CN205669652U - Culvert, tunnel, detecting robot of pipe under water - Google Patents
Culvert, tunnel, detecting robot of pipe under water Download PDFInfo
- Publication number
- CN205669652U CN205669652U CN201620537008.6U CN201620537008U CN205669652U CN 205669652 U CN205669652 U CN 205669652U CN 201620537008 U CN201620537008 U CN 201620537008U CN 205669652 U CN205669652 U CN 205669652U
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- CN
- China
- Prior art keywords
- hawser
- slide rail
- skeleton
- pulley
- culvert
- 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
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
nullThe utility model discloses one culvert under water、Tunnel、Detecting robot of pipe，Including fuselage、Traveling propeller and detection device，Its feature is that being provided with hawser shrinks motor、Hawser、Skeleton retractable support slip ring、Flexible skeleton and slide rail，Flexible skeleton is by strut、Slide bar、Armed lever、Sliding sleeve、Jointed shaft and torsion spring composition，Front fuselage detects device before being provided with，Rear end is fixing with slide rail to be connected，Skeleton retractable support slip ring it is socketed with on described slide rail，Slide rail front end is provided with hawser and shrinks motor and pulley synchronizing shaft，Rear end is provided with traveling propeller，Described slide rail both sides hawser respectively，Pulley synchronizing shaft shrinks motor through hawser and drives，Pulley synchronizing shaft is respectively fixed at two ends with pulley，Hawser front end is intertwined and connected with pulley，Rear end is fixing with skeleton retractable support slip ring to be connected，There is novel structure、Simply、Area of detection is big、Detection is accurately、Adapt to arbitrary diameter culvert、The advantages such as pipe detection.
Description
Technical field
This utility model relates to robotics, specifically one culvert under water, tunnel, pipe detection machine
People.
Background technology
Along with expanding economy, the application of water and Underwater Engineering is got more and more by people, and the thing followed is the most under water
The appearance of culvert, tunnel and pipeline, because underwater environment is severe, current often have erosive force and containing the foreign material such as silt, stone,
Can damage hole wall, tube wall, detection, maintenance to these tubes are the most extremely important.Now to culvert, pipe detection
Being usually manually or underwater robot is patrolled and examined back and forth, but tunnel general diameter has all reached 8 meters now, pipe diameter all exists
More than 2 meters, such space, people and robot are the most all difficult to know which oneself goes to where have detected, where do not have
Detection, efficiency is low, dangerous big.
Through retrieval, CN104236956 discloses a kind of drainpipe detecting robot, and CN104565675 discloses pipeline
Measuring robots, the deficiency of the robot of these structures is, all cannot detect macrotype tubular thing.
Summary of the invention
The purpose of this utility model is to solve the deficiencies in the prior art, it is provided that a kind of novel structure, simple, area of detection
Greatly, detection is accurate, adapt to arbitrary diameter culvert, the culvert under water of pipe detection, tunnel, detecting robot of pipe.
This utility model solves its technical problem and be the technical scheme is that
One culvert under water, tunnel, detecting robot of pipe, including fuselage, traveling propeller and detection device, its feature
Being that being provided with hawser shrinks motor, hawser, skeleton retractable support slip ring, flexible skeleton and slide rail, described flexible skeleton is by supportting
Bar, slide bar, armed lever, sliding sleeve, jointed shaft and torsion spring composition, described front fuselage detects device before being provided with, and rear end is fixed with slide rail
Connecting, described slide rail is cylinder or cuboid, and on described slide rail, engagement sleeves is connected to skeleton retractable support slip ring, before described slide rail
End is provided with hawser and shrinks motor and pulley synchronizing shaft, and rear end is provided with traveling propeller, and described slide rail is respectively provided on two sides with closed loop
Hawser, described pulley synchronizing shaft shrinks motor through hawser and drives, and described pulley synchronizing shaft is respectively fixed at two ends with pulley, described cable
Rope front end is intertwined and connected with pulley, and rear end is fixing with skeleton retractable support slip ring to be connected, and is beneficial to shrink motor belt motor by hawser
Movable pulley rotates, and the skeleton retractable support slip ring of the pulley driving hawser other end is along slide rail slide anteroposterior, described slide bar one end
Being hinged with front fuselage, the other end is hinged with armed lever through jointed shaft and torsion spring, and described slide bar slidably connects sliding sleeve, institute
Stating strut one end to be hinged with skeleton retractable support slip ring, the other end is fixing with sliding sleeve to be connected, and described armed lever outer end is provided with side inspection
Surveying device, be beneficial to be moved forward along slide rail by skeleton retractable support slip ring, the other end driving strut is sliding on slide bar
Dynamic, make the angle between strut and slide rail be gradually increased, and then the armed lever of the band moving slide-bar other end struts, make the side of armed lever outer end examine
Survey device radially expands, and reaches detect arbitrary diameter culvert, pipeline and reach to detect careful effect.
This utility model can be provided with stretching spring in described armed lever lower end, and described stretching lower spring end is through jointed shaft and torsion spring
It is connected with slide bar, so that armed lever reaches flexible effect, it is to avoid armed lever is caused by the hard material in culvert or pipeline to be lost.
This utility model also can be provided with range sensor in described armed lever outer end, so that the detection device of armed lever outer end is all the time
Maintain a certain distance with hole wall, reach the effect that accuracy of detection is high.
Hawser described in the utility model can use polyethylene material to make, to reach anticorrosive, aging-resistant effect.
Detection device described in the utility model can be the photographic head of band illumination, it is also possible to be other appliance.
This utility model owing to using said structure, have novel structure, simple, area of detection big, detection accurately, adapt to
The advantages such as arbitrary diameter culvert, pipe detection.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Reference: fuselage 1, traveling propeller 2 detect device 3,13, hawser shrink motor 4, hawser 5, flexible of skeleton
Support slip ring 6, slide rail 7, strut 8, slide bar 9, armed lever 10, sliding sleeve 11, jointed shaft 12, stretching spring 14.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is illustrated.
One culvert under water, tunnel, detecting robot of pipe, including fuselage 1, traveling propeller 2 and detection device 3,13,
The structure of described traveling propeller 2 is prior art, and this does not repeats, and its feature is that being provided with hawser shrinks motor 4, hawser 5, bone
Frame retractable support slip ring 6, flexible skeleton and slide rail 7, described flexible skeleton is by strut 8, slide bar 9, armed lever 10, sliding sleeve 11, hinge
Spindle 12 and torsion spring composition, described fuselage 1 front end be provided with before detection device 3, rear end and slide rail 7 fix and be connected, described slide rail 7 in
Cylinder or cuboid, on described slide rail 7, engagement sleeves is connected to skeleton retractable support slip ring 6, and described slide rail 7 front end is provided with hawser and receives
Contracting motor 4 and pulley synchronizing shaft, rear end is provided with traveling propeller 2, and described slide rail 7 is respectively provided on two sides with the hawser 5 of closed loop, described
Pulley synchronizing shaft shrinks motor 4 through hawser and drives, and described pulley synchronizing shaft is respectively fixed at two ends with pulley, described hawser 5 front end
Being intertwined and connected with pulley, rear end is fixing with skeleton retractable support slip ring 6 to be connected, and is beneficial to shrink motor 4 by hawser and drives sliding
Wheel rotates, and the skeleton retractable support slip ring 6 of pulley driving hawser 5 other end is along slide rail 7 slide anteroposterior, described slide bar 8 one end
Being hinged with fuselage 1 front end, the other end is hinged with armed lever 10 through jointed shaft 12 and torsion spring, and on described slide bar, 8 slidably connect
Sliding sleeve 11, described strut 8 one end is hinged with skeleton retractable support slip ring 6, and the other end is fixing with sliding sleeve 14 to be connected, described armed lever
10 outer ends are provided with side detection device 13, are beneficial to be moved forward along slide rail 7 by skeleton retractable support slip ring 6, drive strut 8
The other end slide on slide bar 9, make the angle between strut 8 and slide rail 7 be gradually increased, and then the arm of band moving slide-bar 9 other end
Bar 10 struts, and makes the side detection device 13 of armed lever 10 outer end radially expand, reaches detect arbitrary diameter culvert, pipeline and reach
Detect careful effect.
This utility model can be provided with stretching spring 14 in described armed lever 10 lower end, and described stretching spring 14 lower end is through jointed shaft
12 are connected with slide bar with torsion spring, so that armed lever 10 reaches flexible effect, it is to avoid the hard material in culvert or pipeline is to armed lever
Cause and lose.
This utility model also can be provided with range sensor in described armed lever 10 outer end, so that the detection device of armed lever outer end begins
Maintain a certain distance with hole wall eventually, reach the effect that accuracy of detection is high.
Hawser described in the utility model can use polyethylene material to make, to reach anticorrosive, aging-resistant effect.
Detection device described in the utility model can be the photographic head of band illumination, it is also possible to be other appliance.
This utility model when culvert under water, tunnel, detecting robot of pipe are detected, slide rail of the present utility model
Preferably it is fabricated to cylinder, is connected with control system waterborne through umbilical cables at sliding rail rear end, when hawser circulation motor up time
When pin rotates, the hawser forming closed loop drives skeleton retractable support slip ring along slide rail forward slip, drives the other end of strut
Slide bar slides, makes the angle between strut and slide rail be gradually increased, and then the armed lever of the band moving slide-bar other end radially struts, and
The photographic head illuminated by band in real time by range sensor is uploaded to control system with the distance of hole wall, makes the band of armed lever outer end shine
Bright photographic head maintains a certain distance with hole wall all the time, and hole wall is carried out careful detection.
This utility model can be axially arranged with Multi-section sliding rail at back body, can make the motion once can be to a diameter
Careful detection made by culvert within 8.5 meters, pipeline；Slide bar, armed lever, hinge, jointed shaft and torsion spring in described flexible skeleton
More piece can also be made, be beneficial to set according to actual needs.
This utility model owing to using said structure, have novel structure, simple, area of detection big, detection accurately, adapt to
The advantages such as arbitrary diameter culvert, pipe detection.
Claims (5)
1. culvert, tunnel, a detecting robot of pipe under water, including fuselage, traveling propeller and detection device, its feature exists
Shrink motor, hawser, skeleton retractable support slip ring, flexible skeleton and slide rail in being provided with hawser, described flexible skeleton be by strut,
Slide bar, armed lever, sliding sleeve, jointed shaft and torsion spring composition, described front fuselage detects device before being provided with, rear end is fixing with slide rail even
Connecing, described slide rail is cylinder or cuboid, and on described slide rail, engagement sleeves is connected to skeleton retractable support slip ring, described slide rail front end
Being provided with hawser and shrink motor and pulley synchronizing shaft, rear end is provided with traveling propeller, and described slide rail is respectively provided on two sides with the cable of closed loop
Rope, described pulley synchronizing shaft shrinks motor through hawser and drives, and described pulley synchronizing shaft is respectively fixed at two ends with pulley, described hawser
Front end is intertwined and connected with pulley, and rear end is fixing with skeleton retractable support slip ring to be connected, and described slide bar one end is cut with scissors mutually with front fuselage
Connecing, the other end is hinged with armed lever through jointed shaft and torsion spring, and described slide bar slidably connects sliding sleeve, described strut one end and bone
Frame retractable support slip ring is hinged, and the other end is fixing with sliding sleeve to be connected, and described armed lever outer end is provided with side detection device.
One the most according to claim 1 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described armed lever
Lower end is provided with stretching spring, and described stretching lower spring end is connected with slide bar with torsion spring through jointed shaft.
One the most according to claim 1 and 2 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described arm
Bar outer end is provided with range sensor.
One the most according to claim 1 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described hawser
Polyethylene material is used to make.
One the most according to claim 1 culvert under water, tunnel, detecting robot of pipe, it is characterised in that described detection
Device is the photographic head of band illumination, or other appliance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620537008.6U CN205669652U (en) | 2016-06-06 | 2016-06-06 | Culvert, tunnel, detecting robot of pipe under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620537008.6U CN205669652U (en) | 2016-06-06 | 2016-06-06 | Culvert, tunnel, detecting robot of pipe under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205669652U true CN205669652U (en) | 2016-11-02 |
Family
ID=57194568
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620537008.6U Expired - Fee Related CN205669652U (en) | 2016-06-06 | 2016-06-06 | Culvert, tunnel, detecting robot of pipe under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205669652U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108413176A (en) * | 2018-02-10 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of miniature rope-climbed robot of pipeline inspection |
| CN113280210A (en) * | 2021-05-27 | 2021-08-20 | 龚燕 | Snakelike pipeline detection robot |
| CN113371163A (en) * | 2021-08-16 | 2021-09-10 | 东南大学 | Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal robot |
-
2016
- 2016-06-06 CN CN201620537008.6U patent/CN205669652U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108413176A (en) * | 2018-02-10 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of miniature rope-climbed robot of pipeline inspection |
| CN113280210A (en) * | 2021-05-27 | 2021-08-20 | 龚燕 | Snakelike pipeline detection robot |
| CN113280210B (en) * | 2021-05-27 | 2022-10-28 | 重庆遨博智能科技研究院有限公司 | Snakelike pipeline detection robot |
| CN113371163A (en) * | 2021-08-16 | 2021-09-10 | 东南大学 | Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal robot |
| CN113371163B (en) * | 2021-08-16 | 2021-11-05 | 东南大学 | Underwater detection and disposal robot for water delivery tunnel and use method of underwater detection and disposal 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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161102 Termination date: 20200606 |