the middle of base (6), supporting element (7) is fixed on braced wing arm (2) in hinged way, and hinge point is provided with Returnning spring.
5. water supply pipe inwall sniffing robot as claimed in claim 4, it is characterized in that, described supporting element (7) has 4, is symmetricly set on base (6), angle between adjacent supporting piece (7) is 90 °, and each supporting element (7) end is equipped with a pulley (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520663383.0U CN204901203U (en) | 2015-08-31 | 2015-08-31 | Water supply line inner wall sniffing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520663383.0U CN204901203U (en) | 2015-08-31 | 2015-08-31 | Water supply line inner wall sniffing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204901203U true CN204901203U (en) | 2015-12-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520663383.0U Expired - Fee Related CN204901203U (en) | 2015-08-31 | 2015-08-31 | Water supply line inner wall sniffing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204901203U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805557A (en) * | 2016-03-29 | 2016-07-27 | 国网上海市电力公司 | Internal cold water pipeline detecting robot for convertor station valve cooling system |
| CN105973176A (en) * | 2016-06-30 | 2016-09-28 | 深圳市施罗德工业测控设备有限公司 | Pipe sediment detector and detection method |
| CN107031805A (en) * | 2017-04-12 | 2017-08-11 | 中国民航大学 | A kind of pipe robot suitable for liquid environment |
| CN108119726A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | For detecting the system of underground large-scale pipeline leak |
| CN108194757A (en) * | 2017-12-28 | 2018-06-22 | 徐州徐工环境技术有限公司 | Pipeline repairing apparatus and repair method, sewer pipe tool car |
| CN108568800A (en) * | 2017-12-14 | 2018-09-25 | 湘潭宏远电子科技有限公司 | pipeline foreign matter fishing robot |
| CN109268697A (en) * | 2018-11-07 | 2019-01-25 | 廖庆斌 | Robot is used in detection inside water-filled pipe |
| CN109490328A (en) * | 2018-12-27 | 2019-03-19 | 中国矿业大学(北京) | A kind of combined probe for being detected in subsoil drain |
| CN113124261A (en) * | 2021-04-19 | 2021-07-16 | 北京工业大学 | Head pose control structure of water supply pipeline leak detection robot |
-
2015
- 2015-08-31 CN CN201520663383.0U patent/CN204901203U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105805557B (en) * | 2016-03-29 | 2018-12-21 | 国网上海市电力公司 | A kind of Converter Station Valve cooling system inner cold water detecting robot of pipe |
| CN105805557A (en) * | 2016-03-29 | 2016-07-27 | 国网上海市电力公司 | Internal cold water pipeline detecting robot for convertor station valve cooling system |
| CN105973176B (en) * | 2016-06-30 | 2019-10-25 | 深圳市施罗德工业测控设备有限公司 | A kind of pipeline deposit detector and detection method |
| CN105973176A (en) * | 2016-06-30 | 2016-09-28 | 深圳市施罗德工业测控设备有限公司 | Pipe sediment detector and detection method |
| CN108119726A (en) * | 2016-11-26 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | For detecting the system of underground large-scale pipeline leak |
| CN108119726B (en) * | 2016-11-26 | 2019-12-13 | 沈阳新松机器人自动化股份有限公司 | System for detecting water leakage of underground large-scale pipeline |
| CN107031805A (en) * | 2017-04-12 | 2017-08-11 | 中国民航大学 | A kind of pipe robot suitable for liquid environment |
| CN108568800A (en) * | 2017-12-14 | 2018-09-25 | 湘潭宏远电子科技有限公司 | pipeline foreign matter fishing robot |
| CN108194757A (en) * | 2017-12-28 | 2018-06-22 | 徐州徐工环境技术有限公司 | Pipeline repairing apparatus and repair method, sewer pipe tool car |
| CN109268697A (en) * | 2018-11-07 | 2019-01-25 | 廖庆斌 | Robot is used in detection inside water-filled pipe |
| CN109490328A (en) * | 2018-12-27 | 2019-03-19 | 中国矿业大学(北京) | A kind of combined probe for being detected in subsoil drain |
| CN109490328B (en) * | 2018-12-27 | 2020-09-15 | 中国矿业大学(北京) | Composite probe for detecting underground drainage pipeline |
| CN113124261A (en) * | 2021-04-19 | 2021-07-16 | 北京工业大学 | Head pose control structure of water supply pipeline leak detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151223 Termination date: 20180831 |
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| CF01 | Termination of patent right due to non-payment of annual fee |