CN205383393U - But tapered pipeline inspection robot - Google Patents
But tapered pipeline inspection robot Download PDFInfo
- Publication number
- CN205383393U CN205383393U CN201520607346.8U CN201520607346U CN205383393U CN 205383393 U CN205383393 U CN 205383393U CN 201520607346 U CN201520607346 U CN 201520607346U CN 205383393 U CN205383393 U CN 205383393U
- Authority
- CN
- China
- Prior art keywords
- diameter
- wheel
- measuring robots
- pipe measuring
- variable pipe
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The utility model provides a but tapered pipeline inspection robot, includes the casing, provides the travel mechanism of power, initiative steering mechanism that control turned to and the strutting arrangement who makes whole device can exercise at different pipe diameters for whole device, travel mechanism include two march round, step motor, speed reducer, bearing and bearing frame, two wheels of marcing are the setting of V type, provide power by step motor, about connecting through bearing and bearing frame on two parts casing, the speed reducer is connected in step motor and is marchd between the wheel, the initiative steering mechanism set up at travel mechanism's rear, including the cydariform directive wheel that is applicable to pipe inner wall with for turning to the servo motor who provides power, strutting arrangement comprises four connecting rods, supporting wheel and telescopic link. The utility model discloses but tapered pipeline inspection robot, this pipeline robot can be applicable to the pipeline of different pipe diameters, and can provide the concrete position of pipeline damage.
Description
Technical field
This utility model relates to robot field, and specifically a kind of diameter-variable pipe measuring robots, namely adapts to the detecting robot of pipe of different tube diameters.
Background technology
Pipeline plays, in current life and production, the effect that can not be substituted.But pipeline is in use, owing to the burn into external force reason such as collide with can cause damage unavoidably, so, only it is periodically subject to the safety that pipeline cleaning, detection and maintenance guarantee pipeline use.But pipeline is embedded in underground more, in pipeline, would be likely to occur corrosivity dirt, poison etc., manual work bad environments.And some pipeline, caliber is less, is manually difficult to enter operation.Therefore, pipe robot arises at the historic moment.
Pipe robot of the prior art, or volume is relatively big, structure is loaded down with trivial details, be made up of multistage, or it is applied to the detection of the pipeline of a certain caliber, or it is applied in the pipeline of straight tube, for single hop, and adapt to the pipe detection of different tube diameters, but without relevant product.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of diameter-variable pipe measuring robots, this pipe robot, it is possible to suitable in the pipeline of different tube diameters.
A kind of diameter-variable pipe measuring robots, including housing, provides the walking mechanism of power for whole device, controls the active steering mechanism that turns to and makes whole device can exercise the support arrangement at different tube diameters；Described walking mechanism includes two travel wheel, motor, reductor, bearing and bearing block, the V-shaped setting of said two travel wheel, motor provide power, is connected on the two housing sections of left and right by bearing and bearing block；Described reductor is connected between motor and travel wheel；Described active steering mechanism is arranged on the rear of walking mechanism, including being applicable to the cydariform deflecting roller of inner-walls of duct and for turning to the servomotor providing power；Described deflecting roller is connected on housing by bearing and bearing block；Described servomotor is connected on deflecting roller by shaft coupling；Described support arrangement is made up of double leval jib, support wheel and expansion link, supports wheel and is fixed on one end of double leval jib；The other end of double leval jib is connected to the expansion link of the length regulating it.
Described diameter-variable pipe measuring robots, also includes the testing agency for detecting inner-walls of duct damage；Described testing agency includes being positioned at the CPU module of housing central section, being positioned at the CCD photographing module of device foremost and be positioned at the rearmost Crack Detection sensor assembly of device.
Described travel wheel is preferably drum-type rubber wheel, increases the contact area of travel wheel and inner-walls of duct.
Reductor between described travel wheel and motor is preferably worm-gear speed reducer.
The position of described steering mechanism is preferably located on the plane of symmetry of travel wheel, and is in the front of travel wheel.
The described servomotor providing power for steering mechanism is DC servo reducing motor, and its anglec of rotation is ± 95 °.
The double leval jib of described support arrangement is preferably parallel four-bar linkage.
Described support wheel is positioned on parallel-ordinal shift, the prolongation axle head of a connecting rod, and double leval jib, in deformation process, supports wheel place connecting rod and is perpendicular to tube wall all the time.
Described CCD photographing module, entirety can swing up and down；Can swing including a photographic head.
Provide the benefit that:
1, this utility model abandons traditional fixed dimension design, and fixed dimension causes that pipe robot may be only available for the pipeline of a certain caliber；And this utility model, two rotatable travel wheel of pipe with variable diameter pipeline robot, coordinate the telescopic wheel that supports, it is possible to regulate the external diameter of a circle of three wheel compositions, and then be applicable to the pipeline of different tube diameters.This utility model adopts unistage type design, convenient ensures that pipe robot will not collide interferences with own module in pipeline, and is convenient for carrying, it is easy to assembling.
3, travel wheel adopts drum-type rubber wheel, it is possible under different tube diameters, it is ensured that travel wheel is fully contacted with inner-walls of duct.Travel wheel surface is also distributed rubber bumps, it is possible to protect this pipe robot when advancing and turn, relative sliding will not occur between travel wheel and inwall.
4, deflecting roller adopts active steering apparatus, and deflecting roller is driven by direct current speed-down servo motor, coordinates the differential of two driving wheels driven by stepper motors, it is possible to turn smoothly in the pipeline that knuckle is 60 degree.
5, the swingable CCD photographing module that device is anterior, it is possible to complete the visual observation in pipeline front, facilitate the planning of robot polling path, and the particular location of pipe damage can be provided；Be fixed on the rotatable circular disc of device rear portion pipe crack detection sensor can 360 degree cover pipelines inwall, do not stay detect dead angle.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of this utility model diameter-variable pipe measuring robots embodiment 1；
Fig. 2 is the shell structure schematic diagram of this utility model diameter-variable pipe measuring robots embodiment 1；
Fig. 3 is the walking mechanism structural representation of this utility model diameter-variable pipe measuring robots embodiment 2；
Fig. 4 is steering mechanism's structural representation of this utility model diameter-variable pipe measuring robots embodiment 3；
Fig. 5 is the support device structure schematic diagram of this utility model diameter-variable pipe measuring robots embodiment 4；
Fig. 6 is the detecting device front view of this utility model diameter-variable pipe measuring robots embodiment 4；
Fig. 7 is the detecting device rearview of this utility model diameter-variable pipe measuring robots embodiment 4；
nullIn figure, labelling is: 1、Housing，2、Walking mechanism，3、Active steering mechanism，4、Prop up support arrangement，5、Testing agency，101、Backboard，102、Traveling motor fixing plate，103、Travel wheel fixes plate，104、Sensor fixation plate，Plate is fixed by 105 steering mechanism，201、Closed loop feedback encoder，202、Servomotor I，203、Flange-face coupling，204、Worm-gear speed reducer，205、Travel wheel，301 deflecting rollers，302 turning racks，303、Bearing block，304、Shaft coupling，305、Motor fixing frame、306、Servomotor II，307、Position feedback coder，401、Support bar，402、Support force regulates spring，403、Sliding supporting bar，404、Double leval jib，405、Bearing pin，406、Support wheel carrier、407 support wheel，501、CCD photographing module，502、Tunable light source，503、Distance sensor module，504、Ultrasonic examination head，505、Rotation dish，506、EDDY CURRENT head.
Detailed description of the invention
Embodiment 1
As shown in Figure 1, the diameter-variable pipe measuring robots of the present embodiment, whole robot only has one section, including housing 1, the walking mechanism 2 of power is provided for whole device, it is arranged on the active steering mechanism 3 of rear, it is ensured that whole device can exercise the support arrangement 4 at different tube diameters, for detecting the testing agency 5 of inner-walls of duct.Such as Fig. 2, housing is collectively constituted by backboard 101, traveling motor fixing plate 102, the fixing plate 103 of travel wheel, the fixing plate 105 of sensor fixation plate 104 and steering mechanism.
Described walking mechanism includes two travel wheel becoming V-type to arrange, is connected to the bearing between travel wheel and left and right housing and bearing block, provides the motor of power for travel wheel, is connected to the reductor between motor and travel wheel；
Described steering mechanism is arranged on the rear of walking mechanism, including the cydariform deflecting roller being applicable to inner-walls of duct, it is connected to the bearing between deflecting roller and housing and bearing block, for turning to the servomotor providing power, is connected to the shaft coupling between servomotor and deflecting roller；
Described support arrangement is scalable quadric chain, including quadric chain, the support wheel being fixed on double leval jib one end, regulates the expansion link of double leval jib position；
Described testing agency includes being positioned at the CPU module of housing central section, is positioned at the CCD photographing module of device foremost, is positioned at the rearmost Crack Detection sensor assembly of device.
Embodiment 2
A kind of diameter-variable pipe measuring robots, including housing, provides the walking mechanism of power, is arranged on the active steering mechanism of rear for whole device, it is ensured that whole device can exercise the support arrangement at different tube diameters；In conjunction with Fig. 3, walking mechanism includes servomotor 202, worm-gear speed reducer 204, travel wheel 205.Wherein, servomotor 202 is linked together by the power shaft of flange-face coupling 203 and worm-gear speed reducer 204；The output shaft of worm-gear speed reducer 204 is connected in travel wheel 205；Wherein there is the closed loop feedback encoder 201 for advanced positions closed loop feedback at servomotor 202 rear portion.Two travel wheel 205 in left and right are all cydariform travel wheel, and there is the rubber bumps increasing traveling adhesive force on surface；Two, left and right travel wheel 205 is all closed-loop control available active travel wheel, it is possible to accurately control gait of march and direction.
Described steering mechanism is arranged on the rear of walking mechanism, including the cydariform deflecting roller being applicable to inner-walls of duct, it is connected to the bearing between deflecting roller and housing and bearing block, for turning to the servomotor providing power, is connected to the shaft coupling between servomotor and deflecting roller；Described support arrangement is scalable quadric chain, including quadric chain, the support wheel being fixed on double leval jib one end, regulates the expansion link of double leval jib position.
Embodiment 3
A kind of diameter-variable pipe measuring robots, including housing, provides the walking mechanism of power, is arranged on the active steering mechanism of rear for whole device, it is ensured that whole device can exercise the support arrangement at different tube diameters；
In conjunction with Fig. 4, active steering mechanism includes deflecting roller 301, turning rack 302, bearing block 303, shaft coupling 304, motor fixing frame 305, servomotor 306 and encoder 307.Wherein deflecting roller 301 is drum wheel, protruding with anti-slip rubber above；Deflecting roller 301 is connected on turning rack 302 by bearing；Turning rack 302 is fixed on the fixing plate 105 of steering mechanism by bearing block 303；Turning rack 302 is joined directly together by shaft coupling 304 and servomotor 306, and equipped with the position feedback coder 307 fed back for steering position on servomotor 306, servomotor 306 is bolted on electric machine support 305.
Described walking mechanism includes two travel wheel becoming V-type to arrange, is connected to the bearing between travel wheel and left and right housing and bearing block, provides the motor of power for travel wheel, is connected to the reductor between motor and travel wheel；
Described support arrangement is scalable quadric chain, including quadric chain, the support wheel being fixed on double leval jib one end, regulates the expansion link of double leval jib position；
Described diameter-variable pipe measuring robots, also includes the testing agency for detecting inner-walls of duct damage；Described testing agency includes being positioned at the CPU module of housing central section, is positioned at the CCD photographing module of device foremost, is positioned at the rearmost Crack Detection sensor assembly of device.
Described travel wheel is preferably drum-type rubber wheel, increases the contact area of travel wheel and inner-walls of duct.
Reductor between described travel wheel and motor is preferably worm-gear speed reducer.
The position of described steering mechanism is preferably located on the plane of symmetry of travel wheel, and is in the front of travel wheel.
The described servomotor providing power for steering mechanism is DC servo reducing motor, and its anglec of rotation is ± 95 °.
The double leval jib of described support arrangement is preferably parallel four-bar linkage.
Described support wheel is positioned on parallel-ordinal shift, the prolongation axle head of a connecting rod, and double leval jib, in deformation process, supports wheel place connecting rod and is perpendicular to tube wall all the time.
In described CCD photographing module, having a photographic head to swing, company can swing up and down.
Embodiment 4
A kind of diameter-variable pipe measuring robots, including housing, provides the walking mechanism of power, is arranged on the active steering mechanism of rear for whole device, it is ensured that whole device can exercise the support arrangement at different tube diameters；
In conjunction with Fig. 5, described support arrangement includes support bar 401, and support force regulates spring 402, sliding supporting bar 403, double leval jib 404, bearing pin 405, supports wheel carrier 406 and supports wheel 407.When by the pipeline of different tube diameters, support wheel 407 and can compress or unclamp support wheel carrier 406.Supporting wheel carrier 406 and be hinged on double leval jib 404 by two bearing pins 405, wherein double leval jib 404 is parallel-ordinal shift；It is hinged that plate 105 is fixed by the other end of double leval jib and steering mechanism.When by the pipeline of different tube diameters, double leval jib 404 completes so that supporting wheel 407 extended or retracted by deformation, and then adapts to different calibers.The middle part of double leval jib 404, has a bearing pin 405 and sliding supporting bar 403 hinged；Sliding supporting bar 403 can slide along the axis of support bar 401, has the support force of regulating stretch to regulate spring 402 between sliding supporting bar 403 and support bar 401；Bearing pin 405 is passed through hinged so that support bar 401 can be also carried out swinging in the plane that double leval jib 405 can swing between support bar 401 and housing 1.
Described diameter-variable pipe measuring robots, also includes the testing agency for detecting inner-walls of duct damage；Described testing agency includes being positioned at the CPU module of housing central section, is positioned at the CCD photographing module of device foremost, is positioned at the rearmost Crack Detection sensor assembly of device.As shown in Figure 6, sensor fixation plate 104 is fixed with a CCD photographing module 501, two tunable light sources 502, two distance sensor module 503.Wherein CCD photographing module 501 is for observing the traveling condition of front pipeline, is fixedly arranged above two tunable light sources at CCD photographing module, for improving the image quality of CCD.In conjunction with Fig. 7, the fixing plate 105 of steering mechanism being fixed with rotation dish 505, in the process that whole device is advanced, the rotary speed of rotation dish 505 remains consistent with the rotary speed of travel wheel 205.On rotation dish 505, three are had to become 120 degree of ultrasonic examinations being evenly arranged 504, for detecting damage or the defect of pipe interior, at the top of the fixing plate 105 of steering mechanism, it is fixed with two EDDY CURRENT 506, for detecting corrosion or the defect of inner surface of pipeline.
CCD photographing module described in the utility model is charge-coupled image sensor photographing module.
Additionally, this diameter-variable pipe measuring robots of this utility model also controls the drive circuit advanced, for the memory module of data storage, for the wireless communication module etc. with PERCOM peripheral communication.In the course of the work, this diameter-variable pipe measuring robots is put into pipe interior to be detected, this robot just can automatically or outer handle wireless operated carry out pipe interior detection, employing has the servomotor power source as traveling and active steering of closed loop feedback, it is possible to record the position at pipe interior damage place accurately.
Of the present utility model ultimate principle and principal character and of the present utility model advantage have more than been shown and described.Skilled person will appreciate that of the industry; this utility model is not restricted to the described embodiments; described in above-described embodiment and description is that principle of the present utility model is described; under the premise without departing from this utility model spirit and scope; this utility model also has various changes and modifications, and these changes and improvements both fall within the scope of claimed this utility model.This utility model claims scope and is defined by appending claims and equivalent thereof.
Claims (10)
1. a diameter-variable pipe measuring robots, it is characterized in that: include housing, the walking mechanism of power is provided for diameter-variable pipe measuring robots, controls the active steering mechanism that turns to and make diameter-variable pipe measuring robots can exercise the support arrangement at different tube diameters；
Described walking mechanism includes two travel wheel, motor, reductor, bearing and bearing block, the V-shaped setting of said two travel wheel, motor provide power, is connected on the two housing sections of left and right by bearing and bearing block；Described reductor is connected between motor and travel wheel；
Described active steering mechanism is arranged on the rear of walking mechanism, including being applicable to the cydariform deflecting roller of inner-walls of duct and for turning to the servomotor providing power；Described deflecting roller is connected on housing by bearing and bearing block；Described servomotor is connected on deflecting roller by shaft coupling；
Described support arrangement is made up of double leval jib, support wheel and expansion link, supports wheel and is fixed on one end of double leval jib；The other end of double leval jib is connected to the expansion link of the length regulating it.
2. diameter-variable pipe measuring robots as claimed in claim 1, it is characterised in that: also include the testing agency for detecting inner-walls of duct damage.
3. diameter-variable pipe measuring robots as claimed in claim 2, it is characterised in that: described testing agency includes being positioned at the CPU module of housing central section, being positioned at the CCD photographing module of diameter-variable pipe measuring robots foremost and be positioned at rearmost Crack Detection sensor assembly.
4. diameter-variable pipe measuring robots as claimed in claim 1, it is characterised in that: described travel wheel is drum-type rubber wheel.
5. diameter-variable pipe measuring robots as claimed in claim 1, it is characterised in that: the reductor between described travel wheel and motor is worm-gear speed reducer.
6. diameter-variable pipe measuring robots as claimed in claim 1, it is characterised in that: described steering mechanism is positioned on the plane of symmetry of travel wheel, and is in the front of travel wheel.
7. diameter-variable pipe measuring robots as claimed in claim 1, it is characterised in that: the servomotor providing power for steering mechanism is DC servo reducing motor, and its anglec of rotation is ± 95 °.
8. diameter-variable pipe measuring robots as claimed in claim 1, it is characterised in that: described support wheel is positioned on parallel-ordinal shift, the prolongation axle head of a connecting rod, and double leval jib, in deformation process, supports wheel place connecting rod and is perpendicular to tube wall all the time.
9. diameter-variable pipe measuring robots as claimed in claim 3, it is characterised in that: described CCD photographing module, including photographic head, this photographic head can swing.
10. diameter-variable pipe measuring robots as claimed in claim 3, it is characterised in that: described CCD photographing module, entirety can swing up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520607346.8U CN205383393U (en) | 2015-08-13 | 2015-08-13 | But tapered pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520607346.8U CN205383393U (en) | 2015-08-13 | 2015-08-13 | But tapered pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205383393U true CN205383393U (en) | 2016-07-13 |
Family
ID=56337233
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520607346.8U Expired - Fee Related CN205383393U (en) | 2015-08-13 | 2015-08-13 | But tapered pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205383393U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090679A (en) * | 2015-08-13 | 2015-11-25 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN109030514A (en) * | 2018-08-15 | 2018-12-18 | 河海大学 | Power station surge shaft defect detecting device |
-
2015
- 2015-08-13 CN CN201520607346.8U patent/CN205383393U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105090679A (en) * | 2015-08-13 | 2015-11-25 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN105090679B (en) * | 2015-08-13 | 2017-03-22 | 洛阳理工学院 | Variable-diameter pipeline inspection robot |
| CN109030514A (en) * | 2018-08-15 | 2018-12-18 | 河海大学 | Power station surge shaft defect detecting device |
| CN109030514B (en) * | 2018-08-15 | 2024-03-26 | 河海大学 | Hydropower station surge shaft defect detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105003791B (en) | A kind of support wheel type pipe robot drive device | |
| CN207094066U (en) | Pipe robot | |
| CN205716229U (en) | A kind of detecting robot of pipe | |
| CN110118290A (en) | Pipeline climbing robot | |
| CN107131391A (en) | A kind of adaptive screwdriven pipe robot | |
| CN110370247A (en) | A kind of travelling robot walking device | |
| CN205383393U (en) | But tapered pipeline inspection robot | |
| CN209296618U (en) | For detecting the X-ray DR image-forming detecting system of pressure vessel ring straight weld | |
| CN208793905U (en) | A kind of new pipeline robot | |
| CN105090679B (en) | Variable-diameter pipeline inspection robot | |
| CN212008363U (en) | Intelligent flaw detection robot based on X-ray machine | |
| CN203534563U (en) | Detection vehicle used for joint coating inside steel pipe | |
| CN209707443U (en) | A kind of rail examination machine | |
| JPS5930658A (en) | Repairing method of inside of pipe and device therefor | |
| CN108106997A (en) | Overhanging detection device and its overhanging loading device | |
| CN210219051U (en) | Pipeline inspection robot | |
| CN210566980U (en) | Pipeline crawling robot | |
| CN107271550A (en) | A kind of pipe robot supersonic detection device | |
| CN214703513U (en) | Nondestructive flaw detection device for self-rotating welding pipe joint | |
| CN207263668U (en) | X-ray flaw detector tractor | |
| CN210153412U (en) | Detection fixing support frame | |
| CN209925867U (en) | All-terrain traveling mechanism of pipeline repairing device | |
| CN108106571A (en) | A kind of inner-walls of duct laser detector | |
| CN205786264U (en) | The internal wheeled crawl device of detection spiral of a kind of bend pipe | |
| CN110126544A (en) | Obstacle detouring movable pulley |
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: 20160713 Termination date: 20180813 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |