CN205261136U - Peep robot in pipeline - Google Patents
Peep robot in pipeline Download PDFInfo
- Publication number
- CN205261136U CN205261136U CN201520935637.XU CN201520935637U CN205261136U CN 205261136 U CN205261136 U CN 205261136U CN 201520935637 U CN201520935637 U CN 201520935637U CN 205261136 U CN205261136 U CN 205261136U
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- CN
- China
- Prior art keywords
- vehicle body
- base
- robot
- camera assembly
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a peep robot in pipeline, including taking the automobile body of wheel and setting up in the crane of automobile body, the crane rotates on and is connected with the connecting rod including the base of connecting the automobile body, and the one end of the relative base of connecting rod is equipped with the subassembly of making a video recording, characterized by: the base slide around the automobile body relatively, be equipped with the actuating mechanism that the drive was slided between automobile body and the base, the automobile body on be equipped with the linkage piece that the drive crane goes up and down, make the wheel atress on the automobile body more balanced, effectively avoid leaning forward of peep robot in pipeline to turn over after or, keep peep robot in pipeline to last steady job.
Description
Technical field
The utility model relates to a kind of trenchless technology, and more particularly, it relates to a kind of pipe endoscopic robot.
Background technology
Along with the fast development of national economic development, urban construction has also obtained significant progress, and every infrastructure construction is also advanced in a large number. As the important component part of municipal foundation engineering, urban water supply and sewerage pipeline also in city and suburbs constantly intensive with extend. Because pipeline is in underground, there is disguise, the time that large quantities of feedwater piping is laid is remote, inner wall corrosion, easily causes piping failure, and road surface subsides, gas leakage. When affecting quality of residents'life, brought huge potential safety hazard, city occurs that the probability of pipeline fault is very high. The problem existing for pipeline, and the residing environment of pipeline, plannedly detects, assesses, administers, safeguards that to drainage pipeline forming a set of rounded system is the inevitable of Modern Urban Development. As detection in early stage, the closed circuit video of pipeline detects and arises at the historic moment and be used widely.
Application number is the Chinese utility model patent of 201320274413.X, discloses a kind of various visual angles pipe detection crawl device, and it comprises car body, crane and camera assembly; Described car body comprises base and tire, and described tyre rotation is connected on described base; Described crane comprises the first end and the second end that are oppositely arranged, and described first end and described base are rotationally connected, and described camera assembly is rotationally connected with on described the second end, and the camera freely rotating by 360 degree checks the defect of pipe interior.
But above-mentioned patent has defect, among the process that CCD camera assembly is rising or declining, camera center relative and base can change, easily cause the stressed not identical of base front and back, it is larger that the weight of while camera assembly accounts for overall weight,, easily cause leaning forward or hypsokinesis through in barrier at wheel, affect the continuous firing of crawl device.
Utility model content
The deficiency existing for prior art, the purpose of this utility model is to provide a kind of pipe endoscopic robot, make the wheel on vehicle body stressed more balanced, effectively avoid pipe endoscopic robot lean forward or after turn over, keep pipe endoscopic robot continual and steady work.
For achieving the above object, the utility model provides following technical scheme: a kind of pipe endoscopic robot, comprise the vehicle body with wheel and be arranged at the crane of vehicle body, described crane comprises the base that connects vehicle body, on base, be rotatably connected to connecting rod, one end of the relative base of connecting rod is provided with camera assembly, it is characterized in that: the vehicle body front and back slippage relatively of described base, between vehicle body and base, be provided with the driving mechanism that drives slippage, described vehicle body is provided with the STATEMENT OF FEDERALLY SPONSORED that drives crane lifting.
The utility model is further set to: described STATEMENT OF FEDERALLY SPONSORED comprises the lead being vertically arranged on vehicle body, and described crane or camera assembly are provided with the guide pad coordinating with lead.
The utility model is further set to: described STATEMENT OF FEDERALLY SPONSORED is formed by connecting by some sections of end to end splice sections, between adjacent two splice sections, is threaded connection, and the end of described lead is provided with limited block.
The utility model is further set to: described STATEMENT OF FEDERALLY SPONSORED is gangbar, and described gangbar one end and vehicle body are hinged, the other end of gangbar and camera assembly or rod hinge connection.
The utility model is further set to: described gangbar comprises socket part and pars contractilis, and described pars contractilis is telescopic to be arranged in socket part, and the opening part of socket part is provided with fixation kit.
The utility model is further set to: described driving mechanism comprises the drive motors being fixed on vehicle body, and described drive motors is provided with leading screw, and described base is provided with the nut coordinating with leading screw.
The utility model is further set to: described vehicle body takes the shape of the letter U, and forward, the middle part of described vehicle body is greater than the size of camera assembly to the opening of the vehicle body of U-shaped.
The utility model is further set to: one end with respect to vehicle body of described crane is provided with counterweight part, counterweight part and camera assembly are positioned at the both sides of crane end, camera in described camera assembly can decline and be placed in the front end of vehicle body with crane, and described counterweight part is positioned at the rear side of front vehicle wheel.
Compared with prior art, the beneficial effects of the utility model are: base travels forward, under the effect of STATEMENT OF FEDERALLY SPONSORED, connecting rod upwards rotates, thereby the height of camera assembly rises, now taking base as object of reference, vehicle body and CCD camera assembly move backward with respect to base simultaneously, keep the center of gravity of camera assembly all the time at preceding wheel with between rear wheel, in this process, can adjust gangbar, thereby can realize vehicle body, camera assembly is identical with respect to the move distance of base, base moves backward, connecting rod rotates, the height of camera assembly reduces, equally taking base as reference substance, vehicle body and camera assembly move with respect to base phase front simultaneously, after declining, to keep the front end of camera assembly at vehicle body, for this reason, the rear fixed weight portion of shooting support member, thereby ensure that CCD camera assembly drops to minimum point, both when camera assembly is positioned at the front end of vehicle body, the center of gravity of camera assembly and counterweight part entirety falls between preceding wheel and posterior wheel all the time, the center of gravity of camera assembly and counterweight part entirety is fallen between preceding wheel and posterior wheel all the time, ensure the stressed relative equilibrium of preceding wheel and posterior wheel, avoid stressed gap excessive, ensure the normal operation of pipe endoscopic robot.
Brief description of the drawings
Fig. 1 is the state diagram one that adopts the pipe endoscopic robot of gangbar;
Fig. 2 is the structural representation of counterweight part;
Fig. 3 is the state diagram two that adopts the pipe endoscopic robot of gangbar;
Fig. 4 is the state diagram one that adopts the pipe endoscopic robot of guide post;
Fig. 5 is the state diagram two that adopts the pipe endoscopic robot of guide post;
Fig. 6 is the structural representation of gangbar;
Fig. 7 is the structural representation of guide post.
Reference numeral: 1, vehicle body; 11, bracket; 12, slide rail; 2, wheel; 3, crane; 31, base; 311, lug; 32, connecting rod; 321, guide pad; 4, camera assembly; 41, camera; 42, shooting support member; 5, counterweight part; 51, dodge groove; 6, gangbar; 61, socket part; 611, holding claw; 62, locking nut; 63, pars contractilis; 7, lead; 71, splice sections; 72, limited block; 8, driving mechanism; 81, drive motors; 82, leading screw; 83, bracing frame.
Detailed description of the invention
The testing process of pipe endoscopic robot is that testing staff carrys out by controller speed and the direction that remote control pipe endoscopic robot enters at pipeline internal; The rotation of adjustment camera 41 and zoom are realized the blur-free imaging of different directions; The height of controlling crane 3 adapts to the detection of different tube diameters. Under the assistance of illuminating lamp, the situation of pipe interior is presented in display screen by video recording and display system, and video data is stored, determine the distance detecting by length calculator.
As shown in Figure 1 be state camera assembly 4 being risen when crane 3, the mode of wherein advancing for pipe endoscopic robot has two kinds, the one, traditional rubber is wheeled; The 2nd, crawler type. The two all leans on motor-driven. Controlled respectively the rotation direction of both sides wheel by two motors, transfer to realize and advance, retreat, turn to by controlling motor positive and negative. In the utility model, adopt rubber wheeled, wheel 2 has two pairs, tandem being arranged on vehicle body 1.
Base 31 on crane 3 is connected with vehicle body 1 slippage, the direction that wherein vehicle body 1 advances along wheel 2 is provided with slide rail 12, for base 31 slippages, slippage between vehicle body 1 and base 31 realizes by driving mechanism 8, driving mechanism 8 comprises drive motors 81 and the leading screw 82 that is connected drive motors 81 rotating shafts, on base 31, be provided with the nut that leading screw 82 matches, the setting party of leading screw 82 is to mutually vertical with the direction of slide rail 12, wherein crane 3 comprises some parallel connecting rods 32, one end of connecting rod 32 connects base 31, the other end connects camera assembly 4, wherein camera assembly 4 comprises the shooting support member 42 that camera 41 is installed, shooting support member 42 is connected with connecting rod 32, wherein base 31, shooting support member 42 is all rotationally connected with connecting rod 32, wherein connecting rod 32 has at least a pair of, arrange in pair of links 32 front and back, with base 31, shooting support member 42 forms a parallelogram, wherein connecting rod 32 is positioned at and is same as on horizontal plane with two junctions of base 31, how no matter connecting rod 32 rotate like this, the support member 42 of wherein making a video recording also remains level, in process by connecting rod 32 rotation and lifting camera assemblies 4, camera assembly 4 remains level, preferably, the utility model adopts two pairs of connecting rods 32, left and right is distributed on base 31, for increasing the stability in camera assembly 4 lifting process.
In the prior art, when in the process that camera assembly 4 rises, camera assembly 4 can move by relative dolly backward, and the center of gravity of camera assembly 4 is moved backward, will directly cause so the posterior wheel 2 of vehicle body 1 stressed larger, and preceding wheel 2 is stressed less, now, when the preceding wheel 2 of pipe endoscopic robot is through barrier, the front end of vehicle body 1 is raised to just especially easily hypsokinesis of dolly like this, make preceding wheel 2 liftoff, and cause pipe endoscopic robot cannot continue motion, the utility model is to overcome like this this defect for this reason, owing to being also provided with STATEMENT OF FEDERALLY SPONSORED between base 31 and vehicle body 1, as shown in Figure 1, base 31 travels forward, under the effect of STATEMENT OF FEDERALLY SPONSORED, connecting rod 32 upwards rotates, thereby the height of camera assembly 4 rises, now taking base 31 as object of reference, vehicle body 1 moves with respect to base 31 with camera 41 assemblies simultaneously backward, keep the center of gravity of camera assembly 4 all the time at preceding wheel 2 with between rear wheel 2, in this process, can adjust gangbar 6, thereby can realize vehicle body 1, camera assembly 4 is identical with respect to the move distance of base 31, ensure the stressed relative equilibrium of preceding wheel 2 and posterior wheel 2, avoid stressed gap excessive, ensure the normal operation of pipe endoscopic robot.
Same, in the prior art, in the time that camera assembly 4 declines, the center of gravity of camera assembly 4 can be moved to preceding wheel 2, thereby makes preceding wheel 2 stressed excessive, easily causes the afterbody perk of vehicle body 1, affects working on of pipe endoscopic robot, the utility model overcomes like this, as shown in Figure 3, base 31 moves backward, connecting rod 32 rotates, the height of camera assembly 4 reduces, equally taking base 31 as reference substance, vehicle body 1 moves with respect to base 31 phase fronts with camera assembly 4 simultaneously, after declining, to keep the front end of camera assembly 4 at vehicle body 1, for this reason, the rear fixed weight portion 5 of shooting support member 42, thereby ensure that camera 41 assemblies drop to minimum point, both when camera assembly 4 is positioned at the front end of vehicle body 1, the center of gravity of camera assembly 4 and counterweight part 5 entirety falls between preceding wheel 2 and posterior wheel 2 all the time, ensure the stressed relative equilibrium of preceding wheel 2 and posterior wheel 2, avoid stressed gap excessive, ensure the normal operation of pipe endoscopic robot, simultaneously owing to having additional counterweight part 5, the stability of pipe endoscopic robot operation is increased.
Because the weight of camera assembly 4 may change because of signal, therefore the counterweight part 5 in the utility model is dismountable is arranged on shooting support member 42, according to the different size of camera assembly 4, select the counterweight part 5 of different big or small weight, counterweight part 5 as shown in Figure 2, its size is larger than the counterweight part 5 in Fig. 1, in order to make the counterweight part 5 after increase not interfere the lifting of crane 3, therefore, the bottom of counterweight part 5 is provided with connecting rod 32 to the corresponding groove 51 of dodging.
More optimize in order to make structure, taking the shape of the letter U of vehicle body 1, the direction that the opening of U-shaped advances towards pipe endoscopic robot, the opening of the vehicle body 1 of U-shaped is greater than camera assembly 4 simultaneously, thereby in the time that pipe endoscopic robot declines, can just enter into the vehicle body 1 of U-shaped, the bottom of vehicle body 1 front end is provided with bracket 11 in addition, for supporting camera assembly 4, reduce rocking of camera assembly 4, increase the stability of video in checking process; Drive motors 81 in driving mechanism 8 is fixed the afterbody with vehicle body 1, leading screw 82 passes from the below of base 31, the below of base 31 is provided with lug 311, nut is fixed on this lug 311, in the time that leading screw 82 rotates, drive base 31 to seesaw by lug 311, the structure of the vehicle body 1 making is compacter, bracket 11 is provided with leading screw 82 bracing frames 83, is rotationally connected with the end of leading screw 82.
As shown in Figures 1 and 3, it is the first kind of way of STATEMENT OF FEDERALLY SPONSORED, STATEMENT OF FEDERALLY SPONSORED is gangbar 6, one end of gangbar 6 and vehicle body 1 are hinged, the other end of gangbar 6 and camera assembly 4 or connecting rod 32 are hinged, when in the process that base 31 seesaws on vehicle body 1, gangbar 6 can play the effect of support, camera assembly 4 is propped up, in this process, can change the length of gangbar 6, and the position that connects with vehicle body 1 or connecting rod 32 of gangbar 6 changes the motion amplitude of base 31, the relative base 31 of camera assembly 4.
As shown in Figure 6, gangbar 6 comprises socket part 61 and pars contractilis 63, described pars contractilis 63 is telescopic to be arranged in socket part 61, the opening part of socket part 61 is provided with fixation kit, wherein fixation kit comprises the holding claw 611 being arranged on 61 openings of socket part, the locking nut 62 being threaded with socket part 61, between locking nut 62 and holding claw 611, be provided with the conical surface cooperatively interacting, among the process that locking nut 62 screws, socket part 61 and pars contractilis 63 are interfixed, reconcile the length of gangbar 6, can effectively control the lifting interval of camera assembly 4.
As shown in Fig. 4 and Fig. 5 institute, it is the second way of STATEMENT OF FEDERALLY SPONSORED, described STATEMENT OF FEDERALLY SPONSORED is the lead 7 being vertically arranged on vehicle body 1, described crane 3 or camera assembly 4 are provided with the guide pad 321 coordinating with lead 7, wherein guide pad 321 is rotatably connected with camera assembly 4 or connecting rod 32, the present embodiment is preferably arranged at guide pad 321 on connecting rod 32, preferably, after shooting support member 42 arranges counterweight part 5, the position of guide pad 321 is positioned at the below at the center of camera assembly 4 and counterweight part 5 entirety, thereby under the effect of lead 7, in there is sliding motion in base 31 under the effect of driving mechanism 8, camera assembly 4 and the top that the center of gravity of counterweight part 5 entirety remains at lead 7 are moved up and down, therefore lead 7 is preferably disposed on the centre position of vehicle body 1, so no matter how lifting of camera assembly 4, the center of gravity of lifting assembly and counterweight part 5 is positioned on lead 7 all the time.
As shown in Figure 7, for the structural representation of lead 7, because the diameter of pipeline can change, therefore, we need to be according to the lead 7 of the different choice different length of pipe diameter, and therefore lead 7 is formed by connecting by some sections of end to end splice sections 71, between adjacent two splice sections 71, is threaded connection, the end of lead 7 is provided with limited block 72, for limiting the valency that the rises height of crane 3.
The above is only preferred embodiment of the present utility model, and protection domain of the present utility model is also not only confined to above-described embodiment, and all technical schemes belonging under the utility model thinking all belong to protection domain of the present utility model. It should be pointed out that for those skilled in the art, in the some improvements and modifications that do not depart under the utility model principle prerequisite, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (8)
1. a pipe endoscopic robot, comprise the vehicle body with wheel and be arranged at the crane of vehicle body, described crane comprises the base that connects vehicle body, on base, be rotatably connected to connecting rod, one end of the relative base of connecting rod is provided with camera assembly, it is characterized in that: the vehicle body front and back slippage relatively of described base, between vehicle body and base, be provided with the driving mechanism that drives slippage, described vehicle body is provided with the STATEMENT OF FEDERALLY SPONSORED that drives crane lifting.
2. pipe endoscopic according to claim 1 robot, is characterized in that: described STATEMENT OF FEDERALLY SPONSORED comprises the lead being vertically arranged on vehicle body, and described crane or camera assembly are provided with the guide pad coordinating with lead.
3. pipe endoscopic according to claim 2 robot, is characterized in that: described STATEMENT OF FEDERALLY SPONSORED is formed by connecting by some sections of end to end splice sections, and between adjacent two splice sections, be threaded connection, the end of described lead is provided with limited block.
4. pipe endoscopic according to claim 1 robot, is characterized in that: described STATEMENT OF FEDERALLY SPONSORED is gangbar, and described gangbar one end and vehicle body are hinged, the other end of gangbar and camera assembly or rod hinge connection.
5. pipe endoscopic according to claim 4 robot, is characterized in that: described gangbar comprises socket part and pars contractilis, and described pars contractilis is telescopic to be arranged in socket part, and the opening part of socket part is provided with fixation kit.
6. pipe endoscopic according to claim 1 robot, is characterized in that: described driving mechanism comprises the drive motors being fixed on vehicle body, and described drive motors is provided with leading screw, and described base is provided with the nut coordinating with leading screw.
7. pipe endoscopic according to claim 6 robot, is characterized in that: described vehicle body takes the shape of the letter U, and forward, the middle part of described vehicle body is greater than the size of camera assembly to the opening of the vehicle body of U-shaped.
8. pipe endoscopic according to claim 7 robot, it is characterized in that: one end with respect to vehicle body of described crane is provided with counterweight part, counterweight part and camera assembly are positioned at the both sides of crane end, camera in described camera assembly can decline and be placed in the front end of vehicle body with crane, and described counterweight part is positioned at the rear side of front vehicle wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520935637.XU CN205261136U (en) | 2015-11-21 | 2015-11-21 | Peep robot in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520935637.XU CN205261136U (en) | 2015-11-21 | 2015-11-21 | Peep robot in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205261136U true CN205261136U (en) | 2016-05-25 |
Family
ID=56002664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520935637.XU Withdrawn - After Issue CN205261136U (en) | 2015-11-21 | 2015-11-21 | Peep robot in pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205261136U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105299383A (en) * | 2015-11-21 | 2016-02-03 | 北京通成工业设备有限公司 | Pipeline internal inspection robot |
| CN106041881A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Six-axis robot with wheels |
-
2015
- 2015-11-21 CN CN201520935637.XU patent/CN205261136U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105299383A (en) * | 2015-11-21 | 2016-02-03 | 北京通成工业设备有限公司 | Pipeline internal inspection robot |
| CN105299383B (en) * | 2015-11-21 | 2017-10-17 | 北京通成工业设备有限公司 | Pipe endoscopic robot |
| CN106041881A (en) * | 2016-07-18 | 2016-10-26 | 佛山市联智新创科技有限公司 | Six-axis robot with wheels |
| CN106041881B (en) * | 2016-07-18 | 2018-07-06 | 广州万粤知识产权运营有限公司 | A kind of six-joint robot equipped with idler wheel |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160525 Effective date of abandoning: 20171017 |