CN205496207U - Thing robot is got to multi -functional pipeline positioning vision - Google Patents
Thing robot is got to multi -functional pipeline positioning vision Download PDFInfo
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- CN205496207U CN205496207U CN201620314017.9U CN201620314017U CN205496207U CN 205496207 U CN205496207 U CN 205496207U CN 201620314017 U CN201620314017 U CN 201620314017U CN 205496207 U CN205496207 U CN 205496207U
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Abstract
The utility model discloses a thing robot is got to multi -functional pipeline positioning vision, electric control system has, power drive system and the artifical handheld monitoring terminal that controls, its structural feature is, still including the pentamera main part, three -jaw multifunctional machinery hand, camera and vision monitoring system, three -jaw multifunctional machinery hand is installed at the main part front end, the center part at three -jaw multifunctional machinery hand is installed to the camera, the camera links to each other with vision monitoring system, vision monitoring system links to each other with the handheld monitoring terminal that controls of manual work, the power drive system is including front drive system, the battery system, driving motor and back actuating system, do not be equipped with three drive wheel on front drive system and the back actuating system branch, the drive wheel passes through the support arm and driving motor is connected to the connecting axle, the support arm of drive wheel is swing joint, gas control system is including integrated orientation module, and front drive system links to each other with the battery system through integrated orientation module, and the battery system links to each other with the back actuating system. The effect of the convenient multifunctional horizontal discharger is beneficial in that. Effective rid, the manual operation of being convenient for intervenes the processing, can adapt to different pipe walls size, moreover can be through tensile force size control and pipe friction power.
Description
Technical field
This utility model relates to a kind of robot, especially relates to a kind of multifunctional pipe location vision Qu Wu robot.
Background technology
Under existing situation, some petroleum pipelines, due to life-time service, during oil transportation, there is a lot of impurity can not be defeated with oil
Go out, accumulate over a long period and adhere to a large amount of tampers at petroleum pipeline inwall.Owing to being manually difficult to clear up, inconvenience uses artificial block clearing.Make
Become pipeline oil transportation inefficiency.For there being a kind of pipe robot disclosed in this prior art, although this robot can clear up
Foreign material in pipeline, but this kind of robot can only adapt to single tube wall size, causes use cost high.
Utility model content
The technical problems to be solved in the utility model is to provide a kind of multifunctional pipe location vision Qu Wu robot, this machine
Device people can adapt to the tube wall of multiple caliber, located solution plugging point, dredging pipeline, situation in convenient artificial understanding pipe.
In order to solve the problem that prior art exists, the technical solution adopted in the utility model is: multifunctional pipe positions
Vision Qu Wu robot, has electric control system, power-driven system and artificial hand-held control monitoring terminal, its structural feature
Being also to include five joint main bodys, three-jaw multifunction manipulator, photographic head and visual surveillance system, three-jaw multifunction manipulator is pacified
Being contained in body front end, photographic head is arranged on the centre of three-jaw multifunction manipulator, and photographic head is connected with visual surveillance system,
Visual surveillance system is connected with artificial hand-held control monitoring terminal, power-driven system include front drive system, battery system,
Driving motor and rear drive system, front drive system and rear drive system to divide and be not provided with three driving wheels, driving wheel is by propping up
Brace and connecting shaft connect driving motor, and the support arm of driving wheel is for being flexibly connected；Gas control system includes integrated positioning mould
Block, front drive system is connected with battery system by integrated positioning module, and battery system is connected with rear drive system.
As further improvement of the utility model, the front end of three-jaw multifunction manipulator is provided with sensor detection dress
Put.
As further improvement of the utility model, the paw of three-jaw multifunction manipulator is removable.
As this utility model preferred version, paw is sucked type or hooking type.
This utility model have the advantage that with effect is:
This utility model multifunctional pipe location vision Qu Wu robot, owing to having main body, three-jaw multifunction manipulator
And photographic head, robot often saves compact Machine Design and is adapted to the turning driving of 90 degree of pipeline minimum diameter 50.8mm, it is possible to
Adapt to smooth and easy in bend pipe passing through.And mechanical hand front end has sensor detection function, when detecting that there are blocking or foreign body in front end
During stop, front end robot can carry out rotating drilling as drill bit and advance, removing obstacles thing, it is also possible to change variety classes
Sucked type or hooking type paw.The integrated visual system of robot can be sent to direct surveillance's terminal video signal, convenient
Situation in artificial Real Time Observation pipeline, it is simple to manual operation intervention processes.It is adapted to different tube wall size, and can pass through
Tensile force size controls and tube wall frictional force.So as the forward-reverse driving force of pipe robot in the case of improving different occasion.
This robot both can realize setting speed and travel, and can be manipulated by remote handle again.And can be arranged not by parameter
The same speed of service, adapts to bend pipe wall and drives.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is that this utility model uses state diagram.
Wherein, 1-three-jaw multifunction manipulator, 2-front drive system, 3-integrated positioning module, 4-battery system, 5-rear-guard
Dynamic system, 6-photographic head, 7-driving wheel.
Detailed description of the invention
As shown in Figure 1, 2, this utility model multifunctional pipe location vision Qu Wu robot, have electric control system,
Power-driven system and artificial hand-held control monitoring terminal, five joint main bodys, three-jaw multifunction manipulator 1, photographic head 6 and vision prison
Viewing system, three-jaw multifunction manipulator 1 is arranged on body front end, and photographic head 6 is arranged on the central part of three-jaw multifunction manipulator 1
Position, photographic head 6 is connected with visual surveillance system, and visual surveillance system is connected with artificial hand-held control monitoring terminal, power drive
System includes front drive system 2, battery system 4, drives motor and rear drive system 5, front drive system 2 and rear drive system
Not being provided with three driving wheels 7 on 5 points, driving wheel 7 connects driving motor, the support arm of driving wheel 7 by support arm and connecting shaft
For being flexibly connected, three-jaw multifunction manipulator 1 is connected with front drive system 2, and electric control system includes integrated positioning module
3, front drive system 2 is connected with battery system 4 by integrated positioning module 3, and battery system 4 is connected with rear drive system 5.This reality
Power with novel employing battery last, using the teaching of the invention it is possible to provide 5-50AH mains power.
The front end of described three-jaw multifunction manipulator 1 is provided with sensor detecting device；When detecting that there is blocking front end
Or during foreign body stop, front end robot can carry out rotating drilling as drill bit and advance, removing obstacles thing.
The paw of described three-jaw multifunction manipulator 1 is removable；When paw damages, the machinery that can more renew
Paw, it is not necessary to carry out integral replacing, economize on resources.
Described paw is sucked type or hooking type；Mechanical paw can be selected according to different barriers, convenient to barrier
Hinder the removing of thing.
This utility model multifunctional pipe location vision Qu Wu robot function and subject range:
1) adapt to tube wall minimum diameter D:50.8mm, adapt to tube wall maximum dimension D: 80mm;
2) minimum bending radius R:101.6mm can be passed through;
3) forward forward drive function；
4) driving function is reversely retreated；
5) long-range wireless remote control operation；
6) monitoring remote video；
7) position location functionality in pipeline；
8) photographic head visual range 0-270 °；
9) in realizing pipeline, remote control captures object.Passing image back according to vision, long-range real-time operation mechanical hand, to thing
Body is accurately positioned；
10) adhesive force size can be automatically adjusted by sensor on driving wheel, in order to reaches sufficiently large driving
Power；Pipeline climbing capacity is more than 30 °.
Claims (4)
1. multifunctional pipe location vision Qu Wu robot, has electric control system, power-driven system and artificial hand-held behaviour
Control monitoring terminal, it is characterised in that: also include five joint main bodys, three-jaw multifunction manipulator, photographic head and visual surveillance system,
Three-jaw multifunction manipulator is arranged on body front end, and described photographic head is arranged on the centre of three-jaw multifunction manipulator,
Photographic head is connected with visual surveillance system, and visual surveillance system is connected with artificial hand-held control monitoring terminal, and described power drives
Dynamic system includes front drive system, battery system, driving motor and rear drive system, front drive system and rear drive system and divides
On be not provided with three driving wheels, driving wheel is connected by support arm and connecting shaft and drives motor, and the support arm of driving wheel be activity
Connect；Described three-jaw multifunction manipulator is connected with front drive system, and described electric control system includes integrated positioning
Module, described front drive system is connected with battery system by integrated positioning module, described battery system and rear drive system
System is connected.
Multifunctional pipe the most according to claim 1 location vision Qu Wu robot, it is characterised in that: described three-jaw is many
The front end of functional machinery hands is provided with sensor detecting device.
Multifunctional pipe the most according to claim 1 location vision Qu Wu robot, it is characterised in that: described three-jaw is many
The paw of functional machinery hands is removable.
Multifunctional pipe the most according to claim 3 location vision Qu Wu robot, it is characterised in that: described paw is
Sucked type or hooking type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620314017.9U CN205496207U (en) | 2016-04-15 | 2016-04-15 | Thing robot is got to multi -functional pipeline positioning vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620314017.9U CN205496207U (en) | 2016-04-15 | 2016-04-15 | Thing robot is got to multi -functional pipeline positioning vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205496207U true CN205496207U (en) | 2016-08-24 |
Family
ID=56715606
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620314017.9U Expired - Fee Related CN205496207U (en) | 2016-04-15 | 2016-04-15 | Thing robot is got to multi -functional pipeline positioning vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205496207U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106368305A (en) * | 2016-08-26 | 2017-02-01 | 天津大力金刚科技有限公司 | Pipeline dredging robot |
| CN106623296A (en) * | 2017-02-27 | 2017-05-10 | 山东科技大学 | Novel telescopic pipeline cleaning robot |
| CN108385822A (en) * | 2018-02-10 | 2018-08-10 | 平阳鸿业水利建设有限公司 | A kind of municipal pipeline Accrete clearing device |
| CN110455808A (en) * | 2019-07-23 | 2019-11-15 | 上海航天精密机械研究所 | Intelligent quality inspection system and method suitable for inside pipe fitting quality testing |
| CN110665915A (en) * | 2019-09-17 | 2020-01-10 | 王安岩 | Convertible cleaning claw of pipeline cleaning robot |
| CN110743869A (en) * | 2019-10-28 | 2020-02-04 | 成秀东 | Intelligent pipeline cleaning device |
| CN111350267A (en) * | 2018-12-20 | 2020-06-30 | 山东省科学院激光研究所 | Combined type in-pipe cleaning robot |
| CN111515196A (en) * | 2020-04-24 | 2020-08-11 | 沈阳顺永达智能石油装备技术有限公司 | Pipeline cleaning device |
| CN111777019A (en) * | 2020-06-30 | 2020-10-16 | 杨五三 | Filling jar liquid level display and muffler mediation mechanism for edible oil filling |
| CN111774385A (en) * | 2020-07-22 | 2020-10-16 | 张英杰 | Pipeline obstacle-breaking cleaning robot |
| CN114526400A (en) * | 2022-02-17 | 2022-05-24 | 国家石油天然气管网集团有限公司 | Pipeline cleaner unfreezing device |
| WO2023283992A1 (en) * | 2021-07-13 | 2023-01-19 | 南京涵铭置智能科技有限公司 | Robot having turnover function for use in inner wall of narrow steel plate pipe |
-
2016
- 2016-04-15 CN CN201620314017.9U patent/CN205496207U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106368305B (en) * | 2016-08-26 | 2019-08-02 | 天津大力金刚科技有限公司 | Pipe dredging machine people |
| CN106368305A (en) * | 2016-08-26 | 2017-02-01 | 天津大力金刚科技有限公司 | Pipeline dredging robot |
| CN106623296A (en) * | 2017-02-27 | 2017-05-10 | 山东科技大学 | Novel telescopic pipeline cleaning robot |
| CN108385822A (en) * | 2018-02-10 | 2018-08-10 | 平阳鸿业水利建设有限公司 | A kind of municipal pipeline Accrete clearing device |
| CN111350267A (en) * | 2018-12-20 | 2020-06-30 | 山东省科学院激光研究所 | Combined type in-pipe cleaning robot |
| CN110455808A (en) * | 2019-07-23 | 2019-11-15 | 上海航天精密机械研究所 | Intelligent quality inspection system and method suitable for inside pipe fitting quality testing |
| CN110665915B (en) * | 2019-09-17 | 2020-10-16 | 新昌县利拓科技有限公司 | Convertible cleaning claw of pipeline cleaning robot |
| CN110665915A (en) * | 2019-09-17 | 2020-01-10 | 王安岩 | Convertible cleaning claw of pipeline cleaning robot |
| CN110743869A (en) * | 2019-10-28 | 2020-02-04 | 成秀东 | Intelligent pipeline cleaning device |
| CN111515196A (en) * | 2020-04-24 | 2020-08-11 | 沈阳顺永达智能石油装备技术有限公司 | Pipeline cleaning device |
| CN111777019A (en) * | 2020-06-30 | 2020-10-16 | 杨五三 | Filling jar liquid level display and muffler mediation mechanism for edible oil filling |
| CN111774385A (en) * | 2020-07-22 | 2020-10-16 | 张英杰 | Pipeline obstacle-breaking cleaning robot |
| WO2023283992A1 (en) * | 2021-07-13 | 2023-01-19 | 南京涵铭置智能科技有限公司 | Robot having turnover function for use in inner wall of narrow steel plate pipe |
| CN114526400A (en) * | 2022-02-17 | 2022-05-24 | 国家石油天然气管网集团有限公司 | Pipeline cleaner unfreezing device |
| CN114526400B (en) * | 2022-02-17 | 2024-05-07 | 国家石油天然气管网集团有限公司 | Pipe cleaner unclamping device |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20170415 |