CN208457442U - A kind of detecting robot of pipe - Google Patents

A kind of detecting robot of pipe Download PDF

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Publication number
CN208457442U
CN208457442U CN201821072691.6U CN201821072691U CN208457442U CN 208457442 U CN208457442 U CN 208457442U CN 201821072691 U CN201821072691 U CN 201821072691U CN 208457442 U CN208457442 U CN 208457442U
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module
car body
large arm
manipulator
telescopic rod
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CN201821072691.6U
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刘飞鸿
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刘飞鸿
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Abstract

The utility model discloses a kind of detecting robot of pipe of the utility model, electromagnetic coil suction block is provided in the middle part of car body bottom end, transmission module is made of the first manipulator and the second manipulator and several transmission devices, first manipulator includes the first large arm and the first electric telescopic rod, second manipulator includes the second large arm and the second electric telescopic rod, transmission device is for connecting the first large arm and the first electric telescopic rod, first large arm and car body and the second electric telescopic rod and car body, the utility model can car body effectively to adsorb pipeline to be moved by electromagnetic coil suction block, staff is facilitated to control the component installed on car body by the first manipulator and the second manipulator, so that car body can adapt to various use environments, it can replace staff in narrow pipeline by the first manipulator and the second manipulator Middle activity is detected and is handled to pipeline inside so that staff be facilitated to remotely operate car body.

Description

A kind of detecting robot of pipe
Technical field
The present invention relates to a kind of detection robot, specially a kind of detecting robot of pipe.
Background technique
Pipe network detection be in order to avoid causing pipeline leakage due to corrosion, or cause Pipeline damage cause gas supply interrupt, Suitable anti-corrosion method is determined by detection, and checks the quality of the existing insulating corrosion layer of pipeline, observes existing corrosion protection system Effect, determine and need to reinforce or the anticorrosion facility that re-replaces.Carry out pipe network detection, can actively discover hidden danger, eliminate it is hidden Suffer from, change situation of passively speedily carrying out rescue work, guarantees safety.
Due to narrow inside pipeline, staff is generally difficult to detect pipeline, complicated in detection process, detection effect Rate is lower, and is easy to happen missing inspection, influences pipeline using effect.Therefore we make improvement to this, propose a kind of pipe detection Robot.
Summary of the invention
Exist to solve the prior art due to narrow inside pipeline, staff is generally difficult to detect pipeline, inspection Complicated during surveying, detection efficiency is lower, and is easy to happen missing inspection, influences the defect of pipeline using effect, and the present invention provides one Kind detecting robot of pipe.
In order to solve the above-mentioned technical problems, the present invention provides the following technical solutions:
A kind of detecting robot of pipe of the present invention, comprising:
Power plant module, the power plant module by car body, be placed in vehicle bottom wheel and installation on the car body and and wheel The driving motor of linkage forms, and the inside of the car body is equipped with battery, is provided with electromagnetic wire in the middle part of the car body bottom end Enclose suction block;
Transmission module, the transmission module are made of the first manipulator and the second manipulator and transmission device, and described One manipulator includes the first large arm and the first electric telescopic rod, and second manipulator includes the second large arm and the second electric expansion Bar, the transmission device connects the first large arm and the first electric telescopic rod, the first large arm and car body, the second large arm and second are electronic Telescopic rod and the second electric telescopic rod and car body;
Detection module, the detection module are made of video camera, major light and soft light, and the video camera passes through transmission dress Set the end for being connected to the first electric telescopic rod;
Reaction module, the reaction module are jack catchs type module, dust-collecting type module, magnetic disc type module and thickness measuring formula module At least one of, the jack catchs type module is made of handgrip and a control handgrip expansion with the press machine shunk, described to grab Hand and press machine are connected to the end of the second large arm by transmission device;
Processing module, the processing module is made of PLC controller and the control route connecting with PLC controller, described PLC controller install on the car body, the PLC controller by control route respectively with power plant module, transmission module, detection mould Block and reaction module are electrically connected, and the PLC controller is connect with external remote control device signal.
As a preferred technical solution of the present invention, the major light and soft light are placed on the outside of video camera, described Major light and soft light are arranged alternately.
As a preferred technical solution of the present invention, the press machine is the one of which of aerostatic press or hydraulic press.
As a preferred technical solution of the present invention, third electric expansion is provided between the wheel and driving motor Bar, and be flexibly connected at the end of the electric telescopic rod and the center of rotation of wheel.
As a preferred technical solution of the present invention, the dust-collecting type module is by dust absorption nozzle, delivery pipe, disposal box, wind Machine and filter plate composition, the dust absorption nozzle are connected to the end of the second large arm by transmission device, and the delivery pipe is placed in car body The both ends at middle part, the delivery pipe are connected with dust absorption nozzle and disposal box respectively, the side of the disposal box and the end of car body It is fixedly connected, the filter plate is placed in the middle part of disposal box, and the side of the dust chamber interior wall is fixedly connected with the outer wall of blower.
As a preferred technical solution of the present invention, the thickness measuring formula module is connect by Thicknesser probe and with Thicknesser probe Conducting wire composition, the top of the Thicknesser probe is connected to the end of the second large arm by transmission device.
The magnetic disc type module includes the magnechuck and and magnechuck for adsorbing or removing residual scrap iron The conducting wire of connection, the magnechuck are mounted on the front end of the second large arm, and magnechuck and the front end of the second large arm are provided with Transmission device.
As a preferred technical solution of the present invention, the transmission device cooperates with fortune by servo motor and with servo motor The encoder composition turned.
As a preferred technical solution of the present invention, the end of the handgrip is provided with the cone for improving handgrip grip Shape convex block.
The wheel is caterpillar wheel.It can make car body that can move freely under numerous conditions.
The caterpillar wheel is made of directive wheel, driving wheel, strange wheel, tensioning wheel, keel chain and creeper tread.
The beneficial effects of the present invention are:
1, electromagnetic coil suction block can enable car body effectively to adsorb pipeline and be moved, and electromagnetic coil in movement Suction block is not contacted with pipeline, and so that it will not influence the movement of car body, the first manipulator and the second manipulator facilitate staff to control The component installed on car body processed, so that car body can adapt to various use environments, the first manipulator and the second manipulator can It is movable in narrow pipeline to replace staff, pipeline inside is examined so that staff be facilitated to remotely operate car body It surveys and handles.
2, the distance that the first electric telescopic rod can drive video camera to detect increases, so that staff be facilitated to control camera shooting Machine observes the situation in pipeline, and major light and soft light with combined type can illuminate pipeline, the pressure in jack catchs type module Power machine and handgrip can pick up foreign matter biggish in pipeline, to can not only clear up the foreign matter in pipeline, and can be avoided Foreign matter stops car body mobile.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention It applies example to be used to explain the present invention together, not be construed as limiting the invention.In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of detecting robot of pipe of the present invention;
Fig. 2 is a kind of structural schematic diagram of the installation Thicknesser probe of detecting robot of pipe of the present invention;
Fig. 3 is a kind of installation gripping structure schematic diagram of detecting robot of pipe of the present invention;
Fig. 4 is a kind of installation dust absorption nozzle structural schematic diagram of detecting robot of pipe of the present invention;
Fig. 5 is a kind of positive structure schematic of detecting robot of pipe of the present invention;
Fig. 6 is a kind of camera structure schematic diagram of detecting robot of pipe of the present invention;
Fig. 7 is a kind of structural schematic diagram of detecting robot of pipe of the present invention in the duct;
Fig. 8 is a kind of circuit module schematic diagram of detecting robot of pipe of the present invention.
In figure: 1, car body;2, wheel;3, driving motor;4, battery;5, the first manipulator;6, the second manipulator;7, it passes Dynamic device;8, the first large arm;9, the first electric telescopic rod;10, the second large arm;11, the second electric telescopic rod;12, video camera; 13, major light;14, soft light;15, handgrip;16, press machine;17, dust absorption nozzle;18, delivery pipe;19, disposal box;20, blower; 21, filter plate;22, Thicknesser probe;23, electromagnetic coil suction block;24, PLC controller.
Specific embodiment
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
Embodiment: shown in as shown in Figure 1, Figure 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, a kind of pipe detection machine of the present invention People, comprising:
Power plant module, power plant module by car body 1, be placed in the wheel 2 of 1 bottom of car body and be mounted on car body 1 and with wheel 2 The driving motor 3 of linkage forms, and the inside of car body 1 is equipped with battery 4, and electromagnetic coil suction is provided in the middle part of 1 bottom end of car body Block 23 can enable car body 1 effectively to adsorb pipeline and be moved by electromagnetic coil suction block 23, and electromagnetic wire in movement Circle suction block 23 is not contacted with pipeline, and so that it will not influence the movement of car body 1;
Transmission module, transmission module are made of the first manipulator 5 and the second manipulator 6 and transmission device 7, and first is mechanical Hand 5 includes the first large arm 8 and the first electric telescopic rod 9, and the second manipulator 6 includes the second large arm 10 and the second electric telescopic rod 11, transmission device 7 connects the first large arm 8 and the first electric telescopic rod 9, the first large arm 8 and car body 1, the second large arm 10 and second Electric telescopic rod 11 and the second electric telescopic rod 11 and car body 1 facilitate work by the first manipulator 5 and the second manipulator 6 The component installed on personnel control car body 1 passes through 5 He of the first manipulator so that car body 1 can adapt to various use environments It is movable in narrow pipeline that second manipulator 6 can replace staff, so that it is right to facilitate staff to remotely operate car body 1 It is detected and is handled inside pipeline;
Detection module, detection module are made of video camera 12, major light 13 and soft light 14, and video camera 12 passes through transmission dress 7 ends for being connected to the first electric telescopic rod 9 are set, video camera 12 can be driven to rotate by the first electric telescopic rod 9, thus side Just staff controls the situation in the observation pipeline of video camera 12, can be with combined type to pipe by major light 13 and soft light 14 Road is illuminated;
Reaction module, reaction module are in jack catchs type module, dust-collecting type module, magnetic disc type module and thickness measuring formula module At least one, jack catchs type module are made of handgrip 15 and an expansion of control handgrip 15 with the press machine 16 shunk, 15 He of handgrip Press machine 16 is connected to the end of the second large arm 10 by transmission device 7, passes through the press machine 16 and handgrip in jack catchs type module 15 can pick up foreign matter biggish in pipeline, to can not only clear up the foreign matter in pipeline, and can be avoided foreign matter blocking Car body 1 is mobile;
Processing module, processing module are made of PLC controller 24 and the control route connecting with PLC controller 24, PLC control Device 24 processed is mounted on car body 1, PLC controller 24 by control route respectively with power plant module, transmission module, detection module and Reaction module is electrically connected, and PLC controller 24 connect with external remote control device signal, can control by PLC controller 24 dynamic Power module, transmission module, detection module and reaction module.
Wherein, major light 13 and soft light 14 are placed in 12 outside of video camera, and major light 13 and soft light 14 are several It is a, and major light 13 and soft light 14 are arranged alternately, by the major light 13 and soft light 14 being arranged alternately, when car body 1 is moving Major light 13 can be opened when dynamic, soft light 14 can be opened when car body 1 is moved to the fault location of pipeline, thus to major light 13 carry out additional illumination, and then improve the shooting effect of video camera.
Wherein, press machine 16 can be the one of which of aerostatic press or hydraulic press, can be improved by press machine for handgrip 15 Biggish grasping force, press machine can also provide power for electric telescopic rod.
Wherein, third electric telescopic rod, and the end of electric telescopic rod and vehicle are provided between wheel 2 and driving motor 3 It is flexibly connected at the center of rotation of wheel 2, the distance between two parallel wheels 2 can be made to increase by third electric telescopic rod Greatly, so that the elevated height of car body 1, avoids the foreign matter of duct bottom from contacting with car body 1, enable car body 1 preferably It travels in the duct.
Wherein, dust-collecting type module is made of dust absorption nozzle 17, delivery pipe 18, disposal box 19, blower 20 and filter plate 21, dust absorption nozzle 17 are connected to the end of the second large arm 10 by transmission device 7, and delivery pipe 18 is placed in the middle part of car body 1, the both ends of delivery pipe 18 It is connected respectively with dust absorption nozzle 17 and disposal box 19, the side of disposal box 19 is fixedly connected with the end of car body 1, and filter plate 21 is placed in The side at the middle part of disposal box 19,19 inner wall of disposal box is fixedly connected with the outer wall of blower 20, passes through the suction in dust-collecting type module Dirt mouth 17 can be by Impurity Absorption lesser in pipeline, to realize the function of being cleared up pipeline.
Wherein, thickness measuring formula module is made of Thicknesser probe 22 and several conducting wires connecting with Thicknesser probe 22, and thickness measuring is visited First 22 top is connected to the end of the second large arm 10 by transmission device 7, and the thickness of pipeline can be measured by Thicknesser probe 22 Degree, and then judge whether pipeline is damaged or corrodes.
The magnetic disc type module includes the magnechuck and and magnechuck for adsorbing or removing residual scrap iron The conducting wire of connection, the magnechuck are mounted on the front end of the second large arm, and magnechuck and the front end of the second large arm are provided with Transmission device.
Wherein, transmission device 7 cooperates with the encoder of operating to form by servo motor and with servo motor, passes through servo motor The precision of the rotation of transmission device 7 can be improved,.
Wherein, the end of handgrip 15 is provided with the cone cell convex block for improving 15 grip of handgrip, can be with by cone cell convex block Handgrip 15 is enabled preferably to grasp the foreign matter in pipeline.
The wheel is caterpillar wheel.It can make car body that can move freely under numerous conditions.The creeper truck Wheel is made of directive wheel, driving wheel, strange wheel, tensioning wheel, keel chain and creeper tread.
In use, car body 1 can be placed in pipeline when staff needs to detect pipeline, if pipeline When bottom has foreign matter that car body 1 can be hindered mobile, the PLC that model STC12C5A60S2 can be controlled by extraneous remote control equipment is controlled Device 24 processed starts the third electric telescopic rod of model LX600, will push wheel when third electric telescopic rod output rod stretches out 2, can be crooked when wheel 2 is extruded since pipeline is circle, so that car body 1 can be moved more steadily, the first electricity The model of dynamic telescopic rod 9 and the second electric telescopic rod 11 is identical as third electric telescopic rod model, passes through extraneous remote control equipment control PLC controller 24 processed starts electromagnetic coil suction block 23, and electromagnetic coil suction block 23 can generate suction, by the effectively adsorption tube of car body 1 Road is moved, by transmission device 7 can make the first manipulator 5 be able to drive the video camera 12 of model NE-10911 into The three-dimensional all-directional rotation of row and camera shooting, viewing angle is wide, easy to use, and major light 13 and soft light 14 can in use process To improve the effect of the shooting of video camera 12.
When user needs to carry out the inner wall of pipeline thickness measuring, detection pipeline whether corrosive wear when, can be by model The Thicknesser probe 22 of HSF1 is sequentially connected by the end of transmission device 7 and the second large arm 10, and transmission device 7 can drive thickness measuring 22 rotation of probe, so that Thicknesser probe 22 can preferably carry out the thickness measuring of tube wall, the servo motor type in transmission device 7 Number be HBS57, encoder model E6B2-CWZ6C, when user needs to clear up the foreign matter in pipeline, if foreign matter It is larger, handgrip 15 and the second large arm 10 can be sequentially connected, handgrip 15 can under the action of press machine 16 by the bulk of pipeline Foreign matter picks up, and treatment effeciency is high, and the ability for adapting to environment is strong, when user needs to clear up foreign matter lesser in pipeline When, dust absorption nozzle 17 and the second large arm 10 can be sequentially connected, by dust absorption nozzle 17 against dust and small foreign matter, start blower 20, under the action of air negative pressure I, dust and small foreign matter can be inhaled into disposal box 19, realized the effect of cleaning, worked as vehicle Body 1 can open major light 13 and find the defects of pipeline in moving process, can be with when car body 1 is moved near defect Soft light 14 is opened, details light source supplement is carried out.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention, Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features. All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention Within protection scope.

Claims (10)

1. a kind of detecting robot of pipe characterized by comprising
Power plant module, the power plant module by car body (1), be placed in the wheel (2) of car body (1) bottom and be mounted on car body (1) And formed with the driving motor (3) of wheel (2) linkage, the inside of the car body (1) is equipped with battery (4), the car body (1) Electromagnetic coil suction block (23) are provided in the middle part of bottom end;
Transmission module, the transmission module is by the first manipulator (5) and the second manipulator (6) and several transmission devices (7) Composition, first manipulator (5) include the first large arm (8) and the first electric telescopic rod (9), the second manipulator (6) packet Include the second large arm (10) and the second electric telescopic rod (11), transmission device (7) connection the first large arm (8) and first electronic is stretched Contracting bar (9), the first large arm (8) and car body (1), the second large arm (10) and the second electric telescopic rod (11) and the second electric expansion Bar (11) and car body (1);
Detection module, the detection module are made of video camera (12), major light (13) and soft light (14), the video camera (12) end of the first electric telescopic rod (9) is connected to by transmission device (7);
Reaction module, the reaction module are in jack catchs type module, dust-collecting type module, magnetic disc type module and thickness measuring formula module At least one, the jack catchs type module is by handgrip (15) and press machine (16) group control handgrip (15) expansion and shunk At the handgrip (15) and press machine (16) pass through the end that transmission device (7) are connected to the second large arm (10);
Processing module, the processing module are made of PLC controller (24) and the control route connecting with PLC controller (24), The PLC controller (24) is mounted on car body (1), the PLC controller (24) by control route respectively with power plant module, Transmission module, detection module and reaction module are electrically connected, and the PLC controller (24) connect with external remote control device signal.
2. a kind of detecting robot of pipe according to claim 1, which is characterized in that the major light (13) and soft light (14) it is placed on the outside of video camera (12), the major light (13) and soft light (14) are arranged alternately.
3. a kind of detecting robot of pipe according to claim 1, which is characterized in that the press machine (16) is aerostatic press Or the one of which of hydraulic press.
4. a kind of detecting robot of pipe according to claim 1, which is characterized in that the wheel (2) and driving motor (3) third electric telescopic rod is provided between, and activity connects at the center of rotation of the end of the electric telescopic rod and wheel (2) It connects.
5. a kind of detecting robot of pipe according to claim 1, which is characterized in that the dust-collecting type module is by dust absorption nozzle (17), delivery pipe (18), disposal box (19), blower (20) and filter plate (21) composition, the dust absorption nozzle (17) pass through transmission device (7) it is connected to the end of the second large arm (10), the delivery pipe (18) is placed in the middle part of car body (1), the delivery pipe (18) Both ends are connected with dust absorption nozzle (17) and disposal box (19) respectively, and the side of the disposal box (19) and the end of car body (1) are solid Fixed connection, the filter plate (21) are placed in the middle part of disposal box (19), side and blower (20) of disposal box (19) inner wall Outer wall is fixedly connected.
6. a kind of detecting robot of pipe according to claim 1, which is characterized in that the thickness measuring formula module is visited by thickness measuring Head (22) and the conducting wire connecting with Thicknesser probe (22) composition, the top of the Thicknesser probe (22) are connected by transmission device (7) Connect the end in the second large arm (10).
7. a kind of detecting robot of pipe according to claim 1, which is characterized in that the magnetic disc type module includes The conducting wire for having the magnechuck for adsorbing or removing residual scrap iron and connecting with magnechuck, the magnechuck are mounted on The front end of the front end of second large arm (10), magnechuck and the second large arm (10) is provided with transmission device.
8. a kind of detecting robot of pipe according to claim 1, which is characterized in that the transmission device (7) is by servo Motor and the encoder composition that operating is cooperateed with servo motor.
9. a kind of detecting robot of pipe according to claim 1, which is characterized in that the end of the handgrip (15) is arranged There is the cone cell convex block for improving handgrip (15) grip.
10. a kind of detecting robot of pipe according to claim 1, it is characterised in that: the wheel is caterpillar wheel.
CN201821072691.6U 2018-07-08 2018-07-08 A kind of detecting robot of pipe Active CN208457442U (en)

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CN201821072691.6U CN208457442U (en) 2018-07-08 2018-07-08 A kind of detecting robot of pipe

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Application Number Priority Date Filing Date Title
CN201821072691.6U CN208457442U (en) 2018-07-08 2018-07-08 A kind of detecting robot of pipe

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110360408A (en) * 2019-07-29 2019-10-22 武汉特瑞升电子科技有限公司 A kind of mobile gas pipe detection device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110360408A (en) * 2019-07-29 2019-10-22 武汉特瑞升电子科技有限公司 A kind of mobile gas pipe detection device

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