CN207661306U - A kind of pipe robot - Google Patents
A kind of pipe robot Download PDFInfo
- Publication number
- CN207661306U CN207661306U CN201721753997.3U CN201721753997U CN207661306U CN 207661306 U CN207661306 U CN 207661306U CN 201721753997 U CN201721753997 U CN 201721753997U CN 207661306 U CN207661306 U CN 207661306U
- Authority
- CN
- China
- Prior art keywords
- supporting rack
- steering engine
- controller
- pipe robot
- conducting wire
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a kind of pipe robot, including the first supporting rack and the second supporting rack, the first supporting rack and the second supporting rack are connected by intermediate warp section, and respectively four machineries of setting are sufficient for the horizontal direction of the first supporting rack and the second supporting rack；Pipe robot further includes controller, power supply and signal transmitting apparatus, and controller is located inside intermediate warp section, and the controller, power supply and signal transmitting apparatus are connected by conducting wire；Controller is connected with intermediate warp section and each machinery foot by conducting wire.The utility model low cost, easy to operate, mobility strong.Input and consumption of a large amount of manpower and materials in operation can be saved, and this product supports radio operation and transmission of video, for convenient relative to other products with the operation in turning and super-long pipeline.
Description
Technical field
The utility model is related to field of mechanical technique more particularly to a kind of pipe robots.
Background technology
In industrial and agricultural production and daily work, pipeline is extremely wide as a kind of important its application range of material transportation means
It is general.Pipeline in use, blocks, failure or damage since the influence of various factors will produce sample.If pair not in time
Pipeline is detected, maintenance of clean-up just have occur accident may, cause necessary loss.However, it is people that pipeline local environment is past
Be not easy to reach or allow to be directly entered detection and cleaning difficulty is larger, therefore one of most efficient method is exactly to utilize pipeline
Robot come realize it is interior survey, repair and maintenance.In allegro today, hasty people sometimes accidentally can be by article (ring letter
With card hand machine, the important items such as key) fall into sewer if it is desired to by these taking-up need to arrive employ professional and profession utensil,
The labor people lose money again.At this moment use pipe machine people's profit transmission of video function tool arm crawl function, so that it may with people not into
Enter sewer situation to get back by loss article, is recovered for lost article and provide new method.
Existing pipe robot has been applied to the pipeline of many types.But existing pipe robot is mostly long and narrow formula
Robot or rubber-tyred robot, can not be rotated in the duct, can not adapt to vertical pipeline, can not be in vertical pipeline
Detection or operation；Some pipe robots can not switch from horizontal pipe to vertical pipeline, into vertical pipeline；Some pipelines
Robot cannot be introduced into small-sized lateral and carry out detection and operation because of capacity issue.
Utility model content
In order to solve the shortcoming present in above-mentioned technology, the utility model provides a kind of pipe robot.
In order to solve the above technical problems, the technical solution adopted in the utility model is：A kind of pipe robot, including the
One supporting rack and the second supporting rack, the first supporting rack and the second supporting rack are connected by intermediate warp section, the first supporting rack and the
Respectively four machineries of setting are sufficient for the horizontal direction of two supporting racks；
Pipe robot further includes controller, power supply and signal transmitting apparatus, and controller is located inside intermediate warp section, institute
State controller, power supply is connected with signal transmitting apparatus by conducting wire；
Controller is connected with intermediate warp section and each machinery foot by conducting wire.
Further, intermediate warp section includes control steering engine, eccentric wheel and resetting apparatus, and control steering engine is fixed on first
The lower surface of support, eccentric wheel are connected with control steering engine, are set to can circling round between control steering engine and the second supporting rack, reset
Device connects the first supporting rack and the second supporting rack；Resetting apparatus is spring or rubber band.
Further, it further includes the mechanical arm being installed on the first supporting rack, and mechanical arm passes through conducting wire and controller phase
Connection.
Further, it further includes image collecting device, and image collecting device is set to the first supporting rack or the second support
On frame, and it is connected with controller and signal transmitting apparatus by conducting wire.
Further, it further includes detection device, and detection device is with one or more of lower structure：Infra-red detection
Device, metal detecting device, supersonic sounding device.
Further, detection device is arranged for modularization, is mounted on the first supporting rack or the second supporting rack,
And it is connected with controller and signal transmitting apparatus by conducting wire.
Further, each machinery foot includes that three steering engines, connecting plate and U-shaped steering engine holder, the first steering engine are installed on one
On supporting rack or the second supporting rack, it is connected with the second steering engine by connecting plate, the second steering engine and U-shaped steering engine holder bottom end phase
Connection, U-shaped steering engine carrier openings end are connected with third steering engine, and the first steering engine, the second steering engine and third steering engine pass through conducting wire respectively
It is connected with controller.
The pipe robot of the utility model uses new-type spherical structure design.Telecontrol equipment includes supporting rack, support
Eight bionic mechanicals foot, the middle part telescopic joint installed above and below frame.By existing by the mutual cooperation of 8 bionical foots and middle part telescopic joint
It advances in pipeline, it is adaptable.
The robot arm device of robot front end can both dredge pipeline, can recycle lost objects, can be with
Auxiliary robot passes through complicated pipeline.Using image collecting device and signal transmitting apparatus, real-time imaging transmission is realized, can incite somebody to action
Actual conditions in pipeline feed back to operator timely to be coped with.
The utility model low cost, easy to operate, mobility strong.Throwing of a large amount of manpower and materials in operation can be saved
Enter and consume, and this product supports radio operation and transmission of video, for the operation in turning and super-long pipeline relative to it
His product is convenient.
Description of the drawings
Fig. 1 is the structural schematic diagram of the pipe robot of the utility model.
Fig. 2 is schematic diagram when intermediate warp section is shunk.
Fig. 3 is schematic diagram when intermediate warp section extends.
In figure：1, the first supporting rack；2, the second supporting rack；3, intermediate warp section；4, machinery foot；5, steering engine is controlled；6, partially
Heart wheel；7, resetting apparatus；8, the first steering engine；9, the second steering engine；10, third steering engine；11, connecting plate；12, U-shaped steering engine holder.
Specific implementation mode
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
A kind of pipe robot shown in Fig. 1-3, including：
First supporting rack 1 and the second supporting rack 2, the first supporting rack 1 are connected with the second supporting rack by intermediate warp section 3,
Four machinery foots 4 are respectively arranged in the horizontal direction of first supporting rack 1 and the second supporting rack 2；
Intermediate warp section, including control steering engine 5, eccentric wheel 6 and resetting apparatus 7, the control steering engine are fixed on first
The lower surface of support, eccentric wheel 6 are connected with control steering engine 5, are set to can circling round between control steering engine 5 and the second supporting rack 2,
Resetting apparatus is the spring structure for connecting the first supporting rack 1 and the second supporting rack 2.It is rotated when controlling 5 control eccentric 6 of steering engine,
Second supporting rack 2 pushed away from 1 direction of the first supporting rack, and intermediate warp section 3 extends, and drives the elongation of pipe robot vertical direction；
When control steering engine 5 continues to rotate with movable eccentric wheel 6, the second supporting rack 2 resets under the action of the spring, and intermediate warp section 3 is shunk, most
The flexible of pipe robot vertical direction is completed eventually, the machinery foot 4 on expansion fit first supporting rack 1 and the second supporting rack 2
Movement, can complete the movement of pipe robot vertical direction.
8 machinery foots 4, each machinery foot 4 includes three steering engines, connecting plate 11 and U-shaped steering engine holder 12, the first steering engine 8
It is installed on a supporting rack 1 or the second supporting rack 2, is connected in the second steering engine 9 by connecting plate, the second steering engine 9 and U-shaped rudder
12 bottom end of machine support is connected, and 12 open end of U-shaped steering engine holder is connected with third steering engine 10.First steering engine 8,9 and of the second steering engine
Third steering engine 10 is connected by conducting wire with controller respectively.First, the first steering engine 8 drives connecting plate being propped up in the second steering engine 9
11 horizontal motion of support, the second steering engine 9 can control the movement of 12 vertical direction of U-shaped steering engine holder, and the two cooperation can be
Mechanical foot completes all directions movement, and third steering engine 10 adjusts all angles on U-shaped steering engine holder, completes free movement.
Mechanical arm is installed on the first supporting rack, and mechanical arm is connected by conducting wire with controller, and controller can control
Mechanical arm grips object.
Image collecting device, image collecting device are set on the first supporting rack or the second supporting rack, and by conducting wire with
Controller is connected with signal transmitting apparatus, and image collecting device sends the image received by signal transmitting apparatus to
The operator of position or control computer.
Detection device is mounted on the first supporting rack or the second supporting rack, and by conducting wire and controller and
Signal transmitting apparatus is connected.Detection device is modularized design, including with one or more of lower structure：Infra-red detection
Device, metal detecting device, supersonic sounding device.
Controller, power supply and signal transmitting apparatus, controller are located inside intermediate warp section, controller, power supply and signal
Transmitting device is connected by conducting wire, and controller is connected with intermediate warp section and each machinery foot by conducting wire.Control device is received
The location status information of the intermediate telescopic joint of collection, mechanical arm and each machinery foot, sends upper operation to by signal transmitting apparatus
Person or control computer.
When pipe robot works, image collecting device sends the image received by signal transmitting apparatus to
The operator of position or control computer；Meanwhile control device collects the location status letter of intermediate warp section, mechanical arm and each machinery foot
Breath sends upper operator or control computer to by signal transmitting apparatus；It, will after operator or control computer handle information
Operational order reaches the controller of pipe robot by signal transmitting apparatus, individually or simultaneously control machinery foot, intermediate warp
Section or manipulator motion, are finally completed in pipeline and advance, detect and take the work such as object.
The above embodiment is not limitations of the present invention, and the utility model is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made within the scope of the technical solution of the utility model,
Also the scope of protection of the utility model is belonged to.
Claims (7)
1. a kind of pipe robot, it is characterised in that：Including the first supporting rack (1) and the second supporting rack (2), first support
Frame (1) is connected with the second supporting rack (2) by intermediate warp section (3), and the horizontal direction of the first supporting rack and the second supporting rack is each
Four machinery foots (4) of setting；
The pipe robot further includes controller, power supply and signal transmitting apparatus, and the controller is located in intermediate warp section
Portion, the controller, power supply and signal transmitting apparatus are connected by conducting wire；
The controller is connected with intermediate warp section (3) and each machinery foot (4) by conducting wire.
2. pipe robot according to claim 1, it is characterised in that：The intermediate warp section (3) includes control steering engine
(5), eccentric wheel (6) and resetting apparatus (7), the control steering engine (5) are fixed on the lower surface of the first supporting rack (1), eccentric wheel
(6) it is connected with control steering engine (5), eccentric wheel (6) is set between control steering engine (5) and the second supporting rack (2) in which can circle round, multiple
Position device (7) connects the first supporting rack (1) and the second supporting rack (2)；The resetting apparatus (7) is spring or rubber band.
3. pipe robot according to claim 1, it is characterised in that：It further includes the machine being installed on the first supporting rack
Tool arm, the mechanical arm are connected by conducting wire with controller.
4. pipe robot according to claim 3, it is characterised in that：It further includes image collecting device, described image
Harvester is set on the first supporting rack or the second supporting rack, and is connected with controller and signal transmitting apparatus by conducting wire
It connects.
5. according to the pipe robot described in any one of claim 1-4, it is characterised in that：It further includes detection device, institute
It is with one or more of lower structure to state detection device：Detective devices using infrared ray, metal detecting device, ultrasonic listening dress
It sets.
6. pipe robot according to claim 5, it is characterised in that：The detection device is arranged for modularization, removable
That unloads is installed on the first supporting rack or the second supporting rack, and is connected with controller and signal transmitting apparatus by conducting wire.
7. pipe robot according to claim 6, it is characterised in that：Each machinery foot includes three steering engines, connects
Fishplate bar (11) and U-shaped steering engine holder (12), the first steering engine (8) are installed on a supporting rack (1) or the second supporting rack (2), pass through
Connecting plate is connected with the second steering engine (9), and the second steering engine (9) is connected with U-shaped steering engine holder (12) bottom end, U-shaped steering engine holder
(12) open end is connected with third steering engine (10), and first steering engine (8), the second steering engine (9) and third steering engine (10) lead to respectively
Conducting wire is crossed with controller to be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721753997.3U CN207661306U (en) | 2017-12-15 | 2017-12-15 | A kind of pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721753997.3U CN207661306U (en) | 2017-12-15 | 2017-12-15 | A kind of pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207661306U true CN207661306U (en) | 2018-07-27 |
Family
ID=62941491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721753997.3U Expired - Fee Related CN207661306U (en) | 2017-12-15 | 2017-12-15 | A kind of pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207661306U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN110565757A (en) * | 2019-09-20 | 2019-12-13 | 苏州德君环卫服务有限公司 | sewer pipeline dredging device for municipal engineering and dredging method thereof |
-
2017
- 2017-12-15 CN CN201721753997.3U patent/CN207661306U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109945924A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of adjustable spherical housing construction of pipe robot |
| CN110565757A (en) * | 2019-09-20 | 2019-12-13 | 苏州德君环卫服务有限公司 | sewer pipeline dredging device for municipal engineering and dredging method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180727 Termination date: 20211215 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |