CN206280740U - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
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- CN206280740U CN206280740U CN201621205805.0U CN201621205805U CN206280740U CN 206280740 U CN206280740 U CN 206280740U CN 201621205805 U CN201621205805 U CN 201621205805U CN 206280740 U CN206280740 U CN 206280740U
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- chip microcomputer
- robot
- pipe
- detection means
- gripper
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Abstract
The utility model discloses a kind of detecting robot of pipe, including：Robot body, gripper, walking mechanism, detection means and single-chip microcomputer, single-chip microcomputer controls walking mechanism to run by L928N motor drive ics, MR996R servos control grippers are encircled in pipe under test, and MR996R steering wheels are arranged on gripper by MCU driving, detection means；The data transfer that detection means will be detected to single-chip microcomputer, including：Humidity sensor, gas sensor and IR evading obstacle sensors.The utility model is with small vehicle model as carrier, steering wheel, sensor, single-chip microcomputer hardware are carried on small vehicle model, detection means is by steering wheel folding and using the gripper structure on steering wheel come complete detection pipe condition, whole detection robot is controlled by single-chip microcomputer, small volume, is adapted to be detected in the intensive detection zone of circuit, simple structure, it is easily operated, reduces cost.
Description
Technical field
The utility model belongs to robot detection technique field, more particularly relates to a kind of detecting robot of pipe, is used for
In pipe outside detection liquid and the leakage situation of gas.
Background technology
In recent years, requirement of the people to living environment, working environment, Work tool and its working method is gradually stepped up,
Pipeline with its unique circular configuration, take up an area it is small, expand the advantages such as effective working space, beautifying urban environment and obtain extensively
General application, although pipeline is conveying gas, the most economical means of liquid and other medium.
But due to pipeline tube wall as time goes by and liquid corrosion it is easily thinning, damage, be also easy to produce and split
The problems such as seam, so as to cause pipe leakage.China's pipeline major part is distributed in place of the population than comparatively dense, once corrode
Leakage problem, the not still waste of natural resources can also cause blast or fire incident, the life of serious threat the country and people
Life property safety.
At present, during the Site Detection of pipeline, manual detection is still relied on, it is clear that, manual detection pipeline is
No leakage is cumbersome and time consuming, and some places are manually difficult detection.In tide of the epoch with development, pipe detection machine
People enters into the sight line of people, is propagated and Applied Computer Techniques with extensive, and domestic and international pipeline inspection technology is developed rapidly, by
Gradually form pipeline detection and outer detection Liang Ge branches.But current pipe robot is mostly In-tube solid-phase microextraction,
In addition, some pipe outside detections robot architecture is complicated, volume is big, involve great expense, and is not suitable in the intensive detection zone of circuit
Detected in domain.
Utility model content
In view of this, the utility model provides a kind of detecting robot of pipe, to solve current pipe outside detection robot knot
Structure is complicated, volume is big, involve great expense, and is not suitable for the technical problem detected in the intensive detection zone of circuit.
In order to some aspects to the embodiment for disclosing have a basic understanding, simple summary is shown below is.Should
Summarized section is not extensive overview, nor to determine key/critical component or describe the protection domain of these embodiments.
Its sole purpose is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
The utility model is adopted the following technical scheme that：
In some optional embodiments, there is provided a kind of detecting robot of pipe, including：Robot body, gripper, OK
Walk mechanism, detection means and for processing data and the single-chip microcomputer of output control signal, the walking mechanism is arranged on the machine
The bottom of device human body, the single-chip microcomputer controls walking mechanism to run by L928N motor drive ics, and the gripper is set
In the sidepiece of the robot body, the gripper as described in MR996R servos controls is encircled in pipe under test, the MR996R
Steering wheel is arranged on the gripper by the MCU driving, the detection means；The number that the detection means will be detected
According to transmitting to the single-chip microcomputer, including：Humidity sensor, gas sensor and IR evading obstacle sensors.
In some optional embodiments, the walking mechanism includes：The electricity controlled by the L928N motor drive ics
Machine and some wheels of the robot body bottom are arranged on, the drive shaft of motor is connected with wheel.
In some optional embodiments, a kind of described detecting robot of pipe also includes：Alarm module, the report
Alert module includes：Buzzer and LED, the alarm module is by the MCU driving.
In some optional embodiments, a kind of described detecting robot of pipe also includes：Display, the display
Device uses L1602D LCDs, is connected to the output interface of the single-chip microcomputer.
In some optional embodiments, a kind of described detecting robot of pipe also includes：Power supply, the power supply
Input is connected with battery, output end power pins respectively with the single-chip microcomputer, L928N motor drive ics, detection means,
MR996R steering wheels, display and alarm module connect.
In some optional embodiments, the single-chip microcomputer uses STC89C51 single-chip microcomputers.
In some optional embodiments, the humidity sensor uses DHT11 Temperature Humidity Sensors.
In some optional embodiments, the gas sensor uses MQ-2 Smoke Sensors.
The beneficial effects of the utility model：The utility model with small vehicle model as carrier, on small vehicle model carry steering wheel,
Sensor, single-chip microcomputer hardware, detection means is by steering wheel folding and using the gripper structure on steering wheel come complete detection
Pipe condition, whole detection robot is controlled by single-chip microcomputer, and small volume is adapted to be examined in the intensive detection zone of circuit
Survey, simple structure, it is easy to operate, reduces cost.
For above-mentioned and related purpose, one or more embodiments include will be explained in below and in claim
In the feature that particularly points out.Following explanation and accompanying drawing describes some illustrative aspects in detail, and its indicate be only
Some modes in the utilizable various modes of principle of each embodiment.Other benefits and novel features will be under
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be will include all these aspects and they
Be equal to.
Brief description of the drawings
Fig. 1 is a kind of structural representation of detecting robot of pipe of the utility model；
Fig. 2 is theory diagram of the present utility model；
Fig. 3 is gas sensor detection circuit diagram of the present utility model；
Fig. 4 is humidity sensor detection circuit diagram of the present utility model；
Fig. 5 is IR evading obstacle sensors schematic diagram of the present utility model.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Put into practice them.Other embodiments can include structure, logic, it is electric, process and it is other changes.Embodiment
Only represent possible change.Unless explicitly requested, otherwise single components and functionality is optional, and the order for operating can be with
Change.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The scope of bright embodiment includes the gamut of claims, and all obtainable of claims is equal to
Thing.
As illustrated in fig. 1 and 2, in some illustrative embodiments, there is provided a kind of detecting robot of pipe, can be along treating test tube
Road outside automatically walk, and multiple sensors and operation machinery are carried, detecting robot of pipe is by detection means 4 to pipeline
Real-time detection is carried out, detection pipe body drain liquid, the purpose of gas leakage is reached, the pipeline for that can not carry out internal detection at present is very
Effectively.
The detecting robot of pipe includes：Robot body 1, gripper 2, walking mechanism 3, detection means 4, single-chip microcomputer
5th, alarm module 6, display 7 and power supply 8, the single-chip microcomputer 5 are used for processing data and output control signal, using STC89C51
Single-chip microcomputer.Wherein, the alarm module 6 includes：Buzzer and LED, the alarm module 6 are driven by the single-chip microcomputer 5, when
After detecting leakage, alarmed.The display 7 uses L1602D LCDs, is connected to the output of the single-chip microcomputer 5
P0.0, P0.1, P0.2, P0.3, P0.4, P0.5, P0.6, P0.7 pin of interface, i.e. single-chip microcomputer 5 respectively with L1602D liquid crystals
Display screen is connected.
The walking mechanism 3 is arranged on the bottom of the robot body 1, and the single-chip microcomputer 5 is driven by L928N motors
The control of chip 9 walking mechanism 3 is run, and walking mechanism 3 includes：The motor controlled by the L928N motor drive ics 9 and setting
In some wheels of the bottom of the robot body 1, the drive shaft of motor is connected with wheel.
The gripper 2 is arranged on the sidepiece of the robot body 1, and the gripper 2 is controlled by MR996R steering wheels 10
Encircle in pipe under test, executing mechanism 3 drives robot body 1 to move, and the driving mechanical pawl 2 of robot body 1 is treating test tube
Moved on road, detection means 4 can be detected to pipeline.The MR996R steering wheels 10 are driven by the single-chip microcomputer 5, the inspection
Survey device 4 be arranged on the gripper 2, the data transfer that the detection means 4 will be detected to the single-chip microcomputer 5, including：
Humidity sensor, gas sensor and IR evading obstacle sensors.
The input of the power supply 8 is connected with battery, output end power pins, L928N electricity respectively with the single-chip microcomputer 5
Machine driving chip 9, detection means 4, MR996R steering wheels 10, display 8 and alarm module 6 connect.
Detecting robot of pipe carries walking mechanism 3, MR996R with small vehicle model as carrier on detecting robot of pipe
Steering wheel 10, humidity sensor, gas sensor, IR evading obstacle sensors and the hardware of single-chip microcomputer 5, detecting robot of pipe is by electricity
Machine is operated at realizes walking on pipeline, detecting robot of pipe encircles in pipeline surrounding detection means 4 in the process of walking, inspection
Test tube road whether there is leakage problem.Detection means 4 is by the folding of MR996R steering wheels 10 and using on MR996R steering wheels 10
The complete detection pipe condition of gripper 2.Whole detecting robot of pipe is controlled by STC89C51 single-chip microcomputers, detection dress
Put 4 to send to single-chip microcomputer 5 signal of detection, single-chip microcomputer 5 makes corresponding measure to point out pipe condition according to detection information.
Detection means 4 has used multiple gas sensors and humidity sensor, by gas sensor and humidity sensor detection pipe
Road whether gas leakage, leakage, when pipeline is leaked, sensor will transmit signals to single-chip microcomputer 5, and single-chip microcomputer 5 is by signal transacting point
The buzzer of alarm module 6 is driven to send alarm sounds and drive the display pipes detection case of display 7 after analysis.
L928N motor drive ics 9 are exported to motor and single-chip microcomputer 5 after the voltage of power supply 8 is carried out into voltage stabilizing, are single-chip microcomputer
5 power so that the motor of single-chip microcomputer 5 is rotated.Gas sensor is clouded in pipeline surrounding, the gas sensor when car body is taken action
Whether detection pipeline is leaked, humidity sensor will be detected in duct bottom, when pipeline leakage, by air pressure impacts drop
To assemble in duct bottom and slide, now humidity sensor just can detect the real-time condition of pipeline.While detecting robot of pipe
IR evading obstacle sensors are loaded with, if front is detected when advancing obstacle, IR evading obstacle sensors send the signal to list
Piece machine 5, single-chip microcomputer 5 will output signal to MR996R steering wheels 10, be opened with reaching the control machine machinery claw 2 of MR996R steering wheels 10, so that
Obstacle is circumvented, then proceeds detection.
Gas sensor uses P1.6, P1.7, P2.6 pin of MQ-2 Smoke Sensors, single-chip microcomputer 5 to be passed with gas respectively
Sensor detection circuit connects.As shown in figure 3, the 1 of gas sensor MQ-2,2,3 ends and be connected on VCC, the 4 of MQ-2,6 ends are same
And it is connected to adjustable resistance RLOn No. 3 pins of end and TLC27M2, RLThe other end is grounded.The 5 of MQ-2 are connected to the resistance terminal in 100 Europe,
The other end ground connection of 100 Europe resistance.The resistance and an adjustable electric of 10K of two 10K are connect on No. 2 pins of same TLC27M2
Resistance.Adjustable resistance one end other end of 10K is connected to OUT delivery outlets.Positive source+the 5V and GND of gas sensor MQ-2 point
+ VCC and the GND end of single-chip microcomputer are not connected to, so that single-chip microcomputer is powered for gas sensor circuit, when pipe detection is run,
By delivery outlet be sent in single-chip microcomputer detected value and processed by gas sensor.
The data conversion that gas sensor MQ-2 will be collected compares into analog signal, analog voltage amount by TLC27M2
After obtain a result, STC89C51 single-chip microcomputers are collected after the result of TLC27M2 by calculating, if combustable gas concentration reaches report
During the numerical value that alert device is set, single-chip microcomputer will drive buzzer to send alarm signal.Adjustable resistance RLAs regulation gas sensor
Detection sensitivity, works as RLWhen becoming big, detection sensitivity is larger, when gas concentration reach a certain height value just can be by TLC27M2
High level is exported to single-chip microcomputer, on the contrary detection is quickly detected faint gas signal compared with I when smaller.
The humidity sensor uses DHT11 Temperature Humidity Sensors.As shown in figure 4, DHT11 Temperature Humidity Sensors are by temperature
Moisture signal is gathered and transforms into data signal, the analysis and treatment of data is carried out by single-chip microcomputer STC89C51, if wet
When angle value reaches the numerical value of alarm setting, single-chip microcomputer will drive buzzer to send alarm signal.DHT11 Temperature Humidity Sensors
VCC connects positive source, and GND connects power cathode, and DATA ends connect single-chip microcomputer P2.5 as output valve mouthful, and R1 pull-up resistors are connected to
VCC。
IR evading obstacle sensors are mainly made up of emitting portion and receiving portion, and emitting portion launches the red of fixed frequency
Outside line, when IR evading obstacle sensors are to barrier, receiving portion receives the infrared ray with fixed frequency, at this moment indicator lamp
It is lit.After the infrared signal that receiving portion is received is by processing of circuit, corresponding data signal is exported, kept away by infrared
The distance of the potentiometer knob regulation detection barrier of barrier sensor rear end.
As shown in figure 5, IR evading obstacle sensors circuit is by R1-R8 resistance and LM567, LM741 integration module, luminous two
Pole pipe, 9014 triodes and electric capacity are constituted.Q1 grounded emitters, the negative pole of colelctor electrode sending and receiving optical diode, base stage connecting resistance R8.
Light emitting diode D1 connects adjustable resistance R2.Resistance R2 simultaneously connects resistance R1 and is connected to VCC.The other end of R1 then connects filter
Ripple electric capacity C2 and R4.R4 is then connected with R5 and light emitting diode D3.The other end of R5 is connected with electric capacity C3.The C3 other ends with
No. 2 pin connection of integration module LM741.No. 3 pin of LM741 are then connected with resistance R6, and R6 guides to the defeated of integration module LM741
Go out No. 6 pin.No. 6 pin of output of LM741 are then connected with electric capacity C1.The other end of C1 is connected to No. 3 IN pin of LM567.LM567's
No. 5, No. 6 two ends of pin difference connecting resistance R7.No. 6 pin are connected with C6 again.The other end ground connection of C6.No. 1,2 of LM567 are drawn
Pin respectively with electric capacity C4, C5 connection.The other end of C4, C5 is connected to the ground.No. 8 pin of LM567 are then the output of sensor
Mouthful.
D1 is transmitting tube in figure, and D3 is reception pipe.The decoding center that the sensor is set by the 5 of LM567,6 pin is frequently
Rate, the generally centre frequency by changing the size of external slide rheostat resistance to change seizure.Infrared carrier wave signal passes through
The 5 pins input of LM567, when the infrared carrier wave signal that reception pipe is received is as seizure centre frequency, it was demonstrated that be not outer
Boundary's interference signal, the now OUT terminal output low level of LM567, indicator lamp D1 is lit, which enhances the anti-of infrared obstacle avoidance
Interference performance.
Above-described embodiment is the utility model preferably implementation method, but implementation method of the present utility model is not by above-mentioned
The limitation of embodiment, other are any without departing from the change made under Spirit Essence of the present utility model and principle, and modification is substituted,
Combination, simplifies, and should be equivalent substitute mode, should all be included in protection domain of the present utility model.
Claims (8)
1. a kind of detecting robot of pipe, it is characterised in that including：Robot body, gripper, walking mechanism, detection means
And for processing data and the single-chip microcomputer of output control signal, the walking mechanism is arranged on the bottom of the robot body,
The single-chip microcomputer controls walking mechanism to run by L928N motor drive ics, and the gripper is arranged on the robot sheet
The sidepiece of body, the gripper as described in MR996R servos controls is encircled in pipe under test, and the MR996R steering wheels are by the monolithic
Machine is driven, and the detection means is arranged on the gripper；The data transfer that the detection means will be detected is to the list
Piece machine, including：Humidity sensor, gas sensor and IR evading obstacle sensors.
2. a kind of detecting robot of pipe according to claim 1, it is characterised in that the walking mechanism includes：By institute
The motor for stating the control of L928N motor drive ics and some wheels for being arranged on the robot body bottom, the driving of motor
Axle is connected with wheel.
3. a kind of detecting robot of pipe according to claim 2, it is characterised in that also include：Alarm module, the report
Alert module includes：Buzzer and LED, the alarm module is by the MCU driving.
4. a kind of detecting robot of pipe according to claim 3, it is characterised in that also include：Display, the display
Device uses L1602D LCDs, is connected to the output interface of the single-chip microcomputer.
5. a kind of detecting robot of pipe according to claim 4, it is characterised in that also include：Power supply, the power supply
Input is connected with battery, output end power pins respectively with the single-chip microcomputer, L928N motor drive ics, detection means,
MR996R steering wheels, display and alarm module connect.
6. a kind of detecting robot of pipe according to claim 5, it is characterised in that the single-chip microcomputer uses STC89C51
Single-chip microcomputer.
7. a kind of detecting robot of pipe according to claim 6, it is characterised in that the humidity sensor is used
DHT11 Temperature Humidity Sensors.
8. a kind of detecting robot of pipe according to claim 7, it is characterised in that the gas sensor uses MQ-2
Smoke Sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621205805.0U CN206280740U (en) | 2016-11-09 | 2016-11-09 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621205805.0U CN206280740U (en) | 2016-11-09 | 2016-11-09 | A kind of detecting robot of pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206280740U true CN206280740U (en) | 2017-06-27 |
Family
ID=59083375
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621205805.0U Expired - Fee Related CN206280740U (en) | 2016-11-09 | 2016-11-09 | A kind of detecting robot of pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN206280740U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN110848500A (en) * | 2019-12-12 | 2020-02-28 | 上海邦芯物联网科技有限公司 | Flexible pipeline robot based on internet of things technology |
-
2016
- 2016-11-09 CN CN201621205805.0U patent/CN206280740U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN110848500A (en) * | 2019-12-12 | 2020-02-28 | 上海邦芯物联网科技有限公司 | Flexible pipeline robot based on internet of things technology |
| CN110848500B (en) * | 2019-12-12 | 2021-04-09 | 上海邦芯物联网科技有限公司 | Flexible pipeline robot based on internet of things technology |
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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: 20170627 Termination date: 20191109 |
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| CF01 | Termination of patent right due to non-payment of annual fee |