CN206191162U - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
- Publication number
- CN206191162U CN206191162U CN201621209100.6U CN201621209100U CN206191162U CN 206191162 U CN206191162 U CN 206191162U CN 201621209100 U CN201621209100 U CN 201621209100U CN 206191162 U CN206191162 U CN 206191162U
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- pole
- adjusting nut
- motor
- unit
- pipe robot
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- Expired - Fee Related
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Abstract
The utility model discloses a pipeline robot, support unit including two symmetrical arrangement is connected with the control unit between two support units, be connected through the universal joint between support unit and the the control unit, be connected with walking unit on the support unit, the support unit includes electric putter and three support, the last adjusting nut who is provided with three evenly distributed of electric putter, it is three the support passes through adjusting nut to be connected with electric putter, and three the support is isosceles triangle and arranges, walking unit includes motor box, two walking wheels, motor and two bevel gear. The utility model discloses can effectively detect long straight tube and say whether inside has the crackle to exist, this robot has small, take action nimble, cost low grade advantage, can more freely advance and retreat in the pipeline.
Description
Technical field
The utility model relates generally to a kind of pipe robot.
Background technology
In the fields such as general industry, nuclear facilities, petroleum gas, military equipment, pipeline is used as a kind of effective material
Transportation means and be widely used.The generation of the accidents such as life-span, prevent leakage for raising pipeline, must just enter to pipeline
The effective detection of row safeguards that pipe robot is produced to meet the needs.Pipe robot is that one kind can be along small sized pipeline
Portion or outside automatically walk, carrying one or more sensor and operation machinery, straighforward operation or computer in staff
Automatically control down, carry out mechanical, electrical, the instrument integral system of a series of pipeline operations.The research of pipe robot both at home and abroad at present
Achievement a lot, but the cost of most pipe robot is higher, and exists and is difficult in microtubule, special pipeline
The deficiency used in (such as tapered pipeline, the pipeline with U-tube).
Utility model content
In order to overcome the above-mentioned deficiencies of the prior art, the utility model provides a kind of pipe robot, the pipeline machine
People can inside effective detection straight pipeline long whether with the presence of crackle, the pipe robot have small, action flexibly, cost
Low advantage, can relatively freely retreat in pipeline internal ratio.
The technical scheme that the utility model is used is：
A kind of pipe robot, including two carrier units being arranged symmetrically, control is connected between two carrier units
Unit, is connected between the carrier unit and control unit by universal joint, and walking unit, institute are connected with the carrier unit
State walking unit and drag the pipe robot traveling.
Further, the carrier unit includes electric pushrod and three supports, the front end of the electric pushrod, it is middle and
Rear end is connected with the first adjusting nut, the second adjusting nut and the 3rd adjusting nut in turn；Three supports are adjusted by first
Section nut, the second adjusting nut and the 3rd adjusting nut are connected with electric pushrod, and three supports are in isosceles triangle cloth
Put；The support include three bars, respectively the first pole, the second pole and the 3rd pole, one end of first pole with
3rd adjusting nut is connected, and the other end is connected with the front end of walking unit；One end of second pole and the second adjusting nut
Connection, the other end is connected with the rear end of walking unit；First pole and the second pole are parallel to each other, the 3rd pole
One end is connected by nut with the middle of the second pole, and the other end is connected with the first adjusting nut；The front end of the electric pushrod
Transverse axis is connected with rear end.
Further, the electric pushrod can select hydraulic stem or atmospheric pressure pole.
Further, the walking unit includes motor box, two road wheels, motor and two bevel gears, the motor
Motor fixing frame is provided with box, the motor is arranged on motor fixing frame, the output shaft connection first bevel gear of the motor；
Two road wheels are arranged on the arranged on left and right sides of motor box, drive shaft are connected between two road wheels, in the drive shaft
Be connected with second bevel gear, the first bevel gear is engaged with second bevel gear, and first gear and second gear axis phase
Mutual vertical
Further, described control unit include control chamber, be provided with the control chamber single-chip microcomputer, wireless communication module,
Motor drive module, data acquisition module and usb interface module；The wireless communication module, motor drive module, data acquisition
Module and usb interface module are connected with single-chip microcomputer respectively.
Further, the control chamber includes front apron and backboard, and the centre of the front apron and backboard sets respectively
Have a centre bore, through there is a transverse axis in the centre bore, the corner of the forward and backward baffle plate is respectively equipped with four mounting holes, it is described before,
Four cross bars are connected between backboard, the cross bar is fixedly connected by mounting hole and nut with forward and backward baffle plate, described in four
Four pieces of connecting plates are connected between cross bar；Multiple through holes are respectively equipped with the forward and backward baffle plate.
Further, the front end connects bearing of the carrier unit, the bearing is provided with camera and camera is supporting
The LED and ultrasonic sensor for using.
Compared with prior art, the beneficial effects of the utility model are：
(1) pipe robot is small, and overall weight is lighter, is moved in pipeline relatively flexible；
(2) stretching degree of support is adjustable, by controlling the collapsing length of transverse axis by electric pushrod, drives adjusting nut
Advance or retreat, make pole Angulation changes, so that the stretching degree of automatic adjusting support, so as to adapt it to the length of pipeline；
(3) symmetrical uniform three-dimensional support before and after so that robot stable movement in pipeline, stress is symmetrical；Axle
The travel configuration of symmetrical three-dimensional rack form, it is ensured that wheel and wall perpendicular contact；The regulative mode of parallelogram pole,
Internal diameter of the pipeline is adapted to by adjusting the angle of support swing rod；
(4) being capable of instantaneous acquiring drawing information, the portion for being difficult to be detected from the external world to pipeline depths equipped with front camera
The detection of position；
(5) by the way of wireless telecommunications, signal transmission is set up between single-chip microcomputer and PC, facilitates external staff to depth
Enter the motion control of the robot in pipeline.
Brief description of the drawings
Fig. 1 is overall structure figure of the present utility model；
Fig. 2 is top view of the present utility model；
Fig. 3 is left view of the present utility model；
Fig. 4 is the structure chart of carrier unit；
Fig. 5 is the structure chart of walking unit；
Wherein, 1. carrier unit, 2. control unit, 3. universal joint, 4. walking unit, 5. bearing, 6. support, 7. transverse axis,
8. the 3rd adjusting nut, 9. the first pole, 10. the second pole, 11. the 3rd poles, 12. motor box, 13. road wheels, 14. electricity
Machine, 15. first bevel gears, 16. front aprons, 17. backboards, 18. cross bars, 19. connecting plates, 20. second bevel gears, 21. motors
Fixed mount, 22. second adjusting nuts, 23. first adjusting nuts, 24. first hydropneumatic devices, 25. through holes.
Specific embodiment
The utility model is further illustrated below in conjunction with the accompanying drawings.
As shown in figure 1, a kind of pipe robot, including two carrier units 1 being arranged symmetrically, two carrier units 1 it
Between be connected with control unit 2, connected by universal joint 3 between the carrier unit 1 and control unit 2, will be overall by universal joint 3
It is divided into three sections, clear and definite and brief single-unit length of dividing the work more passes through bend；Walking unit is connected with the carrier unit 1
4, the walking unit 4 drags the pipe robot and advances；
As described in Fig. 2 and Fig. 3, the carrier unit 1 includes electric pushrod 24 and three supports 6, the electric pushrod 24
Front end, middle and rear end be connected with the first adjusting nut 23, the second adjusting nut 22 and the 3rd adjusting nut 8 in turn, it is described
The front end of electric pushrod 24 is connected with main shaft 7 by the first adjusting nut 23, and its rear end is connected with master by the 3rd adjusting nut 8
Axle 7.Drive the first adjusting nut 23 to advance or retreat by electric pushrod, can not only automate regulation pipe robot to fit
Internal diameter is answered, overall length can be more adjusted by working environment；Three supports 6 are adjusted by the first adjusting nut 23, second
The section adjusting nut 8 of nut 22 and the 3rd is connected with electric pushrod 24, and three supports 6 are arranged in isosceles triangle；It is described
Support 6 includes three poles, respectively the first pole 9, the second pole 10 and the 3rd pole 11, one end of first pole 9
It is connected with the 3rd adjusting nut 8, the other end is connected with the front end of walking unit 4；Adjusted with second one end of second pole 10
Section nut 22 is connected, and the other end is connected with the rear end of walking unit 4；First pole and the second pole are parallel to each other, single with walking
Unit forms the pole regulative mode of parallelogram, and internal diameter of the pipeline is adapted to by adjusting the angle of pole；3rd pole
11 one end is articulated and connected with the centre of the second pole 10, and the other end is connected with the first adjusting nut 23, when bend is advanced, by
The stretching degree of appropriate adjusting bracket is automated, is more convenient flexibly to pass through bend；The front end of the main shaft 7 of the carrier unit sets
There is bearing 5, the bearing 5 is provided with camera and the matching used LED light group of camera and ultrasonic sensor；
Described control unit 2 includes control chamber, single-chip microcomputer, wireless communication module, motor is provided with the control chamber and is driven
Module, data acquisition module and usb interface module；The wireless communication module, motor drive module, data acquisition module and
Usb interface module is connected with single-chip microcomputer respectively.Single-chip microcomputer is communicated by wireless communication module with PC, the bottom of control chamber
USB interface is provided with, USB interface is extended to utilizing camera interface, USB flash disk interface and the communication interface between computer, wherein imaging
Head interface is used for receiving the data of camera, and USB flash disk interface can be used to save the data in USB flash disk, the picture data for such as collecting, with
Communication interface between PC is then is used for wire communication, and when environment disabled in wifi, it can complete radio communication mold
The function of block.
The control chamber includes front apron 16 and backboard 17, and the centre of the front apron 16 and backboard 17 is respectively equipped with
Centre bore, is inserted with main shaft 7 in the center, be respectively equipped with four mounting holes on the front apron 16 and backboard 17, it is described before,
Four cross bars 8 are connected between backboard, the cross bar 18 is fixedly connected by mounting hole and nut with forward and backward baffle plate, four
Four pieces of connecting plates 19 are connected between the cross bar 18；The front apron 16 and backboard 17 are provided with multiple through holes 25, motor
14th, camera, ultrasonic sensor and electric pushrod 24 pass through through hole 25 and related circuit module phase in control chamber using wire
Even.
As described in Figure 4, the walking unit 4 includes 12, two road wheels 13 of motor box, motor 14 and two bevel gears,
Motor fixing frame 21 is provided with the motor box 12, the motor 14 is arranged on motor fixing frame 12, the motor 14 it is defeated
Shaft connects first bevel gear 15；Two road wheels 13 are arranged on the arranged on left and right sides outside motor box, between two road wheels
Drive shaft is connected with, second bevel gear 20 is connected with the drive shaft, the first bevel gear 15 is nibbled with second bevel gear 20
Close, and first bevel gear 15 is mutually perpendicular to the axis of second bevel gear 20.
Its specific embodiment is：
The utility model is according to the signal and calculating of camera and ultrasonic sensor by the single-chip microcomputer in control unit 2
The instruction of machine controls the pipe robot work.Electric pushrod 24 selects hydraulic stem." retraction " is sent by single-chip microcomputer first to refer to
Order makes hydraulic stem work, by the telescopic elongate axis in the front end of hydraulic stem to most strong point, the at this moment support 6 of detecting robot of pipe
In rounding state, the internal diameter of the pipeline for being adapted to is minimum value, is then integrally put into pipeline detecting robot of pipe, by list
Piece machine controls the working condition of hydraulic stem 24, and single-chip microcomputer sends instruction " propping up ", and the telescopic axle in front end of hydraulic stem 24 withdraws
Suitable distance, drives the 3rd pole 11 mobile to centre and props up the second pole 10 from the first adjusting nut 23, when detecting
Road wheel 13 touch inner-walls of duct and occur Minor contact deformation after, Single-chip Controlling hydraulic stem 24 is stopped, now complete
Into the pipe robot self-adapting pipe internal diameter stage；
Then send instruction by wired or wireless communication modes by single-chip microcomputer and be first turned on camera and and camera
The operating switch of matching used LED light group, if the image that camera spreads out of can manually finely tune pipeline not on conduit axis
Correct the position of detection robot or camera so that the image for spreading out of is centered on axis, it is error free after, single-chip microcomputer
The work that " advance " instruction carrys out motor in control wheel foot is sent, at this moment motor can slowly advance, and now single-chip microcomputer single-chip microcomputer passes through
Wired or wireless communication modes and compunication, can watch pipeline internal image by computer, if pinpointing the problems,
" pause " can be sent by single-chip microcomputer makes motor 14 stall, and now pipe robot is parked in inside pipeline, computer observable
Internal flaw image, also can be transmitted " retrogressing " instruction, and motor 14 is inverted, and detecting robot of pipe is retreated, and staff can check
The image seen before, if you have questions, staff can in a computer record position, so as to follow-up maintenance；Such as meet pipe
Road bent angle, pipe robot have universal joint 3 can self adaptation part bent angle pipeline, if normal pass is had any problem, can be by monolithic
Machine sends the dynamic certain distance of the telescopic axial advancement of leading portion of " retraction " instruction control hydraulic stem 24, drives the 3rd pole of retracting
11 move to centre and take back the second pole 10, road wheel 13 is departed from inner-walls of duct, are driven by carrier unit 1 below
Advance, so as to pass through tubing corner, " propping up " instruction control hydropneumatic device is sent by single-chip microcomputer again after so that the
Two poles 10 are propped up road wheel and are affixed to inner-walls of duct, recover normal operating conditions.
It is not new to this practicality although above-mentioned be described with reference to accompanying drawing to specific embodiment of the present utility model
The limitation of type protection domain, one of ordinary skill in the art should be understood that on the basis of the technical solution of the utility model, ability
Various modifications or deform still in protection model of the present utility model that field technique personnel make by need not paying creative work
Within enclosing.
Claims (6)
1. a kind of pipe robot, it is characterised in that including two carrier units being arranged symmetrically, connect between two carrier units
Control unit is connected to, is connected by universal joint between the carrier unit and control unit, row is connected with the carrier unit
Unit is walked, the walking unit drags the pipe robot and advances；
The carrier unit includes electric pushrod and three supports, and the front end of the electric pushrod, middle and rear end are sequentially connected
There are the first adjusting nut, the second adjusting nut and the 3rd adjusting nut；Three supports are adjusted by the first adjusting nut, second
Section nut and the 3rd adjusting nut are connected with electric pushrod, and three supports are arranged in isosceles triangle；The support bag
Include three bars, respectively the first pole, the second pole and the 3rd pole, one end and the 3rd adjusting nut phase of first pole
Even, the other end is connected with the front end of walking unit；One end of second pole is connected with the second adjusting nut, the other end and row
Walk the rear end connection of unit；First pole and the second pole are parallel to each other, one end of the 3rd pole by nut with
Connection in the middle of second pole, the other end is connected with the first adjusting nut；The front-end and back-end of the electric pushrod connect respectively
There is transverse axis.
2. a kind of pipe robot according to claim 1, it is characterised in that the electric pushrod can select hydraulic stem
Or atmospheric pressure pole.
3. a kind of pipe robot according to claim 1, it is characterised in that the walking unit includes motor box, two
Individual road wheel, motor and two bevel gears, are provided with motor fixing frame in the motor box, the motor is arranged on motor fixing frame
On, the output shaft connection first bevel gear of the motor；Two road wheels are arranged on the arranged on left and right sides of motor box, two
Drive shaft is connected between road wheel, second bevel gear, the first bevel gear and the second cone tooth are connected with the drive shaft
Wheel is engaged, and first gear is mutually perpendicular to the axis of second gear.
4. a kind of pipe robot according to claim 1, it is characterised in that described control unit includes control chamber, institute
State and be provided with control chamber single-chip microcomputer, wireless communication module, motor drive module, data acquisition module and usb interface module；It is described
Wireless communication module, motor drive module, data acquisition module and usb interface module are connected with single-chip microcomputer respectively.
5. a kind of pipe robot according to claim 4, it is characterised in that the control chamber includes front apron and rear gear
The centre of plate, the front apron and backboard is respectively equipped with centre bore, and transverse axis, the forward and backward baffle plate are inserted with the centre bore
Corner be respectively equipped with four mounting holes, be connected with four cross bars between the forward and backward baffle plate, the cross bar by mounting hole and
Nut is fixedly connected with forward and backward baffle plate, and four pieces of connecting plates are connected between four cross bars；On the forward and backward baffle plate respectively
It is provided with multiple through holes.
6. a kind of pipe robot according to claim 1, it is characterised in that the front end connection branch of the carrier unit
Seat, the bearing is provided with camera and the matching used LED of camera and ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621209100.6U CN206191162U (en) | 2016-11-09 | 2016-11-09 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621209100.6U CN206191162U (en) | 2016-11-09 | 2016-11-09 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206191162U true CN206191162U (en) | 2017-05-24 |
Family
ID=58733650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621209100.6U Expired - Fee Related CN206191162U (en) | 2016-11-09 | 2016-11-09 | Pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206191162U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
| 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 |
| CN108302282A (en) * | 2018-03-08 | 2018-07-20 | 武汉轻工大学 | A kind of travelling device in pipe and pipeline cleaning robot |
| CN108626516A (en) * | 2017-12-14 | 2018-10-09 | 湘潭宏远电子科技有限公司 | Detecting robot of pipe |
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
| CN109342550A (en) * | 2018-09-17 | 2019-02-15 | 西华大学 | Magnetic flux leakage detection device for small-diameter pipeline |
| CN109541713A (en) * | 2018-12-11 | 2019-03-29 | 国网新疆电力有限公司乌鲁木齐供电公司 | Remote-controlled pipe endoscopic monitoring device |
| CN109854862A (en) * | 2019-04-11 | 2019-06-07 | 江西理工大学 | A kind of pipe robot |
| CN110220071A (en) * | 2019-07-04 | 2019-09-10 | 西安工业大学 | Robot and its method are detected for inner wall of the pipe slight crack |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN111774259A (en) * | 2020-06-04 | 2020-10-16 | 安徽钜将家具制造有限公司 | Portable gluing device for furniture |
| CN114542847A (en) * | 2022-04-27 | 2022-05-27 | 国机传感科技有限公司 | Self-creeping detection instrument for long oil pipeline |
| CN115727219A (en) * | 2022-12-19 | 2023-03-03 | 杭州四叶智能设备有限公司 | UV light curing lamp holder |
-
2016
- 2016-11-09 CN CN201621209100.6U patent/CN206191162U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107355637A (en) * | 2017-07-31 | 2017-11-17 | 广州大学 | Segment type clean robot for central air-conditioning pipe |
| CN107355637B (en) * | 2017-07-31 | 2022-11-11 | 广州大学 | Sectional cleaning robot for central air-conditioning pipeline |
| 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 |
| CN108626516B (en) * | 2017-12-14 | 2021-01-26 | 湘潭宏远电子科技有限公司 | Pipeline detection robot |
| CN108626516A (en) * | 2017-12-14 | 2018-10-09 | 湘潭宏远电子科技有限公司 | Detecting robot of pipe |
| CN108302282A (en) * | 2018-03-08 | 2018-07-20 | 武汉轻工大学 | A kind of travelling device in pipe and pipeline cleaning robot |
| CN108758167A (en) * | 2018-09-07 | 2018-11-06 | 湖南千智机器人科技发展有限公司 | A kind of pipe robot |
| CN109342550A (en) * | 2018-09-17 | 2019-02-15 | 西华大学 | Magnetic flux leakage detection device for small-diameter pipeline |
| CN109541713A (en) * | 2018-12-11 | 2019-03-29 | 国网新疆电力有限公司乌鲁木齐供电公司 | Remote-controlled pipe endoscopic monitoring device |
| CN109854862A (en) * | 2019-04-11 | 2019-06-07 | 江西理工大学 | A kind of pipe robot |
| CN110274125A (en) * | 2019-05-20 | 2019-09-24 | 中国矿业大学 | A kind of wireless control robot suitable for narrow tapered pipeline |
| CN110220071A (en) * | 2019-07-04 | 2019-09-10 | 西安工业大学 | Robot and its method are detected for inner wall of the pipe slight crack |
| CN111774259A (en) * | 2020-06-04 | 2020-10-16 | 安徽钜将家具制造有限公司 | Portable gluing device for furniture |
| CN114542847A (en) * | 2022-04-27 | 2022-05-27 | 国机传感科技有限公司 | Self-creeping detection instrument for long oil pipeline |
| CN115727219A (en) * | 2022-12-19 | 2023-03-03 | 杭州四叶智能设备有限公司 | UV light curing lamp holder |
| CN115727219B (en) * | 2022-12-19 | 2023-05-12 | 杭州四叶智能设备有限公司 | UV light curing lamp bracket |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20171109 |
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| CF01 | Termination of patent right due to non-payment of annual fee |