CN207762434U - Adaptive caliber pipe endoscopic climbing robot - Google Patents
Adaptive caliber pipe endoscopic climbing robot Download PDFInfo
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- CN207762434U CN207762434U CN201721760052.4U CN201721760052U CN207762434U CN 207762434 U CN207762434 U CN 207762434U CN 201721760052 U CN201721760052 U CN 201721760052U CN 207762434 U CN207762434 U CN 207762434U
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Abstract
The utility model relates to adaptive caliber pipe endoscopic climbing robots, the body of this adaptive caliber pipe endoscopic climbing robot installs shooting frame by control cabinet one end, the control cabinet other end is installed bogie and is constituted, and driving body is circumferentially uniformly arranged three climbing mechanisms；Leading screw is threadedly coupled with driving frame, and leading screw one end connects driving motor, and the leading screw other end is connect with bottom plate, and driving frame is circumferentially uniformly arranged three spring actuating arms；Driving wheel, the driven wheel of climbing mechanism are mounted on front and rear ends in wheel frame, inchworm motor connects driving wheel by transmission gear, the front end for taking turns frame is hinged by a pair of links and control cabinet, this is hinged with corresponding spring actuating arm to connecting rod, and the rear end for taking turns frame is hinged by a pair of links and fixed frame；Rotary taking mechanism shoots electric rotating machine by rotating axis connection；Controller, radio transmitting device are installed, radio transmitting device connects computer in control cabinet.The utility model good mechanical stability can ensure that continual and steady work.
Description
One, technical field：
The utility model relates to pipeline internal inspection devices, and in particular to be that adaptive caliber pipe endoscopic is creeped
Robot.
Two, background technology：
The detection for situations such as pipeline internal inspection device is for industrial pipeline internal weld seams, burn into blocking, difference, foreign matter,
Non-destructive testing can be realized in the case where not dismantling or destroying assembling and equipment is out of service.Existing pipe detection crawl device is general
Including pedestal, wheel, camera, wheel is mounted under pedestal, and camera is mounted on the base, but this pipe detection crawl device
When wheel passes through barrier, it will produce and lean forward or hypsokinesis phenomenon, influence crawl device and continually and steadily work.
Three, invention content：
The purpose of this utility model is to provide a kind of adaptive caliber pipe endoscopic climbing robot, this adaptive caliber
Pipe endoscopic climbing robot is for solving the problems, such as that existing pipe detection crawl device cannot continually and steadily work.
Technical solution adopted by the utility model to solve its technical problems is：This adaptive caliber pipe endoscopic is creeped
Robot includes body, and body is by one end installation shooting frame of control cabinet, the other end installation bogie composition of control cabinet, control
Case constitutes driving body with bogie, and the circumferential direction of driving body is uniformly arranged three climbing mechanisms；Bogie is by support light the tip of the axis
It is constituted on bottom plate, the head end of optical axis is supported to be fixed on control cabinet, fixed frame is fixedly mounted on support optical axis, driving
Frame is arranged between fixed frame and bottom plate, and leading screw is threadedly coupled with the thread barrel at driving frame center, one end connection driving of leading screw
The other end of motor, leading screw is connect with bottom plate by bearing, and driving frame is circumferentially uniformly arranged three spring actuating arms；Climbing mechanism
Including driving wheel, driven wheel, inchworm motor, driving wheel, driven wheel are mounted on front and rear ends in wheel frame, and inchworm motor passes through biography
Moving gear connects driving wheel, and the front end for taking turns frame is hinged by a pair of links and control cabinet, this drives connecting rod with corresponding spring
Arm is hinged, and the rear end for taking turns frame is hinged by a pair of links and fixed frame；Rotary taking mechanism connects rotary shaft, and rotation axis connection is clapped
Take the photograph electric rotating machine；Controller, radio transmitting device are installed, radio transmitting device connects computer in control cabinet.
Shooting frame is fixed on top plate by the front end of three shooting optical axises and is constituted in said program, and three shoot the another of optical axis
One end is mounted on control cabinet, and the line of three shooting optical axises forms equilateral triangle, and shooting electric rotating machine is mounted on control cabinet
Front end；Support optical axis has three, and the line of three support optical axises forms equilateral triangle, and fixed frame, driving frame respectively have on one side
Corresponding with a climbing mechanism, shooting frame, control cabinet, bogie collectively form the body of trishores formula.
For each spring actuating arm by a sleeve and driving frame rotation connection, which is sleeved on drive in said program
On dynamic frame, spring actuating arm is fixedly connected with the sleeve；The spring actuating arm other end passes through T-type connector and the wheel frame front end
A pair of links connection, T-type connector by small axis be hinged on this to connecting rod among, spring actuating arm has an external screw thread, T-type connection
Part is threadedly coupled with spring actuating arm；Tensioning limiting device is arranged in bogie top, and limiter is shunk in the setting of bogie lower part.Driving
Frame, spring actuating arm, driving frame, T-type connector, tensioning limiting device, contraction limiter collectively form tensioning contracting mechanism.
A pair of links that frame front end is taken turns in said program is hinged by engaging lug and control cabinet, and engaging lug is arranged in control cabinet
On outer wall；The a pair of links for taking turns back end of frame is hinged also by engaging lug and fixed frame, and engaging lug is arranged on the outside of fixed frame.
Advantageous effect：
1, the body of the utility model is trishores form, carries all robot body's components, is provided simultaneously with tensioning
It adjusts, to ensure that robot is fixed in inner wall of the pipe, using similar crawler travel mode, actively walks, good mechanical stability, when
When by barrier, driving wheel or driven wheel and the connecting rod of corresponding climbing mechanism will produce adaptive change, and video camera is still
Former working condition is kept, the work of video camera is not influenced, can ensure that continual and steady work.
2, the utility model can axially advance and radial rotary, can carry out distance between video camera and caliber and adjust.
Four, it illustrates：
Fig. 1 is the front view of the utility model；
Fig. 2 is the rearview of the utility model；
Fig. 3 is the left view of the utility model；
Fig. 4 is the right view of the utility model；
Fig. 5 is the vertical view of the utility model；
Fig. 6 is the stereogram of the utility model.
12 control cabinet of shooting frame, 3 bogie 4 supports 5 bottom plate of optical axis, 6 fixed frame 7 to drive 8 leading screw of frame
9 driving motor, 10 spring actuating arm, 11 rotary taking mechanism, 12 rotary shaft 13 shooting electric rotating machine 14 shoots optical axis
15 driving wheel, 16 driven wheel 17 takes turns 21 camera of frame 18 connecting rod, 19 sleeve, 20 T-type connector, 22 light compensating lamp
23 tensioning limiting device 24 of plate shrinks limiter.
Five, specific implementation mode：
The utility model is described further below in conjunction with the accompanying drawings：
In conjunction with shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, this adaptive caliber pipe endoscopic climbing robot includes
Body, body by control cabinet 2 one end installation shooting frame 1, control cabinet 2 the other end installation bogie 3 constitute, control cabinet 2 with
Bogie 3 constitutes driving body, and the circumferential direction of driving body is uniformly arranged three climbing mechanisms；Bogie 3 is pacified by the end of support optical axis 4
It being constituted on bottom plate 5, the head end of support optical axis 4 is fixed on control cabinet 2, and fixed frame 6 is fixedly mounted on support optical axis 4,
Frame 7 is driven to be arranged between fixed frame 6 and bottom plate 5, leading screw 8 is threadedly coupled with the thread barrel at 7 center of driving frame, and the one of leading screw 8
End connection driving motor 9, the other end of leading screw 8 are connect with bottom plate 5 by bearing, and driving frame 7 is circumferential to be uniformly arranged three springs
Actuating arm 10；Rotary taking mechanism 11 connects rotary shaft 12, the connection shooting electric rotating machine 13 of rotary shaft 12；Installation in control cabinet 2
There are controller, radio transmitting device, radio transmitting device to connect computer, camera 21 also connects computer, and computer is sent out
Order by radio transmitting device, be transferred to controller, controller controls the operating of above-mentioned each motor, and camera 21 will be shot
Picture signal be transferred to computer remote processing control system in, computer remote handle control system in directly display weldering
Stitch image；It can realize and be transmitted in acquisition, image information transmission process can realize the compression/de-compression of data, breakpoint transmission etc.
Function；Wireless transmission method is provided, 100 meters of transmission range or more, bandwidth 150Mbps or more are supported in wireless transmission.
To ensure that accessible transmission, remote control processing system embed realtime graphic transport services function, data connect
Receiving end（Remote control processing system）State is intercepted in live signal, whether the scene of capable of intercepting automatically has new data transmission,
And starts automatically and receive program.
Realtime image data is directly received by remote control processing system, is stored into database after explanation.
Controller uses microcontroller for processor.Control process includes the drive control of stepping movable motor, photographic unit
Radial rotary control and inner wall fitting the functions such as feedback of status.
Shooting frame 1 is fixed on top plate by the front end of three shooting optical axises 14 and is constituted, the other end of three shooting optical axises 14
On control cabinet 2, the line of three shooting optical axises 14 forms equilateral triangle, and shooting electric rotating machine 13 is mounted on control cabinet
2 front end；Support optical axis 4 has three, and the line of three support optical axises 4 forms equilateral triangle, and fixed frame 6, driving frame 7 respectively have
Corresponding with a climbing mechanism on one side, shooting frame 1, control cabinet 2, bogie 3 collectively form the body of trishores formula, with full
Biped robot effectively, stablize in pipeline into walking.
Climbing mechanism includes driving wheel 15, driven wheel 16, inchworm motor, and driving wheel 15, driven wheel 16 are mounted on wheel frame 17
Middle front and rear ends, inchworm motor connect driving wheel 15 by transmission gear, and the front end for taking turns frame 17 passes through a pair of links 18 and control
Case 2 is hinged, this is hinged with corresponding spring actuating arm 10 to connecting rod 18, and the rear end of wheel frame 17 passes through a pair of links 18 and fixed frame
6 is hinged, when connecting rod 18 moves, reduces the influence to control cabinet 2, fixed frame 6, the stability of body is more preferable；Before taking turns frame 17
The a pair of links 18 at end is hinged by engaging lug and control cabinet 2, and engaging lug is arranged on 2 outer wall of control cabinet, 17 front end of wheel frame warp
When crossing barrier, adaptable inclination can be carried out, but do not influence the state of the utility model body；The a pair of of 17 rear end of frame is taken turns to connect
Bar 18 is hinged also by engaging lug and fixed frame 6, and engaging lug setting is in 6 outside of fixed frame, when barrier is passed through in 17 rear end of wheel frame,
Adaptable inclination can be carried out, does not influence the state of the utility model body equally.
To improve the Stability and dependability of the utility model movement, climbing mechanism is driven using three stepper motors,
Three vertex of Target pipe decile are bonded, and fitting detection switch is set up (in driving wheel 15 or driven wheel 16 in climbing mechanism
Sensor is set, and sensor is connect with computer by radio transmitting device).It is remote by computer after robot enters pipeline
Process control processing system carries out manual tension adjusting, and when three climbing mechanisms are close to tube wall completely, tensioning is adjusted and ended automatically.
When doing industry and terminating robot and leave pipeline, it is controlled remotely by a computer processing system and unclamps robot spring actuating arm manually
10。
Each spring actuating arm 10 is rotatablely connected by a sleeve 19 and driving frame 7 in the utility model, the sleeve
19 are sleeved on driving frame 7, and spring actuating arm 10 is fixedly connected with the sleeve 19, when spring actuating arm 10 moves, passes through sleeve
19 being freely rotated relative to driving frame 7 reduce the influence to driving frame 7, are further ensured that the stability of body；Spring drives
10 other end of swing arm is connect by T-type connector 20 with a pair of links 18 of 17 front end of the wheel frame, and T-type connector 20 is by small
Axis be hinged on this to connecting rod 18 among, spring actuating arm 10 has an external screw thread, and T-type connector 20 connects with 10 screw thread of spring actuating arm
It connects.Tensioning limiting device 23 is arranged in 3 top of bogie, and limiter 24 is shunk in the setting of 3 lower part of bogie.Bogie 3, spring actuating arm
10, frame 7, T-type connector 20, tensioning limiting device 23, contraction limiter 24 is driven to collectively form tensioning contracting mechanism.
The two fixed-focus network cameras of selection of rotary taking mechanism 11, fixed-focus network camera real-time transmission of video signal,
To ensure that operating personnel judge position of the robot in pipeline.Lamp source is set and carries out light filling operation.Light-source brightness is adjustable, light
Source is mounted on light filling lamp plate 22.Two fixed-focus network cameras are diagonally fixed on main body load carrier with 180 degree.Image is adopted
Collection process is that rotating mechanism rotates 10 times, and 18 degree of each rotational angle, two cameras just complete the shooting of a circle.Camera
Process of taking pictures controlled by computer, it is primary that spinning movement terminates once photo taking.
To meet Portability and the movement when the utility model can adapt to do industry, while considering the drop to whole energy consumption
It is low, material is studied, the material of aluminium alloy mechanical structure as a whole is chosen, the advantage is that aluminium alloy density is low, but
Intensity is relatively high, and near or above high-quality steel, plasticity is good.
When utility model works, detecting robot of pipe is put into inside pipeline first, with flexible connector machine
People is connected to the end of line-up clamp, then powers on the action by computer-controlled robot.
When weld seam detection, operating personnel are by the climbing mechanism of computer-controlled robot and into contracting mechanism pipeline
Robot is moved to position while welding to be detected, controls rotary taking mechanism automatic camera and preserves picture, then according to preservation
Weld seam photo detection weld seam welding quality.
Claims (3)
1. a kind of adaptive caliber pipe endoscopic climbing robot, it is characterised in that：This adaptive caliber pipe endoscopic is creeped
Robot includes body, and body is by control cabinet（2）One end installation shooting frame（1）, control cabinet（2）The other end install bogie
（3）It constitutes, control cabinet（2）With bogie（3）Driving body is constituted, the circumferential direction of driving body is uniformly arranged three climbing mechanisms；Driving
Frame（3）By support optical axis（4）End be mounted on bottom plate（5）Upper composition supports optical axis（4）Head end be fixed on control cabinet（2）
On, fixed frame（6）It is fixedly mounted on support optical axis（4）On, drive frame（7）It is arranged in fixed frame（6）With bottom plate（5）Between, silk
Thick stick（8）With driving frame（7）The thread barrel at center is threadedly coupled, leading screw（8）One end connect driving motor（9）, leading screw（8）It is another
One end and bottom plate（5）It is connected by bearing, drives frame（7）Circumferentially it is uniformly arranged three spring actuating arms（10）；Climbing mechanism packet
Include driving wheel（15）, driven wheel（16）, inchworm motor, driving wheel（15）, driven wheel（16）The front and rear ends in wheel frame,
Inchworm motor connects driving wheel by transmission gear（15）, take turns frame（17）Front end pass through a pair of links（18）With control cabinet（2）
Hinged, this is to connecting rod（18）With corresponding spring actuating arm（10）It is hinged, take turns frame（17）Rear end pass through a pair of links（18）With
Fixed frame（6）It is hinged；Rotary taking mechanism（11）Connect rotary shaft（12）, rotary shaft（12）Connection shooting electric rotating machine（13）；
Control cabinet（2）Controller, radio transmitting device are inside installed, radio transmitting device connects computer；
Shoot frame（1）By three shooting optical axises（14）Front end be fixed on top plate and constitute, three shooting optical axises（14）It is another
End is mounted on control cabinet（2）On, three shooting optical axises（14）Line formed equilateral triangle, shoot electric rotating machine（13）Installation
In control cabinet（2）Front end；Support optical axis（4）There are three, three support optical axises（4）Line form equilateral triangle, it is fixed
Frame（6）, driving frame（7）Respectively there is corresponding with a climbing mechanism on one side, shooting frame（1）, control cabinet（2）, bogie（3）Jointly
Constitute the body of trishores formula.
2. adaptive caliber pipe endoscopic climbing robot according to claim 1, it is characterised in that：Each bullet
Spring actuating arm（10）Pass through a sleeve（19）With driving frame（7）Rotation connection, the sleeve（19）It is sleeved on driving frame（7）
On, spring actuating arm（10）With the sleeve（19）It is fixedly connected；Spring actuating arm（10）The other end passes through T-type connector（20）With
The wheel frame（17）A pair of links of front end（18）Connection, T-type connector（20）This is hinged on to connecting rod by small axis（18）In
Between, spring actuating arm（10）There are external screw thread, T-type connector（20）With spring actuating arm（10）It is threadedly coupled；Bogie（3）Top
Tensioning limiting device is set（23）, bogie（3）Limiter is shunk in lower part setting（24）.
3. adaptive caliber pipe endoscopic climbing robot according to claim 2, it is characterised in that：The wheel frame
（17）A pair of links of front end（18）Pass through engaging lug and control cabinet（2）Hinged, engaging lug is arranged in control cabinet（2）On outer wall；
Take turns frame（17）A pair of links of rear end（18）Also by engaging lug and fixed frame（6）Hinged, engaging lug is arranged in fixed frame（6）Outside
Side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721760052.4U CN207762434U (en) | 2017-12-16 | 2017-12-16 | Adaptive caliber pipe endoscopic climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721760052.4U CN207762434U (en) | 2017-12-16 | 2017-12-16 | Adaptive caliber pipe endoscopic climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207762434U true CN207762434U (en) | 2018-08-24 |
Family
ID=63187351
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721760052.4U Expired - Fee Related CN207762434U (en) | 2017-12-16 | 2017-12-16 | Adaptive caliber pipe endoscopic climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207762434U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830308A (en) * | 2017-12-16 | 2018-03-23 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
| CN109595393A (en) * | 2018-11-29 | 2019-04-09 | 哈尔滨工程大学 | A kind of submarine pipeline clamping climbing equipment |
| CN110500470A (en) * | 2019-09-09 | 2019-11-26 | 浙江工业大学之江学院 | A kind of pipeline climbing robot with relative position navigation feature |
| CN110715139A (en) * | 2019-11-04 | 2020-01-21 | 诸暨新伏给排水设备有限公司 | Underground drain pipe crack detection device |
-
2017
- 2017-12-16 CN CN201721760052.4U patent/CN207762434U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107830308A (en) * | 2017-12-16 | 2018-03-23 | 北京极图科技有限公司 | Adaptive caliber pipe endoscopic climbing robot |
| CN109595393A (en) * | 2018-11-29 | 2019-04-09 | 哈尔滨工程大学 | A kind of submarine pipeline clamping climbing equipment |
| CN110500470A (en) * | 2019-09-09 | 2019-11-26 | 浙江工业大学之江学院 | A kind of pipeline climbing robot with relative position navigation feature |
| CN110500470B (en) * | 2019-09-09 | 2023-12-26 | 浙江工业大学之江学院 | Pipeline crawling robot with relative position navigation function |
| CN110715139A (en) * | 2019-11-04 | 2020-01-21 | 诸暨新伏给排水设备有限公司 | Underground drain pipe crack detection device |
| CN110715139B (en) * | 2019-11-04 | 2021-01-22 | 浙江希卡姆复合材料股份有限公司 | Underground drain pipe crack detection device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190314 Address after: 163319 Room 347, Block C1-3, Service Outsourcing Industrial Park, No. 6-1 Xinfeng Road, Daqing High-tech Zone, Heilongjiang Province Patentee after: Daqing Haichuan Technology Co., Ltd. Address before: 100089 District C, South Office Building, Zhongke Resources Building, 6 Nansanjie, Zhongguancun, Haidian District, Beijing Patentee before: BEIJING UPANO TECHNOLOGY CO., LTD. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180824 Termination date: 20191216 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |