CN205978984U - Self -adaptation pipeline fault detecting robot - Google Patents

Self -adaptation pipeline fault detecting robot Download PDF

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Publication number
CN205978984U
CN205978984U CN201620903591.8U CN201620903591U CN205978984U CN 205978984 U CN205978984 U CN 205978984U CN 201620903591 U CN201620903591 U CN 201620903591U CN 205978984 U CN205978984 U CN 205978984U
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CN
China
Prior art keywords
self
torpedo
flaw detection
bionical
detection robot
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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Withdrawn - After Issue
Application number
CN201620903591.8U
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Chinese (zh)
Inventor
张东
崔少伟
周裕东
王顺栋
王家辉
彭杰
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South China University of Technology SCUT
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South China University of Technology SCUT
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Priority to CN201620903591.8U priority Critical patent/CN205978984U/en
Application granted granted Critical
Publication of CN205978984U publication Critical patent/CN205978984U/en
Withdrawn - After Issue legal-status Critical Current
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Abstract

The utility model discloses a self -adaptation pipeline fault detecting robot, including the symmetry set up in the bionical torpedo shape probe at fault detecting robot head and the tail both ends is connected respectively two power transmission unit of two -way bionical torpedo shape probe rear end, connect the power conveyor between two power transmission unit through cross universal coupling, power transmission unit fixes including connecting mount, the edge of two -way bionical torpedo shape probe rear end the at least three drive wheels mechanism of the circumference evenly distributed setting of mount still is provided with the radial adjusting device of wheel mechanism who adjusts every drive wheels mechanism radial position respectively on, power conveyor includes the shell, follows the even at least three drive wheels mechanism that sets up of shell circumference. The utility model discloses can detect a flaw to different radius pipelines, have the adaptive characteristic, the cost is lower simultaneously, and simple structure can be applied to the pipeline that detects under the special environment, has good spreading value.

Description

A kind of self-adapting pipe flaw detection robot
Technical field
This utility model is related to technical field of electromechanical control, particularly to a kind of self-adapting pipe flaw detection robot.
Background technology
With the continuous renewal of economic continuous development, industrial technology, from daily life to work, agricultural production, pipeline is several Ubiquitous, wherein being most widely used of circular pipe.Once pipeline has an accident, normal production and life will It is affected, or even cause the serious consequences such as environmental pollution or blast.In addition, having has tubular workpiece on a lot of equipment, Such as boiler tube, heat exchanger tube, evaporator tube, petroleum cracking boiler tube etc., these tubular workpieces are also the same with pipeline, its peace Full property needs to ensure.With the widely available of computer technology and application, domestic added salts are obtained for fast development, pipe Road detection technique gradually forms the inside and outside detection technique of pipeline(Coating detection, Intelligent Measurement)Two branches.Traditional pipe detection Technology and plant maintenance all adopt random selections hand excavation's cleaning scheme, the program have great occasionality with random Property can not thoroughly purging line damage and the hidden danger brought.Self-driven in-pipe robot includes wheeled, foot formula, creeping-type, wriggling Formula, also includes crawler type etc..
Therefore, a kind of development of " the pipeline inspection robot " that can work under particular job environment just seems meaning weight Greatly.
Utility model content
In order to underground, under water, large-scale pipeline is carried out making regular check in the extreme operating conditions such as extremely cold, keeps in repair, clears up, Guarantee that tubing is safe, unimpeded and efficient application, this utility model provides a kind of self-adapting pipe flaw detection robot.
This utility model adopts the following technical scheme that:
A kind of self-adapting pipe flaw detection robot, including the Biomimetic Fish being symmetricly set in described flaw detection robot head and the tail two ends Thunder shape is popped one's head in, and connects two actuating units of described two-way bionical torpedo probe rear end respectively, is joined by cross universal Axial organ is connected to the power conveying device between two actuating units, and described actuating unit includes being fastened on institute State two-way bionical torpedo pop one's head in rear end fixed mount, be uniformly distributed at least three drivings of setting along the circumference of described fixed mount Wheel mechanism, described fixed mount is additionally provided with the wheel mechanism radially tune adjusting each driving moment mechanism radial position respectively Regulating device;Described power conveying device includes shell, at least three driving moment mechanisms being uniformly arranged along shell circumference.
Further, described wheel mechanism radial adjustment device includes the regulation electricity being arranged on described fixed mount one end Machine, it is slidably arranged on described fixed mount and the described sliding panel, circumferentially uniform adjusting motor is connected by feed screw nut pair It is connected at least three parallel-crank mechanisms on described fixed mount, described sliding panel is circumferentially evenly arranged with some drives Move the connector that each parallel-crank mechanism waves.
Further, described fixed mount includes the first fixed plate being oppositely arranged and the 3rd fixed plate, and described first is fixing Plate is fixed on two-way bionical torpedo probe rear end, is abreast connected between described first fixed plate and the 3rd fixed plate The sliding guide that some and described sliding panel is slidably matched.
Further, it is provided with damping spring between described driving moment mechanism and fixed mount and shell.
Further, described driving moment mechanism includes having reeded strap, is arranged on described strap On wheel, the power motor being arranged in described groove and taper gear pair, described power motor pass through taper gear pair with Wheel drive connection.
Further, described bionical torpedo probe includes torpedo probing shell, is arranged on described torpedo by circuit Ccd video camera on shape probing shell, position and attitude transducer, infrared radiation detection apparatus, circumferentially positioned instrument, information interactive device, Signal processing apparatus.
Further, the pressure transducer for detecting wheel pressure value, described signal processing apparatus root are also included Pressure value according to gained controls wheel mechanism radial adjustment device.
Further, it is additionally provided with the second fixed plate 7-2 between the first described fixed plate and the 3rd fixed plate.
Further, described wheel and strap are all using ABS plastic structure.
Further, described torpedo probing shell adopts high composite polyester fiber material.
The beneficial effects of the utility model:
This utility model adopts self-driven wheeled construction design, adopts cross-axle universal shaft coupling to couple between each component, Easy to process, the maximum feature of cross-axle universal shaft coupling is that its structure has a larger angular compensatory ability, compact conformation, with When every part added with three groups of wheels to reach the effect of 360 degree of supports completely, it is to avoid because the emergency risk that imbalance causes. And, equipped with damping device wheel design not only weaken level land advance when vibrations, decrease to save external wall abrasion. Meanwhile, this utility model applies screw mandrel so that this device is suitable for radius 400mm to 460mm, solves a kind of robot and fits Resource should be saved the drawbacks of a kind of pipeline.The wheel of pipeline inspection robot and vehicle body all using ABS plastic structure, this Plant material energy-saving environmental protection, good looking appearance and make robot lighter.
Brief description
Fig. 1 is the overall structure diagram of this utility model embodiment.
Fig. 2 is actuating unit and the bionical torpedo probe front view schematic diagram of this utility model embodiment.
Fig. 3 is actuating unit and the bionical torpedo probe left view schematic diagram of this utility model embodiment.
Fig. 4 is actuating unit and the bionical torpedo probe right view schematic diagram of this utility model embodiment.
Fig. 5 is the power conveying device three-dimensional structure diagram of this utility model embodiment.
Fig. 6 is the actuating unit left view of this utility model embodiment.
Fig. 7 is the power conveying device left view of this utility model embodiment.
Fig. 8 is the working state schematic representation by straight tube for this utility model embodiment.
Fig. 9 is this utility model embodiment by bend pipe working state schematic representation.
In figure show:1- bionical torpedo probe, 2- actuating unit, 3- power conveying device, 4- wheel, 5- subtract Shake spring, 6- connector, 7-1- first fixed plate, 7-2- second fixed plate, 7-3- the 3rd fixed plate, 8- sliding panel, 9- screw mandrel Pair of nut, 10-1- adjust motor, 10-2- power motor, 11- strap, 12- taper gear pair, 13- cross-axle universal shaft connection Axial organ, 14- shell.
Specific embodiment
With reference to specific embodiment, this utility model is more specifically described in detail.
As shown in Figures 1 to 7, a kind of self-adapting pipe flaw detection robot, including being symmetricly set in described flaw detection robot The bionical torpedo probe at head and the tail two ends, connects two actuating units of described two-way bionical torpedo probe rear end respectively 2nd, the power conveying device 3 between two actuating units 2, described power transmission are connected to by cross universal coupling 13 Device 2 include being fastened on described two-way bionical torpedo pop one's head in rear end fixed mount, along described fixed mount circumference uniformly At least three driving moment mechanisms of distribution setting, described fixed mount are additionally provided with and adjust each driving moment mechanism footpath respectively Wheel mechanism radial adjustment device to position;Described power conveying device 3 includes shell 14, is uniformly arranged along shell 14 circumference At least three driving moment mechanisms.
Specifically, described wheel mechanism radial adjustment device includes being arranged on the regulation motor of described fixed mount one end 10-1, it is slidably arranged on described fixed mount and connects by feed screw nut pair 9 sliding panel 8, the edge of described regulation motor 10-1 Circumference is uniformly connected at least three parallel-crank mechanisms on described fixed mount, and described sliding panel 8 circumferentially uniformly sets It is equipped with some connectors 6 driving each parallel-crank mechanism to wave.
Specifically, described fixed mount includes the first fixed plate 7-1 being oppositely arranged and the 3rd fixed plate 7-3, and described One fixed plate 7-1 is fixed on two-way bionical torpedo probe rear end, between described first fixed plate 7-1 and the 3rd fixed plate 7-3 Abreast it is connected with the sliding guide that some and described sliding panel 8 is slidably matched.
Specifically, it is provided with damping spring 5 between described driving moment mechanism and fixed mount and shell 14, work as external force Act on wheel, force slip wheel wheel plate to contract, now, damping spring 5 is equivalent to accumulator, by extraneous impact Deformation, changes into the elastic deformation of itself, thus playing damping, the effect of antidetonation.
Specifically, described driving moment mechanism includes having reeded strap 11, is arranged on described fixation clamp Wheel 4 on plate 11, the power motor 10-2 being arranged in described groove and taper gear pair 12, described power motor 10-2 leads to Cross taper gear pair 12 and wheel 4 drive connection.
Specifically, described bionical torpedo probe includes torpedo probing shell, is arranged on described torpedo by circuit Ccd video camera on shape probing shell, position and attitude transducer, infrared radiation detection apparatus, circumferentially positioned instrument, information interactive device, Signal processing apparatus, shown ccd video camera, position and attitude transducer, infrared radiation detection apparatus, circumferentially positioned instrument, information exchange dress Put, signal processing apparatus adopt the common technology of existing pipe robot, those of ordinary skill in the art can be carried out as needed Carry out the functions such as signal detection and defect location after selecting and installing, will not be described here.
Specifically, the pressure transducer for detecting wheel pressure value, described signal processing apparatus root are also included Pressure value according to gained controls wheel mechanism radial adjustment device.
Specifically, it is additionally provided with the second fixed plate 7-2 between the first described fixed plate 7-1 and the 3rd fixed plate 7-3.
Specifically, described wheel and strap 11 are all using ABS plastic structure.Described torpedo probe shell Body adopts high composite polyester fiber material.The wheel of this self-adapting pipe flaw detection robot and vehicle body are all tied using ABS plastic Structure, ABS plastic has that easy processing, product size are stable, and damp performance etc. is closed a little in surface, ensure that wheel and vehicle body simultaneously Impact resistance, thermostability, lower temperature resistance.The attachment structure of described self-adapting pipe flaw detection robot is all using malleable casting Ferrum, this cast iron has higher intensity, plasticity and impact flexibility, hereby it is ensured that the stability of connector and tightness.Institute State torpedo probing shell and adopt high composite polyester fiber material, high intensity and high resiliency ensure that the shock resistance deformation energy of probe Power, and corrosion resistance ensure that still energy normal work of popping one's head in the presence of a harsh environment, increased its labor aptitude.
Power supply is all included, for visiting to this self-adapting pipe inside described actuating unit 2 and power conveying device 3 Pseudo-machine people provides energy, and this energy drives power motor 10-2, by driving taper gear pair 12, transmission is carried out with 90 ° of changes To, the operating of further driving moment 4, cross-axle universal shaft coupling 13 is used for connecting actuating unit 2 and power conveying dress Put 3 so that overall can slide in the duct.This self-adapting pipe flaw detection robot has adaptation function, for vehicle body partly The circular duct road of the suitable size in footpath, this robot can directly pass through, when the radius in circular duct road is less than vehicle body During radius(Within the scope of previously described restriction), external force extruding wheel 4, act on strap 11, be pressed further by Connector 6, connector 6 can rotate down automatically, pressure transducer detect pressure value be more than threshold value after, described signal processing device Put to be started according to the pressure value of gained and adjust motor 10-1, the feed screw nut pair 9 band sliding panel 8 that is dynamically connected slides to the right so that whole The radius size of body vehicle body reduces, namely each driving moment mechanism is radially drawn close to the axis of robot, conversely, pressure passes Sensor detects pressure value less than after threshold value, and described signal processing apparatus start regulation motor 10-1 according to the pressure value of gained, The feed screw nut pair 9 band sliding panel 8 that is dynamically connected slides to the left, and overall vehicle body radius size will increase, namely each drives car Wheel mechanism is radially away from the axis of robot, thus can realize the radius variable of this self-adapting pipe flaw detection robot, The size of self adaptation difference pipe radius, motility is higher.
The car body supporting construction of the present embodiment is made by high-strength cast iron, has superpower rigid, excellent weight capacity And price material benefit.Described robot car attachment structure is all connected by the connector that cast iron is made, and has two sections of connectors, constitutes net Shape structure;Extreme position is provided with mechanical limit structure, stable in extreme position car body by pin position assurance.
Described self-adapting pipe flaw detection robot adopts the structure of 360 supports completely, may be implemented in pipeline and steadily advances work( Energy;The flexible Application of adjustable type mobile bar is so that described self-adapting pipe flaw detection robot is suitable for caliber 400-460mm.
As shown in figure 8, described self-adapting pipe flaw detection robot adopts disymmetry structure, this structure ensure that robot energy Enough in conveyance conduit slidably, and increased power transmission for overall, extend the working time of robot, simultaneously It is adapted to the detection of long tube;Head and the tail two ends are respectively arranged with positioning probe, and the installation of dual probe has ensured robot in pipe detection During precision and accuracy.Substantially increase the efficiency of detection, make testing result more thorough.
As shown in figure 9, this pipeline inspection robot carries out the company between different casings using cross-axle universal shaft coupling 13 Connect;Being that it is possible to a little of cross-axle universal shaft coupling 13 makes two axles not in same axis, there is energy in the case of axis angle Realize two coupled axle continuous rotaries, and reliably transmission torque and motion.This advantage is conducive to this pipeline inspection machine Pass through the transfer passage of the curvature radius such as bend pipe.And the feature of cross-axle universal shaft coupling 13 maximum is that its structure has Larger angular compensatory ability, compact conformation, transmission efficiency, hereby it is ensured that transmission between different casings for the power.
Above-described embodiment is this utility model preferably embodiment, but embodiment of the present utility model be not subject to described The restriction of embodiment, other any without departing from the change made under spirit of the present utility model and principle, modify, replace Generation, combination, simplification, all should be equivalent substitute mode, are included within protection domain of the present utility model.

Claims (10)

1. a kind of self-adapting pipe flaw detection robot it is characterised in that:Including being symmetricly set in described flaw detection robot head and the tail two The bionical torpedo probe at end, connects two actuating units of described two-way bionical torpedo probe rear end respectively(2), logical Cross cross universal coupling(13)It is connected to two actuating units(2)Between power conveying device(3), described power biography Dynamic device(2)Including be fastened on described two-way bionical torpedo pop one's head in rear end fixed mount, along described fixed mount circumference It is uniformly distributed at least three driving moment mechanisms of setting, described fixed mount is additionally provided with and adjusts each driving moment machine respectively The wheel mechanism radial adjustment device of structure radial position;Described power conveying device(3)Including shell(14), along shell(14)Week To at least three driving moment mechanisms being uniformly arranged.
2. self-adapting pipe flaw detection robot according to claim 1 it is characterised in that:Described wheel mechanism is radially adjusted Regulating device includes being arranged on the regulation motor of described fixed mount one end(10-1), be slidably arranged on described fixed mount and pass through silk Stem nut pair(9)Connect described regulation motor(10-1)Sliding panel(8), be circumferentially uniformly connected on described fixed mount extremely Few three parallel-crank mechanisms, described sliding panel(8)On be circumferentially evenly arranged with some driving each parallel-crank mechanism The connector waving(6).
3. self-adapting pipe flaw detection robot according to claim 2 it is characterised in that:Described fixed mount includes relatively setting The first fixed plate put(7-1)With the 3rd fixed plate(7-3), described first fixed plate(7-1)It is fixed on two-way bionical torpedo Probe rear end, described first fixed plate(7-1)With the 3rd fixed plate(7-3)Between be abreast connected with some with described cunning Dynamic plate(8)The sliding guide being slidably matched.
4. self-adapting pipe flaw detection robot according to claim 1 it is characterised in that:Described driving moment mechanism with solid Determine frame and shell(14)Between be provided with damping spring(5).
5. self-adapting pipe flaw detection robot according to claim 1 it is characterised in that:Described driving moment mechanism bag Include the reeded strap of tool(11), be arranged on described strap(11)On wheel(4), be arranged in described groove Power motor(10-2)And taper gear pair(12), described power motor(10-2)By taper gear pair(12)With wheel(4) Drive connection.
6. self-adapting pipe flaw detection robot according to claim 1 it is characterised in that:Described bionical torpedo probe bag Include torpedo probing shell, the ccd video camera being arranged on described torpedo probing shell, position and attitude sensing by circuit Device, infrared radiation detection apparatus, circumferentially positioned instrument, information interactive device, signal processing apparatus.
7. self-adapting pipe flaw detection robot according to claim 6 it is characterised in that:Also include for detecting wheel institute The pressure transducer of pressurized force value, described signal processing apparatus control wheel mechanism radiai adjustment dress according to the pressure value of gained Put.
8. self-adapting pipe flaw detection robot according to claim 3 it is characterised in that:The first described fixed plate(7- 1)With the 3rd fixed plate(7-3)Between be additionally provided with the second fixed plate(7-2).
9. self-adapting pipe flaw detection robot according to claim 5 it is characterised in that:Described wheel and fixation Clamping plate(11)All using ABS plastic structure.
10. self-adapting pipe flaw detection robot according to claim 6 it is characterised in that:Described torpedo probing shell Using high composite polyester fiber material.
CN201620903591.8U 2016-08-18 2016-08-18 Self -adaptation pipeline fault detecting robot Withdrawn - After Issue CN205978984U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106090530A (en) * 2016-08-18 2016-11-09 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN107218473A (en) * 2017-05-31 2017-09-29 清远初曲智能科技有限公司 A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot
CN109373203A (en) * 2018-11-22 2019-02-22 乐至海天水务有限公司 A kind of intelligent water supply water pipe quality determining method
CN109611643A (en) * 2019-02-01 2019-04-12 任成� A kind of pipe robot

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106090530A (en) * 2016-08-18 2016-11-09 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN106090530B (en) * 2016-08-18 2019-07-16 华南理工大学 A kind of self-adapting pipe flaw detection robot
CN107218473A (en) * 2017-05-31 2017-09-29 清远初曲智能科技有限公司 A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot
CN107218473B (en) * 2017-05-31 2018-05-15 清远初曲智能科技有限公司 A kind of wheeled magnetic self-adapting pipe for power engineering detects traction robot
CN109373203A (en) * 2018-11-22 2019-02-22 乐至海天水务有限公司 A kind of intelligent water supply water pipe quality determining method
CN109373203B (en) * 2018-11-22 2020-06-26 乐至海天水务有限公司 Intelligent water supply pipe quality detection method
CN109611643A (en) * 2019-02-01 2019-04-12 任成� A kind of pipe robot
CN109611643B (en) * 2019-02-01 2020-11-10 蒙城县友继家庭农场 Pipeline robot

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C14 Grant of patent or utility model
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AV01 Patent right actively abandoned

Granted publication date: 20170222

Effective date of abandoning: 20190716

AV01 Patent right actively abandoned