CN205824487U - A kind of detection flaw detection robot of self-adapting pipe inwall walking - Google Patents
A kind of detection flaw detection robot of self-adapting pipe inwall walking Download PDFInfo
- Publication number
- CN205824487U CN205824487U CN201620574912.4U CN201620574912U CN205824487U CN 205824487 U CN205824487 U CN 205824487U CN 201620574912 U CN201620574912 U CN 201620574912U CN 205824487 U CN205824487 U CN 205824487U
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- China
- Prior art keywords
- fuselage
- driving wheel
- flaw detection
- bracing frame
- detection robot
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Abstract
The utility model discloses the detection flaw detection robot of a kind of self-adapting pipe inwall walking, including: cylinderical fuselage, the periphery of fuselage is along the circumferential direction evenly equipped with multiple drive wheel assemblies, one end of fuselage is provided with mounting bracket, camera pan-tilt is installed in mounting bracket, camera pan-tilt is installed photographic head.Being provided with two driving wheel devices axially arranged along fuselage in each drive wheel assemblies, the median plane that these two driving wheel devices vertically cross fuselage with is symmetrical arranged.This utility model utilizes the expansionary force of antivibrator automatically to adapt to the inner space of pipeline, makes driving wheel effectively contact with tube wall, stablizes and moves at pipe interior.
Description
Technical field
This utility model relates to pipeline cleaning robot technical field, particularly relates to the walking of a kind of self-adapting pipe inwall
Detection flaw detection robot.
Background technology
Pipeline is the parts that industrial circle is the most commonly used, especially controls work at fluids such as oil, chemical industry, electric power, water conservancies
Industry field, each process equipment is coupled together by pipeline, is the carrier of media flow, is also the pressure-bearing boundary of system.Existing
Pipeline in technology is usually full projected life, and the service life of pipeline is identical with the projected life of whole system.
In system operation, pipeline is vulnerable to dielectric corrosion, medium mechanical erosion, external force load (such as vibration), material
The impact of the factors such as material creep, it is therefore desirable to making regular check on pipeline in running the phase in longevity, Test Gauge includes interior wall-like
State, outer wall state, weld seam state.Inspection project includes: visual inspection, splanchnoscopy, penetrant inspection, radiographic inspection etc..
Owing to pipe interior space is less, inner-walls of duct typically requires special equipment and checks, in conventional art one
As use endoscope inspection method, examined tool length limit, can only pipeline be entered the segment distance near pipeline tapping
Row checks, and operates complexity, and detection content is limited, detects of low quality.Although another kind of wheeled detection photographic head can be deep
Enter in pipeline, but the impact being affected by pipe interior state is relatively big, poor to the spatial attitude control ability of detection instrument, considerable
Survey is limited in scope, and can only walk at the pipe interior of horizontal pipe or small inclination.
Therefore, how to design a kind of energy self-adapting pipe inwall walking, detection flaw detection robot flexible and convenient to use is
The technical problem that industry is urgently to be resolved hurrily.
Utility model content
For solving above-mentioned technical problem, the utility model proposes the detection flaw detection machine of a kind of self-adapting pipe inwall walking
People, the fuselage of this detection flaw detection robot and pipeline coaxial design, utilize the expansionary force of antivibrator automatically to adapt to the inside of pipeline
Space, makes driving wheel effectively contact with tube wall, stablizes and moves at pipe interior.
The technical solution adopted in the utility model is, designs the detection flaw detection machine of a kind of self-adapting pipe inwall walking
People, including: fuselage, the periphery of fuselage is along the circumferential direction evenly equipped with multiple drive wheel assemblies, and one end of fuselage is provided with mounting bracket,
Camera pan-tilt is installed in mounting bracket, camera pan-tilt is installed photographic head.Two edges it are provided with in each drive wheel assemblies
The driving wheel device that fuselage axially arranges, the median plane that these two driving wheel devices vertically cross fuselage with is symmetrical arranged.
Single driving wheel device includes: driving wheel, the bracing frame being arranged on fuselage by driving wheel, inclination are hinged on fuselage
And antivibrator between bracing frame, being fixed on bracing frame the motor driving this driving wheel to rotate, the fixing end of bracing frame is hinged
Tilting to stretch out towards the one end of fuselage at waist, movable end, the two ends of antivibrator are respectively hinged in this end of fuselage
With on the movable end of bracing frame, driving wheel is also articulated on the movable end of bracing frame.
Wherein, single driving wheel device also includes: be fixed on bracing frame the decelerator being connected with motor, the output of motor
Axle is in transmission connection with decelerator, and the output shaft of decelerator is coaxially fixed with the jointed shaft of driving wheel.
Fuselage is by two outer end plates being oppositely arranged in parallel and the multiple arm-tie structures being axially fixed between two outer end plates
Becoming, arm-tie is uniform along the circumferencial direction of two outer end plate peripheries, and the quantity of arm-tie is identical with the quantity of drive wheel assemblies；Described drive
In driving wheel device, the fixing end of bracing frame is hinged on arm-tie.
Being provided with in fuselage and fixing connect one for installing the mounting platform of electrical equipment, mounting platform is by being parallel to outer end plate
Two inner end plates and the gripper shoe that is axially fixed between two described inner end plates constitute.
The power supply system that control panel with motor electrical connection is connected with control panel is installed on mounting platform
The wireless communication module that electrically connects with photographic head of system and image transmission module.
Fuselage of the present utility model uses unique column structure, and fuselage is coaxial with pipeline, and driving wheel is pacified by bracing frame
Being contained on fuselage, and be circumferentially distributed on fuselage, be additionally provided with antivibrator between bracing frame and fuselage, driving wheel utilizes antivibrator
Expansionary force and tube contacts formed and support, driving wheel can drive fuselage to move in pipeline when rotating.Preferably, the two of fuselage
End is end plate, can install photographic head, it is achieved inspection and the shooting to inner-walls of duct, it is also possible to install machinery on fuselage on end plate
Arm or cleaning device etc., it is achieved cleaning or the crawl foreign body function to inner-walls of duct.
Accompanying drawing explanation
Below in conjunction with embodiment and accompanying drawing, this utility model is described in detail, wherein:
Fig. 1 is front schematic view of the present utility model；
Fig. 2 is side schematic view of the present utility model；
Fig. 3 is schematic perspective view of the present utility model.
Detailed description of the invention
As shown in Figure 1, 2, the detection flaw detection robot that the utility model proposes, including: fuselage, fuselage is column-type, by
Two outer end plates 1 and the multiple arm-ties 2 being fixed between two outer end plates 1 are constituted.These two outer end plates 1 are parallel to each other, and position
Putting just relative, multiple arm-ties 2 are uniform along the circumferencial direction of two outer end plate 1 peripheries, the two ends of each arm-tie 2 company by L-shaped
Connect gusset 3 to be separately fixed on outer end plate 1.One end of fuselage is provided with mounting bracket 4, and mounting bracket 4 is fixed on outer end plate 1,
2DOF camera pan-tilt is installed, it is achieved radial and axial rotation in mounting bracket 4, camera pan-tilt is installed photographic head,
Realize the inspection to inner-walls of duct and shooting.
In the present embodiment, outer end plate 1 is octagon, and fuselage is provided with four arm-ties 2 facing each other altogether, forms one
Individual stable regular octahedron structure.It is equipped with drive wheel assemblies on each arm-tie 2, is provided with two in each drive wheel assemblies along machine
The driving wheel device that body axially arranges, these two driving wheel devices are symmetrical arranged with a median plane, and this median plane vertically crosses machine
Body and be positioned at the centre position of fuselage.For convenience, the two ends of fuselage are respectively left end and right-hand member, and each arm-tie 2 is upper
Driving wheel device on the left of fuselage is left driving wheel device, and being positioned at the driving wheel device on the right side of fuselage is right driving wheel device.
As shown in Figure 1,3, left driving wheel device includes: left driving wheel 5, propped up on the left side that left driving wheel 5 is arranged on fuselage
Support 6, tilt be hinged between fuselage and left support frame 6 left antivibrator 7, be fixed in left support frame 6 driving left driving wheel 5
The left motor 8 rotated, the fixing end of left support frame 6 is hinged in the middle part of arm-tie 2, movable end tilts to stretch out towards the left part of fuselage,
In the two ends of left antivibrator 7 are respectively hinged at the left part of fuselage and on the movable end of left support frame 6, left driving wheel 5 is the most hinged
On the movable end of left support frame 6.
Right driving wheel device includes: right driving wheel 9, the right support frame 10 being arranged on fuselage by right driving wheel 9, inclination hinge
The right antivibrator 11 that is connected between fuselage and right support frame 10, it is fixed in right support frame 10 right side driving right driving wheel 9 to rotate
Motor 12, the fixing end of right support frame 10 is hinged in the middle part of arm-tie 2, movable end tilts to stretch out towards the right part of fuselage, right damping
In the two ends of device 11 are respectively hinged at the right part of fuselage and on the movable end of right support frame 10, right driving wheel 9 is also articulated to the right side
On the movable end of bracing frame 10.
Left driving wheel device on fuselage and right driving wheel device are in outwardly claw type, and each driving wheel is all and tube wall
Contact, relies on the expansionary force of antivibrator to be close on tube wall increase frictional force, when caliber more hour, driving wheel can inward compression resistance
Buddhist nun's device, on same arm-tie 2, the opening angle of left driving wheel device and right driving wheel device becomes big, reduces the radial dimension of robot
To adapt to pipeline, when caliber is the biggest, antivibrator pushes out driving wheel under the effect of self expansionary force, on same arm-tie 2
The opening angle of left driving wheel device and right driving wheel device diminishes, and strengthens the radial dimension of robot to adapt to pipeline.
Preferably, as it is shown on figure 3, be additionally provided with decelerator 13 in each driving wheel device, decelerator 13 is fixed on bracing frame
Above and being connected with motor, motor uses direct current generator, and decelerator 13 is worm type of reduction gearing, the power shaft of decelerator and motor
Output shaft coaxially fix, the output shaft of decelerator 13 is coaxially fixed with the jointed shaft of driving wheel.
Further, as shown in Figure 1,3, being provided with one mounting platform of fixing connection in fuselage, this mounting platform is by parallel
Constitute in two inner end plates 15 of outer end plate 1 and the gripper shoe 16 that is axially fixed between two inner end plates 15, mounting platform master
To be used for installing lift-launch electrical equipment, the control of robot can use wireless and have line traffic control two schemes, it is also possible at fuselage
Upper installation manipulator arm or cleaning device, it is achieved cleaning or the crawl foreign body function to pipeline.In the present embodiment, machine
People possesses the function of controlled in wireless, and mounting platform is provided with the control panel 17 electrically connected with motor and control panel 17 electricity
The power-supply system connected, the wireless communication module 18 electrically connected with photographic head and image transmission module 19, control panel 17
Be provided with button 20, power-supply system include control battery 22 that the electrokinetic cell 21 being connected with motor is connected with control panel 17,
And 5VDC power module 14.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Any amendment, equivalent and the improvement etc. made within the spirit of utility model and principle, should be included in this utility model
Protection domain within.
Claims (5)
1. a detection flaw detection robot for self-adapting pipe inwall walking, including: fuselage, circumferentially side, the periphery of described fuselage
To being evenly equipped with multiple drive wheel assemblies, one end of described fuselage is provided with mounting bracket, and described mounting bracket is provided with video camera
The Cloud Terrace, described camera pan-tilt is installed photographic head；
It is characterized in that, be provided with two driving wheel devices in each drive wheel assemblies, these two driving wheel devices are along described fuselage
Axial arrangement, and the median plane vertically crossing described fuselage with is symmetrical arranged；
Single described driving wheel device includes: driving wheel, the bracing frame being arranged on by driving wheel on described fuselage, inclination are hinged on
Antivibrator between described fuselage and bracing frame, it is fixed on support frame as described above the motor driving described driving wheel to rotate, described
The fixing end of bracing frame is hinged on waist, movable end tilts to stretch out towards the one end of fuselage, and the two ends of described antivibrator are divided
In not being hinged on this end of fuselage and on the movable end of bracing frame, described driving wheel is also articulated to the movable end of support frame as described above
On.
Detect flaw detection robot the most as claimed in claim 1, it is characterised in that single described driving wheel device also includes: Gu
Being scheduled on support frame as described above the decelerator being connected with described motor, the output shaft of described motor is in transmission connection with described decelerator,
The jointed shaft of the output shaft of described decelerator and described driving wheel is coaxially fixed.
Detect flaw detection robot the most as claimed in claim 1 or 2, it is characterised in that described fuselage is by being oppositely arranged in parallel
Two outer end plates and multiple arm-ties of being axially fixed between two described outer end plates are constituted, and described arm-tie is along outside two outer end plates
The circumferencial direction in week is uniform, and the quantity of arm-tie is identical with the quantity of drive wheel assemblies；Bracing frame in described driving wheel device
Fixing end is hinged on described arm-tie.
Detect flaw detection robot the most as claimed in claim 3, it is characterised in that be provided with in described fuselage fixing connect one for
Installing the mounting platform of electrical equipment, described mounting platform is by being parallel to two inner end plates of outer end plate and being axially fixed in two
Gripper shoe between individual described inner end plate is constituted.
Detect flaw detection robot the most as claimed in claim 4, it is characterised in that be provided with on described mounting platform and described electricity
The nothing that the power-supply system that the control panel of mechatronics is connected with described control panel electrically connects with described photographic head
Line communication module and image transmission module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620574912.4U CN205824487U (en) | 2016-06-15 | 2016-06-15 | A kind of detection flaw detection robot of self-adapting pipe inwall walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620574912.4U CN205824487U (en) | 2016-06-15 | 2016-06-15 | A kind of detection flaw detection robot of self-adapting pipe inwall walking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205824487U true CN205824487U (en) | 2016-12-21 |
Family
ID=57568895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620574912.4U Expired - Fee Related CN205824487U (en) | 2016-06-15 | 2016-06-15 | A kind of detection flaw detection robot of self-adapting pipe inwall walking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205824487U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107606387A (en) * | 2017-10-17 | 2018-01-19 | 北京理工大学珠海学院 | A kind of self-adapting pipe crawl device and pipe welding line detecting method |
| CN107831117A (en) * | 2017-12-16 | 2018-03-23 | 北京极图科技有限公司 | Adaptive caliber pipeline climbing robot |
| CN110180720A (en) * | 2019-05-29 | 2019-08-30 | 南京灵雀智能制造有限公司 | A kind of duct type intelligence spray robot and its working method |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
-
2016
- 2016-06-15 CN CN201620574912.4U patent/CN205824487U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107606387A (en) * | 2017-10-17 | 2018-01-19 | 北京理工大学珠海学院 | A kind of self-adapting pipe crawl device and pipe welding line detecting method |
| CN107831117A (en) * | 2017-12-16 | 2018-03-23 | 北京极图科技有限公司 | Adaptive caliber pipeline climbing robot |
| CN110180720A (en) * | 2019-05-29 | 2019-08-30 | 南京灵雀智能制造有限公司 | A kind of duct type intelligence spray robot and its working method |
| CN112555571A (en) * | 2020-10-20 | 2021-03-26 | 中交第三航务工程局有限公司江苏分公司 | Automatic control trolley for internal maintenance of pipeline |
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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: 20161221 Termination date: 20200615 |