CN206647686U - A kind of pipe endoscopic detects robot - Google Patents
A kind of pipe endoscopic detects robot Download PDFInfo
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- CN206647686U CN206647686U CN201720321711.8U CN201720321711U CN206647686U CN 206647686 U CN206647686 U CN 206647686U CN 201720321711 U CN201720321711 U CN 201720321711U CN 206647686 U CN206647686 U CN 206647686U
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Abstract
The utility model provides a kind of pipe endoscopic detection robot, including the first power car, the first control car, battery car, the second control car, the second power car, the bridge car being sequentially connected, the first power car front end is provided with CCD camera, and the CCD camera electrically connects with bridge car.This pipe endoscopic detection robot provided by the utility model, can be achieved wireless far distance controlled, the collection of video image, and can vertically climb, and radius of turn is small（1.5 times of D, 114 elbows）, can constantly determine the position of pipe robot buried pipeline.The pipe robot can automatically adjust with the trend of pipeline, to adapt to the change of different field landform.
Description
Technical field
The utility model belongs to pipeline inspection technology field, and in particular to a kind of pipe endoscopic detects robot, to pipeline
The situations such as interior rusty scale, burn into perforation, crackle, coating are detected.
Background technology
CCTV pipe endoscopics detection technique originates from nineteen sixties, is mainly used in the detection of pipe-line system,
With the high speed development of the continuous progress, particularly computer technology of science and technology, this technology has obtained extensive development,
CCTV pipe endoscopics detection technique is still at the initial stage in China, recently as swashing for China's oil natural gas equal energy source demand
Increase, petroleum gas is developed rapidly, and the construction of Oil-gas Long-distance Transportation Pipeline also develops rapidly therewith, long distance pipeline
Material is varied, and the long distance pipeline application of wherein Steel material is more extensive.
Anti-corrosion failure, once occurring, can bring pipeline leakage, leakage will cause seriously to environment in steel long distance pipeline
When polluting antiseptic project construction, most suitable anticorrosive paint and protection detection method are only selected, just can guarantee that antiseptic project
It is perfectly safe.
Oneself has much the achievement in research of current straight tube pipeline robot both at home and abroad, but in microtubule, special pipeline (as become
Footpath pipeline, the pipeline with bend pipe) in walking robot research it is few, ground zero is gone back for being detected, being repaired, due to such
Pipe applications are extensive, thus research and develop adapt to such pipe robot there is engineering significance.
Utility model content
The purpose of this utility model is to provide a kind of pipe endoscopic detection robot, and the rusty scale in pipeline, burn into are worn
The situations such as hole, crackle, coating are detected and imaged, and are realized and are detected over long distances inside pipeline, Real Time Observation.
The technical scheme that the utility model is provided is as follows：
A kind of pipe endoscopic detects robot, including be sequentially connected the first power car, the first control car, battery car, the
Two control cars, the second power car, bridge car, the first power car front end is provided with CCD camera, the CCD camera and net
Bridge car electrically connects；
The first control car includes support car and located at the in-car control system of support, the second control car and first
Control bassinet structure identical, first power car and the first control car electrical connection, second power car and the second control car are electric
The control system of connection, the first control car and the second control car electrically connects with bridge car, the bridge car and ground PC
Mechatronics, first power car, the first control car, the second control car, the second power car, bridge car are electrically connected with battery car
Connect.
Multiple sprocket wheels that first power car includes support, is circumferentially uniformly arranged along support, support one end installation
There is CCD camera, the other end is connected with screw pair；
Stepper motor is provided with the support, the stepper motor is connected by the screw mandrel of shaft coupling and screw pair,
Backstand is cased with the screw mandrel, the screw connection of the backstand and screw pair, is filled between the backstand and screw
There is a pressure sensor, the backstand is connected one end located at screw mandrel with support, and the sprocket wheel passes through sprocket wheel Auxiliary support, chain respectively
Actively support is hinged wheel with support and backstand, and the pressure sensor electrically connects with the control system of the first control car.
The support car includes support vehicle frame and the support car strainer on support vehicle frame；
The support car strainer includes preceding wedge, support base, screw and wheel, and the preceding wedge, support base are successively
It is set on screw the threaded portion on nut one end, screw and is arranged with spring, the spring one end connects with support base, another
End is fixed on screw, and the preceding wedge is circumferentially uniformly distributed multiple connecting rods, and the end of each connecting rod connects a wheel, described
Support bar is hinged with the middle part of connecting rod, the support bar other end and support seat hinge.
Also include electronic location car, the electronic location car between the first control car and battery car, determine by the electronics
Position car electrically connects with ground PC and battery car.
The screw mandrel other end is provided with proximity switch, and the proximity switch electrically connects with the control system of the first control car.
Pass through between first power car, the first control car, battery car, the second control car, the second power car, bridge car
Bellows is sequentially connected.
The beneficial effects of the utility model are：This pipe endoscopic detection robot provided by the utility model, can be achieved
Wireless far distance controlled, the collection of video image, and can vertically climb, radius of turn is small（1.5 times of D, 114 elbows）, can when
When determine the position of pipe robot buried pipeline.The pipe robot can automatically adjust with the trend of pipeline, to adapt to difference
The change of field landform.
It is described in further details below in conjunction with accompanying drawing.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is power car sectional view；
Fig. 3 is power car front view；
Fig. 4 is support bassinet structure schematic diagram；
Fig. 5 is support car strainer front view；
Fig. 6 is support car strainer top view.
In figure：1st, the first power car 1；, first control car；3rd, electronic location car；4th, battery car；5th, bridge car；6th, second
Control car；7th, the second power car；8th, sprocket wheel；9th, CCD camera；10th, proximity switch；11st, screw mandrel；12nd, screw；13rd, sprocket wheel is auxiliary
Help support；14th, sprocket wheel actively supports；15th, backstand；16th, support；17th, shaft coupling；18th, stepper motor；19th, pressure sensor；
20th, vehicle frame is supported；21st, car strainer is supported；22nd, connecting rod；23rd, support bar；24th, support base；25th, preceding wedge；26th, spring；
27th, screw；28th, wheel.
Embodiment
Embodiment 1：
A kind of pipe endoscopic detection robot is present embodiments provided, including the first power car 1, first control being sequentially connected
Car 2 processed, battery car 4, second control car 6, the second power car 7, bridge car 5, and the front end of the first power car 1 is provided with CCD shootings
First 9, the CCD camera 9 electrically connects with bridge car 5；
The first control car 2 includes support car and located at the in-car control system of support, the second control car 6 and the
The one control structure of car 2 is identical, and first power car 1 and first controls car 2 to electrically connect, and second power car 7 and second is controlled
Car 6 processed electrically connects, and the first control car 2 and second controls the control system of car 6 to be electrically connected with bridge car 5, the bridge
Car 5 and ground PC mechatronics, first power car 1, the first control car 2, second control car 6, the second power car 7, bridge
Car 5 electrically connects with battery car 4.
The pipe endoscopic detects robot by CCD camera 9, to the rusty scale in pipeline, burn into perforation, crackle, coating
Imaged etc. situation, afterwards by bridge car 5 by the transmission of video images that CCD camera 9 photographs to ground PC, by special
The detection engineer of industry carries out interpretation to all image datas, and pipeline present situation is divided by professional knowledge and professional software
Analysis, assess, effectively find out anticorrosive quality, corrosion condition inside pipeline.
Wherein, control system belongs to prior art, and ground PC sends instructions to control system by bridge car 5, control
System sends a signal to the first power car 1 and the second power car 7, by controlling the first power car 1 and the second power car 7 to advance,
Retreat, stop, accelerating, the control realized and robot is detected to pipe endoscopic of slowing down；Battery car 4 is the first power car 1, and first controls
Car 2, second processed controls car 6, the second power car 7, bridge car 5 to power.
Embodiment 2：
On the basis of embodiment 1, a kind of pipe endoscopic detection robot as shown in Figure 1 is present embodiments provided, also
Including electronic location car 3, the electronic location car 3 located at first control car 2 and battery car 4 between, the electronic location car 3 with
Ground PC and battery car 4 electrically connect.
Wherein, electronic location car 3 belongs to commercially available prod, can determine position of the pipe robot in buried pipeline in real time.
According to demand, battery car 4 can be set multiple, in the present embodiment battery car 4 be three, maximum travel distance can reach 300 meters with
On.
Embodiment 3：
On the basis of embodiment 1, a kind of pipe endoscopic detection robot, first power car are present embodiments provided
The 1 multiple sprocket wheels 8 for including support 16, being circumferentially uniformly arranged along support 16, described one end of support 16 are provided with CCD camera 9, separately
One end is connected with screw pair；
Stepper motor 18 is provided with the support 16, the stepper motor 18 passes through shaft coupling 17 and the silk of screw pair
Bar 11 is connected, and backstand 15 is cased with the screw mandrel 11, and the backstand 15 is connected with the screw 12 of screw pair, described
Tight that pressure sensor 19 is housed between seat 15 and screw 12, the backstand 15 is connected one end located at screw mandrel 11 with support 16, institute
State sprocket wheel 8 and 14, the pressure biographies be hinged with support 16 and backstand 15 are actively supported by sprocket wheel Auxiliary support 13, sprocket wheel respectively
Sensor 19 electrically connects with the control system of the first control car 2.
Pipe endoscopic detection robot has adaptivity, is automatically adjusted with the trend of pipeline.As shown in Fig. 2 sprocket wheel 8
It is forced through backstand 15 and reaches pressure sensor 19, when stress exceedes the higher limit pre-set of pressure sensor 19,
The pressure sensor 19 for being arranged on the first power car 1 sends a signal to the control system of the first power car 1, is arranged on the second power
The pressure sensor 19 of car 7 sends a signal to the control system of the second power car 7, and control system sends instructions to each corresponding step
Stepper motor 18, stepper motor 18 are driven forward screw mandrel 11, drive screw 12 to be moved along a straight line along the both sides of screw mandrel 11, and screw 12, which drives, to be opened
Tight seat 15, backstand 15 is actively supported by sprocket wheel 14 shrinks sprocket wheel 8.
In the present embodiment, the other end of screw mandrel 11 is provided with proximity switch 10, the proximity switch 10 and control system electricity
Connection.As shown in figure 3, proximity switch 10 with limit sprocket wheel 8 shrink when extreme position.
Wherein, for the second power car 7 in addition to no CCD camera 9, other structures are identical with the first power car 1.It is arranged on
Proximity switch 10 on first power car 1 electrically connects with the control system of the first power car 1, is arranged on the second power car 7
Proximity switch 10 electrically connects with the control system of the second power car 7.
Embodiment 4：
On the basis of embodiment 1, a kind of pipe endoscopic detection robot is present embodiments provided, the support car includes
Support vehicle frame 20 and the support car strainer 21 on support vehicle frame 20；
The support car strainer 21 includes preceding wedge 25, support base 24, screw 27 and wheel 28, the preceding wedge
25th, support base 24 is sequentially sleeved on screw 27 threaded portion on nut one end, screw 27 and is arranged with spring 26, the spring
26 one end connect with support base 24, and the other end is fixed on screw 27, and the preceding wedge 25 is circumferential to be uniformly distributed multiple connecting rods 22,
The end of each connecting rod 22 connects a wheel 28, and the middle part of connecting rod 22 is hinged with support bar 23, the other end of support bar 23
It is be hinged with support base 24.
Fig. 4 is support bassinet structure schematic diagram.As shown in Figure 5, Figure 6, three connecting rods 22 uniformly are housed on the preceding circumference of wedge 25,
The one end of connecting rod 22 is equipped with wheel 28, and support bar 23 is housed among connecting rod 22, and the other end of support bar 23 is arranged on support base 24, branch
Screw 27 is installed among support seat 24, spring 26 is housed, spring 26 can be realized before and after screw 27 between screw 27 and support base 24
The regulation of displacement, so as to adjust the size of the pretightning force of wheel 28, to realize adaptivity of the wheel 28 in pipeline.
In the present embodiment, first power car 1, first controls car 2, battery car 4, second to control car 6, the second power
It is sequentially connected between car 7, bridge car 5 by bellows.Bellows can facilitate pipe endoscopic robot to cross 1.5 times of D elbows.
In above example, electronic location car 3, battery car 4, bridge car 5 are commercially available prod, and embodiment is not chatted in detail
The part and the well-known components and common structure or conventional means of the structure category industry stated, are not described one by one here.
Exemplified as above is only for example, not forming to the scope of protection of the utility model to of the present utility model
Limitation, it is every to be belonged to the same or analogous design of the utility model within the scope of protection of the utility model.
Claims (6)
1. a kind of pipe endoscopic detects robot, it is characterised in that：Including the first power car being sequentially connected（1）, first control
Car（2）, battery car（4）, second control car（6）, the second power car（7）, bridge car（5）, first power car（1）Front end is set
There is CCD camera（9）, the CCD camera（9）With bridge car（5）Electrical connection；
The first control car（2）Including support car and located at the in-car control system of support, the second control car（6）With
One control car（2）Structure is identical, first power car（1）With the first control car（2）Electrical connection, second power car（7）
With the second control car（6）Electrical connection, the first control car（2）With the second control car（6）Control system with bridge car（5）
Electrical connection, the bridge car（5）With ground PC mechatronics, first power car（1）, the first control car（2）, second control
Car（6）, the second power car（7）, bridge car（5）And battery car（4）Electrical connection.
A kind of 2. pipe endoscopic detection robot according to claim 1, it is characterised in that：First power car（1）
Including support（16）, along support（16）The multiple sprocket wheels being circumferentially uniformly arranged（8）, the support（16）One end is provided with CCD and taken the photograph
As head（9）, the other end is connected with screw pair；
The support（16）It is interior to be provided with stepper motor（18）, the stepper motor（18）Pass through shaft coupling（17）With screw pair
Screw mandrel（11）Connection, the screw mandrel（11）On be cased with backstand（15）, the backstand（15）With the screw of screw pair
（12）Connection, the backstand（15）With screw（12）Between pressure sensor is housed（19）, the backstand（15）Located at silk
Bar（11）With support（16）Be connected one end, the sprocket wheel（8）Pass through sprocket wheel Auxiliary support respectively（13）, sprocket wheel actively support（14）
With support（16）And backstand（15）It is be hinged, the pressure sensor（19）With the first control car（2）Control system electrical connection.
A kind of 3. pipe endoscopic detection robot according to claim 1, it is characterised in that：The support car includes support
Vehicle frame（20）With located at support vehicle frame（20）On support car strainer（21）；
The support car strainer（21）Including preceding wedge（25）, support base（24）, screw（27）And wheel（28）, before described
Wedge（25）, support base（24）It is sequentially sleeved at screw（27）Upper close nut one end, screw（27）Upper threaded portion is arranged with
Spring（26）, the spring（26）One end and support base（24）Connect, the other end is fixed on screw（27）On, the preceding wedge（25）
Circumferentially it is uniformly distributed multiple connecting rods（22）, each connecting rod（22）End connect a wheel（28）, the connecting rod（22）Middle part
It is hinged with support bar（23）, the support bar（23）The other end and support base（24）It is be hinged.
A kind of 4. pipe endoscopic detection robot according to claim 1, it is characterised in that：Also include electronic location car
（3）, the electronic location car（3）Located at the first control car（2）With battery car（4）Between, the electronic location car（3）With ground
PC and battery car（4）Electrical connection.
A kind of 5. pipe endoscopic detection robot according to claim 2, it is characterised in that：The screw mandrel（11）The other end
Provided with proximity switch（10）, the proximity switch（10）With the first control car（2）Control system electrical connection.
A kind of 6. pipe endoscopic detection robot according to claim 1, it is characterised in that：First power car（1）、
First control car（2）, battery car（4）, second control car（6）, the second power car（7）, bridge car（5）Between by bellows according to
Secondary connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720321711.8U CN206647686U (en) | 2017-03-30 | 2017-03-30 | A kind of pipe endoscopic detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720321711.8U CN206647686U (en) | 2017-03-30 | 2017-03-30 | A kind of pipe endoscopic detects robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206647686U true CN206647686U (en) | 2017-11-17 |
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ID=60278829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720321711.8U Active CN206647686U (en) | 2017-03-30 | 2017-03-30 | A kind of pipe endoscopic detects robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN206647686U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106870872A (en) * | 2017-03-30 | 2017-06-20 | 西安长庆科技工程有限责任公司 | A kind of pipe endoscopic detects robot |
| CN107956953A (en) * | 2017-12-01 | 2018-04-24 | 泉州市西决三维科技有限公司 | A kind of diameter-variable pipe detects robot |
-
2017
- 2017-03-30 CN CN201720321711.8U patent/CN206647686U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106870872A (en) * | 2017-03-30 | 2017-06-20 | 西安长庆科技工程有限责任公司 | A kind of pipe endoscopic detects robot |
| CN107956953A (en) * | 2017-12-01 | 2018-04-24 | 泉州市西决三维科技有限公司 | A kind of diameter-variable pipe detects robot |
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