CN208750421U - Inner condition of pipeline detection device - Google Patents
Inner condition of pipeline detection device Download PDFInfo
- Publication number
- CN208750421U CN208750421U CN201821540584.1U CN201821540584U CN208750421U CN 208750421 U CN208750421 U CN 208750421U CN 201821540584 U CN201821540584 U CN 201821540584U CN 208750421 U CN208750421 U CN 208750421U
- Authority
- CN
- China
- Prior art keywords
- pipeline
- detection device
- foreign matter
- clamp hand
- driving
- 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
- Manipulator (AREA)
Abstract
The utility model discloses a kind of inner condition of pipeline detection devices, including body and set on the power supply for powering to each electrical component of body, running gear for walking, for driving the travel driving unit of running gear, for picking up the pick device of foreign matter in pipeline, for driving the pickup driving device of pick device, aggregation of data processing unit for being handled collected data and external command, data transmission device for information transmission, for acquiring the parameter sensing device of external information, detection device for foreign matter in pipeline to be scanned and identified and the record memory device for recording storage data;The mechanical arm that the pick device includes clamp hand and moves in space for controlling clamp hand, one end of the mechanical arm is connected to body, the other end is connected to clamp hand;The utility model can not only detect the specific situation in pipeline, but also can be picked up to the foreign matter in pipeline.
Description
Technical field
The utility model relates to engineering detecting field more particularly to a kind of inner condition of pipeline detection devices.
Background technique
Pipeline transportation play the role of in current engineering field it is vital, due to pipe design complexity with it is closed
Property, periodic maintenance detection in use becomes a great problem of engineers and technicians;For the real-time shape inside pipeline
Condition is monitored using fixed equipment, at high cost, and sensitive for damages;Instrument appliance arrangement is in for a long time in certain extraordinary substances,
Its own precision, the accuracy for acquiring data are difficult for technical staff's grasp;Meanwhile fixed equipment is only capable of in detection smaller range
Field data, and it is inconvenient update, increase with pipeline service life, local ageing damages, hoards foreign matter (or obstacle
Object) the phenomenon that possibly can not find and handle in time, easily initiation related accidents, cause economic loss and environmental disruption, give people
Production and living bring adverse effect.Based on this, Chinese patent CN 103615663A discloses a kind of pair of liquid conveying pipe
The inner condition of pipeline detection device that internal state is inspected periodically comprising provide power supply, the control device fortune of electric power for device
Dynamic drive module, the propulsive mechanism being connected with drive module, the data that collected data and external command are handled
Integrated treatment module, the communication for information transmission and data transmission module, many kinds of parameters for acquiring external information perceive
Module and memory module is photographed to record, which can timely and conveniently detect the specific situation in pipeline and detection range is big.
However, the device can not be picked up the foreign matter in pipeline, and narrow in pipeline, rugged environment is unfavorable for carrying out manually
Pick up, engineers and technicians manually picked up by force if not only risk it is high, but also efficiency is lower.
Utility model content
In view of this, pipeline can not only be detected the purpose of this utility model is to provide a kind of inner condition of pipeline detection device
Interior specific situation, but also the foreign matter in pipeline can be picked up.
The inner condition of pipeline detection device of the utility model, including body and set on body for powering to each electrical component
Power supply, for the running gear of walking, the travel driving unit for driving running gear, for picking up foreign matter in pipeline
Pick device, the pickup driving device for driving pick device, for handling collected data and external command
Aggregation of data processing unit, for information transmission data transmission device, the parameter sensing device for acquiring external information,
Detection device for foreign matter in pipeline to be scanned and identified and the record memory device for recording storage data;It is described
Travel driving unit picks up driving device, parameter sensing device, detection device and record memory device respectively and at aggregation of data
Manage device connection;The data transmission device has connected aggregation of data processing unit and has carried out the outside of auxiliary control to robot
Monitor controller;The mechanical arm that the pick device includes clamp hand and moves in space for controlling clamp hand, the machinery
One end of arm is connected to body, the other end is connected to clamp hand.
As further improvement to above-mentioned technical proposal, the parameter sensing device carries out data using digital sensor
Acquisition, including detecting the Temperature Humidity Sensor of temperature and humidity, detecting the gas concentration sensor of gas concentration in pipeline, detection
The ambient pressure sensor of air pressure in pipeline detects the illuminance sensor for whether having light leakage phenomena in pipeline and detects pipeline and inclines
The gravity sensor of gradient.
As further improvement to above-mentioned technical proposal, the data transmission device uses wireless mode and external monitoring
Control device is connected.
As further improvement to above-mentioned technical proposal, the detection device includes that 3 D stereo camera and illumination are set
It is standby.
As further improvement to above-mentioned technical proposal, the running gear includes at least two traveling wheels, the row
Walking driving device includes passing with the one-to-one movable motor of traveling wheel, the wheel shaft of the traveling wheel and the output shaft of movable motor
Dynamic connection.
As further improvement to above-mentioned technical proposal, the body is four-wheel body construction, and the running gear is set
There are four four wheels of the traveling wheel as body.
As further improvement to above-mentioned technical proposal, magnetic tire is arranged with outside the traveling wheel.
As further improvement to above-mentioned technical proposal, the pick device further includes removably being connected to machine
Control box on body is symmetrically arranged with two mechanical arms on the control box, and two clamp hands are separately positioned on two mechanical arms
End;It is located at the position at control box rear on the body equipped with the containing box for accommodating the foreign matter that clamp hand is picked up.
By above disclosure, the utility model has following advantageous effects:
The inner condition of pipeline detection device of the utility model can not only timely and conveniently detect the specific situation in pipeline, and
And the foreign matter in pipeline can also be picked up;Specifically, robot is before execution task, first by engineers and technicians according to
Relevant parameter is set according to pipeline Specific disposition, to be measured section of node opening of pipeline is put into robot, it can be in corresponding pipeline
Portion carries out automatic measurement monitoring;It can be in real time to the temperature and humidity in pipeline, special gas concentration, air pressure, illumination in detection process
The parameters such as degree measure;When encountering has foreign matter in pipeline, foreign substance information is acquired by detection device and transmits the information
After giving aggregation of data processing unit, aggregation of data processing unit to handle the collected information of detection device, control walking
Driving device drives running gear, after body moves to the appropriate position, then controls and picks up driving device driving mechanical arm and clamp hand
Foreign matter is picked up, pipeline is accumulated to avoid foreign matter and causes related accidents;The pick device of the utility model can replace
The artificial automatic pickup for carrying out foreign matter, has saved manpower and time cost, improves work efficiency and safety.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model;
Fig. 2 is the principles of the present invention block diagram;
Fig. 3 is the structural schematic diagram of the pick device of the utility model;
Fig. 4 is enlarged drawing at A in Fig. 3.
Specific embodiment
It is with reference to the accompanying drawing and specific real to make those skilled in the art more fully understand the technical solution of the utility model
Applying example, the utility model is described in further detail.
As shown in Figures 1 to 4: the inner condition of pipeline detection device of the present embodiment is used for including body 1 and set on body 1
To each electrical component power power supply, for the running gear of walking, the travel driving unit for driving running gear, be used for
Pick up the pick device of foreign matter in pipeline, the pickup driving device for driving pick device, for collected data and
Aggregation of data processing unit that external command is handled, for the data transmission device of information transmission, for acquiring external letter
The parameter sensing device of breath, the detection device for foreign matter in pipeline to be scanned and identified and for recording storage data
Record memory device;The travel driving unit picks up driving device, parameter sensing device, detection device and record storage dress
It sets and is connect respectively with aggregation of data processing unit;The data transmission device has connected aggregation of data processing unit and to robot
Carry out the external monitoring control device of auxiliary control;The pick device includes clamp hand 2 and moves in space for controlling clamp hand 2
Dynamic mechanical arm 3, one end of the mechanical arm 3 is connected to body 1, the other end is connected to clamp hand 2.
Body 1 can be car body mechanism or other Rational structures;Power supply for example can be the great Rong being located inside body 1
Measure battery;Running gear enables body 1 to walk in pipeline;Aggregation of data processing unit is preferably MSP430 series monolithic
Machine can carry out power supply, travel driving unit, pickup driving device, parameter sensing device, detection device and record memory device
Centralized management;External monitoring control device can be computer, such as can be controlled by LabVIEW system robot.
In the present embodiment, the parameter sensing device using digital sensor carry out data acquisition, including detection temperature and
The Temperature Humidity Sensor of humidity, the environment gas for detecting the gas concentration sensor of gas concentration in pipeline, detecting air pressure in pipeline
Whether there is the illuminance sensor of light leakage phenomena in pressure sensor, detection pipeline and detects the gravity sensor of pipeline gradient;
Data acquisition is carried out using digital sensor, to ensure the precision of total system;These digital sensors are separately mounted to machine
The suitable position of body 1;The data transmission device then uses wireless mode to be connected with external monitoring control device, will count in real time
According to reaching external monitoring control device;The detection device includes 3 D stereo camera and lighting apparatus, 3 D stereo camera shooting
Head allow robot can the physical features to each foreign matter sufficiently identified, the then navigation of hoisting machine people, track, identification etc.
AI application power improves intelligence;Lighting apparatus carries out floor light, to improve accuracy of identification and return the display effect of image
Fruit.
The inner condition of pipeline detection device of the present embodiment can not only timely and conveniently detect the specific situation in pipeline, and
Foreign matter in pipeline can also be picked up;Specifically, robot is before execution task, it is first by engineers and technicians' foundation
Pipeline Specific disposition sets relevant parameter, and to be measured section of node opening of pipeline is put into robot, can be inside corresponding pipeline
Carry out automatic measurement monitoring;It can be in real time to the temperature and humidity in pipeline, special gas concentration, air pressure, illuminance in detection process
Etc. parameters measure;When encountering has foreign matter in pipeline, foreign substance information is acquired by detection device and is transmitted this information to
Aggregation of data processing unit, after aggregation of data processing unit handles the collected information of detection device, control walking is driven
Dynamic device drives running gear, after body 1 moves to the appropriate position, then controls and picks up driving device driving mechanical arm 3 and clamp hand 2
Foreign matter is picked up, pipeline is accumulated to avoid foreign matter and causes related accidents;Pick device can replace artificial automatic progress
The pickup of foreign matter, has saved manpower and time cost, improves work efficiency and safety.
In the present embodiment, the running gear includes at least two traveling wheels 4, and the travel driving unit includes and walking
4 one-to-one movable motors 5 are taken turns, the wheel shaft of the traveling wheel 4 and the output shaft of movable motor 5 are sequentially connected;Traveling wheel 4 can
To be that there is certain gradient, to adapt to the inner wall of circular pipe, achieve the effect that smoothly to walk;Each traveling wheel 4 has single
The movable motor 5 solely controlled, so as to conveniently realize differential control;The bearing and movable motor 5 of fixed 4 wheel shaft of traveling wheel can
It is fixed on a rotatable turntable, so as to adjust the angle of traveling wheel 4, body 1 is enable to turn to;Preferably, described
Body 1 is four-wheel body construction, and the running gear is set there are four four wheels of the traveling wheel 4 as body 1;In addition, described
It is arranged with magnetic tire 4a outside traveling wheel 4, traveling wheel 4 is adsorbed on magnetic pipeline, improves the stability of its walking.
In the present embodiment, the pick device further includes the control box 5 being removably connected on body 1, described
Two mechanical arms 3 are symmetrically arranged on control box 6, two clamp hands 2 are separately positioned on the end of two mechanical arms 3;The machine
It is located at the position at control 6 rear of box on body 1 equipped with the containing box 7 for accommodating the foreign matter that clamp hand 2 is picked up;Two mechanical arms 3
It is respectively provided at the left and right side of control box 5;Two mechanical arms 3 are conducive to keep the balance of pick device, and are provided with two
Can mutually matched clamp hand 2, elongate or large volume of foreign matter can be picked up.
In the present embodiment, the pickup driving device includes I 31b of driving motor, II 32b of driving motor, driving motor III
IV 34b of 33b and driving motor;The mechanical arm 3 includes the first arm section 31, the second arm section 32 and the third arm being successively hinged and connected
Section 33;The head end of the first arm section 31 is rotatablely connected by shaft I and control box 5, the shaft I and I 31b phase of driving motor
It is driven even and by I 31b of driving motor and is rotated;The head end of the second arm section 32 is rotated by II 32a of shaft and the first arm section 31
Connection, II 32a of shaft, which is connected with II 32b of driving motor and is driven by II 32b of driving motor, to be rotated, II 32a of shaft
It is parallel to the setting of shaft I;The head end of the third arm section 33 is rotatablely connected by III 33a of shaft and the second arm section 32, and described turn
III 33a of axis, which is connected with III 33b of driving motor and is driven by III 33b of driving motor, to be rotated, and III 33a of shaft is perpendicular to shaft II
32a setting;The third arm section 33 is connected by IV 34a of shaft with clamp hand 2, IV 34a of shaft be fixed on third arm section
IV 34b of driving motor on 33, which is connected and is driven by IV 34b of driving motor, to be rotated, and IV 34a of shaft is both perpendicular to shaft
II 32a and III 33a of shaft setting;First arm section 31, the second arm section 32 and third arm section 33 are in long plate shape, the length of each arm section
It can set as needed;Shaft I is connected with the output shaft of I 31b of driving motor, or directly can be I 31b of driving motor
Output shaft;I 31b of driving motor is mounted on the first arm section 31 and control box 5, under the action of I 31b of driving motor, the first arm
Section 31 can do pitching movement up and down;II 32a of shaft is connected with the output shaft of II 32b of driving motor, or directly can be to drive
The output shaft of dynamic II 32b of motor;II 32b of driving motor is mounted in the first arm section 31 and the second arm section 32, in driving motor II
Under the action of 32b, the second arm section 32 can do pitching movement up and down;III 33a of shaft is connected with the output shaft of III 33b of driving motor,
Or directly can be III 33b of driving motor output shaft;III 33b of driving motor is mounted on the second arm section 32 and third arm section
On 33, under the action of III 33b of driving motor, third arm section 33 can swing;IV 34a of shaft and driving motor IV
The output shaft of 34b is connected, or directly can be the output shaft of IV 34b of driving motor;IV 34b of driving motor is mounted on third
In arm section 33, under the action of IV 34b of driving motor, clamp hand 2 is whole to be rotated;It using the above structure can improving clamping
The motion range of hand 2 enables the flexible movement of clamp hand 2.
In the present embodiment, the pickup driving device further includes driving motor V 26;The clamp hand 2 include fixed station 21,
Geosynclinal block 22, fixed plate 23, clamping jaw and Y-shaped drive rod, fixed station 21 and IV 34b of driving motor are sequentially connected;It is described solid
Fixed board 23 is connected by geosynclinal block 22 with fixed station 21;Two clamping jaws are symmetrical arranged, and each clamping jaw includes pawl head 241, drives
Shake bar 242 and driven rocking bar 243, the drive rocker 242 is arranged in parallel with driven rocking bar 243, the drive rocker 242 with
One end of driven rocking bar 243 is hinged and connected with pawl head 241, the other end and fixed plate 23 are hinged and connected;The Y-shaped drive rod by
A piece vertical pole 251 and two symmetrical branch bars 252 form, and the geosynclinal block 22 is equipped with for accommodating vertical pole 251 and for vertical pole
The sliding slot of 251 slidings;Driving motor V 26 is located on fixed station 21, and the output end and vertical pole 251 of the driving motor V 26 pass
It is dynamic to connect and vertical pole 251 is driven to slide along the chute;The vertical pole 251 is pierced by from fixed plate 23 to be connected with two branch bars 252 afterwards, institute
Branch bar 252 is stated equipped with slideway 252a, the bottom surface of the drive rocker 242 is equipped with traveller 242a, and the traveller 242a, which is set to, to be slided
In road 252a, so that two drive rockers 242 can be opened or be drawn close during the linear slide of two branch bars 252 respectively;
When IV 34b of driving motor is acted, fixed station 21 is rotated, to drive the rotation of entire clamp hand 2;Geosynclinal block 22 is in long blocky, sliding slot
For straight groove structure;Driving motor V 26 can be for example connected by screw mechanism or other transmission mechanisms with vertical pole 251, and driving is vertical
Bar 251 slides;It can be control effectively to the movement of clamping jaw by above structure, Y-shaped drive rod is inwardly (i.e. towards mechanical arm
Direction) it is mobile when, two clamping jaws move toward one another, and clamp to foreign matter;When Y-shaped drive rod moves outwardly, two clamping jaws are reversed
The foreign matter clamped is decontroled in movement.
The principles of the present invention and embodiment are explained finally, it is stated that applying specific case herein
It states, the core concept of the above embodiments are only used to help understand the utility model, is not departing from the utility model original
In the case where reason, can also to the utility model, some improvement and modification can also be carried out, these improvement and modification also fall into the utility model
Protection scope in.
Claims (8)
1. a kind of inner condition of pipeline detection device, it is characterised in that: including body and set on body for being supplied to each electrical component
Electricity power supply, for the running gear of walking, the travel driving unit for driving running gear, for picking up foreign matter in pipeline
Pick device, the pickup driving device for driving pick device, for collected data and external command
The aggregation of data processing unit of reason perceives dress for the data transmission device of information transmission, the parameter for acquiring external information
Set, the detection device for foreign matter in pipeline to be scanned and identified and for record storage data record memory device;
The travel driving unit, pickup driving device, parameter sensing device, detection device and record memory device are comprehensive with data respectively
Close processing unit connection;The data transmission device has connected aggregation of data processing unit and has carried out auxiliary control to robot
External monitoring control device;The mechanical arm that the pick device includes clamp hand and moves in space for controlling clamp hand, it is described
One end of mechanical arm is connected to body, the other end is connected to clamp hand.
2. inner condition of pipeline detection device according to claim 1, it is characterised in that: the parameter sensing device is using number
Sensor carries out data acquisition, including detecting the Temperature Humidity Sensor of temperature and humidity, detecting the gas of gas concentration in pipeline
Whether there is the illuminance of light leakage phenomena to pass in the ambient pressure sensor, detection pipeline of air pressure in concentration sensor, detection pipeline
The gravity sensor of sensor and detection pipeline gradient.
3. inner condition of pipeline detection device according to claim 2, it is characterised in that: the data transmission device is using wireless
Mode is connected with external monitoring control device.
4. inner condition of pipeline detection device according to claim 3, it is characterised in that: the detection device includes 3 D stereo
Camera and lighting apparatus.
5. inner condition of pipeline detection device according to any one of claims 1 to 4, it is characterised in that: the running gear packet
Include at least two traveling wheels, the travel driving unit include with the one-to-one movable motor of traveling wheel, the traveling wheel
The transmission connection of the output shaft of wheel shaft and movable motor.
6. inner condition of pipeline detection device according to claim 5, it is characterised in that: the body is four-wheel body construction,
The running gear is set there are four four wheels of the traveling wheel as body.
7. inner condition of pipeline detection device according to claim 5, it is characterised in that: be arranged with magnet pulley outside the traveling wheel
Tire.
8. inner condition of pipeline detection device according to any one of claims 1 to 4, it is characterised in that: the pick device is also
Including the control box being removably connected on body, two mechanical arms are symmetrically arranged on the control box, described in two
Clamp hand is separately positioned on the end of two mechanical arms;The position for being located at control box rear on the body is equipped with for accommodating clamp hand
The containing box of the foreign matter picked up.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201821540584.1U CN208750421U (en) | 2018-09-19 | 2018-09-19 | Inner condition of pipeline detection device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201821540584.1U CN208750421U (en) | 2018-09-19 | 2018-09-19 | Inner condition of pipeline detection device |
Publications (1)
Publication Number | Publication Date |
---|---|
CN208750421U true CN208750421U (en) | 2019-04-16 |
Family
ID=66084894
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201821540584.1U Expired - Fee Related CN208750421U (en) | 2018-09-19 | 2018-09-19 | Inner condition of pipeline detection device |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN208750421U (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112902027A (en) * | 2021-04-07 | 2021-06-04 | 济南盈晖建筑工程有限公司 | Automatic gas leakage detection marking device for gas transmission pipeline |
-
2018
- 2018-09-19 CN CN201821540584.1U patent/CN208750421U/en not_active Expired - Fee Related
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112902027A (en) * | 2021-04-07 | 2021-06-04 | 济南盈晖建筑工程有限公司 | Automatic gas leakage detection marking device for gas transmission pipeline |
CN112902027B (en) * | 2021-04-07 | 2023-06-27 | 重庆龙冉能源科技有限公司 | Automatic gas leakage detection marking device for gas pipeline |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109268618A (en) | Inner condition of pipeline detects robot | |
CN212195683U (en) | Power distribution inspection robot | |
CN109849023A (en) | A kind of track suspension intelligent inspection robot system | |
CN103615663B (en) | Inner condition of pipeline measuring robots | |
CN104875179B (en) | A kind of power system segmented automatic crusing robot | |
CN107910806A (en) | A kind of cable tunnel inspection robot and air navigation aid | |
CN104881031A (en) | Power system track type automatic inspection robot | |
CN104959986A (en) | Combined track type automatic inspection robot | |
CN105857341B (en) | A kind of intelligent railway rail polling robot | |
CN206574385U (en) | A kind of Industrial Robot Technology application experience system | |
CN107175665A (en) | A kind of suspension bridge damage of steel cable crusing robot | |
CN210534866U (en) | Electric power machine room inspection machine equipment | |
CN112590822B (en) | Modular robot system is patrolled and examined to track | |
CN209657151U (en) | A kind of intelligent track crusing robot | |
CN109454617A (en) | Condition detection device in engineering pipeline | |
CN208750421U (en) | Inner condition of pipeline detection device | |
CN101968431B (en) | Vacuum state cleanliness hierarchy test method of the vacuum state cleanliness hierarchy test system | |
CN2778492Y (en) | Robot capable of self-walking along 110KV transmission line | |
CN203533218U (en) | Pipeline inner condition detection robot | |
CN209190789U (en) | A kind of all-around mobile vision robot | |
CN206173776U (en) | Anti -shake moves road flatness check out test set from correction type | |
CN109382833A (en) | Engineering crusing robot | |
CN206728172U (en) | A kind of video monitoring apparatus | |
CN206459622U (en) | Gardens town road traffic survey tool | |
CN206115276U (en) | Robot system is patrolled and examined to underground foreign matter |
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: 20190416 Termination date: 20200919 |
|
CF01 | Termination of patent right due to non-payment of annual fee |