CN206036516U - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
- Publication number
- CN206036516U CN206036516U CN201621045567.1U CN201621045567U CN206036516U CN 206036516 U CN206036516 U CN 206036516U CN 201621045567 U CN201621045567 U CN 201621045567U CN 206036516 U CN206036516 U CN 206036516U
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- Prior art keywords
- pipeline
- pipe robot
- wheel
- robot
- wheel shaft
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Abstract
The utility model relates to a robot field, concretely relates to pipeline robot, including the robot main part, be provided with in this robot main part be used for the workstation of working in the pipeline, still including setting up wheel in the pipeline robot main part, and the wheel connection's right angle shaft, setting up the rotary mechanism between right angle shaft and the pipeline robot main part, this right angle shaft includes mutually perpendicular's first shaft and second shaft to this pipeline robot, this first shaft is connected with rotary mechanism. The utility model discloses a design a pipeline robot, be hollow cylinder's characteristics according to the pipeline, adopt and flatly establishes the wheel, press close to pipeline both ends the farthest away, realize stable mobile, simultaneously through rotary mechanism control pipeline robot at the pipeline internal rotation, it can also stable mobile to buckle the department at the pipeline, change the multiple spot contact of traditional many rounds of structures in the space, improve the removal efficiency in the pipeline, reduce the damage possibility to the pipeline.
Description
Technical field
The utility model is related to robot field, and in particular to a kind of pipe robot.
Background technology
Pipeline is widely used as a kind of effective material transportation means, in order to improve pipeline life, prevent
The generation of the accidents such as leakage, it is necessary to carry out effectively detection to pipeline and safeguard.There are the feelings of shortcomings in manual detection mode
Under condition, detecting robot of pipe has obtained increasing application as a kind of effective pipe testing apparatus.
Existing detecting robot of pipe mainly adopts wheeled or crawler-type mobile carrier at present, as in-wheel driving has
There is simple structure, the advantages of operating steadily, detecting robot of pipe mobile vehicle, adopt in-wheel driving mode more.
The arrangement of the detecting robot of pipe wheel of traditional employing wheeled construction is divided into two kinds of plane and space.Wheel plane
The all wheels of detecting robot of pipe of arrangement at grade, are mainly used in ventilation shaft, natural gas with ground contact points
Pipeline etc..The detecting robot of pipe of many wheel constructions in space is typically three groups of bogie wheels along the circumferential direction, and spaced 102
Ten degree of distributions.The detecting robot of pipe of early stage research is mainly used in the detection of petroleum pipeline, natural gas line, more using space
Many wheel constructions.The wheeled robot simple structure of wheel plane arrangement, flexible movements, but as its wheel rim and pipeline wall are lines
Contact, so rigidity, less stable.And the wheel plane of the wheeled robot wheel of many wheel constructions in space is vertical with wall connects
Touch, be face contact, so good stability, but this robot architecture is more complicated, poor controllability and bend pipe and a bifurcated pipe are led to
The property crossed is not good.
Utility model content
The technical problems to be solved in the utility model is, for the drawbacks described above of prior art, there is provided a kind of pipe machine
Device people, it is adaptable to the pipeline of different inner diameters, it is ensured that pipe robot is stably moved in pipeline.
The utility model solves the technical scheme adopted by its technical problem：A kind of pipe robot is provided, including machine
Device human agent, is provided with the workbench for working in pipeline on the robot body, the pipe robot also includes arranging
The right angle wheel shaft of the wheel in pipe robot main body and wheel connection, arrange right angle wheel shaft and pipe robot main body it
Between rotating mechanism, the right angle wheel shaft includes orthogonal first wheel shaft and the second wheel shaft, first wheel shaft and rotating mechanism
Link, one end of second wheel shaft is vertically set on the center of wheel, the right angle wheel shaft by the drive of rotating mechanism relative to
Pipe robot main body rotates.
Wherein, preferred version is：The right angle wheel shaft includes the power transmission being arranged between the first wheel shaft and the second wheel shaft
Mechanism, is arranged on motor in the pipe robot main body, and the motor is logical to be delivered to rotatory force on the first wheel shaft, first wheel shaft
Rotatory force is delivered to by the second wheel shaft by power drive mechanism, second wheel shaft is delivered to rotatory force on wheel, the wheel
Realize rotating.
Wherein, preferred version is：The wheel includes two wheels that left and right is arranged, and the pipe robot is by wheel in pipe
Move in road.
Wherein, preferred version is：The pipe robot also includes a telescoping mechanism, and the telescoping mechanism is arranged on the first wheel shaft
Between robot body, the Breadth Maximum of two wheel is increased by telescoping mechanism or is reduced, and adapts to the pipeline of different-diameter.
Wherein, preferred version is：The pipe robot includes a detector, and the detector is used for detecting the internal diameter of pipeline,
The pipe robot controls the Breadth Maximum that telescoping mechanism adjusts two wheels according to internal diameter size.
Wherein, preferred version is：Mechanical arm, illuminating lamp and camera is provided with the workbench.
Wherein, preferred version is：The robot body includes both ends of the surface, and the workbench is arranged on end face, and this is another
End face is also equipped with illuminating lamp and camera.
Wherein, preferred version is：The pipe robot arranges a rotation seat, and the illuminating lamp and camera are arranged at rotating
On seat, the rotation seat drives illuminating lamp and camera to realize multi-angle rotation.
Wherein, preferred version is：The pipe robot includes a control unit, and the control being connected with control unit respectively
Slave computer processed, sensing module, rotation seat module, motion-control module and data acquisition module, the moving control module for controlling revolve
Rotation mechanism and motor work.
Wherein, preferred version is：The pipe robot also includes second detector being connected with control unit, and this second
Detector is arranged on one end of the direction of advance of pipe robot, for detecting the bending situation of front pipeline, the control unit
Rotating mechanism is controlled according to the bending situation of front pipeline, makes the wheel of pipe robot press close to pipeline in the left and right of overbending direction
On the inwall of both sides.
The beneficial effects of the utility model are that compared with prior art, the utility model is by designing a kind of pipe machine
The characteristics of device people is hollow cylinder according to pipeline, sets wheel using flat, presses close to the farthest two ends of pipeline, realize it is stable mobile, together
When rotated in the pipeline by rotating mechanism control pipeline robot, stably can also move in pipeline bending place；Change traditional
The Multi-contact mode of many wheel constructions in space, improves the mobile efficiency in pipeline, reduces the probability of damage to pipeline.
Description of the drawings
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing：
Fig. 1 is the structural representation of the utility model pipe robot；
Fig. 2 is the rotation schematic diagram of the utility model pipe robot；
Fig. 3 is the circuit block diagram of the utility model pipe robot；
Fig. 4 is the structural representation of the utility model driving path.
Specific embodiment
In conjunction with accompanying drawing, preferred embodiment of the present utility model is elaborated.
As depicted in figs. 1 and 2, the utility model provides a kind of preferred embodiment of pipe robot.
A kind of pipe robot, including robot body 2, is provided with the robot body 2 for working in pipeline 1
Workbench 3, the pipe robot also include being arranged on wheel 6 in pipe robot main body 2, and the connection of wheel 6 right angle
Rotating mechanism between wheel shaft, setting right angle wheel shaft and pipe robot main body 2, the right angle wheel shaft include orthogonal first
Wheel shaft 4 and the second wheel shaft 5, first wheel shaft 4 are linked with rotating mechanism, and one end of second wheel shaft 5 is vertically set on wheel 6
Center, the right angle wheel shaft are rotated relative to pipe robot main body 2 by the drive of rotating mechanism.
Wherein, the right angle wheel shaft includes the power drive mechanism being arranged between the first wheel shaft 4 and the second wheel shaft 5, the pipe
Motor is arranged in pipeline robot main body 2, the motor is logical to be delivered to rotatory force on the first wheel shaft 4, and first wheel shaft 4 is by dynamic
Rotatory force is delivered to the second wheel shaft 5 by force transmission mechanism, and second wheel shaft 5 is delivered to rotatory force on wheel 6, and the wheel 6 is real
Now rotate.
It is easy to pipe robot to realize rotating in pipeline 1, to adapt to the pipeline 1 of different structure, such as crooked pipeline 1.
In the present embodiment, the wheel 6 includes two wheels 6 that left and right is arranged, and the pipe robot is by wheel 6 in pipe
Move in road 1.Further, the pipe robot also includes a telescoping mechanism, and the telescoping mechanism is arranged on the first wheel shaft 4 and machine
Between device human agent 2, the Breadth Maximum of two wheel 6 is increased by telescoping mechanism or is reduced, and adapts to the pipeline 1 of different-diameter.
Further, the pipe robot includes a detector, and the detector is used for detecting the internal diameter of pipeline 1, the pipeline
Robot controls the Breadth Maximum that telescoping mechanism adjusts two wheels 6 according to internal diameter size.
In the present embodiment, mechanical arm, illuminating lamp and camera are provided with the workbench 3.
Further, the robot body 2 includes both ends of the surface, and the workbench 3 is arranged on end face, the other end
It is provided with illuminating lamp and camera.
Further, the pipe robot arranges a rotation seat, and the illuminating lamp and camera are arranged on rotation seat, should
Rotation seat drives illuminating lamp and camera to realize multi-angle rotation.
As shown in figure 3, the utility model provides the preferred embodiment of the control system of pipe robot.
The pipe robot includes a control unit 10, and be connected with control unit 10 respectively control slave computer 20,
Sensing module 30, rotation seat module 40, motion-control module 50 and data acquisition module 60, the control rotation of motion-control module 50
Rotation mechanism and motor work.
Controller slave computer remotely receives the control signal to pipe robot, and be respectively transmitted to rotation seat module 40,
Motion-control module 50 and data acquisition module 60, the induced signal of the collection of sensing module 30 are sent in tape control unit 10, control
Unit processed 10 is according to control signal, actuated signal control rotation seat module 40, motion-control module 50 and data acquisition module 60
Work.
Sensing module 30 includes obliquity sensor and range sensor, and obliquity sensor is used for the attitude of pipe robot,
It is easy to determine the damage position of pipeline 1.Range sensor is used for detecting the barrier of pipe robot body direction of advance, prevents
Collision is produced with barrier in traveling.The heat transfer agent that sensor is produced by sensing module 30 is passed and is given by control unit 10
Controller slave computer.
Data acquisition module 60 includes camera, while control unit 10 is connected with camera, controls the rotation of camera,
It is additionally operable to adjust the focal length of camera.Wherein, the rotation of camera is realized by rotation seat module 40.Simultaneously control unit 10 with
Illuminating lamp connects, for the brightness of adjusting illuminating lamp.Data acquisition module 60 is by the data Cun Chudao control unit 10 for collecting
In.
The advance of pipe robot, retrogressing, turning, gait of march etc. are controlled by motion-control module 50.
As shown in figure 4, the utility model provides the preferred embodiment of the driving path of pipe robot.
Pipe robot also includes second detector being connected with control unit 10, and second detector is arranged on pipeline
One end of the direction of advance of robot, for detecting the bending situation of front pipeline 1, the control unit 10 is according to front pipeline 1
Bending situation control rotating mechanism, make the wheel 6 of pipe robot press close to left and right sides inwall of the pipeline 1 in overbending direction
On.
Specifically control method is：
1st, when the second detector detects front pipeline 1 is crooked pipeline 1, and search out turning positive direction straight line A；
2nd, control rotating mechanism rotation and a wheel 6 is pressed close to into B；
3rd, as, on B routes, the diameter of pipeline 1 will not change, therefore pipe robot stably can pass through.
As described above, only the utility model most preferred embodiment is not intended to limit scope of the present utility model,
All equivalence changes made according to the utility model claim or modification, are all the utility model and are covered.
Claims (10)
1. a kind of pipe robot, including robot body, is provided with the work for working in pipeline on the robot body
Make platform, it is characterised in that：It is straight that the pipe robot also includes that the wheel being arranged in pipe robot main body and wheel connect
Horn ring axle, rotating mechanism between right angle wheel shaft and pipe robot main body is set, the right angle wheel shaft includes orthogonal the
One wheel shaft and the second wheel shaft, first wheel shaft are linked with rotating mechanism, and one end of second wheel shaft is vertically set in wheel
The heart, the right angle wheel shaft are rotated relative to pipe robot main body by the drive of rotating mechanism.
2. pipe robot according to claim 1, it is characterised in that：The right angle wheel shaft include being arranged on the first wheel shaft and
Power drive mechanism between second wheel shaft, is arranged on motor in the pipe robot main body, and the motor is logical to be transmitted rotatory force
To on the first wheel shaft, rotatory force is delivered to the second wheel shaft by power drive mechanism by first wheel shaft, and second wheel shaft will turn
Power is delivered on wheel, and the wheel is realized rotating.
3. pipe robot according to claim 1, it is characterised in that：The wheel includes two wheels that left and right is arranged,
The pipe robot is moved in pipeline by wheel.
4. pipe robot according to claim 3, it is characterised in that：The pipe robot also includes a telescoping mechanism,
The telescoping mechanism is arranged between the first wheel shaft and robot body, the Breadth Maximum of two wheel increased by telescoping mechanism or
Reduce, adapt to the pipeline of different-diameter.
5. pipe robot according to claim 4, it is characterised in that：The pipe robot includes one first detector,
First detector is used for detecting the internal diameter of pipeline that the pipe robot to adjust two cars according to internal diameter size, control telescoping mechanism
The Breadth Maximum of wheel.
6. pipe robot according to claim 1, it is characterised in that：Be provided with the workbench mechanical arm, illuminating lamp,
And camera.
7. pipe robot according to claim 6, it is characterised in that：The robot body includes both ends of the surface, the work
Platform is arranged on end face, and the other end is also equipped with illuminating lamp and camera.
8. pipe robot according to claim 7, it is characterised in that：The pipe robot arranges a rotation seat, the photograph
Bright lamp and camera are arranged on rotation seat, and the rotation seat drives illuminating lamp and camera to realize multi-angle rotation.
9. according to the arbitrary described pipe robot of claim 1 to 8, it is characterised in that：The pipe robot includes a control
Unit, and be connected with control unit respectively control slave computer, sensing module, rotation seat module, motion-control module sum
According to acquisition module, the moving control module for controlling rotating mechanism and motor work.
10. pipe robot according to claim 9, it is characterised in that：The pipe robot is also single with control including one
Second detector of unit's connection, second detector are arranged on one end of the direction of advance of pipe robot, for detecting front
The bending situation of pipeline, the control unit control rotating mechanism according to the bending situation of front pipeline, make the car of pipe robot
Wheel presses close to pipeline on the left and right sides inwall of overbending direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045567.1U CN206036516U (en) | 2016-09-08 | 2016-09-08 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621045567.1U CN206036516U (en) | 2016-09-08 | 2016-09-08 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206036516U true CN206036516U (en) | 2017-03-22 |
Family
ID=58299677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621045567.1U Expired - Fee Related CN206036516U (en) | 2016-09-08 | 2016-09-08 | Pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206036516U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247081A (en) * | 2016-09-08 | 2016-12-21 | 肇庆市小凡人科技有限公司 | A kind of pipe robot |
| CN114194923A (en) * | 2021-12-07 | 2022-03-18 | 国网山东省电力公司潍坊供电公司 | High-voltage cable winding device and cable winding method |
-
2016
- 2016-09-08 CN CN201621045567.1U patent/CN206036516U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247081A (en) * | 2016-09-08 | 2016-12-21 | 肇庆市小凡人科技有限公司 | A kind of pipe robot |
| CN106247081B (en) * | 2016-09-08 | 2019-08-13 | 肇庆市小凡人科技有限公司 | A kind of pipe robot |
| CN114194923A (en) * | 2021-12-07 | 2022-03-18 | 国网山东省电力公司潍坊供电公司 | High-voltage cable winding device and cable winding method |
| CN114194923B (en) * | 2021-12-07 | 2024-04-05 | 国网山东省电力公司潍坊供电公司 | High-voltage cable winding device and cable winding method |
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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: 20170322 Termination date: 20210908 |