CN208495263U - Machinery equipment based on natural gas line monitoring - Google Patents
Machinery equipment based on natural gas line monitoring Download PDFInfo
- Publication number
- CN208495263U CN208495263U CN201820159813.9U CN201820159813U CN208495263U CN 208495263 U CN208495263 U CN 208495263U CN 201820159813 U CN201820159813 U CN 201820159813U CN 208495263 U CN208495263 U CN 208495263U
- Authority
- CN
- China
- Prior art keywords
- console
- shaft
- natural gas
- gas line
- side wall
- 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
Links
Landscapes
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The utility model discloses the machinery equipments monitored based on natural gas line, including the console with controller, the top of the console connects first rotating shaft both ends by movable stand, plastic layer is arranged in the first rotating shaft outer surface, hairbrush is set on the plastic layer, and second shaft one end of the movable stand rotation connection, second shaft and first rotating shaft are mutually perpendicular to be controlled by controller, the second shaft other end flexural pivot connects round turntable, and hairbrush is arranged on the round turntable side wall；Two symmetrical Athey wheels are arranged in the bottom of the console, substrate is arranged in console side wall, the substrate connection side wall has the photographic device of camera, range sensor is arranged in the photographic device bottom surface, the range sensor acquisition bottom pipe range information is sent to control, and controller receives information and stores.
Description
Technical field
The utility model relates to a kind of pipeline climbing robots, and in particular to the machine based on natural gas line monitoring is set
It is standby.
Background technique
Climbing robot carrying platform is also known as " movement carrying platform ", is to be appointed using movement mechanism as carrier according to production
The alternative platform for carrying coherent detection instrument of business.It has been applied to military affairs, electric power, petroleum and petrochemical industry, non-destructive testing, municipal administration.It is empty
Between more wheel constructions in-pipe robot wheel and wall surface when contacting, the radial direction of the line of contact point and core wheel in cylinder
On, and the driving direction of wheel is parallel with the bus of cylinder, and this is that single wheel one kind of pose in canal surface is special
Situation.When wheeled mobile robot is run in the duct, due to line size size not, have bend and " T " type joint etc., wheel
The pose of each wheel of formula mobile robot in the duct is that the uncertain axis direction for producing wheel may out of plumb
In the radial direction of round tube, meet pure rolling and without side in free-position on round tube curved surface it is therefore necessary to analyze single wheel
Kinematics characteristic under sliding condition.For wheeled pipe robot in asking of encountering of actual application Shanghai for example in bend pipe,
Movement interference occurs when with irregular pipeline, the driving force as caused by in-fighting is insufficient, deformation ten thousand and machine due to wall surface
The error of people itself causes robot to deviate correct posture, or even rollover and stuck these problems in the duct.It is both domestic and external
Researcher mainly from structure, is such as solved using differential mechanism, flexible connected etc., but this can make structure more multiple
It is miscellaneous, increase cost.
For wheeled pipe robot, accurate kinematics model is the basis for realizing precise motion control.To single wheel
It analyzes in terms of son, kinematics characteristic and control theory of the wheeled mobile robot in canal surface seldom, in particular for pipe
The detection field of pipeline creeping robot can not accomplish a detection well when pipeline dust is very big.
Utility model content
Technical problem to be solved in the utility model is for wheeled pipe robot, and accurate kinematics model is real
The basis of existing precise motion control.To kinematics characteristic in canal surface of single wheel, wheeled mobile robot and control
Theoretical side analysis seldom, can not when pipeline dust is very big in particular for the detection field of pipeline climbing robot
Accomplish that one is detected well, and it is an object of the present invention to provide the machinery equipment based on natural gas line monitoring, solves the above problems.
The utility model is achieved through the following technical solutions:
Based on the machinery equipment of natural gas line monitoring, including the console with controller, the top of the console
First rotating shaft both ends are connected by movable stand, the first rotating shaft outer surface is arranged plastic layer, hairbrush is arranged on the plastic layer,
Second shaft one end of the movable stand rotation connection, second shaft and first rotating shaft are mutually perpendicular to be controlled by controller,
The second shaft other end flexural pivot connects round turntable, and hairbrush is arranged on the round turntable side wall；The bottom of the console
Two symmetrical Athey wheels are arranged in portion, and substrate is arranged in console side wall, and there is the substrate connection side wall camera shooting of camera to fill
It sets, range sensor is arranged in the photographic device bottom surface, and the range sensor acquisition bottom pipe range information is sent to control
System, controller receive information and store.For wheeled pipe robot, accurate kinematics model is to realize precise motion control
Basis.It is analyzed very in terms of to kinematics characteristic in canal surface of single wheel, wheeled mobile robot and control theory
It is few, in particular for the detection field of pipeline climbing robot, can not accomplish when pipeline dust is very big one well
Detection, using 2 improvement are done on traditional pipe robot, first increases the structure of two groups of hairbrush, does one to pipeline
The cleaning on a basis, cleans up the dust of willow catkins flying in the air, this is used for cleaning pipeline, can be one from outside after cleaning up
Photographic device is then moved down and does a fixation by the exclusion dust of direction exhaust fan or hair dryer manually
Connection, have the advantage that in this way, aiming at the problem that detecting tube wall inner wall flatness, range sensor it is lasting detect away from
From and be sent to controller, follow-up work personnel obtain vertical range and duct length by the extraction to controller data
Curve graph, it is according to kink of curve situation it can be concluded that internal whether smooth.
Gauze layer is arranged in the disk of the round turntable.Further, as a preferred embodiment of the present invention.
The substrate is connect by screw with console.Further, as a preferred embodiment of the present invention.
LED illumination lamp is set on the substrate, further, as a preferred embodiment of the present invention.
The utility model compared with prior art, has the following advantages and benefits:
1, the machinery equipment that the utility model is monitored based on natural gas line, first increases the structure of two groups of hairbrush, right
Pipeline does a basic cleaning, cleans up the dust of willow catkins flying in the air, this is used for cleaning pipeline；
2, the machinery equipment that the utility model is monitored based on natural gas line, can be from an external direction after cleaning up
With the exclusion dust of exhaust fan or hair dryer manually；
3, photographic device is moved down and does one by the machinery equipment that the utility model is monitored based on natural gas line
Fixed connection, has the advantage that in this way, aiming at the problem that detecting tube wall inner wall flatness, the lasting detection of range sensor
To distance and it is sent to controller, it is long with pipeline to obtain vertical range by the extraction to controller data by follow-up work personnel
The curve graph of degree, it is according to kink of curve situation it can be concluded that internal whether smooth.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of embodiment of the utility model.
Label and corresponding component names in attached drawing:
1- camera, 2- range sensor, 4- photographic device, 5- substrate, 7- console, 8- Athey wheel, first turn of 11-
Axis, the second shaft of 12-.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment 1
As shown in Figure 1, the machinery equipment that the utility model is monitored based on natural gas line, including the control with controller
The top of platform 7, the console 7 connects 11 both ends of first rotating shaft, 11 outer surface of the first rotating shaft setting modeling by movable stand 6
Glue-line, is arranged hairbrush on the plastic layer, the described rotation of movable stand 6 connection 12 one end of the second shaft, second shaft 12 with
First rotating shaft 11 is mutually perpendicular to be controlled by controller, and 12 other end flexural pivot of the second shaft connects round turntable, the circle
Hairbrush is set on shape turntable side wall；Two symmetrical Athey wheels 8 are arranged in the bottom of the console 7, and base is arranged in 7 side wall of console
Plate 5, the substrate 5 connect the photographic device 4 that side wall has camera 1, and range sensor 2 is arranged in 4 bottom surface of photographic device,
The range sensor 2 acquires bottom pipe range information and is sent to control, and controller receives information and stores.Described round turn
Gauze layer is arranged in the disk of disk.The substrate 5 is connect by screw with console 7.LED headlamp is set on the substrate 5；
When work: the structure by increasing two groups of hairbrush does a basic cleaning to pipeline, cleans up willow catkins flying in the air
Dust, this is used for cleaning pipeline, can be artificial from an external direction exhaust fan or hair dryer after cleaning up
Dust is manually excluded, photographic device 4 is then moved down to and done a fixed connection, is had the advantage that in this way,
Aiming at the problem that detecting tube wall inner wall flatness, range sensor 2 is lasting to be detected distance and is sent to controller, subsequent work
Make personnel by the extraction to controller data, the curve graph of vertical range and duct length is obtained, according to kink of curve feelings
Whether condition is it can be concluded that internal smooth.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (4)
1. based on the machinery equipment of natural gas line monitoring, including the console (7) with controller, it is characterised in that: described
The top of console (7) connects first rotating shaft (11) both ends, first rotating shaft (11) the outer surface setting modeling by movable stand (6)
Hairbrush, described movable stand (6) rotation connection the second shaft (12) one end, second shaft are arranged on the plastic layer for glue-line
(12) it is mutually perpendicular to be controlled by controller with first rotating shaft (11), the second shaft (12) other end flexural pivot connection is round to be turned
Hairbrush is arranged on the round turntable side wall in disk；
Two symmetrical Athey wheels (8) are arranged in the bottom of the console (7), and substrate (5) are arranged in console (7) side wall, described
Substrate (5) connects the photographic device (4) that side wall has camera (1), and range sensor is arranged in photographic device (4) bottom surface
(2), range sensor (2) the acquisition bottom pipe range information is sent to control, and controller receives information and stores.
2. the machinery equipment according to claim 1 based on natural gas line monitoring, it is characterised in that: the round turntable
Disk be arranged gauze layer.
3. the machinery equipment according to claim 1 based on natural gas line monitoring, it is characterised in that: the substrate (5)
It is connect by screw with console (7).
4. the machinery equipment according to claim 1 based on natural gas line monitoring, it is characterised in that: the substrate (5)
Upper setting LED illumination lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820159813.9U CN208495263U (en) | 2018-01-30 | 2018-01-30 | Machinery equipment based on natural gas line monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820159813.9U CN208495263U (en) | 2018-01-30 | 2018-01-30 | Machinery equipment based on natural gas line monitoring |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208495263U true CN208495263U (en) | 2019-02-15 |
Family
ID=65294872
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820159813.9U Expired - Fee Related CN208495263U (en) | 2018-01-30 | 2018-01-30 | Machinery equipment based on natural gas line monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208495263U (en) |
-
2018
- 2018-01-30 CN CN201820159813.9U patent/CN208495263U/en not_active Expired - Fee Related
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9333654B2 (en) | Robot parts assembly on a workpiece moving on an assembly line | |
| CN103868470B (en) | A kind of drill pipe buckling degree detection device and method | |
| US20100324773A1 (en) | Method and apparatus for relocating mobile robot | |
| CN110118307B (en) | Small-sized pipeline leakage detection device and detection method for nuclear power plant | |
| CN1563889A (en) | Laser tracking inertia combined measuring system and its measuring method | |
| CN104236543A (en) | Cable type measurement system and measurement method for industrial robot spatial pose precision and track measurement | |
| CN101127317A (en) | Positioning device and positioning method for wafer sheet | |
| CN108388187A (en) | A kind of robot control system | |
| CN208495263U (en) | Machinery equipment based on natural gas line monitoring | |
| CN106546190A (en) | A kind of robot device and method for surface defects detection | |
| CN105783997A (en) | Automatic detection device and method of bridge box girder | |
| Yue et al. | Automatic obstacle-crossing planning for a transmission line inspection robot based on multisensor fusion | |
| CN112483330B (en) | Unmanned inspection track program control method matched with state of in-service wind turbine | |
| CN208025017U (en) | Probe deduster based on pipe robot | |
| CN108361469A (en) | Lens anti-pollution device for detector | |
| CN108380606A (en) | A kind of combustion gas safety check terminal installation | |
| CN106468548A (en) | A kind of method of three axle kinetic measurement robot motions | |
| Zheng et al. | A method to detect stairs with three-dimensional scanning for hexapod robot stair climbing | |
| CN208025019U (en) | mobile device for detecting pipeline | |
| CN114019950B (en) | Tunnel structure apparent disease intelligent inspection robot | |
| CN109900234A (en) | A kind of outside circle average diameter testing agency of internal tooth form workpiece | |
| CN208025021U (en) | It is used in the pulley of arcwall face movement | |
| CN108374943A (en) | Mobile device based on natural gas line inspection | |
| CN110161079A (en) | A kind of tunnel safety detection robot | |
| CN106767620A (en) | A kind of sensor of high-precision displacement measurement system installs detection method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190215 Termination date: 20200130 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |