CN208687228U - A kind of detecting robot of pipe of fixed work - Google Patents
A kind of detecting robot of pipe of fixed work Download PDFInfo
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- CN208687228U CN208687228U CN201821502574.9U CN201821502574U CN208687228U CN 208687228 U CN208687228 U CN 208687228U CN 201821502574 U CN201821502574 U CN 201821502574U CN 208687228 U CN208687228 U CN 208687228U
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- robot
- pipe
- hydroelectric generator
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- robot body
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Abstract
The utility model discloses a kind of detecting robot of pipe of fixed work, and pipe detection device, energy resource supply device, control system and communicating circuit are equipped in robot body's structure；The pipe detection device, telecontrol equipment and communicating circuit are connect with control system, the energy resource supply device realizes robot energy resource supply using minisize hydroelectric generator power generation, minisize hydroelectric generator is installed on robot body's structure bottom, minisize hydroelectric generator turbine inlet meets water (flow) direction using horn mouth flaring design, robot body's inside configuration is provided with accumulation power supply installation cavity, and the minisize hydroelectric generator power generation output connects the accumulation power supply.The detecting robot of pipe of the fixed work of the utility model, energy resource supply device utilizes small pipeline hydroelectric generator, and water potential energy is converted to electric energy, provides the energy to robot, it solves the problems, such as that public detection robot needs cable to energize, can adapt to the detection environment of complicated condition.
Description
Technical field
The utility model discloses a kind of detecting robot of pipe, belong to pipe handling equipment technical field.
Background technique
Currently, pipeline industry both domestic and external is not only in large scale but also quickly grows, the whole world only oil and gas pipeline
With regard to tens of thousands of kilometers, urban water supply heat supply and drainage pipeline are even more that can not count.So the safety management for pipeline transportation is
The emphasis of research, piping failure are a major issues for influencing transportation safety.The mode of pipeline leak detection is relatively more, mainly there is biography
System method and modernism two major classes, with being constantly progressive for informationization technology, the level of city intelligent management is higher and higher,
It is either past that the modern times are not able to satisfy using simple machine method using the conventional method for being manually lauched detection, or modern times
The demand of urban development is detected compared to these two types using robot, more precise and high efficiency, safety.
Detecting robot of pipe solves inconvenient factor when artificial detection piping failure, existing pipe robot institute
The electric power needed needs to connect external power supply by cable, inconvenient to use, and operates more troublesome.However, for certainly
The leak detection of water and sewage conduct, using cable connection external power supply, can not applicable elements complexity well detection
Environment.
Summary of the invention
The utility model is in view of the shortcomings of the prior art, propose a kind of detecting robot of pipe of fixed work, energy resource supply
Device utilizes small pipeline hydroelectric generator, and water potential energy is converted to electric energy, provides the energy to robot, solves public inspection
The problem of robot needs cable to energize is surveyed, can adapt to the detection environment of complicated condition.
Technical solution adopted by the utility model:
A kind of detecting robot of pipe of fixed work, including robot body's structure, in robot body's structure
On pipe detection device, energy resource supply device, control system and communicating circuit are installed；The pipe detection device and logical
News circuit is connect with control system, and the energy resource supply device realizes robot energy using minisize hydroelectric generator (3) power generation
Source supply, minisize hydroelectric generator are installed on robot body's structure bottom, and minisize hydroelectric generator turbine inlet meets water the side of stream
To using horn mouth flaring design, robot body's inside configuration is provided with accumulation power supply installation cavity, the miniature hydraulic hair
Electric power generation output connects the accumulation power supply, provides working power by the accumulation power supply for robot.
The detecting robot of pipe of the fixation work is equipped with absorption dress in robot body's structure bottom
It sets, the adsorbent equipment includes industrial sucker (2) and driving motor, and driving motor is arranged in robot front lower portion cabin,
Driving motor connects industrial sucker (2) by extensible link (8), and motor output shaft connects the upper end of extensible link (8), can
The lower end of shrinking connecting-rod is connected and fixed with industrial sucker (2)；The driving motor controlled connection of adsorbent equipment is in the control system.
The detecting robot of pipe of the fixation work, the telecontrol equipment is using the double plate omni-directional wheels (6) point of QL series
It is not installed on robot body's structure two sides, former and later two omni-directional wheels (6) of every side pass through foldable connecting rod and driving motor phase
Even, the omni-directional wheel includes wheel hub and driven wheel, is uniformly provided with 3 or 3 or more wheel hub teeth in the excircle of wheel hub, often
A driven wheel is installed between two wheel hub teeth, the radial direction of the driven wheel is vertical with the tangential direction of wheel hub excircle；Fortune
The driving motor controlled connection of dynamic device is in the control system.
The detecting robot of pipe of the fixation work, the pipe detection device include sonar contact probe (4), institute
It states sonar contact probe (4) and robot body's structure bottom front end, sonar contact probe output access institute is fixed on by connecting rod
State control system.
The detecting robot of pipe of the fixation work, the pipe detection device include miniature infrared camera (1),
Miniature infrared camera (1) output signal accesses digital picture intelligent processing system (7), the digital picture Intelligent treatment
System use ISP SOC chip XC6130, and with control system communication connection.
The utility model has the beneficial effects that
1, the detecting robot of pipe of the fixed work of the utility model can use when fixed using fixed working method
Small-sized hydraulic turbine generator power generation, is converted to mechanical energy for water flow, is then mentioned by turbogenerator power generation to robot
For the energy, solve the problems, such as that public detection robot needs cable to energize.Independent power generation is carried out by water flow to mention for robot
Power supply source has higher work cruise-ability, can form round-the-clock monitoring, solves the energy resource supply of existing pipe robot not
Sufficient problem.
2, the detecting robot of pipe of the fixed work of the utility model, can make machine by control system and telecontrol equipment
Device people can be carried out back and forth movement according to designed moving line by robot, be solved people with autonomous operation, telecontrol equipment
The problem of work needs compartment time check when checking.Easy to use, robot can work under rugged environment, operation control
It is fairly simple.
3, the detecting robot of pipe of the fixed work of the utility model can effectively carry out device by adsorbent equipment
It is fixed, and stablize and check, solve possibility because of the movement environment change procedure problem.
4, the detecting robot of pipe of the fixed work of the utility model, can more accurately provide the information of detection, protect
The accuracy of information is demonstrate,proved.In the detection process, using sonar contact probe (4) and miniature infrared camera to pipeline each section
It is detected, the information of detection can be more accurately provided, ensure that the accuracy of information.Accuracy is high, work efficiency is high.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model detecting robot of pipe；
Fig. 2 is adsorbent equipment industry sucker relaxed state schematic diagram；
Fig. 3 is adsorbent equipment industry sucker suction status diagram.
Specific embodiment
Below by specific embodiment, the technical solution of the utility model is described in further detail.
Embodiment 1
Referring to Fig. 1, the detecting robot of pipe of the fixed work of the utility model, including robot body's structure, described
Pipe detection device, energy resource supply device, control system and communicating circuit are installed in robot body's structure；The pipeline
Detection device and communicating circuit are connect with control system, with the prior art the difference is that: the energy resource supply
Device realizes that robot energy resource supply, minisize hydroelectric generator are installed on robot body using the power generation of minisize hydroelectric generator 3
Structure bottom, minisize hydroelectric generator turbine inlet is met water (flow) direction and is designed using horn mouth flaring, in robot body's structure
Portion is provided with accumulation power supply installation cavity, and the minisize hydroelectric generator power generation output connects the accumulation power supply, by the storage
Energy power supply provides working power for robot.
Embodiment 2
Referring to Fig. 1, Fig. 2, Fig. 3, the detecting robot of pipe of the fixation work of the present embodiment, it is different from embodiment 1 it
Be in: adsorbent equipment is installed in robot body's structure bottom, the adsorbent equipment includes industrial sucker 2 and drives
Dynamic motor, driving motor are arranged in robot front lower portion cabin, and driving motor connects industrial sucker 2 by extensible link 8,
Motor output shaft connects the upper end of extensible link 8, and the lower end of extensible link is connected and fixed with industrial sucker 2；Adsorbent equipment
Driving motor controlled connection in the control system.Motor rotation axis output rotatory force is transmitted to extensible link, the company of drive
Bar is flexible to release sucker, is then gone up by motor rotation axis, so that air in the flexible extraction disk of sucker, it will be between sucker and tube wall
Environment transition at vacuum environment, increase adsorption capacity, realize that the roof of robot is fixed.After work has been run, sucker is downward
It pushes away, water in pipeline is promoted into suction cup interior, keep its pressure difference different, adsorption capacity reduces to separate with duct wall.
In Fig. 2, Fig. 3, label 21 is installation part, can be moved up and down, it is made to have certain buffer distance, connection driving electricity
Machine and extensible link；Label 22 is removable rubber sucker, is fixed by connection screw thread 24 and the lower end of extensible link
Connection, rubber suction cups is with the movement of installation part and the deflation of spring and unclasps and changes relaxed state and adsorbed state, rubber
Sucker can select to replace different sucker models according to different pipe conditions；Label 23 is hexagon thin nut, makes extensible link
It is even closer with the connection of driving motor.
The detecting robot of pipe of the fixed work of the utility model, pipe detection device includes sonar contact probe 4, described
Sonar contact probe 4 is fixed on robot body's structure bottom front end by connecting rod, and sonar contact probe output accesses the control
System processed.
Embodiment 3
Referring to Fig. 1, the detecting robot of pipe of the fixation work of the present embodiment, difference from example 1 is that: contain
There is telecontrol equipment, it can change detection position when needed.The telecontrol equipment is installed respectively using the double plate omni-directional wheels 6 of QL series
In robot body's structure two sides, former and later two omni-directional wheels 6 of every side are connected by foldable connecting rod with driving motor, described complete
Include wheel hub and driven wheel to wheel, is uniformly provided with 3 or 3 or more wheel hub teeth, every two wheel hub in the excircle of wheel hub
A driven wheel is installed between tooth, the radial direction of the driven wheel is vertical with the tangential direction of wheel hub excircle；Telecontrol equipment
Driving motor controlled connection is in the control system.
Embodiment 4
Referring to Fig. 1, the detecting robot of pipe of the present embodiment, unlike foregoing embodiments: the pipe detection
Device includes miniature infrared camera 1, and miniature 1 output signal of infrared camera accesses digital picture intelligent processing system 7,
The digital picture intelligent processing system use ISP SOC chip XC6130, and with control system communication connection.
Miniature infrared camera 1 is by the rectangular card hole of robot body's structure front end with connecting rod and power supply and control system
It is connected, forms the upper layer of robot；Digital picture intelligent processing system is located at the underface body position of infrared camera 1.
The utility model detecting robot of pipe, using sonar contact probe and miniature infrared camera to pipeline each section
It is detected, information collected is respectively transmitted to by detection well by modern wireless transmitting and receiving device and intelligent algorithm processing
The signal receiving device of the dress of top, the picture that reception device will be displayed with " leak " filters out and record position, pushes alarm
Worker is notified to repair to corresponding maintenace point.The information of detection can be more accurately provided, ensure that the accurate of information
Property.
The vision signal cognitive disorders object that controller receives simultaneously, and respond, by controlling motor, change complete
To wheel motion mode, to hide obstacle.
The detecting robot of pipe of the present embodiment is suitble to fixed work and movement work.Fixed working morphology is relatively suitable for
Factory needs when work two machines to be placed on pipeline both ends and works at the same time, and placing postindustrial sucker can extend and will be empty automatically
Gas discharge, forms vacuum environment, so that robot is firmly adsorbed on duct wall, every machine has the measurement range of oneself
(generally 100m, other types can select the probe of different measurement ranges according to service pipe length) forms whole day monitoring.
When needing to move work, using a detecting robot of pipe, by algorithm for design process control kinematic system and
Setting robot motion's route makes it carry out back and forth movement, checks repeatedly, and sonar issues ultrasonic wave, is reflected by tube wall,
Structure sonar figure is formed, according to structure sonar figure, positioning leakage point approximate location.Detecting robot of pipe stores each sonar inspection
The sonar image of the mark location coordinate generated is surveyed, and is checking that well head is docked with information transfer reception device, by gained
Information be transmitted to transfer reception device, then by transfer reception device pass to geoceiver import computer, through calculation
After method screening judgement, positioning leakage point pushes alarm, worker is notified to repair.
The utility model is because energy resource supply device carries out independent power generation realization by water flow using minisize hydroelectric generator 3
Robot energy resource supply has higher work cruise-ability, so interrupting detection work because halfway is out of power without the concern for robot
The problem of making, while also avoiding existing detecting robot of pipe and cable is needed to energize, inconvenient problem with use.
Claims (5)
1. a kind of detecting robot of pipe of fixed work, including robot body's structure, in robot body's structure
Pipe detection device, energy resource supply device, control system and communicating circuit are installed；The pipe detection device and communication
Circuit is connect with control system, it is characterised in that: the energy resource supply device is realized using minisize hydroelectric generator (3) power generation
Robot energy resource supply, minisize hydroelectric generator are installed on robot body's structure bottom, minisize hydroelectric generator turbine inlet
Water (flow) direction is met using horn mouth flaring design, robot body's inside configuration is provided with accumulation power supply installation cavity, described micro-
The power generation output of type hydroelectric generator connects the accumulation power supply, provides working power by the accumulation power supply for robot.
2. the detecting robot of pipe of fixed work according to claim 1, it is characterised in that: in the robot body
Structure bottom is equipped with adsorbent equipment, and the adsorbent equipment includes industrial sucker (2) and driving motor, and driving motor setting exists
In robot front lower portion cabin, driving motor connects industrial sucker (2) by extensible link (8), and motor output shaft connection can
The upper end of shrinking connecting-rod (8), the lower end of extensible link are connected and fixed with industrial sucker (2)；The driving motor of adsorbent equipment by
Control is connected to the control system.
3. the detecting robot of pipe of fixed work according to claim 1 or 2, it is characterised in that: containing telecontrol equipment,
The telecontrol equipment is respectively arranged in robot body's structure two sides using the double plate omni-directional wheels (6) of QL series, every side former and later two
Omni-directional wheel (6) is connected by foldable connecting rod with driving motor, and the omni-directional wheel includes wheel hub and driven wheel, in the outer circle of wheel hub
It is uniformly provided with 3 or 3 or more wheel hub teeth week, a driven wheel, the diameter of the driven wheel is installed between every two wheel hub tooth
It is vertical with the tangential direction of wheel hub excircle to direction；The driving motor controlled connection of telecontrol equipment is in the control system.
4. the detecting robot of pipe of fixed work according to claim 3, it is characterised in that: the pipe detection device
It pops one's head in (4) including sonar contact, the sonar contact probe (4) is fixed on robot body's structure bottom front end by connecting rod,
Sonar contact probe output accesses the control system.
5. the detecting robot of pipe of fixed work according to claim 4, it is characterised in that: the pipe detection device
Including miniature infrared camera (1), miniature infrared camera (1) output signal accesses digital picture intelligent processing system
(7), the digital picture intelligent processing system use ISP SOC chip XC6130, and with control system communication connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821502574.9U CN208687228U (en) | 2018-09-14 | 2018-09-14 | A kind of detecting robot of pipe of fixed work |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821502574.9U CN208687228U (en) | 2018-09-14 | 2018-09-14 | A kind of detecting robot of pipe of fixed work |
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| Publication Number | Publication Date |
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| CN208687228U true CN208687228U (en) | 2019-04-02 |
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ID=65888570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201821502574.9U Active CN208687228U (en) | 2018-09-14 | 2018-09-14 | A kind of detecting robot of pipe of fixed work |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043747A (en) * | 2019-05-15 | 2019-07-23 | 安徽昊宇建设工程有限公司 | A kind of pipeline non-excavation rehabilitation device and pipeline trenchless repairing method |
| CN111706741A (en) * | 2020-06-18 | 2020-09-25 | 山东理工大学 | Multifunctional pipeline vehicle capable of developing |
-
2018
- 2018-09-14 CN CN201821502574.9U patent/CN208687228U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110043747A (en) * | 2019-05-15 | 2019-07-23 | 安徽昊宇建设工程有限公司 | A kind of pipeline non-excavation rehabilitation device and pipeline trenchless repairing method |
| CN110043747B (en) * | 2019-05-15 | 2020-09-22 | 安徽昊宇建设工程有限公司 | Pipeline trenchless repairing device and pipeline trenchless repairing method |
| CN111706741A (en) * | 2020-06-18 | 2020-09-25 | 山东理工大学 | Multifunctional pipeline vehicle capable of developing |
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