CN206036517U - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
- Publication number
- CN206036517U CN206036517U CN201620315843.5U CN201620315843U CN206036517U CN 206036517 U CN206036517 U CN 206036517U CN 201620315843 U CN201620315843 U CN 201620315843U CN 206036517 U CN206036517 U CN 206036517U
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- China
- Prior art keywords
- photographic head
- control
- robot
- control chamber
- crawl device
- 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.)
- Withdrawn - After Issue
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Abstract
The utility model relates to a pipeline robot, including control box (20) and the robot (10). The the robot part is including crawl device (11), lifing arm (12), camera (13). Rocker or button on operation control box (20), corresponding action can be carried out in the robot (10), and control software's control all will be passed through in the execution of these actions. Control software can not only control zooming of camera (13), can also feed back to the motor section who controls camera (13) rotatory and every single move among the control software with the multiple of zooming to the multiple of zooming according to the camera lens changes rotational speed rotatory and pitching motor.
Description
Technical field
This utility model is related to robot field, is more particularly to a kind of pipe robot.
Background technology
Pipeline is all widely used in all conglomeraties, closely bound up with the life of people.For improving the life-span of pipeline,
Pipeline is prevented because damaging or blocking and generation accident, it is necessary to which periodic maintenance is carried out to pipeline.But due to the complexity of pipeline, manually
Detection cannot realize that in many places a kind of pipe robot for replacing manual detection arises at the historic moment.
Pipe robot in the market is carried out into underground piping by way of crawl device carries photographic head
Detection.Crawl device can be connected with external operator by wirelessly or non-wirelessly mode with photographic head, and external operator control is climbed
The walking of row device, turning and the rotation of photographic head, pitching, scaling etc..Realized by interoperation of the crawl device with photographic head
To detecting the detection of each part of pipeline.
The rotation of prior art photographic head and pitch regulation are all manually to manipulate photographic head to adjust button or rocking bar reality
It is existing, photographic head angular velocity of rotation and rate of pitch it is constant, this results in camera lens when amplification is different, cam movement
The translational speed of picture captured by which is not quite similar afterwards.Especially when camera lens amplification is larger, bowing for photographic head is adjusted slightly
Elevation angle degree, the picture shot in camera lens quickly can be moved so that need to catch in being difficult to capture pipeline in During manual operation
Point.The rotation of some product photographic head and luffing speed can be adjusted manually, but in practical operation, after camera lens amplifies, manually
Adjust and be difficult being adjusted to suitable speed, want in the duct to capture suitable position still highly difficult.
Jing is retrieved, and in industry, also no Patents solve the above problems.
The content of the invention
The purpose of this utility model is for the deficiencies in the prior art, there is provided one kind can be adjusted according to camera lens amplification
Photographic head rotation and the pipe robot of rate of pitch, including robot body and control chamber.Control chamber and the robot
By cable connection, robot body provides power by cable and carries out information transfer with control chamber body.
Preferably, robot body includes crawl device, lifting arm, photographic head, and lifting arm one end is connected on crawl device, separately
One end is connected with photographic head, and crawl device carries the photographic head and walks in the duct, and lifting arm controls photographic head relative to creeping
The height of device, photographic head shoot the picture in pipeline.
Preferably, photographic head realizes 360 degree of rotations and pitching up and down by gear drive under the driving of corresponding motor
Action.Preferably, control chamber includes photographic head rotation and pitch control rocking bar, photographic head light adjusting knob, photographic head focal length
Increase and decrease button, photographic head zoom button, photographic head SR, crawl device direction controlling rocking bar, speed adjusting knob, power supply are opened
Button, display screen, the rocking bar being manipulated by case or button is closed, robot body performs corresponding actions.Preferably, image
Head carries lens zoom sensor, and industrial computer is housed in control chamber, and industrial computer is equipped with control software, and industrial computer passes through control software
Control lens zoom sensor acquisition photographic head scale signal simultaneously transmits a signal to industrial computer, and control software is by scale signal number
Value is converted into photographic head rotation and pitching motor current value by pre-set programs, program setting current value and photographic head scale multiple into
Inverse relation, changes the rotating speed of rotation and pitching motor so as to according to the scaling multiple of photographic head.
Compared with prior art, the photographic head of pipe robot of the present utility model can not only be scaled, moreover it is possible to according to scaling
Multiple automatically adjusts the speed of photographic head rotation and pitching, and both are inversely.So no matter scaling situation of photographic head
How, can ensure that the translational speed of the captured picture when its rotation being controlled with pitching is identical, be easy to manual operation photographic head
When be accurately captured in pipeline needs catch point.
Description of the drawings
Fig. 1 is a kind of structural representation of pipe robot of the present utility model；
Fig. 2 is a kind of control chamber schematic diagram of pipe robot of the present utility model；
Wherein：10 robot bodies；11 crawl devices；12 lifting arms；13 photographic head；20 control chambers；21—
Photographic head rotates and pitch control rocking bar；22 photographic head light adjusting knobs；23 photographic head focal lengths increase and decrease button 24 is taken the photograph
As head zoom button；25 photographic head SRs；26 crawl device direction controlling rocking bars；27 speed adjusting knobs；28—
Power switch button；29 display screens.
Specific embodiment
This utility model is described further with reference to embodiment, but protection domain of the present utility model not only office
It is limited to the present embodiment.
Fig. 1, Fig. 2 is referred to, a kind of pipe robot of the present utility model includes two parts, and a part is on ground
Control chamber 20, another part are the robot bodies 10 into underground piping detection.Control chamber 20 is passed through with robot body 10
Cable（Not shown in figure）On the one hand connection, cable can provide power for robot body 10, on the other hand be also used for control chamber
20 with the information transfer of robot body 10.
As shown in figure 1, robot body 10 mainly includes crawl device 11, lifting arm 12, photographic head 13.12 one end of lifting arm
It is connected on crawl device 11, the other end is connected with photographic head 13.The effect of crawl device 11 is to carry photographic head 13 to go in the duct
Walk, lifting arm 12 can control height of the photographic head 13 relative to crawl device 11, so as to adapt to the pipeline of different-diameter size, shooting
13 are used for shooting the picture in pipeline, and picture can be delivered on control chamber 20 by being connected to the cable of robot body 10,
And be displayed on display screen 29.Photographic head 13 under the driving of corresponding motor, by gear drive be capable of achieving 360 degree rotate and
Upper and lower pitching motion.All of above action is operated on controllable case 20.Wherein in a preferred embodiment, robot sheet
The section's work of nature using in of body 10（Wuhan）The Intelligent Measurement robot TGB-WS100 of intellectual technology company limited production, photographic head 13
Using Sony's FX11 camera lenses, which has amplification big, the advantage of small volume, before imaging demand in the case where pipeline is met as far as possible
Put the volume for being reduced significantly photographic head 13.
As shown in Fig. 2 control chamber 20 includes photographic head rotation and pitch control rocking bar 21, photographic head light adjusting knob
22nd, photographic head focal length increase and decrease button 23, photographic head zoom button 24, photographic head SR 25, crawl device direction controlling rocking bar
26th, speed adjusting knob 27, power switch button 28, display screen 29.Rocking bar or button in operation control box 20, robot sheet
Body 10 performs corresponding action.Industrial computer is housed in control chamber 20（Not shown in figure）, industrial computer be used for complete it is various control and
Graphical analyses.Wherein in a preferred embodiment, industrial computer is using grinding magnificent MIO3326 types industry control based on X86 hardware platforms
Machine.
The operation in the duct of robot body 10, operation photographic head zoom button 24, industrial computer is provided with control software, work
Control machine controls the scaling of 13 camera lens of photographic head by control software, while recording the multiple of lens zoom, and data feedback is given
The part of the rotation of photographic head 13 and pitching motor is controlled in industrial computer control software, and industrial computer control software is according to lens zoom
Multiple come change rotation and pitching motor rotating speed, and both inversely：Such as camera lens quadruplication, photographic head 13 rotates
The a quarter of initial value is reduced to the rotating speed of pitching motor.Photographic head rotation and pitch control rocking bar 21, shooting are operated now
The angular velocity of 13 rotations and pitching be changed into before a quarter.So no matter scaling what state of photographic head 13, all
Can guarantee that the translational speed of the picture taken when its rotation being controlled with pitching is identical, when being easy to manual operation photographic head 13
The point that the needs being accurately captured in pipeline catch.Wherein in one embodiment, control software is opened based on WIN7 software platforms
Send out, using C Plus Plus programming realization.
The method that pipe detection is carried out using pipe robot includes：1）Robot body 10 is placed in needs the pipe of detection
Inside road；2）Manipulation control chamber 20 makes robot body 10 walk in the duct, while photographic head 13 shoots the picture in pipeline,
And picture is sent on display screen 29；3）Photographic head zoom button 24 is pressed according to job demand, photographic head 13 is correspondingly carried out
Zoom in or out the operation of camera lens.Lens zoom sensor is carried in photographic head 13, and sensor acquisition photographic head scale signal is simultaneously
Industrial computer is transmitted a signal to, scale signal numerical value is converted into photographic head rotation and pitching motor by pre-set programs by control software
Current value, program setting photographic head scale multiple with current value inversely, such as 13 quadruplication of photographic head, and control software adds
Electric current on being downloaded to photographic head rotation and pitching motor just conjugates a quarter of initial value, and output speed is also accordingly changed into initial
The a quarter of value.This detection method is not in that photographic head is rotated or pitching photographic head in the case where amplification is larger,
The phenomenon that shooting picture is quickly beated, is easy to catch the point in pipeline.
Finally it should be noted that：Above example only not limits this utility model and is retouched to illustrate this utility model
The technical scheme stated, therefore, although this specification this utility model is had been carried out with reference to each above-mentioned embodiment it is detailed
Illustrate, but, it will be understood by those within the art that, still this utility model can be modified or be equal to replace
Change, and all are without departing from technical scheme and its improvement of spirit and scope of the present utility model, which all should cover new in this practicality
In the right of type.
Claims (1)
1. a kind of pipe robot, including robot body（10）And control chamber（20）, the control chamber（20）With the machine
Human body（10）By cable connection, the robot body（10）By the cable provide power and with the control chamber
（20）Carry out information transfer, the robot body（10）Including crawl device（11）, lifting arm（12）, photographic head（13）, it is described
Lifting arm（12）One end is connected to the crawl device（11）On, the other end and the photographic head（13）Connection, the crawl device
（11）Carry the photographic head（13）Walk in the duct, the lifting arm（12）Control the photographic head（13）Relative to described
Crawl device（11）Height, the photographic head（13）Shoot the picture in pipeline, the photographic head（13）In the drive of corresponding motor
Under dynamic, 360 degree of rotations and upper and lower pitching motion are realized by gear drive, it is characterised in that：The control chamber（20）Including
Photographic head rotates and pitch control rocking bar（21）, photographic head light adjusting knob（22）, photographic head focal length increase and decrease button（23）, take the photograph
As head zoom button（24）, photographic head SR（25）, crawl device direction controlling rocking bar（26）, speed adjusting knob（27）、
Power switch button（28）, display screen（29）, by operating the control chamber（20）On rocking bar or button, the robot sheet
Body（10）Perform corresponding actions；The photographic head（13）Carry lens zoom sensor, the control chamber（20）In be equipped with industry control
Machine, the industrial computer are equipped with control software, and the industrial computer controls the lens zoom sensor by the control software and adopts
Collection photographic head（13）Scale signal simultaneously transmits the signal to the industrial computer, and scale signal numerical value is pressed by the control software
Pre-set programs are converted into photographic head rotation and pitching motor current value, current value and photographic head described in program setting（13）Scaling times
Count inversely, so as to according to photographic head（13）Scaling multiple come change rotation and pitching motor rotating speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620315843.5U CN206036517U (en) | 2016-04-15 | 2016-04-15 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620315843.5U CN206036517U (en) | 2016-04-15 | 2016-04-15 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206036517U true CN206036517U (en) | 2017-03-22 |
Family
ID=58312694
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620315843.5U Withdrawn - After Issue CN206036517U (en) | 2016-04-15 | 2016-04-15 | Pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206036517U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105715903A (en) * | 2016-04-15 | 2016-06-29 | 中科天工（武汉）智能技术有限公司 | Pipeline robot and method for conducting pipeline detecting through pipeline robot |
| CN108089587A (en) * | 2018-02-02 | 2018-05-29 | 福建（泉州）哈工大工程技术研究院 | A kind of Omni-mobile AGV of independent navigation |
| CN109654357A (en) * | 2019-02-15 | 2019-04-19 | 嘉兴学院 | Automatic cruising robot for intelligent monitoring |
| CN111649190A (en) * | 2020-05-25 | 2020-09-11 | 广州市运通水务有限公司 | Intelligent full-terrain robot for drainage pipeline detection, fault diagnosis and defect repair |
-
2016
- 2016-04-15 CN CN201620315843.5U patent/CN206036517U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105715903A (en) * | 2016-04-15 | 2016-06-29 | 中科天工（武汉）智能技术有限公司 | Pipeline robot and method for conducting pipeline detecting through pipeline robot |
| CN108089587A (en) * | 2018-02-02 | 2018-05-29 | 福建（泉州）哈工大工程技术研究院 | A kind of Omni-mobile AGV of independent navigation |
| CN109654357A (en) * | 2019-02-15 | 2019-04-19 | 嘉兴学院 | Automatic cruising robot for intelligent monitoring |
| CN111649190A (en) * | 2020-05-25 | 2020-09-11 | 广州市运通水务有限公司 | Intelligent full-terrain robot for drainage pipeline detection, fault diagnosis and defect repair |
| CN111649190B (en) * | 2020-05-25 | 2021-11-16 | 广州市运通水务有限公司 | Intelligent full-terrain robot for drainage pipeline detection, fault diagnosis and defect repair |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170322 Effective date of abandoning: 20170804 |
|
| AV01 | Patent right actively abandoned |