CN208859212U - A kind of intelligent pipeline detection robot - Google Patents
A kind of intelligent pipeline detection robot Download PDFInfo
- Publication number
- CN208859212U CN208859212U CN201821453235.6U CN201821453235U CN208859212U CN 208859212 U CN208859212 U CN 208859212U CN 201821453235 U CN201821453235 U CN 201821453235U CN 208859212 U CN208859212 U CN 208859212U
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- middle position
- detection
- mobile casing
- mobile
- intelligent pipeline
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Abstract
The utility model provides a kind of intelligent pipeline detection robot, including mobile casing, connecting shaft, movable pulley, PLC, radio receiving transmitting module, rotation cleaning pipe structure, adjusts detection cover structure, anti-rol bar structure, mobile motor, driving pulley, driven pulley, V band, power switch, adsorption site and magnet block.The setting of the utility model regulation pipe, telescopic rod, movable pulley and shaft, being beneficial to prevent detection pipeline time shift motivation shell overturning influences detection work；Cleaning motor, connecting tube, metal hose, the setting of clean-up wheel and bristle are conducive to the rubbish for clearing up inner wall of the pipe, facilitate and carry out detection work；Seat is detected, the setting of camera and shield, the surface for being beneficial to prevent camera, which falls dust, influences camera detection work；The setting of metal hose, clean-up wheel and bristle, the rotation of easy cleaning wheel and easy cleaning work when being conducive to clear up inner wall of the pipe.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of intelligent pipeline detection robot.
Background technique
Detection urban discharging pipeline status is peeped in detecting robot of pipe: peeping detection technique in detection detecting robot of pipe
Originating from nineteen sixties, be mainly used in the detection of urban drainage pipeline system, with science and technology it is continuous into
Step, especially the high speed development of computer technology, this technology have obtained extensive development, and pipe endoscopic detection technique is in China
Still it is at the initial stage, as country continues to increase urban discharging pipeline facility investment, people's environmental consciousness constantly enhances,
The management service of urban discharging pipeline will obtain due attention, and pipe endoscopic detection technique will also be used widely.
Not only it is applied to the detection of urban Underground pipeline, while other aspects, such as the delivery tube of oil gas can also be applied to
The material transportations pipeline such as road.
China Patent Publication No. is CN206066414U, and invention and created name is a kind of detecting robot of pipe, including
360 ° of video camera capable of rotating systems, caterpillar drive systems, the caterpillar drive system are equipped with pallet of going into the well, are going into the well on pallet
It is respectively equipped with Sonar system, three-dimensional laser radar system, inertial navigation system, screw propeller system；The Sonar system is set to
The front of inertial navigation system；The inertial navigation system is connected and fixed on described go into the well on pallet；The screw propeller system is located at
The rear of the inertial navigation system, and connect with the pallet of going into the well；The three-dimensional laser radar system and 360 ° of rotatable camera shootings
Before machine system is set up in the top of inertial navigation system, and three-dimensional laser radar system is set to 360 ° of video camera capable of rotating systems
Side.The Sonar system includes sonar probe and sonar pallet, and the sonar probe is set on the sonar pallet, the sonar
Pallet is fixedly connected with pallet of going into the well.The screw propeller system includes propeller, the screw propeller system with
The pallet connection of going into the well.360 ° of video camera capable of rotating systems include video camera capable of rotating, secondary light source and elevating control
Valve.The caterpillar drive system includes left track drive assembly, right-hand track chiain drive assembly and angle control mechanism.But it is existing
There is also be easy overturning when robot detects pipeline for detecting robot of pipe, it has not been convenient to clear up inner wall of the pipe and be easy to fall ash
Dirt influences the problem of pipe detection result.
Therefore, a kind of intelligent pipeline detection robot is invented to be very necessary.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of intelligent pipeline detection robot, existing to solve
Detecting robot of pipe there is also be easy overturning when robot detects pipeline, it has not been convenient to clear up and inner wall of the pipe and be easy to fall
Dust influences the problem of pipe detection result.A kind of intelligent pipeline detection robot, including mobile casing, connecting shaft, movable pulley,
PLC, radio receiving transmitting module, rotation cleaning pipe structure adjust detection cover structure, anti-rol bar structure, mobile motor, main belt
Wheel, driven pulley, V band, power switch, adsorption site and magnet block, the connecting shaft extend through the left and right two of mobile casing
Side bosom position；The movable pulley is bolted to the outer wall anterior locations and back location of connecting shaft respectively；It is described
PLC screw be connected to the inner tip leftward position of mobile casing；The radio receiving transmitting module screw is connected to moving machine
The inner bottom leftward position of shell；The rotation cleaning pipe structure is mounted on the left side middle position of mobile casing；Described
Adjust the right side middle position that detection cover structure screw is connected to mobile casing；The anti-rol bar structure is mounted on moving machine
The upper end middle position of shell；The mobile motor is bolted to the bosom position of mobile casing；The main belt
Wheel key connection is on the output shaft of mobile motor；The driven pulley is keyed among the outer wall for the connecting shaft that right side is arranged
Position；The driving pulley connects driven pulley by V V belt translation；The power switch screw is connected to mobile casing
Lower end right positions；The adsorption site is welded on the lower end middle position of mobile casing；The magnet block is embedded in absorption
The lower end bosom position of seat；The rotation cleaning pipe structure includes mounting base, cleaning motor, connecting tube, metal hose,
Clean-up wheel and bristle, the cleaning motor are bolted to the left side middle position of mounting base；The connecting tube is welded respectively
It connects in the left and right ends of metal hose；The connecting tube of the right side setting is threaded on the output shaft of cleaning motor；Institute
The clean-up wheel stated is welded on the left side for the connecting tube that left side is arranged；The bristle is glued to the outer wall of clean-up wheel.
Preferably, the mounting base is bolted to the left side middle position of mobile casing.
Preferably, the bristle uses nylon brush hair；The bristle is provided with multiple.
Preferably, the described adjusting detection cover structure includes connecting plate, adjusting rod, clamping screw, detects seat, camera and
Shield, clamping screw middle position on the left of the front surface of adjusting rod；The clamping screw is threaded in
The front surface middle position of connecting plate；The detection seat is bolted to the right side middle position of adjusting rod；The camera shooting
Head screw is connected to the right side middle position of detection seat；The shield is threaded in the outer wall of detection seat.
Preferably, the connecting plate is welded on the right side middle position of mobile casing.
Preferably, the shield is set as the blister pack of arc using one end.
Preferably, the anti-rol bar structure includes fixing seat, regulation pipe, adjusts bolt, telescopic rod, movable pulley and is turned
Axis, the lower end of the regulation pipe are welded on the upper end middle position of fixing seat；The adjusting bolt thread is connected to adjusting
The right upper portion of pipe；The telescopic rod is plugged on the upper end bosom position of regulation pipe；The shaft runs through movable pulley
Bosom position；The shaft is plugged on telescopic rod upper end bosom position.
Preferably, the cage bolt is connected to the upper end middle position of mobile casing.
Preferably, the movable pulley is arranged in the groove that telescopic rod upper end bosom position opens up；The cunning
Driving wheel uses rubber wheel.
Preferably, the PLC specifically uses the PLC of model FX2N-48；The radio receiving transmitting module specifically uses
The WIFI radio receiving transmitting module of model ESP8266；The mobile motor specifically uses the positive and negative rotation of model RK15A-C
Motor；The power switch specifically uses the switch of model KCD4；The cleaning motor specifically uses model YE3's
Motor；The camera specifically uses 360 degree of full-view cameras.
Preferably, the mobile motor is electrically connected the output end of PLC.
Preferably, the power switch is electrically connected the input terminal of PLC.
Preferably, the output end of the cleaning electrical connection of motor PLC.
Preferably, the camera is electrically connected the input terminal of PLC.
Preferably, the input terminal of conducting wire connection PLC when the radio receiving transmitting module is as input；The wireless receiving and dispatching
The output end of conducting wire connection PLC when module is as output.
Compared with prior art, the utility model has the following beneficial effects:
1. in the utility model, the regulation pipe, telescopic rod, the setting of movable pulley and shaft is beneficial to prevent detection
The overturning of moving machine shell influences detection work when pipeline.
2. in the utility model, the cleaning motor, connecting tube, metal hose, the setting of clean-up wheel and bristle, favorably
In the rubbish of cleaning inner wall of the pipe, facilitates and carry out detection work.
3. in the utility model, the detection seat, the setting of camera and shield is beneficial to prevent the table of camera
Face, which falls dust, influences camera detection work.
4. in the utility model, the metal hose, the setting of clean-up wheel and bristle, when being conducive to clear up inner wall of the pipe
The rotation of easy cleaning wheel and easy cleaning work.
5. in the utility model, the connecting plate, the setting of adjusting rod and clamping screw, be conducive to adjust detection seat and
Camera facilitates and carries out detection work.
6. in the utility model, the regulation pipe adjusts the setting of bolt and telescopic rod, be conducive to adjust movable pulley
Height is conveniently supported work.
7. in the utility model, the setting of the adsorption site and magnet block is conducive to make moving machine shell-and-tube road inner wall
Suction is generated, facilitates and carries out detection work.
8. in the utility model, the shield is set as the setting of the blister pack of arc using one end, favorably
It is fallen in dust, camera is facilitated to carry out detection work.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the rotation cleaning pipe structure of the utility model.
Fig. 3 is the structural schematic diagram of the adjusting detection cover structure of the utility model.
Fig. 4 is the structural schematic diagram of the anti-rol bar structure of the utility model.
Fig. 5 is the electrical wiring schematic diagram of the utility model.
In figure:
1, mobile casing；2, connecting shaft；3, movable pulley；4,PLC；5, radio receiving transmitting module；6, rotation cleaning pipe structure；
61, mounting base；62, motor is cleared up；63, connecting tube；64, metal hose；65, clean-up wheel；66, bristle；7, detection cover knot is adjusted
Structure；71, connecting plate；72, adjusting rod；73, clamping screw；74, seat is detected；75, camera；76, shield；8, anti-rol bar knot
Structure；81, fixing seat；82, regulation pipe；83, bolt is adjusted；84, telescopic rod；85, movable pulley；86, shaft；9, mobile motor；10,
Driving pulley；11, driven pulley；12, V band；13, power switch；14, adsorption site；15, magnet block.
Specific embodiment
The utility model is specifically described with reference to the accompanying drawing, as shown in Figure 1 and Figure 2, a kind of intelligent pipeline
Robot is detected, including pipe structure 6 is cleared up in mobile casing 1, connecting shaft 2, movable pulley 3, PLC4, radio receiving transmitting module 5, rotation,
Adjust detection cover structure 7, anti-rol bar structure 8, mobile motor 9, driving pulley 10, driven pulley 11, V band 12, power switch
13, adsorption site 14 and magnet block 15, the connecting shaft 2 extend through the left and right sides bosom position of mobile casing 1；Institute
The movable pulley 3 stated is bolted to the outer wall anterior locations and back location of connecting shaft 2 respectively；The PLC4 screw is connected to
The inner tip leftward position of mobile casing 1；5 screw of radio receiving transmitting module is connected to the inner bottom of mobile casing 1
Leftward position；The rotation cleaning pipe structure 6 is mounted on the left side middle position of mobile casing 1；The adjusting detects cover
7 screw of structure is connected to the right side middle position of mobile casing 1；The anti-rol bar structure 8 is mounted on the upper of mobile casing 1
Hold middle position；The mobile motor 9 is bolted to the bosom position of mobile casing 1；The driving pulley 10
Key connection is on the output shaft of mobile motor 9；The driven pulley 11 is keyed in the outer wall for the connecting shaft 2 that right side is arranged
Between position；The driving pulley 10 passes through the transmission connection driven pulley 11 of V band 12；13 screw of power switch is connected to
The lower end right positions of mobile casing 1；The adsorption site 14 is welded on the lower end middle position of mobile casing 1；The magnetic
Iron block 15 is embedded in the lower end bosom position of adsorption site 14；The rotation cleaning pipe structure 6 includes mounting base 61, cleaning
Motor 62, connecting tube 63, metal hose 64, clean-up wheel 65 and bristle 66, the cleaning motor 62 are bolted to mounting base
61 left side middle position；The connecting tube 63 is respectively welded at the left and right ends of metal hose 64；The right side setting
Connecting tube 63 be threaded in cleaning motor 62 output shaft on；The clean-up wheel 65 is welded on the connecting tube that left side is arranged
63 left side；The bristle 66 is glued to the outer wall of clean-up wheel 65；When work, 13 are turned on the power switch, mobile casing 1 is put
It sets in the inlet of detection pipeline, so that PLC4 control cleaning motor 62 is started to work, drive metal hose 64, clean-up wheel 65 and brush
Hair 66 starts turning, and carries out cleaning work to inner wall of the pipe, facilitates and carry out detection work, while PLC4 being made to control mobile motor 9
It starts to work, driving pulley 10 is driven to rotate, drive driven pulley 11 to rotate by V band 12, while movable pulley 3 being driven to rotate,
Mobile casing 1 is set to carry out mobile detection work.
In the present embodiment, in conjunction with shown in attached drawing 3, the adjusting detection cover structure 7 includes connecting plate 71, adjusting rod
72, clamping screw 73 detects seat 74, camera 75 and shield 76, and the clamping screw 73 runs through the positive table of adjusting rod 72
Left side of face middle position；The clamping screw 73 is threaded in the front surface middle position of connecting plate 71；The detection
Seat 74 is bolted to the right side middle position of adjusting rod 72；75 screw of camera is connected in the right side of detection seat 74
Between position；The shield 76 is threaded in the outer wall of detection seat 74；While mobile by mobile casing 1, make to image
First 75 carry out the detection work of inner wall of the pipe, PLC4 are conveyed to by the signal that camera 75 will test, by being connected to PLC4
The radio receiving transmitting module 5 of output end carries out testing result transportation work, convenient timely to transmit testing result, while passing through protection
Cover 76 prevents dust from influencing the detection work of camera 75.
In the present embodiment, in conjunction with shown in attached drawing 4, the anti-rol bar structure 8 include fixing seat 81, regulation pipe 82,
Bolt 83 is adjusted, telescopic rod 84, movable pulley 85 and shaft 86, the lower end of the regulation pipe 82 are welded on the upper end of fixing seat 81
Middle position；The adjusting bolt 83 is threaded in the right upper portion of regulation pipe 82；The telescopic rod 84 is plugged on tune
Save the upper end bosom position of pipe 82；The shaft 86 runs through the bosom position of movable pulley 85；The shaft 86
It is plugged on 84 upper end bosom position of telescopic rod；When moving mobile casing 1, unclamps and adjust the adjusting telescopic rod of bolt 83
84 length makes movable pulley 85 contact the inner wall of pipeline, prevents the mobile casing 1 during detection from overturning, influences camera
75 detection work.
Working principle
In the utility model, when work, 13 are turned on the power switch, mobile casing 1 is placed on the inlet of detection pipeline,
So that PLC4 control cleaning motor 62 is started to work, drives metal hose 64, clean-up wheel 65 and bristle 66 start turning, in pipeline
Wall carries out cleaning work, facilitates and carries out detection work, while PLC4 control mobile motor 9 being made to start to work, and drives driving pulley
10 rotations drive driven pulley 11 to rotate, while movable pulley 3 being driven to rotate by V band 12, and mobile casing 1 is made to carry out mobile inspection
Work is surveyed, while mobile by mobile casing 1, so that camera 75 is carried out the detection work of inner wall of the pipe, passes through camera 75
The signal that will test is conveyed to PLC4, and the radio receiving transmitting module 5 by being connected to PLC4 output end carries out testing result and conveys work
Make, it is convenient timely to transmit testing result, while by shield 76, it prevents dust from influencing the detection work of camera 75, makes
When mobile casing 1 is moved, unclamps and adjust the length that bolt 83 adjusts telescopic rod 84, movable pulley 85 is made to contact the interior of pipeline
Wall prevents the mobile casing 1 during detection from overturning, influences the detection work of camera 75, and then complete intelligent measurement work
Make.
Using technical solution described in the utility model or those skilled in the art in technical solutions of the utility model
Under inspiration, similar technical solution is designed, and reaches above-mentioned technical effect, is the protection model for falling into the utility model
It encloses.
Claims (9)
1. a kind of intelligent pipeline detects robot, which is characterized in that it includes mobile casing (1) that the intelligent pipeline, which detects robot,
Connecting shaft (2), movable pulley (3), PLC(4), radio receiving transmitting module (5), rotation cleaning pipe structure (6) adjusts detection cover structure
(7), anti-rol bar structure (8), mobile motor (9), driving pulley (10), driven pulley (11), V band (12), power switch
(13), adsorption site (14) and magnet block (15), the connecting shaft (2) extend through inside the left and right sides of mobile casing (1)
Middle position；The movable pulley (3) is bolted to the outer wall anterior locations and back location of connecting shaft (2) respectively；It is described
PLC(4) screw is connected to the inner tip leftward position of mobile casing (1)；Radio receiving transmitting module (5) the screw connection
Inner bottom leftward position in mobile casing (1)；Rotation cleaning pipe structure (6) is mounted on a left side for mobile casing (1)
Side middle position；Described adjusting detection cover structure (7) screw is connected to the right side middle position of mobile casing (1)；Described
Anti-rol bar structure (8) is mounted on the upper end middle position of mobile casing (1)；The mobile motor (9) is bolted to shifting
The bosom position of motivation shell (1)；The driving pulley (10) is keyed on the output shaft of mobile motor (9)；It is described
The outer wall middle position of connecting shaft (2) that is arranged on right side of driven pulley (11) key connection；The driving pulley (10) is logical
Cross V band (12) transmission connection driven pulley (11)；The lower end that described power switch (13) screw is connected to mobile casing (1) is right
Side position；The adsorption site (14) is welded on the lower end middle position of mobile casing (1)；The magnet block (15) is embedded in
The lower end bosom position of adsorption site (14)；Rotation cleaning pipe structure (6) includes mounting base (61), clears up motor
(62), connecting tube (63), metal hose (64), clean-up wheel (65) and bristle (66), the cleaning motor (62) are bolted
In the left side middle position of mounting base (61)；The connecting tube (63) is respectively welded at the left and right ends of metal hose (64)；
The connecting tube (63) of the right side setting is threaded on the output shaft of cleaning motor (62)；Clean-up wheel (65) weldering
It connects in the left side of the connecting tube (63) of left side setting；The bristle (66) is glued to the outer wall of clean-up wheel (65).
2. intelligent pipeline as described in claim 1 detects robot, which is characterized in that the mounting base (61) is bolted
In the left side middle position of mobile casing (1).
3. intelligent pipeline as described in claim 1 detects robot, which is characterized in that the bristle (66) uses nylon bruss
Hair；The bristle (66) is provided with multiple.
4. intelligent pipeline as described in claim 1 detects robot, which is characterized in that the adjusting detects cover structure (7)
Including connecting plate (71), adjusting rod (72), clamping screw (73) is detected seat (74), and camera (75) and shield (76) are described
Clamping screw (73) through adjusting rod (72) front surface on the left of middle position；The clamping screw (73) is threaded in
The front surface middle position of connecting plate (71)；The detection seat (74) is bolted to the right side interposition of adjusting rod (72)
It sets；Described camera (75) screw is connected to the right side middle position of detection seat (74)；Shield (76) screw thread connects
Connect the outer wall in detection seat (74).
5. intelligent pipeline as claimed in claim 4 detects robot, which is characterized in that the connecting plate (71) is welded on shifting
The right side middle position of motivation shell (1).
6. intelligent pipeline as claimed in claim 4 detects robot, which is characterized in that the shield (76) uses one end
It is set as the blister pack of arc.
7. intelligent pipeline as described in claim 1 detects robot, which is characterized in that anti-rol bar structure (8) packet
It includes fixing seat (81), regulation pipe (82), adjusts bolt (83), telescopic rod (84), movable pulley (85) and shaft (86), the tune
The lower end of section pipe (82) is welded on the upper end middle position of fixing seat (81)；The adjusting bolt (83) is threaded in adjusting
Manage the right upper portion of (82)；The telescopic rod (84) is plugged on the upper end bosom position of regulation pipe (82)；Described turns
Axis (86) runs through the bosom position of movable pulley (85)；The shaft (86) is plugged on telescopic rod (84) upper end bosom
Position.
8. intelligent pipeline as claimed in claim 7 detects robot, which is characterized in that the fixing seat (81) is bolted
In the upper end middle position of mobile casing (1).
9. intelligent pipeline as claimed in claim 7 detects robot, which is characterized in that movable pulley (85) setting is being stretched
In the groove that contracting bar (84) upper end bosom position opens up；The movable pulley (85) uses rubber wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821453235.6U CN208859212U (en) | 2018-09-06 | 2018-09-06 | A kind of intelligent pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821453235.6U CN208859212U (en) | 2018-09-06 | 2018-09-06 | A kind of intelligent pipeline detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208859212U true CN208859212U (en) | 2019-05-14 |
Family
ID=66416960
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821453235.6U Expired - Fee Related CN208859212U (en) | 2018-09-06 | 2018-09-06 | A kind of intelligent pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208859212U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111427320A (en) * | 2020-04-03 | 2020-07-17 | 无锡超维智能科技有限公司 | Intelligent industrial robot distributed unified scheduling management platform |
| CN111664807A (en) * | 2020-04-24 | 2020-09-15 | 河北津西钢铁集团股份有限公司 | Rotary structure optical method pipeline detection system |
| CN112082040A (en) * | 2020-09-26 | 2020-12-15 | 贾鸿莉 | Stopping aid for underwater robot inspection pipeline |
| CN113237954A (en) * | 2021-05-28 | 2021-08-10 | 徐秀婷 | Intelligent damage detection equipment for new energy power supply pipe network |
| CN113866186A (en) * | 2021-09-02 | 2021-12-31 | 广东粤陆勘测设计有限公司 | Underground pipeline detection equipment using gyroscope and detection method thereof |
-
2018
- 2018-09-06 CN CN201821453235.6U patent/CN208859212U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111427320A (en) * | 2020-04-03 | 2020-07-17 | 无锡超维智能科技有限公司 | Intelligent industrial robot distributed unified scheduling management platform |
| CN111664807A (en) * | 2020-04-24 | 2020-09-15 | 河北津西钢铁集团股份有限公司 | Rotary structure optical method pipeline detection system |
| CN111664807B (en) * | 2020-04-24 | 2022-08-12 | 河北津西钢铁集团股份有限公司 | Rotary structure optical method pipeline detection system |
| CN112082040A (en) * | 2020-09-26 | 2020-12-15 | 贾鸿莉 | Stopping aid for underwater robot inspection pipeline |
| CN113237954A (en) * | 2021-05-28 | 2021-08-10 | 徐秀婷 | Intelligent damage detection equipment for new energy power supply pipe network |
| CN113866186A (en) * | 2021-09-02 | 2021-12-31 | 广东粤陆勘测设计有限公司 | Underground pipeline detection equipment using gyroscope and detection method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20190514 Termination date: 20190906 |