CN208670437U - Deformable ball-shape robot towards natural gas line internal detection and reparation - Google Patents
Deformable ball-shape robot towards natural gas line internal detection and reparation Download PDFInfo
- Publication number
- CN208670437U CN208670437U CN201821252632.7U CN201821252632U CN208670437U CN 208670437 U CN208670437 U CN 208670437U CN 201821252632 U CN201821252632 U CN 201821252632U CN 208670437 U CN208670437 U CN 208670437U
- Authority
- CN
- China
- Prior art keywords
- ball
- bottom plate
- steering engine
- reparation
- interior
- 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.)
- Active
Links
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 42
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 239000003345 natural gas Substances 0.000 title claims abstract description 21
- 230000008439 repair process Effects 0.000 claims abstract description 23
- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 238000007789 sealing Methods 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000005096 rolling process Methods 0.000 abstract description 2
- 238000005265 energy consumption Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 239000007787 solid Substances 0.000 description 4
- 230000009193 crawling Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000002689 soil Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000005465 channeling Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of deformable ball-shape robot towards natural gas line internal detection and reparation, divide from form includes episphere and lower semisphere, the episphere includes upper hemispherical shell, sensor unit, repair module, processor and power supply, the lower semisphere includes lower hemisphere shell, bottom plate, bottom plate steering engine, battery carrier, interior foot, interior sufficient steering engine, 60 degree of ball clacks and connecting rod, the bottom plate is fixedly connected with lower hemisphere shell and upper hemispherical shell respectively, makes machine artificially complete ball shape structure；Functionally divide includes walking module and the repair module.The utility model realizes that there is type ball rolling and sufficient formula to creep two kinds of motion modes in the duct for robot by mechanical structure and controller, realizes detection and reparation to natural gas line Small leak.The utility model has the features such as low energy consumption, and leakage recall rate is high, realizes and independently repairs, and environmental suitability is strong.
Description
Technical field
The utility model relates to robot fields, more specifically, in particular to a kind of for visiting inside natural gas line
That surveys and repair can deformation ball-shape robot.
Background technique
Main carrier of the natural gas line as transmission natural gas, has extremely stringent want to the airtightness of pipeline
It asks.Once the airtightness of natural gas line is bad, there is leakage phenomenon, it is possible to cause serious accident, bring heavy losses.For
This, finds leakage problem present in natural gas line in time and accurately, specifies specific leak position and leakage situation,
It is particularly critical for preventing natural gas line from security risk occur.
Traditional pipeline leakage detection method is mainly the method based on acoustical signal, since its testing principle is simple, detection
Easy, high-efficient, the advantages that limitation is low, good to the adaptability of different external channelings be widely used in pipeline leakage detection and
In positioning.However, insufficient due to recognizing leakage loss sound mechanism of production and feature, various existing soil's rigidity methods are actually being answered
It is restricted in, especially when detection scene is there are interference noise source outside various pipe inner tubes or only exists minute leakage, leakage loss
Erroneous judgement and misdetection rate are high.For the practical leakage orientation problem that natural gas line is faced, various localization methods are perfect not enough.
Therefore, one kind is currently needed to can move freely, performance is stable, soil's rigidity device in super-sensitive pipe.
It is often time-consuming and laborious for the artificial repairing of pipeline meanwhile after determining leakage point, and can be to pipeline
Normal production and living bring some inconvenience.
Utility model content
For overcome the deficiencies in the prior art, the utility model discloses one kind towards natural gas line internal detection with repair
Multiple deformable ball-shape robot.
A kind of deformable ball-shape robot towards natural gas line internal detection and reparation, it includes upper for dividing from form
Hemisphere and lower semisphere, the episphere include upper hemispherical shell, sensor unit, repair module, processor and power supply, described
Lower semisphere includes lower hemisphere shell, bottom plate, bottom plate steering engine, battery carrier, interior foot, interior sufficient steering engine, 60 degree of ball clacks and connecting rod, the bottom plate
It is fixedly connected respectively with lower hemisphere shell and upper hemispherical shell, makes machine artificially complete ball shape structure；
Functionally divide includes walking module and the repair module；
The walking module is located at the lower hemisphere portion, including the bottom plate steering engine, interior foot, interior sufficient steering engine,
60 degree of ball clacks and connecting rod drive the rotation of robot leg structure by connecting rod wherein 6 bottom plate steering engines are fixed on the bottom plate
Turn；The robot leg structure is made of the interior sufficient steering engine, interior foot and 60 degree of ball clacks, wherein interior foot and 60 degree of ball clacks are solid
Fixed connection is driven by interior sufficient steering engine and is realized using ball center's axis as the open and close movement in axle center；
The repair module is located at the upper half ball portion, the reparation for pipeline.
Interior sufficient shape cambered surface is realized with 60 degree of ball clack inboard wall groove faces and is fitted closely in the robot leg structure.
The walking module, using the six outer support structures of foot under walking states.
The upper hemispherical shell and the chassis connection sections point are provided with sealing ring, keep upper half ball portion closed.
The repair module includes built-in patching machine arm, processor and sensor unit, realizes robot in pipe
Detection and repair in road.
The utility model has the beneficial effects that:
1, leakage signal is quickly analyzed and is repaired in real time, directly pipeline can be repaired；
2, Design of Mechanical Structure is ingenious, and working environment adaptability is strong；
3, two kinds of working methods are independently converted, and dynamic role is high, and independence is strong；
4, low-power consumption works, and cruising ability is strong；
The utility model realizes that there is type ball rolling to climb with sufficient formula in the duct for robot by mechanical structure and controller
Two kinds of motion modes of row, and deformation process can be automatically performed, without participating in manually.Should towards natural gas line internal detection with
The deformable ball-shape robot repaired can be realized to the detection and reparation inside natural gas line, have broad prospect of application.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of two kinds of working morphologies of the utility model；
Fig. 2 is the structural schematic diagram of the utility model upper hemispherical shell；
Fig. 3 is the base plate supporting structure schematic diagram of the utility model；
Fig. 4 is the structural schematic diagram of the lower hemisphere shell of the utility model；
Fig. 5 is the top view of the walking module of the utility model；
Fig. 6 is the leg structure decomposition diagram of the utility model；
Fig. 7 is the structural schematic diagram of the connecting rod of the utility model；
Fig. 8 is the leg structure and connecting rod connection schematic diagram of the utility model；
Fig. 9 is the operation schematic diagram of the utility model；
Figure 10 is the pictorial diagram of the utility model；
In figure, upper hemispherical shell 1, lower hemisphere shell 2, bottom plate steering engine 3, the first bottom plate steering engine 3-1, the second bottom plate steering engine 3-2,
Three bottom plate steering engine 3-3, the 4th bottom plate steering engine 3-4, the 5th bottom plate steering engine 3-5, the 6th bottom plate steering engine 3-6,60 degree of ball clacks 4, bottom plates
5, connecting rod 6, interior foot 7, interior sufficient steering engine 8, battery carrier 9, the first leg structure T-1, the second leg structure T-2, third leg structure
T-3, the 4th leg structure T-4, the 5th leg structure T-5, the 6th leg structure T-6.
Specific embodiment
Utility model is further described with implementation with reference to the accompanying drawing.
A kind of deformable ball-shape robot towards natural gas line internal detection and reparation, it includes upper for dividing from form
Hemisphere and lower semisphere.
Referring to Fig.1, the upper half ball portion includes upper hemispherical shell 1 and built-in sensor unit, repair module, processing
Device, power supply etc..The lower hemisphere portion includes 2,60 degree of ball clacks 3 of lower hemisphere shell, bottom plate steering engine 4, bottom plate 5, connecting rod 6, interior foot 7,
Interior foot steering engine 8.The bottom plate 5 is fixedly connected with lower hemisphere shell 2 and upper hemispherical shell 1 respectively, makes machine artificially complete ball-type knot
Structure；Fig. 1 is the structure chart of two kinds of working morphologies of the utility model, and walking module leg structure is received when being in passive type working method
Tightly, complete spherical structure is formed.Walking module leg structure stretches when the formula working method that has the initiative, and forms outer support and stablizes knot
Structure, into six-foot crawling state.Two kinds of working methods are independently converted, and dynamic role is high, and independence is strong.
Referring to Fig. 2, the upper hemispherical shell structure in the upper half ball portion includes upper hemispherical shell 1, the first fixation hole 1-1, the
Two fixation hole 1-2, third fixation hole 1-3, the 4th fixation hole 1-4, groove structure 1-5.First fixation hole 1-1, the second fixation hole
1-2, third fixation hole 1-3, the 4th fixation hole 1-4 are connected with corresponding bottom plate fixation hole respectively, realize that upper hemispherical shell and bottom plate are solid
Fixed connection.Groove structure 1-5 places sealing ring, realizes the sealing of upper half ball portion, ensures upper half ball portion repair module building ring
The safety in border.
Referring to Fig. 3, the lower hemisphere portion indsole board supporting structure includes bottom plate 5,9 first steering engine 3-1 of battery carrier, second
Steering engine 3-2, third steering engine 3-3, the 4th steering engine 3-4, the 5th steering engine 3-5, the 6th steering engine 3-6, steering engine fixation hole 5-1, connection are solid
Determine hole 5-2.Six steering engines and battery carrier are fixed on bottom plate through steering engine fixation hole on bottom plate, and eight on bottom plate fixation hole is used for
With being fixedly connected for lower hemisphere shell and upper hemispherical shell.
Referring to Fig. 4, lower hemisphere shell structure includes lower hemisphere shell 2 in the lower hemisphere portion, the 5th fixation hole 2-1, and the 6th
Fixation hole 2-2, the 7th fixation hole 2-3, the 8th fixation hole 2-4.The 5th fixation hole 2-1, the 6th fixation hole 2-2, the 7th is solid
Determine hole 2-3, the 8th fixation hole 2-4 fixation hole connection corresponding with bottom plate 5 respectively realizes that lower hemisphere shell 2 and the fixed of bottom plate 5 connect
It connects.In conjunction with Fig. 7, bottom plate 5 is fixedly connected with lower hemisphere shell 2 and upper half ball portion respectively, makes machine artificially complete ball shape structure,
Environmental suitability is strong, may be implemented in pipeline in passive type working method and rolls and advances, low-power consumption work.
Functionally divide includes walking module and the repair module.
The walking module is located at the lower hemisphere portion, using the six outer support structures of foot under walking states.
Referring to Fig. 5, the walking module, by the first leg structure T-1, the second leg structure T-2, third leg structure T-
3, the 4th leg structure T-4, the 5th leg structure T-5, the 6th leg structure T-6, six connecting rods, six bottom plate steering engines and bottom plate
5 are constituted.Wherein 6 bottom plate steering engines are fixed on the bottom plate 5, drive the rotation of robot leg structure by connecting rod.
Referring to Fig. 6, the leg structure in the walking module includes interior sufficient steering engine 8,7,60 degree of ball clacks 3 of interior foot, the first rudder
Machine fixation hole 8-1, the second steering engine fixation hole 8-2, sufficient fixation hole 7-1 in first, sufficient fixation hole 7-2 in second, 60 degree ball clacks are consolidated
Determine hole 7-3.Interior foot steering engine 8 is with interior foot 7 by fixing enough in the first steering engine fixation hole 8-1, the second steering engine fixation hole 8-2, first
Hole 7-1, foot fixation hole 7-2 is fixedly connected in second, and interior foot 7 and 60 degree ball clack 3 passes through the fixed companies of 60 degree ball clack fixation hole 7-3
It connects, and in configuration design sufficient inside, fits closely interior sufficient shape camber line with 60 degree of ball clack inboard wall grooves.
Referring to Fig. 7, the link mechanism in the walking module includes connecting rod 6, steering engine connecting hole 6-1,6-2.The two of connecting rod
A steering engine connecting hole 6-1,6-2 are connected with the fixed steering engine of bottom plate, the fixed steering engine of interior foot respectively, keep robot leg free with two
Degree.Steering engine connecting hole internal screw thread agrees with specified model steering engine external screw thread.
It is the connection figure of the utility model robot leg structure and connecting rod referring to Fig. 8, it is interior by 6,60 degree of ball clacks 3 of connecting rod
Sufficient steering engine 8, interior foot 7 are constituted.Foot 7 is fixedly connected with 60 degree of ball clacks 3 in wherein, is driven and is realized with ball center's axis by interior sufficient steering engine 8
For the open and close movement in axle center；The shape cambered surface of interior foot 7 realizes close patch with 60 degree of 3 inboard wall groove faces of ball clack in the leg structure
It closes.
The repair module is located at the upper half ball portion, the reparation for pipeline.The repair module includes interior
Patching machine arm, processor and the sensor unit set realize detection and repair of the robot in pipeline.
Referring to Fig. 9, utility model works process is as follows, will start switch first, by robot with ball-type mode investment
Pipeline is started to work.Acoustical signal data in real-time acquisition pipeline are automatically stored into itself SD card, and pass through for robot
Wi-Fi sends the remote offline that detection information is realized.If detecting leakage, robot can independently enter six-foot crawling state,
Leg is controlled by internal processor, walking realizes the repair to pipe leakage near leaking, through repairing mechanism.It repairs
After the completion of work, robot leg structure is shunk completely, is moved in pipeline with ball-type mode again.
Referring to Fig.1 0, it is a material object of the utility model, has carried out active and two kinds of works of passive type in pipeline
Make the test and experiment of mode.
Claims (5)
1. a kind of deformable ball-shape robot towards natural gas line internal detection and reparation, it is characterised in that:
Dividing from form includes episphere and lower semisphere, and the episphere includes upper hemispherical shell (1), sensor unit, repairs
Multiple module, processor and power supply, the lower semisphere includes lower hemisphere shell (2), bottom plate (5), bottom plate steering engine (3), battery carrier, interior
Foot (7), interior sufficient steering engine (8), 60 degree of ball clacks (4) and connecting rod (6), the bottom plate (5) respectively with lower hemisphere shell (2) and upper hemispherical shell
(1) it is fixedly connected, makes machine artificially complete ball shape structure；
Functionally divide includes walking module and the repair module；
The walking module is located at the lower hemisphere portion, including the bottom plate steering engine (3), interior foot (7), interior sufficient steering engine
(8), 60 degree of ball clacks (4) and connecting rod (6), wherein 6 bottom plate steering engines (3) are fixed on the bottom plate (5), by connecting rod (6) band
The rotation of mobile robot leg structure；The robot leg structure is by the interior sufficient steering engine (8), interior foot (7) and 60 degree of ball clacks
(4) it constitutes, wherein interior foot (7) is fixedly connected with 60 degree of ball clacks (4), is driven and realized using ball center's axis as axis by interior sufficient steering engine (8)
The open and close movement of the heart；
The repair module is located at the upper half ball portion, the reparation for pipeline.
2. the deformable ball-shape robot according to claim 1 towards natural gas line internal detection and reparation, special
Sign is: the shape cambered surface of interior foot (7) realizes close patch with 60 degree of ball clack (4) inboard wall groove faces in the robot leg structure
It closes.
3. the deformable ball-shape robot according to claim 1 towards natural gas line internal detection and reparation, special
Sign is: the walking module, using the six outer support structures of foot under walking states.
4. the deformable ball-shape robot according to claim 1 towards natural gas line internal detection and reparation, special
Sign is: the upper hemispherical shell (1) and the bottom plate (5) coupling part are provided with sealing ring, keep upper half ball portion closed.
5. the deformable ball-shape robot according to claim 1 towards natural gas line internal detection and reparation, special
Sign is: the repair module includes built-in patching machine arm, processor and sensor unit, realizes robot in pipeline
Interior detection and repair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821252632.7U CN208670437U (en) | 2018-08-06 | 2018-08-06 | Deformable ball-shape robot towards natural gas line internal detection and reparation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821252632.7U CN208670437U (en) | 2018-08-06 | 2018-08-06 | Deformable ball-shape robot towards natural gas line internal detection and reparation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208670437U true CN208670437U (en) | 2019-03-29 |
Family
ID=65833501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821252632.7U Active CN208670437U (en) | 2018-08-06 | 2018-08-06 | Deformable ball-shape robot towards natural gas line internal detection and reparation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208670437U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627525A (en) * | 2018-04-12 | 2018-10-09 | 上海建工集团股份有限公司 | Inner wall of the pipe crack detection device and method |
| CN109027516A (en) * | 2018-08-06 | 2018-12-18 | 浙江大学 | A kind of deformable ball-shape robot towards natural gas line internal detection and reparation |
-
2018
- 2018-08-06 CN CN201821252632.7U patent/CN208670437U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108627525A (en) * | 2018-04-12 | 2018-10-09 | 上海建工集团股份有限公司 | Inner wall of the pipe crack detection device and method |
| CN109027516A (en) * | 2018-08-06 | 2018-12-18 | 浙江大学 | A kind of deformable ball-shape robot towards natural gas line internal detection and reparation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN208670437U (en) | Deformable ball-shape robot towards natural gas line internal detection and reparation | |
| CN205310243U (en) | Robot is patrolled and examined to rail mounted | |
| CN107329483A (en) | The detecting robot of pipe system and method for work of a kind of view-based access control model technology | |
| CN101289156A (en) | Intelligent container sling based on omniberaing vision sensor | |
| CN206833217U (en) | A kind of field planting monitoring system | |
| CN109899621A (en) | A kind of intelligent spherical detecting robot of pipe | |
| CN103115245A (en) | Pipeline detection device based on piezomagnetic effect | |
| CN205278702U (en) | Support is measured in accurate leveling of intelligence | |
| CN109027516A (en) | A kind of deformable ball-shape robot towards natural gas line internal detection and reparation | |
| CN205915304U (en) | Ball valve equipment workstation that shifts | |
| CN207623749U (en) | A kind of inside transformer detection robot control system | |
| CN207189121U (en) | Rotate ring component detection assembling structure | |
| CN206302573U (en) | A kind of unmanned transport vehicle of indoor positioning based on ibeacon technologies | |
| CN205540266U (en) | Wheeled drive pipeline robot of spiral based on high strength spring presses wall to put | |
| CN209673312U (en) | Pressure pipeline leak source locator, leak source positioning device and Leakage Point Location System | |
| CN201995070U (en) | Local positioning system | |
| CN202733371U (en) | Lifting device of gate leakage detecting device | |
| CN105856236B (en) | It is wirelessly transferred the quick natural gas line robot control system of four core, four axis crawler type | |
| CN109159135B (en) | A kind of acquisition of new energy Agricultural Information robot and its application method | |
| Long et al. | Design of high-power fully automatic charging device | |
| CN206610129U (en) | A kind of indoor crusing robot multi-channel data acquisition control card | |
| CN106826171A (en) | The anti-escape bulb of bolt-type enters a device and its application method | |
| CN207730366U (en) | A kind of boiler tubing connector hydraulic pressure testing device | |
| CN215984469U (en) | Automatic mapping device for measuring circular arc size of storage tank | |
| CN207020525U (en) | A kind of curing chamber for facilitating user's control dries centralized control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |