CN208804394U - Multifunction remote-control visual pipeline robot crawling device - Google Patents
Multifunction remote-control visual pipeline robot crawling device Download PDFInfo
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- CN208804394U CN208804394U CN201821113056.8U CN201821113056U CN208804394U CN 208804394 U CN208804394 U CN 208804394U CN 201821113056 U CN201821113056 U CN 201821113056U CN 208804394 U CN208804394 U CN 208804394U
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- car body
- wheel
- control
- pipeline robot
- remote
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Abstract
The utility model discloses a kind of Multifunction remote-control visual pipeline robot crawling devices, including car body and driving device, driving device includes the wheel for being set to hull back two sides, and is set to vehicle body and the sequentially connected driving motor of wheel and battery compartment；It further include the universal wheel that leans forward being set on car body, support device, weight supplementary device, image collecting device and wireless remote controller；Wherein, the universal wheel that leans forward is set to the front end of car body；Support device includes the fixed link for being set to car body top, top set wheel, motion bar, movable pulley and fixed pulley；Weight supplementary device include be set in car body, sequentially connected weight induction unit, hydraulic control unit and transmission rope, transmission rope connect around fixed pulley with movable pulley；It solves the problems, such as that pipe robot drawing force is small, walk that pipeline bus, passability are poor, wireless transmission distance is short.
Description
Technical field
The utility model relates to robotic technology field, more particularly to a kind of Multifunction remote-control is visually managed
Pipeline robot crawl device.
Background technique
With the development of economy with the progress of science and technology, pipe transportation technology has been widely used in transmission line of electricity, petroleum, day
The various aspects such as right gas, industrial chemicals and domestic water.Long-term application is so that situations such as the corrosion and blocking of pipeline increasingly
Seriously, this easily causes transfer efficiency low and the various danger such as Pipeline damage.Pipe robot is precisely in order to solve above
Problem is creeped carrier in a kind of pipe by scientific research personnel's research and development, for drag in pipe clean, remove obstacles, inspection, traction, repairing etc.
Instrument completes various intraductal operations.In recent years, along with the fast development of computer technology, mechanical & electrical technology, pipeline both domestic and external
Robot technology constantly has new technological break-through.Each research institution's exploitation devises various pipe robots, walking manner master
It to be wheeled, crawler type, creeping motion type, spiral etc..Application environment is also from tens millimeters of microtubule to being greatly to several hundred
To thousands of millimeters of large-diameter pipeline.Regardless of walking manner, the complex art of pipe robot is required mainly to have
Big drawing force, preferable caliber passability and superior Radio Control Function.
It is mostly the structure of similar trolley currently, being applied to the mainly wheeled pipe robot in transmission line of electricity pipeline,
By the frictional force of wheel and pipeline, drags trolley and advance in pipeline.But this pipe robot is due to being driven by it walking
The limitation of mechanism, generally existing following problems: 1, drawing force is smaller, and drawing force is only from the frictional force of wheel and pipeline, and
The frictional force is determined that often trolley quality is smaller by the weight of trolley, causes drawing force small；2, pipeline passability is poor, turns
When do not walk pipeline bus and easily deviate straight line；3, wireless transmission distance is short, and the figure that cannot achieve extra long distance passes function.
Therefore, the Multifunctional pipeline robot that a kind of drawing force is big, passability is strong, is not easy to deviate straight line how is provided to creep
The problem of device is those skilled in the art's urgent need to resolve.
Utility model content
In view of this, the present invention provides a kind of Multifunction remote-control visual pipeline robot crawling devices, solve
Pipe robot drawing force is small, does not walk the problem that pipeline bus, passability are poor, wireless transmission distance is short.
To achieve the goals above, the utility model adopts the following technical solution:
A kind of Multifunction remote-control visual pipeline robot crawling device, comprising: car body and driving device, the driving dress
The wheel including being set to the hull back two sides is set, and is set to the vehicle body, is sequentially connected with the wheel
Driving motor and battery compartment；It is characterized in that, further including the universal wheel that leans forward being set on the car body, support device, again
Measure supplementary device, image collecting device and wireless remote controller；
Wherein, the universal wheel that leans forward is set to the front end of the car body；The support device includes being set to the vehicle
Fixed link, top set wheel, motion bar, movable pulley and fixed pulley at the top of body, the car body middle part is provided with the fixed pulley, described
Rearwardly direction is formed with pulley groove in the middle part of car body, and the movable pulley is set in the pulley groove, described fixed link one end with
The car body front end is hinged, and the other end is provided with the top set wheel, and hinged with one end of the motion bar, the motion bar
The other end is connect with the movable pulley；The weight supplementary device include be set in the car body, sequentially connected weight sense
Unit, hydraulic control unit and transmission rope are answered, the transmission rope connect around the fixed pulley with the movable pulley.
Through the above technical solutions, improving the robot by the support device and the weight supplementary device
Drawing force；The advantage that top rake is had by the universal wheel that leans forward, extends dragging away from enhancing directive property, make the machine
Device people prolongs pipeline bus walking, is not easy to deviate straight line；The more of camera function are realized by the improvement of described image acquisition device
Sample；Wireless transmission capability is improved by way of connecting the radio transmission antenna with the wirerope.
Preferably, it in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, selects and has top rake
Universal wheel, it is adaptive to there is one to move downward trend when front-wheel encounters turn angle, it is described after returning to pipeline bus
The universal wheel that leans forward can automatically correct the forward direction of motion, keep the robot to prolong pipeline bus movement always, avoid
Previous two axis, four wheel construction, which encounters pipeline slightly angle front-wheel will be made to have, to be prolonged the upward movement tendency of tube wall, causes rear car
Wheel lands, and area is small, driving force decline, also be easy to cause the inclination, overturning or stuck phenomenon of the robot.
It preferably, further include being set to institute in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device
The wirerope for stating hull back, which pulls, to be hooked, for pulling wirerope across pipeline.
It preferably, further include remote control device in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device,
The remote control device is used to that the driving device to be driven to move, and is conducive to the shift action for controlling the robot, handling strong.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, described image acquisition dress
Camera unit and light modulator including being set to the car body front end are set, the camera unit includes CCTV video camera and can
The freely flake device of 180 ° of rotations, can be automatically stored video recording, and real-time playback is taken pictures, and being capable of real-time radio figure biography, people
Machine dialogue, by hand-held controller, can also control the functions such as angle, the focusing of camera.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the light modulator
Including light sensor, lighting controller, headlamp and power supply, the light sensor is for the light intensity in induction pipe
Illumination sign is converted and generates, the lighting controller is used to control the headlamp according to the illumination sign, can be according to light
The setting of line adjust automatically camera aperture, guarantee image will not generate distortion, deformation, it is dimmed the problems such as.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the wireless remote control dress
It sets including sequentially connected wireless energy control units, radio transmission antenna and wirerope, by by radio transmission antenna and wirerope
The purpose of overlength distance transmission video is realized in connection.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the wireless remote control dress
Setting further includes the Digiplex being wirelessly connected with the wireless energy control units, and the Digiplex is FTR-WT01wifi view
Frequency module Digiplex, for controlling the camera unit by the wireless energy control units, real-time transmission picture realizes people
Machine dialogue.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the car body is provided with
Rope traction hook, the wirerope are connected on the rope traction hook, the radio transmission antenna and the wirerope
Hingedly, the transmittability of radio transmission antenna is improved, realizes overlength distance transmission.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the wirerope and remote
The control terminal at end connects, convenient for the manual recycling after the folding and unfolding to the robot, and failure.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the wirerope connection
There is gyroscope, positions wirerope for inertial navigation.
Preferably, in a kind of above-mentioned Multifunction remote-control visual pipeline robot crawling device, the motion bar is to stretch
Contracting rod structure is conducive to the height that the robot adjusts the support device according to the caliber of different size.
It can be seen via above technical scheme that compared with prior art, the utility model disclose provide it is a kind of multi-functional
Wireless remote control visual pipeline robot crawling device, has the advantages that
1, the resultant force depressed and pushed away is formed between inner wall of the pipe bottom surface and top surface by driving device and support device to drive
Dynamic pipe robot advances, and top set wheel contacts to form a pushing component always with pipeline upper wall during advance, increases and advances
Frictional force and drawing force.
2, wheel frictional force can be increased automatically by pulley block structure when drag is excessive by weight supplementary device
And increasing drawing force, reduce top set wheel pressure when drag is little can save energy again；
3, the advantage that top rake is had by the universal wheel that leans forward extends dragging away from enhancing directive property, prolong robot
Pipeline bus walking, is not easy to deviate straight line；
4, the diversification of camera function is realized by the improvement of image collecting device；
5, wireless transmission capability is improved by way of connecting radio transmission antenna with wirerope；
6, inertial positioning detection is realized by rope traction gyroscope, wears wirerope work for super-long pipeline.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 attached drawing is structural schematic diagram provided by the utility model；
Fig. 2 attached drawing is the structural schematic diagram of the universal wheel provided by the utility model that leans forward；
Fig. 3 attached drawing is weight supplementary device structural schematic diagram provided by the utility model；
Fig. 4 attached drawing is image collecting device structural schematic diagram provided by the utility model；
Fig. 5 attached drawing is wireless remote controller structural schematic diagram provided by the utility model.
In Fig. 1:
1 is car body, and 11 be pulley groove, and 2 be driving device, and 21 be wheel, and 22 be driving motor, and 23 be battery compartment, before 3 are
Incline universal wheel, and 4 be support device, and 41 be fixed link, and 42 be top set wheel, and 43 be motion bar, and 44 be movable pulley, and 45 be fixed pulley,
53 be transmission rope, and 6 be image collecting device, and 61 be camera, and 7 be wireless remote controller, and 73 be wirerope, and 8 pull for wirerope
It hooks, 9 be rope traction hook.
In Fig. 2:
3 be the universal wheel that leans forward, and 61 be camera unit.
In Fig. 3:
1 is car body, and 44 be movable pulley, and 45 be fixed pulley, and 5 be weight supplementary device, and 51 be weight sensing unit, and 52 be liquid
Control unit is pressed, 53 be transmission rope.
In Fig. 4:
6 be image collecting device, and 61 be camera unit, and 62 be multifunction regulator.
In Fig. 5:
7 be wireless remote controller.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Referring to attached drawing 1 to attached drawing 3, the utility model embodiment discloses a kind of Multifunction remote-control visual pipeline machine
People's crawl device, comprising: car body 1 and driving device 2, driving device 2 include the wheel 21 for being set to 1 two sides of tail of car body, and
Be set to inside car body 1, with the sequentially connected driving motor 22 of wheel 21 and battery compartment 23；It is characterized in that, further including setting
In the universal wheel 3 that leans forward, support device 4, weight supplementary device 5, image collecting device 6 and wireless remote controller 7 on car body 1；
Wherein, the universal wheel 3 that leans forward is set to the front end of car body 1；Support device 4 includes being set to the fixation at 1 top of car body
Bar 41, top set wheel 42, motion bar 43, movable pulley 44 and fixed pulley 45, are provided with fixed pulley 45 in the middle part of car body 1,1 middle part of car body to
Caudal directions are formed with pulley groove 11, and movable pulley 44 is set in pulley groove 11, and 41 one end of fixed link and 1 front end of car body are hinged,
The other end is provided with top set wheel 42, and hinged with one end of motion bar 43, and the other end of motion bar 43 is connect with movable pulley 44；Weight
Amount supplementary device 5 include be set in car body 1, sequentially connected weight induction unit 51, hydraulic control unit 52 and transmission rope
53, transmission rope 53 connect around fixed pulley 45 with movable pulley 44.
It in order to further optimize the above technical scheme, further include the wirerope dragging hook 8 for being set to 1 tail portion of car body.
It in order to further optimize the above technical scheme, further include remote control device, remote control device is transported for driver 2
It is dynamic.
Referring to attached drawing 4, image collecting device 6 includes that the camera unit 61 for being set to the car body front end and light are adjusted
Device, camera unit 61 include CCTV video camera and flake device, light modulator 62 include light sensor, lighting controller,
Headlamp and power supply.
Referring to attached drawing 5, wireless remote controller 7 includes sequentially connected wireless energy control units 71,72 and of radio transmission antenna
Wirerope 73.
In order to further optimize the above technical scheme, wireless remote controller 7 further includes wirelessly connecting with wireless energy control units 71
The Digiplex connect.
In order to further optimize the above technical scheme, car body 1 is provided with rope traction hook 9, and wirerope 73 is connected to steel
On cord draw hook 9.
In order to further optimize the above technical scheme, wirerope 73 is connect with the control terminal of distal end.
In order to further optimize the above technical scheme, wirerope 73 is connected with gyroscope.
In order to further optimize the above technical scheme, motion bar 43 is Telescopic rod structure.
The working principle of the utility model are as follows:
When original state, wheel 21 is contacted with pipeline inner bottom wall, and top set wheel 42 is contacted with pipeline inner roof wall；
When straight ahead state, driving motor 22 drives the rotation of wheel 21 to advance, at this point, wheel 21 and top set wheel 42 are in pipe
The resultant force driving pipe robot pushed away is depressed on being formed between road inner wall bottom surface and top surface to advance；
When turn condition, the universal wheel 3 that leans forward controls turn direction, and adaptively generates downward movement tendency, makes machine
People returns to pipeline bus, and the universal wheel 3 that then leans forward automatically corrects the forward direction of motion, and robot is kept to prolong pipeline bus always
Operation；
When resistance changes, when robot drag increases, inductive signal is sent to hydraulic by weight induction unit 51
Control unit 52, hydraulic control unit 52 tighten transmission rope 53, move at this point, movable pulley 44 prolongs pulley groove 11 to 45 direction of fixed pulley
Dynamic, the power pressed on top set wheel 42 increases, and gives one downward component of robot, frictional force enhancing automatically, and forward drawing force increases
By force；When drag reduces, inductive signal is sent to hydraulic control unit 52, hydraulic control unit by weight induction unit 51
52 loosen transmission rope 53, and movable pulley 44 prolongs pulley groove 11 to the movement of 1 caudal directions of car body, and frictional force reduces, and saves electric power.
It should be noted that when pipe diameter difference, it can be by adjusting the length of motion bar 43 to adapt to different pipes
The caliber in road.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (10)
1. a kind of Multifunction remote-control visual pipeline robot crawling device, comprising: car body (1) and driving device (2), the drive
Dynamic device (2) include the wheel (21) for being set to the car body (1) two sides of tail, and be set to the car body (1) it is internal, with
The sequentially connected driving motor of the wheel (21) (22) and battery compartment (23)；It is characterized in that, further including being set to the vehicle
The universal wheel that leans forward (3), support device (4), weight supplementary device (5), image collecting device (6) and wireless remote control on body (1)
Device (7)；
Wherein, the universal wheel that leans forward (3) is set to the front end of the car body (1)；The support device (4) includes being set to institute
State fixed link (41), top set wheel (42), motion bar (43), movable pulley (44) and the fixed pulley (45) at the top of car body (1), the vehicle
It is provided with the fixed pulley (45) in the middle part of body (1), rearwardly direction is formed with pulley groove (11) in the middle part of the car body (1), described
Movable pulley (44) is set in the pulley groove (11), and described fixed link (41) one end and the car body (1) front end are hinged, another
End is provided with the top set wheel (42), and hinged with one end of the motion bar (43), the other end of the motion bar (43) with
Movable pulley (44) connection；The weight supplementary device (5) include be set in the car body (1), sequentially connected weight
Sensing unit (51), hydraulic control unit (52) and transmission rope (53), the transmission rope (53) around the fixed pulley (45) with
Movable pulley (44) connection.
2. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 1, which is characterized in that also
Wirerope including being set to the car body (1) tail portion, which pulls, hooks (8).
3. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 1, which is characterized in that also
Including remote control device, the remote control device is for driving the driving device (2) to move.
4. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 1, which is characterized in that institute
Stating image collecting device (6) includes the camera unit (61) and light modulator for being set to the car body front end, and the camera shooting is single
First (61) include CCTV video camera and flake device, and the light modulator (62) includes light sensor, lighting controller, photograph
Bright lamp and power supply, light intensity of the light sensor in induction pipe convert and generate illumination sign, the illumination
Controller is used to control the headlamp according to the illumination sign.
5. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 1, which is characterized in that institute
Stating wireless remote controller (7) includes sequentially connected wireless energy control units (71), radio transmission antenna (72) and wirerope (73).
6. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 5, which is characterized in that institute
Stating wireless remote controller (7) further includes the Digiplex being wirelessly connected with the wireless energy control units (71).
7. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 5, which is characterized in that institute
It states car body (1) to be provided with rope traction hook (9), the wirerope (73) is connected on the rope traction hook (9).
8. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 5, which is characterized in that institute
Wirerope (73) is stated to connect with the control terminal of distal end.
9. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 5, which is characterized in that institute
It states wirerope (73) and is connected with gyroscope, position wirerope for inertial navigation.
10. a kind of Multifunction remote-control visual pipeline robot crawling device according to claim 5, which is characterized in that
The motion bar (43) is Telescopic rod structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821113056.8U CN208804394U (en) | 2018-07-13 | 2018-07-13 | Multifunction remote-control visual pipeline robot crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821113056.8U CN208804394U (en) | 2018-07-13 | 2018-07-13 | Multifunction remote-control visual pipeline robot crawling device |
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| Publication Number | Publication Date |
|---|---|
| CN208804394U true CN208804394U (en) | 2019-04-30 |
Family
ID=66229248
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821113056.8U Expired - Fee Related CN208804394U (en) | 2018-07-13 | 2018-07-13 | Multifunction remote-control visual pipeline robot crawling device |
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| Country | Link |
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| CN (1) | CN208804394U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730677A (en) * | 2018-07-13 | 2018-11-02 | 唐山市中宇科技发展有限公司 | Multifunction remote-control visual pipeline robot crawling device |
| CN112032469A (en) * | 2020-09-22 | 2020-12-04 | 郑州科技学院 | Pipeline detection robot |
-
2018
- 2018-07-13 CN CN201821113056.8U patent/CN208804394U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108730677A (en) * | 2018-07-13 | 2018-11-02 | 唐山市中宇科技发展有限公司 | Multifunction remote-control visual pipeline robot crawling device |
| CN108730677B (en) * | 2018-07-13 | 2024-03-26 | 唐山市中宇科技发展有限公司 | Multifunctional wireless remote control visual pipeline robot crawler |
| CN112032469A (en) * | 2020-09-22 | 2020-12-04 | 郑州科技学院 | Pipeline detection robot |
| CN112032469B (en) * | 2020-09-22 | 2021-11-19 | 郑州科技学院 | Pipeline detection robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190430 Termination date: 20190713 |