CN206036519U - Many functional type urban drainage pipeline inspection robot - Google Patents
Many functional type urban drainage pipeline inspection robot Download PDFInfo
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- CN206036519U CN206036519U CN201621096844.1U CN201621096844U CN206036519U CN 206036519 U CN206036519 U CN 206036519U CN 201621096844 U CN201621096844 U CN 201621096844U CN 206036519 U CN206036519 U CN 206036519U
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- robot
- crane
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- mobyneb
- discharging pipeline
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Abstract
The utility model discloses a many functional type urban drainage pipeline inspection robot, including fixed support body and two athey wheels, two athey wheels are installed in the both sides of fixed support body through a rotation axis symmetry respectively, and the rotation axis is used for adjusting the inclination of athey wheel, fixed support body facial make -up are equipped with first crane, and the upper portion of first crane is fixed and has been installed a solid fixed cylinder, gu the fixed support frame mechanism that has installed in fixed cylinder's upper portion, two athey wheels form a messenger inspection robot with this support frame mechanism can support the structure in the triangular supports of urban drainage pipeline inner wall from fitting. The utility model discloses not only having very high barrier and bearing capacity more, can adapting to the operating mode of various complicacies, it still has the exquisite structure of preventing empting moreover, effectively avoids the mechanism to take place the problem of empting. On the other hand, this pipeline robot can also carry out surveying effectively the inspection to the inside and outside portion of pipeline, realizes simultaneously that the cavity is detected and the pipe wall detects the function, saves operating time, improves work efficiency.
Description
Technical field
The utility model relates to urban discharging pipeline testing equipment and accessory field, more specifically a kind of many work(
Can type urban discharging pipeline detection robot.
Background technology
Urban discharging pipeline is the important channel for excluding municipal sewage and rainwater, and the composition portion of urban public utilities
Point, or even the infrastructure for becoming urban stability development.But, during long-term use, knot will be produced in pipeline
Dirt, the deposition of mud and other impurity, also due to current it is long-term wash away tube wall, the abrasion for causing tube wall is thinning, produce
Crackle, even damaged situation, and the seepage of tube wall can also occur, the ground movement outside tube wall, as current are washed away, shape
Into cavitation, cause subsiding for road surface.Therefore a kind of Mobyneb urban discharging pipeline detection robot is now needed to be used for
The detection of drainage pipeline, finds the problem inside and outside pipeline, clears up in time and repair, solved the problems, such as appeal.
And detecting robot of pipe of the prior art is typically using the structure of wheeled crawl device, the structure obstacle climbing ability
Difference, bearing capacity is weak, it is difficult to complex working condition is adapted to, and also most detecting robot of pipe itself does not prevent that what is toppled over to prop up
Support mechanism, is easy in use topple over problem, affects the detection work of robot；On the other hand, it is most
Detecting robot of pipe detects single function, typically can only all gather picture or the view data inside pipeline, it is impossible to draining
Pipeline internal and external environment is comprehensively detected, finds pipeline external problem in time, there is very big use limitation.
Utility model content
The utility model discloses a kind of Mobyneb urban discharging pipeline detection robot, and its main purpose is
Overcome deficiencies of the prior art and shortcoming, there is provided a kind of pipe robot, it not only has very high obstacle detouring and holds
Loading capability, is adapted to the operating mode of various complexity, and it also has exquisite anti-dumping reversed structure, is prevented effectively from mechanism and inclines
Problem.On the other hand, the pipe robot can also effectively be detected inspection to the inside and outside portion of pipeline, while realizing
Cavity detection and tube wall detect function, save the working time, improve operating efficiency.
The technical solution adopted in the utility model is as follows：
A kind of Mobyneb urban discharging pipeline detects robot, including fixing bracket body and two Athey wheels, described two
Athey wheel is installed in the both sides of the fixing bracket body respectively by an axisymmetry, and the rotary shaft is used for adjusting the Athey wheel
Angle of inclination, be equiped with the first crane on the fixing bracket body, the top of first crane is fixed and is equiped with a fixation
Cylinder, the top of the fixed cylinder are fixed and are equiped with a support frame mechanism, and two Athey wheel forms one with the support frame mechanism and makes
Detection robot adaptive can be supported in the triangular support configurations of urban discharging pipeline inwall；The rear portion cooperation of the fixed cylinder is arranged
Have one can 360 ° rotate the rotating cylinder for arranging, fixation on the rotating cylinder is equiped with one for detecting cavitation around tube wall
GPR mechanism.
Further, support frame as described above mechanism includes that a supporting and mounting bracket, one support connection thick stick and to support regulation silk
Thick stick, rotationally activity is installed in the fixed cylinder for one end of the supporting and mounting bracket, and the other end is fixed and is equiped with a slip
Roller, one end of the support connection thick stick are rotated and are installed in the supporting and mounting bracket, and the other end is installed in described support and adjusts
On leading screw, the top for supporting adjusting screw level to be installed in the fixed cylinder.
Further, the angle between the supporting and mounting bracket and the support adjusting screw is 30 °～90 °.
Further, the GPR mechanism includes a GPR, a strainer, the second crane and a spy
Ground radar lid, second crane is installed on the rotating cylinder, the strainer coordinate be installed on this
It is on two cranes and recessed downwards above the strainer, form one and place groove, the GPR coordinates fixed placement
In the placement groove；The GPR lid is located on the GPR with closing lid.
Further, the level of the horizontal level of the upper surface of the GPR lid and support frame as described above mechanism upper surface
Position flush.
Further, the front end of the fixed cylinder is fixed and is equiped with one for gathering the camera of image or video information,
On first crane, fixation is equiped with an illuminating lamp body.
Further, the camera can 180 ° of settings of 360 ° of rotations and flexion-extension.
Further, the front end center position of the fixing bracket body is fixed and is equiped with an obliquity sensor, and the inclination angle senses
Device is used for angle of inclination when monitoring robot is walked prevents robot from toppling over.
Further, a motor is additionally provided with the fixing bracket body, the motor is connected chain by one
It is connected setting with the rotating cylinder.
Further, first crane, the regulation of the second crane and the Athey wheel angle of inclination make the detection
Robot is adapted to different calibers.
Description of the present utility model is compared with existing technology by above-mentioned, the utility model has the advantage of：
Pipe robot of the present utility model adopts crawler type lower body, not only with very high obstacle detouring and bearing capacity, can
To adapt to the operating mode of various complexity, and it also has exquisite anti-dumping reversed structure, is prevented effectively from the problem that mechanism is toppled over.
On the other hand, the utility model can be realized to pipeline internal and external environment by arranging camera, rotating cylinder and GPR mechanism
Disposable comprehensively detection is carried out, while realizing cavity detection and tube wall detection function, the working time is saved, is improved work effect
Rate.
Figure of description
Fig. 1 is structural representation of the present utility model.
Fig. 2 is overlooking the structure diagram of the present utility model.
Fig. 3 is the utility model side structure schematic view.
Fig. 4 is forward sight structural representation of the present utility model.
Specific embodiment
Illustrate further to illustrate specific embodiment of the present utility model with reference to the accompanying drawings.
As shown in Figures 1 to 4, a kind of Mobyneb urban discharging pipeline detects robot, including fixing bracket body 1 and two
Athey wheel 2, described two Athey wheels 2 are symmetrically installed in the both sides of the fixing bracket body 1, the rotation respectively by a rotary shaft 21
Axle 21 is used for adjusting the angle of inclination of the Athey wheel 2, is equiped with the first crane 3 on the fixing bracket body 1, first lifting
The top of frame 3 is fixed and is equiped with a fixed cylinder 4, and the top of the fixed cylinder 4 is fixed and is equiped with a support frame mechanism 5, and described two
Athey wheel 2 is configured to one with the bracing frame machine 5 makes detection robot adaptive can be supported in the triangle of urban discharging pipeline inwall
Support structure.Support frame as described above mechanism 5 includes that a supporting and mounting bracket 51, supports connection thick stick 52 and to support adjusting screw 53,
Rotationally activity is installed in the fixed cylinder 4 for one end of the supporting and mounting bracket 51, and the other end is fixed and is equiped with a slip
Roller 54, described one end for supporting connection thick stick 52 are rotated and are installed in the supporting and mounting bracket 51, and the other end is installed in described
On support adjusting screw 53, the top for supporting 53 level of adjusting screw to be installed in the fixed cylinder 4.The supporting and mounting bracket 51
It is 30 °～90 ° with the angle supported between adjusting screw 53, is adaptable in the drainage pipeline of different tube diameters, the triangle
Supporting construction can be played prevents robot from toppling over function.
As shown in Figures 1 to 4, the fixed cylinder 4 rear portion coordinate be arranged with one can 360 ° rotate and pitch 180 ° setting
Rotating cylinder 6, fixation on the rotating cylinder 6 is equiped with one for detecting the GPR mechanism 7 of cavitation around tube wall.Institute
State and on fixing bracket body 1, be additionally provided with a motor 11, the motor 11 is passed with the rotating cylinder 6 by the chain that is connected
Dynamic connect setting, the chain that is connected can make rotating cylinder 6 drive GPR mechanism 7 to rotate together, realize GPR machine
360 ° of rotation detection functions of structure 7.The GPR mechanism 7 includes that a GPR 71, a strainer 72, second are lifted
Frame 73 and a GPR lid 74, second crane 73 are installed on the rotating cylinder 6, the strainer 72
Cooperation is installed on second crane 73, and recessed downwards above the strainer 72, is formed one and is placed groove, institute
Stating GPR 71 coordinates fixed placement in the placement groove, and the GPR lid 74 is located at the GPR 71 with closing lid
On, GPR lid 74 is used for protecting GPR 71, prevents GPR 71 from abrasion occurring.The GPR lid 74 it is upper
The horizontal level of end face and the horizontal level flush of 5 upper surface of support frame as described above mechanism, make GPR lid 74 be close to pipeline
Inwall.First crane 3, the regulation at 2 angle of inclination of the second crane 73 and the Athey wheel make the detection robot can
To adapt to different calibers.
As shown in Figures 1 to 4, the front end of the fixed cylinder 4 is fixed and is equiped with one for gathering image or video information
Camera 8, the camera 8 typically adopt CCTV cameras, and fixation on first crane 3 is equiped with an illuminating lamp body 9, should
Illuminating lamp body 9 is LED, and the LED is the illuminating ray that the camera 8 provides abundance.The camera 8 can 360 ° of rotations
Arrange, can conveniently gather the data of drainage pipeline inwall surrounding.The front end center position of the fixing bracket body 1 is fixed and is equiped with one
Obliquity sensor 10, the obliquity sensor 10 is used for angle of inclination when monitoring robot is walked prevents robot from toppling over, and should
Obliquity sensor 10 can also determine the angle of inclination of drainage pipeline.
Pipe robot of the present utility model adopts crawler type lower body, not only with very high obstacle detouring and bearing capacity, can
To adapt to the operating mode of various complexity, and it also has exquisite anti-dumping reversed structure, is prevented effectively from the problem that mechanism is toppled over.
On the other hand, the utility model can be realized to pipeline internal and external environment by arranging camera, rotating cylinder and GPR mechanism
Disposable comprehensively detection is carried out, while realizing cavity detection and tube wall detection function, the working time is saved, is improved work effect
Rate.
Specific embodiment of the present utility model is above are only, but design concept of the present utility model is not limited merely to
This, it is every the utility model to be improved with carrying out unsubstantiality using this design, should belong to infringement the utility model protection
The behavior of scope.
Claims (10)
1. a kind of Mobyneb urban discharging pipeline detects robot, it is characterised in that：Including fixing bracket body and two Athey wheels,
Described two Athey wheels are installed in the both sides of the fixing bracket body respectively by an axisymmetry, and the rotary shaft is used for adjusting institute
The angle of inclination of Athey wheel is stated, the first crane on the fixing bracket body, is equiped with, installing is fixed on the top of first crane
The top fixation for having a fixed cylinder, the fixed cylinder is equiped with a support frame mechanism, two Athey wheel and the support frame mechanism
Forming one makes detection robot adaptive can be supported in the triangular support configurations of urban discharging pipeline inwall；The rear portion of the fixed cylinder
Cooperation be arranged with one can 360 ° rotate the rotating cylinder for arranging, fixation on the rotating cylinder is equiped with one for the sky that detects around tube wall
The GPR mechanism of hole phenomenon.
2. a kind of Mobyneb urban discharging pipeline according to claim 1 detects robot, it is characterised in that：Described
Support mechanism includes that a supporting and mounting bracket, one support connection thick stick and to support adjusting screw, one end of the supporting and mounting bracket
Rotationally activity is installed in the fixed cylinder, and the other end is fixed and is equiped with a slider roller, and the one of the support connection thick stick
End rotation is installed in the supporting and mounting bracket, and the other end is installed on the support adjusting screw, the support adjusting screw
Level is installed in the top of the fixed cylinder.
3. a kind of Mobyneb urban discharging pipeline detects robot according to claim 2, it is characterised in that：The support
Angle between fixed mount and the support adjusting screw is 30 °～90 °.
4. a kind of Mobyneb urban discharging pipeline according to claim 1 detects robot, it is characterised in that：The spy
Ground radar mechanism includes a GPR, a strainer, the second crane and a GPR lid, second crane
It is installed on the rotating cylinder, the strainer cooperation is installed on second crane, and the tensioning device
It is recessed downwards above structure, form one and place groove, the GPR coordinates fixed placement in the placement groove；It is described to visit ground
Radar lid is located on the GPR with closing lid.
5. a kind of Mobyneb urban discharging pipeline according to claim 4 detects robot, it is characterised in that：The spy
The horizontal level of the upper surface of ground radar lid and the horizontal level flush of support frame as described above mechanism upper surface.
6. a kind of Mobyneb urban discharging pipeline according to claim 1 detects robot, it is characterised in that：It is described solid
The front end of safety barrel is fixed and is equiped with one for gathering the camera of image or video information, fixed installing on first crane
There is an illuminating lamp body.
7. a kind of Mobyneb urban discharging pipeline according to claim 6 detects robot, it is characterised in that：It is described to take the photograph
As head can 180 ° of settings of 360 ° of rotations and flexion-extension.
8. a kind of Mobyneb urban discharging pipeline according to claim 1 detects robot, it is characterised in that：It is described solid
The front end center position fixation for determining support body is equiped with an obliquity sensor, and the obliquity sensor is used for when monitoring robot is walked
Angle of inclination prevents robot from toppling over.
9. a kind of Mobyneb urban discharging pipeline according to claim 1 detects robot, it is characterised in that：It is described solid
Determine on support body, to be additionally provided with a motor, the motor is connected with the rotating cylinder and is set by the chain that is connected
Put.
10. a kind of Mobyneb urban discharging pipeline according to claim 4 detects robot, it is characterised in that：It is described
The regulation at the first crane, the second crane and the Athey wheel angle of inclination makes the detection robot be adapted to different pipes
Footpath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621096844.1U CN206036519U (en) | 2016-09-30 | 2016-09-30 | Many functional type urban drainage pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621096844.1U CN206036519U (en) | 2016-09-30 | 2016-09-30 | Many functional type urban drainage pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206036519U true CN206036519U (en) | 2017-03-22 |
Family
ID=58297696
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621096844.1U Withdrawn - After Issue CN206036519U (en) | 2016-09-30 | 2016-09-30 | Many functional type urban drainage pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206036519U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106287106A (en) * | 2016-09-30 | 2017-01-04 | 福建（泉州）哈工大工程技术研究院 | A kind of Mobyneb urban discharging pipeline measuring robots |
| CN107255205A (en) * | 2017-05-25 | 2017-10-17 | 承德石油高等专科学校 | A kind of general-using type spiral wheeled pipe robot |
| CN108843893A (en) * | 2018-08-30 | 2018-11-20 | 李德水 | A kind of petroleum pipeline flaw detection robot auxiliary moving device of orientation balance traveling |
| CN109606505A (en) * | 2018-11-16 | 2019-04-12 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people |
| CN109296868B (en) * | 2018-11-14 | 2019-09-27 | 燕山大学 | A kind of pipe robot for pipeline docking |
| CN110486569A (en) * | 2019-09-29 | 2019-11-22 | 南方工程检测修复技术研究院 | Defect inspection and restorative procedure outside a kind of buried drain pipe road |
| CN112503313A (en) * | 2020-11-05 | 2021-03-16 | 江苏金成源实业投资有限公司 | Camera lifting and falling control method for monitoring robot |
| CN114843927A (en) * | 2022-02-18 | 2022-08-02 | 华能新疆能源开发有限公司新能源东疆分公司 | Cable channel inspection robot |
-
2016
- 2016-09-30 CN CN201621096844.1U patent/CN206036519U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106287106A (en) * | 2016-09-30 | 2017-01-04 | 福建（泉州）哈工大工程技术研究院 | A kind of Mobyneb urban discharging pipeline measuring robots |
| CN107255205A (en) * | 2017-05-25 | 2017-10-17 | 承德石油高等专科学校 | A kind of general-using type spiral wheeled pipe robot |
| CN107255205B (en) * | 2017-05-25 | 2019-08-06 | 承德石油高等专科学校 | A kind of general-using type spiral wheeled pipe robot |
| CN108843893A (en) * | 2018-08-30 | 2018-11-20 | 李德水 | A kind of petroleum pipeline flaw detection robot auxiliary moving device of orientation balance traveling |
| CN109296868B (en) * | 2018-11-14 | 2019-09-27 | 燕山大学 | A kind of pipe robot for pipeline docking |
| CN109606505A (en) * | 2018-11-16 | 2019-04-12 | 江苏长虹智能装备股份有限公司 | A kind of automatic transporting machine people |
| CN110486569A (en) * | 2019-09-29 | 2019-11-22 | 南方工程检测修复技术研究院 | Defect inspection and restorative procedure outside a kind of buried drain pipe road |
| CN112503313A (en) * | 2020-11-05 | 2021-03-16 | 江苏金成源实业投资有限公司 | Camera lifting and falling control method for monitoring robot |
| CN114843927A (en) * | 2022-02-18 | 2022-08-02 | 华能新疆能源开发有限公司新能源东疆分公司 | Cable channel inspection robot |
| CN114843927B (en) * | 2022-02-18 | 2023-12-26 | 华能新疆能源开发有限公司新能源东疆分公司 | Cable channel inspection robot |
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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: 20180626 |
|
| AV01 | Patent right actively abandoned |