CN206694740U - A kind of high stability straight tube inwall Non-Destructive Testing robot - Google Patents
A kind of high stability straight tube inwall Non-Destructive Testing robot Download PDFInfo
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- CN206694740U CN206694740U CN201720525868.2U CN201720525868U CN206694740U CN 206694740 U CN206694740 U CN 206694740U CN 201720525868 U CN201720525868 U CN 201720525868U CN 206694740 U CN206694740 U CN 206694740U
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- China
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- chassis
- main body
- straight tube
- destructive testing
- high stability
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Abstract
The utility model, which is created, provides a kind of high stability straight tube inwall Non-Destructive Testing robot, including main body and the road wheel of chassis lower end on chassis, chassis；Driven pulley is arranged with the both sides on chassis, adjustable for height support wheel is provided with main body；It is symmetricly set on the motor that its rotation of driving is equipped with the road wheel of chassis lower end；Main body includes being used for the X-ray emitter of nondestructive inspection detection, and video acquisition component is provided with main body top；The driven pulley is arranged on chassis by wheel carrier, and the wheel carrier includes the mounting seat of horizontally disposed expansion link and expansion link front end for installing driven pulley.The utility model is created simple in construction; it is reasonable in design; support wheel on the driven pulley and main body of chassis both sides is the rock-steady structure for aiding in walking; ensure that robot in itself will not double swerve and bob; stability is very high; ensure the accuracy of testing result, avoid the occurrence of flase drop.
Description
Technical field
The invention belongs to non-destructive detecting device technical field, lossless more particularly, to a kind of high stability straight tube inwall
Detect robot.
Background technology
Pipe crawling device is the effective machinery overhauled to many pipelines, can fast and accurately be detected a flaw by ray,
Main body typically carries storage battery, control system and X-ray emitter, and existing pipe crawling device has many defects, used
During, stability is poor, when especially inner-walls of duct has obstruction, generation vibrations of easily jolting, influences the accuracy detected, by
In inner-walls of duct Non-Destructive Testing often using unidirectional one-pass mode, will not comprehensively be rechecked again, therefore, easily
Detection error is caused, or even flase drop occurs.
The content of the invention
The invention will solve the problems, such as to be intended to overcome defect present in above-mentioned prior art, propose a kind of high steady
Qualitative straight tube inwall Non-Destructive Testing robot.
In order to solve the above technical problems, what the technical scheme of the invention was realized in：
Under a kind of high stability straight tube inwall Non-Destructive Testing robot, including main body on chassis, chassis and chassis
The road wheel at end；Driven pulley is arranged with the both sides on chassis, adjustable for height support wheel is provided with main body；It is symmetrical arranged
The motor of its rotation of driving is equipped with the road wheel of chassis lower end；The main body includes the X for being used for nondestructive inspection detection
Ray emitter, video acquisition component is provided with main body top；The driven pulley is arranged on chassis by wheel carrier, the wheel
Frame includes the mounting seat of horizontally disposed expansion link and expansion link front end for installing driven pulley.
Further, the video acquisition component includes 360 degree of full-view cameras, to should 360 degree of cameras be provided with light filling
Device.
Further, the light compensating apparatus includes LED light supplement lamp and the battery for LED light supplement lamp power supply, in battery
Light sensor is provided with the circuit being connected with LED light supplement lamp.
Further, the video acquisition component includes infrared camera.
Further, the chassis rear and front end is equipped with anticollision device, collision-prevention device, and the anticollision device, collision-prevention device includes stretching out the chassis
Collision avoiding caster.
Further, the collision avoiding caster is fixed on the chassis by mounting bracket, the oblique outside 45 of collision avoiding caster
Direction is spent to set.
Further, the collision avoiding caster is rubber roll.
The invention has the advantages and positive effects of：
The invention is simple in construction, reasonable in design, has upper and lower and both sides multigroup roller, wherein chassis lower end
The road wheel driven by motor be driving wheel, and the support wheel on the driven pulley and main body of chassis both sides is for aiding in walking
Rock-steady structure, it is ensured that robot in itself will not double swerve and bob, stability is very high, it is ensured that testing result
Accuracy, avoid the occurrence of flase drop.
Brief description of the drawings
Fig. 1 is the structural representation of the invention；
Fig. 2 is Fig. 1 top view.
In figure：1- chassis；2- main bodies；3- road wheels；4- driven pulleys；5- support wheels；6- wheel carriers；7- expansion links；8- pacifies
Fill seat；9-360 degree full-view cameras；10- light compensating apparatus；11- collision avoiding casters；12- mounting brackets；13- remote control telescopic bars；14- is red
Outer camera；The standby carrying out flaw detection elements of 15-；16- adjustment frames.
Embodiment
It should be noted that in the case where not colliding, the feature in embodiment and embodiment in the invention
It can be mutually combined.
The specific embodiment of the invention is elaborated below in conjunction with the accompanying drawings.
A kind of high stability straight tube inwall Non-Destructive Testing robot, as shown in Fig. 1 to 2, including chassis 1, the One On The Chassis master
Body 2 and the road wheel 3 of the lower end of chassis 1；Driven pulley 4 is arranged with the both sides on chassis 1, height is provided with main body 2
Adjustable support wheel 5；It is symmetricly set on the motor that its rotation of driving is equipped with the road wheel 3 of chassis lower end；The main body 2
Including the X-ray emitter detected for nondestructive inspection, video acquisition component is provided with the top of main body 2；The driven pulley leads to
Wheel carrier 6 is crossed on the chassis 1, the wheel carrier 6 includes horizontally disposed expansion link 7 and the front end of expansion link 7 be used to installing from
The mounting seat 8 of driving wheel.It should be noted that in order to realize the height adjustable of support wheel 5, all the time can with inner-walls of duct tip contact,
The adjustment frame 16 for being used for installing support wheel 5 is provided with main body, the adjustment frame 16 is adjustable height structure, specifically, adjusting
Whole frame can be Telescopic shaft type structure, and support wheel is installed on its top, reach adjustment support wheel height by adjusting expansion link
Purpose.
In an optional embodiment, the front end in direct of travel is provided with telemeter component on chassis, specifically,
The telemeter component includes remote control telescopic bar 13, and infrared camera 14 is provided with the front end of remote control telescopic bar 13, and provided with standby
Carrying out flaw detection element 15 (such as X-ray emitter).
Remote control telescopic bar 13 can be electronic, play remote control its Telescopic, this as prior art, this
In repeat no more.
Why in chassis front end telemeter component is set, exactly in order to avoid once to run into larger barrier etc. certain
In the case of difficulty, remote control remote control telescopic bar, stretch out expansion link, by the infrared camera 14 of its front end and standby
Carrying out flaw detection element 15 is deep into inside the pipeline that crawl device can not reach, and is enabled standby carrying out flaw detection element and is detected, real
Existing nondestructiving inspecting test ensures that quality inspection is reliable, reached a standard without dead angle, exhaustive.
Above-mentioned video acquisition component includes 360 degree of full-view cameras 9, to should 360 degree of cameras be provided with light compensating apparatus 10.
The situation in pipeline can be observed with panorama on the monitor of outside.
Above-mentioned light compensating apparatus 10 includes LED light supplement lamp and the battery for LED light supplement lamp power supply, in battery and LED
Light sensor is provided with the circuit of light compensating lamp connection.Light compensating lamp can according to the change of ambient automatic regulating lightness,
Substantially increase the endurance of battery.During pipe detection, tediously long cable be it is very inconvenient, therefore, this
Innovation and creation devise battery and powered for light compensating apparatus.It is power set (such as driving road wheel that battery, which can even be utilized,
Motor) power supply, the interference for avoiding cable from advancing robot.
Above-mentioned video acquisition component includes infrared camera, be able to can also be given full play in the case where light is bad
Video acquisition function, auxiliary carry out Non-Destructive Testing operation.
The above-mentioned rear and front end of chassis 1 is equipped with anticollision device, collision-prevention device, and the anticollision device, collision-prevention device includes stretching out the anticollision rolling on the chassis
Wheel 11.Preferably, collision avoiding caster 11 is fixed on the chassis by mounting bracket 12, described oblique 45 degree of sides in outside of collision avoiding caster
To setting.Specifically, can be that mounting bracket tilts 45 degree of angles settings, after collision avoiding caster is arranged on the mounting bracket, anticollision rolling
Wheel outer rim protrudes from the side (but outer rim is no more than driven pulley outer rim) on chassis even if ensureing that chassis is anterior or rear portion occurs necessarily
It is inclined in the case of, also can have good anticollision effect.
Generally, above-mentioned collision avoiding caster 11 uses rubber roll., can when chassis forward movement or drawback movement backward
To avoid chassis direct collision from contacting inner-walls of duct in advance to pipeline, collision avoiding caster, direct collision is converted into the cunning of roller
It is dynamic, the impact of collision is effectively reduced, protection robot component is without damage.
The invention is simple in construction, reasonable in design, has upper and lower and both sides multigroup roller, wherein chassis lower end
The road wheel driven by motor be driving wheel, and the support wheel on the driven pulley and main body of chassis both sides is for aiding in walking
Rock-steady structure, it is ensured that robot in itself will not double swerve and bob, stability is very high, it is ensured that testing result
Accuracy, avoid the occurrence of flase drop.
It is obvious to a person skilled in the art that the invention is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of the spirit or essential attributes without departing substantially from the invention, wound of the present invention can be realized in other specific forms
Make.
Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, sheet
The scope of innovation and creation is limited by appended claims rather than described above, it is intended that will fall equally in claim
All changes in the implication and scope of part are included in the invention.Any reference in claim should not be regarded
To limit involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (7)
- A kind of 1. high stability straight tube inwall Non-Destructive Testing robot, it is characterised in that：Including the main body on chassis, chassis, And the road wheel of chassis lower end；Driven pulley is arranged with the both sides on chassis, adjustable for height support is provided with main body Wheel；It is symmetricly set on the motor that its rotation of driving is equipped with the road wheel of chassis lower end；The main body is included for lossless The X-ray emitter of carrying out flaw detection, video acquisition component is provided with main body top；The driven pulley is arranged on bottom by wheel carrier On disk, the wheel carrier includes the mounting seat of horizontally disposed expansion link and expansion link front end for installing driven pulley.
- A kind of 2. high stability straight tube inwall Non-Destructive Testing robot according to claim 1, it is characterised in that：It is described to regard Frequency acquisition component includes 360 degree of full-view cameras, to should 360 degree of cameras be provided with light compensating apparatus.
- A kind of 3. high stability straight tube inwall Non-Destructive Testing robot according to claim 2, it is characterised in that：The benefit Electro-optical device includes LED light supplement lamp and the battery for LED light supplement lamp power supply, in the circuit that battery is connected with LED light supplement lamp In be provided with light sensor.
- A kind of 4. high stability straight tube inwall Non-Destructive Testing robot according to claim 1 or 2, it is characterised in that：Institute Stating video acquisition component includes infrared camera.
- A kind of 5. high stability straight tube inwall Non-Destructive Testing robot according to claim 1, it is characterised in that：The bottom Disk rear and front end is equipped with anticollision device, collision-prevention device, and the anticollision device, collision-prevention device includes the collision avoiding caster for stretching out the chassis.
- A kind of 6. high stability straight tube inwall Non-Destructive Testing robot according to claim 5, it is characterised in that：It is described anti- Hit roller to be fixed on the chassis by mounting bracket, described oblique 45 degree of directions in outside of collision avoiding caster are set.
- A kind of 7. high stability straight tube inwall Non-Destructive Testing robot according to claim 5 or 6, it is characterised in that：Institute It is rubber roll to state collision avoiding caster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720525868.2U CN206694740U (en) | 2017-05-11 | 2017-05-11 | A kind of high stability straight tube inwall Non-Destructive Testing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720525868.2U CN206694740U (en) | 2017-05-11 | 2017-05-11 | A kind of high stability straight tube inwall Non-Destructive Testing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206694740U true CN206694740U (en) | 2017-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720525868.2U Expired - Fee Related CN206694740U (en) | 2017-05-11 | 2017-05-11 | A kind of high stability straight tube inwall Non-Destructive Testing robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108253226A (en) * | 2017-12-07 | 2018-07-06 | 浙江申康管业有限公司 | Method for detecting pipeline based on 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 |
| CN109630807A (en) * | 2018-12-24 | 2019-04-16 | 傅秋莹 | A kind of climbing robot of pipeline electric wire non-destructive testing |
| FR3078498A1 (en) * | 2018-03-01 | 2019-09-06 | La Garonne | UNDERGROUND OR SEMI-VISITABLE UNDERGROUND SANITATION DRIVE INSPECTION APPARATUS |
| CN113203000A (en) * | 2021-04-30 | 2021-08-03 | 杭州申昊科技股份有限公司 | Pipeline robot based on defect detection |
| CN114704710A (en) * | 2022-03-30 | 2022-07-05 | 中国五冶集团有限公司 | CCTV (continuous Cooling TV) detection device and method for pipeline under complex working condition |
-
2017
- 2017-05-11 CN CN201720525868.2U patent/CN206694740U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108253226A (en) * | 2017-12-07 | 2018-07-06 | 浙江申康管业有限公司 | Method for detecting pipeline based on pipe robot |
| FR3078498A1 (en) * | 2018-03-01 | 2019-09-06 | La Garonne | UNDERGROUND OR SEMI-VISITABLE UNDERGROUND SANITATION DRIVE INSPECTION APPARATUS |
| 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 |
| CN109630807A (en) * | 2018-12-24 | 2019-04-16 | 傅秋莹 | A kind of climbing robot of pipeline electric wire non-destructive testing |
| CN113203000A (en) * | 2021-04-30 | 2021-08-03 | 杭州申昊科技股份有限公司 | Pipeline robot based on defect detection |
| CN114704710A (en) * | 2022-03-30 | 2022-07-05 | 中国五冶集团有限公司 | CCTV (continuous Cooling TV) detection device and method for pipeline under complex working condition |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171201 Termination date: 20200511 |
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| CF01 | Termination of patent right due to non-payment of annual fee |