CN209513660U - A kind of pipeline detection device of adaptive caliber - Google Patents
A kind of pipeline detection device of adaptive caliber Download PDFInfo
- Publication number
- CN209513660U CN209513660U CN201920231392.0U CN201920231392U CN209513660U CN 209513660 U CN209513660 U CN 209513660U CN 201920231392 U CN201920231392 U CN 201920231392U CN 209513660 U CN209513660 U CN 209513660U
- Authority
- CN
- China
- Prior art keywords
- component
- connect
- pressure sensor
- camera shooting
- detection device
- 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
- 238000001514 detection method Methods 0.000 title claims abstract description 47
- 230000003044 adaptive effect Effects 0.000 title claims abstract description 28
- 241000219098 Parthenocissus Species 0.000 claims abstract description 63
- 241000935985 Certhiidae Species 0.000 claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims description 98
- 230000009471 action Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000006378 damage Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Abstract
The utility model provides a kind of pipeline detection device of adaptive caliber, is related to pipe testing apparatus technical field.The pipeline detection device of adaptive caliber includes crawler travel component, driving assembly, pressure sensor and controller；The output end of the driving component is connect with the input terminal of crawler travel component, and the crawler travel component includes multiple creepers undercarriage, and the driving component is able to drive multiple creepers undercarriage and does relatively close or separate movement；Pressure sensor is for incuding pressure suffered by creeper undercarriage, and controller is connect with pressure sensor, and controller is connect with driving assembly.It solves in the prior art, pressure sensor is used to incude the axial driving force for the crawler unit connecting with driving device, calculates more complicated technical problem by the power that pressure sensor incudes.The pressure sensor of the utility model directly incudes pressure suffered by creeper undercarriage, more intuitive and convenient.
Description
Technical field
The utility model relates to pipe testing apparatus technical fields, more particularly, to a kind of pipeline detection of adaptive caliber
Device.
Background technique
In recent years, with the rapid development of the industries such as petroleum, natural gas, chemical industry, pipeline is as a kind of important and effective
Material transferring facility, is widely applied.The failures such as the burn into destruction of pipeline, in bad repair seriously hinder production, need periodically
The processing such as derusting repaired mouth are carried out to inner surface of pipeline, to extend pipeline service life, thus pipeline detection device comes into being.
The move mode of existing pipeline detection device is many kinds of including wheeled, foot formula, creeping-type, creeping motion type, crawler type
Deng.For track type pipeline detection device comprising crawler unit and driving device when walking in the duct, are carried out
3 Athey wheels with running gear are driven by driving device to be opened, and is made crawler belt fitting inner wall of the pipe and is tightly pushed down, generation and machine
The power drive Athey wheel of the consistent stiction of device people's direction of travel, driving device output is mobile, track type pipeline detection device
Realize the walking in pipeline.Existing track type pipeline detection device is to be incuded to connect with driving device with pressure sensor
Crawler unit axial driving force, later according to detected axial driving force pass through a series of calculating, thus
Normal pressure needed for deriving single Athey wheel, and then the opening angle of crawler belt is controlled, realize that track type pipeline detection device exists
Walking in pipeline.
The pressure sensor induction of existing pipeline detection device is the crawler unit connecting with driving device
Axial driving force need to also be into for driving force (normal pressure i.e. between Athey wheel and tube wall) needed for calculating single Athey wheel
The a series of calculating of row, and the relationship between the normal pressure of tube wall suffered by the pressure of pressure sensor induction and single crawler belt
Also it is nonlinear correlation, needs a large amount of calculating process, brings big inconvenience for the calculating of normal pressure.
Utility model content
The purpose of this utility model is to provide a kind of pipeline detection devices of adaptive caliber, to solve in the prior art
Existing, pressure sensor is used to incude the axial driving force for the crawler unit connecting with driving device, by pressure sensing
The normal pressure that the pressure gauge of device induction calculates tube wall suffered by single crawler belt needs a series of calculating process, is the meter of normal pressure
Calculation brings the technical issues of big inconvenience.
A kind of pipeline detection device of adaptive caliber provided by the utility model, including crawler travel component, driving group
Part, pressure sensor and controller；
The output end of the driving component is connect with the input terminal of crawler travel component, and the crawler travel component includes more
A creeper undercarriage, the driving component are able to drive multiple creepers undercarriage and do relatively close or separate movement；
The pressure sensor is for incuding pressure suffered by creeper undercarriage, and the controller is connect with pressure sensor, institute
Controller is stated to connect with driving assembly, when the pressure value that the pressure sensor senses is less than threshold value, the pressure sensing
Device transmits a signal to controller, the controller control driving assembly work, so that the creeper undercarriage of crawler travel component
Do the movement being relatively distant from；When the pressure value that the pressure sensor senses is equal to threshold value, controller controls driving assembly
It closes, so that the opening and closing state of the creeper undercarriage of crawler travel component is fixed；When the pressure that the pressure sensor senses
When force value is greater than threshold value, the pressure sensor transmits a signal to controller, and the controller controls driving assembly counter motion,
So that the creeper undercarriage of crawler travel component makees relatively close movement.
Further, the pressure sensor is located at the underface of the crawler belt axis of creeper undercarriage.
Further, the creeper undercarriage includes track assembly, first support arm and second support arm；
The crawler belt axis connection of the track assembly between first support arm and second support arm, the first support arm with second
Arm is oppositely arranged, with track assembly described in clamping；The first support arm is located at the top of second support arm；
It is equipped with card slot along the crawler belt axis direction of motion in the second support arm, the pressure sensor is arranged in card slot.
Further, the creeper undercarriage includes track drive part, active crawler belt, driven crawler belt and crawler haulage group
Part；
The output end of the track drive part is connect with the input terminal of crawler haulage component, the crawler haulage component it is defeated
Outlet is connect with active crawler belt, drives active crawler belt mobile under the drive of track drive part in the crawler haulage component, with
Keep driven crawler belt mobile.
Further, the pipeline detection device further includes the camera shooting mechanism for recording state in caliber；
The camera shooting mechanism is located at one end of the separate driving assembly of crawler travel component.
Further, the pipeline detection device further includes the first camera shooting driving mechanism；
One end of the first camera shooting driving mechanism is connect with one end of the separate driving mechanism of crawler travel component, described
First camera shooting driving mechanism is connect with camera shooting mechanism, so that the camera shooting mechanism is under the drive of the first camera shooting driving mechanism perpendicular
Straight rotation in surface.
Further, the pipeline detection device further includes the second camera shooting driving mechanism；
The second camera shooting driving mechanism is rotatably connected on the one of the separate crawler travel component of the first camera shooting driving mechanism
Side, the camera shooting mechanism are connect with the second camera shooting driving mechanism, so that camera shooting mechanism is under the drive of the second camera shooting driving mechanism
It is swung in vertical plane.
Further, the crawler travel component includes hoofing part mechanism and connection component；
One end of the hoofing part mechanism is connect with driving assembly, the other end and connection group of the hoofing part mechanism
One end of part connects, and the other end of the connection component is connect with creeper undercarriage, the connection component and crawler travel machine
The quantity of structure be it is multiple, multiple connection components and creeper undercarriage are evenly arranged in the circumferential direction of hoofing part mechanism.
Further, the hoofing part mechanism includes lead screw and feed screw nut bracket；
One end of the lead screw and the output end of driving assembly connect, and the feed screw nut bracket is socketed on lead screw, institute
Feed screw nut bracket is stated to connect with connection component.
Further, the connection component includes push rod, two connecting rods and two fixed plates；
One fixed plate is connected to one end of lead screw, another fixed plate is connected to the other end of lead screw, the push rod
One end and feed screw nut bracket are hinged, and the other end of the push rod and a connecting rod are hinged, and one end of a connecting rod is solid with one
Fixed board connection, the other end of a connecting rod connect with the side of a creeper undercarriage, one end of another connecting rod with it is another
A fixed plate connection, the other end of another connecting rod is connect with the other side of the creeper undercarriage, so that feed screw nut bracket
It drives push plate to move along lead screw under the action of lead screw, and then moves the creeper undercarriage under the drive of push plate.
The pipeline detection device of adaptive caliber provided by the utility model, the output end and crawler belt row of the driving component
The input terminal connection of component is walked, the crawler travel component includes multiple creepers undercarriage, and the driving component is able to drive
Multiple creepers undercarriage do movement that is relatively close or being relatively distant from, so that creeper undercarriage is along close to or far from tube wall
The direction of diameter is mobile, so that the folding of the pipeline detection device of adaptive caliber can be adjusted according to caliber；It is described
Pressure sensor is for incuding pressure suffered by creeper undercarriage, and the controller is connect with pressure sensor, the control
Device processed is connect with driving assembly, pressure when setting creeper undercarriage and tube wall are exactly in contact with and when enabling to crawler belt mobile
For threshold value, when the pressure value that pressure sensor senses is less than threshold value, the pressure sensor transmits a signal to controller, institute
It states controller and transmits a signal to driving assembly, driving assembly controls multiple creepers undercarriage and opens, when pressure sensor incudes
When the pressure value arrived is equal to threshold value, controller controls driving assembly and closes, and multiple creeper undercarriage opening and closing states are fixed；Work as pressure
When the pressure value that force snesor senses is greater than threshold value, the pressure sensor transmits a signal to controller, the controller hair
The number of delivering letters arrives driving assembly, and driving assembly controls multiple creeper undercarriage closures, when the pressure value that pressure sensor senses
When equal to threshold value, controller controls driving assembly and closes, and multiple creeper undercarriage opening and closing states are fixed；It is passed by using pressure
Sensor directly incudes the pressure value of creeper undercarriage, so that pressure signal is more intuitively transmitted in controller, more easily
The movement of driving assembly is controlled, and the process of signal transmitting is simpler, it is more convenient, operator is shortened in terms of calculating
The required time simplifies the design of overall plan.
Detailed description of the invention
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution in the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be that some embodiments of the utility model are not paying creativeness for those of ordinary skill in the art
Under the premise of labour, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the first view of the first state of the pipeline detection device of adaptive caliber provided by the embodiment of the utility model
The structural schematic diagram at angle；
Fig. 2 is the second view of the first state of the pipeline detection device of adaptive caliber provided by the embodiment of the utility model
The structural schematic diagram at angle；
Fig. 3 is that the structure of the closed state of the pipeline detection device of adaptive caliber provided by the embodiment of the utility model is shown
It is intended to；
Fig. 4 is that the structure of the second support arm of the pipeline detection device of adaptive caliber provided by the embodiment of the utility model is shown
It is intended to.
Icon: 11- crawler travel component；12- first images driving mechanism；13- pressure sensor；14- images mechanism；
15- second images driving mechanism；111- creeper undercarriage；112- hoofing part mechanism；113- connection component；1111- crawler belt
Component；1112- first support arm；1113- second support arm；1114- card slot；1115- track drive part；1116- active crawler belt；
The driven crawler belt of 1117-；1118- crawler haulage component；1121- lead screw；1122- feed screw nut bracket；1131- push rod；1132- connects
Bar；1133- fixed plate.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
In the description of the present invention, it should be noted that such as occur term " center ", "upper", "lower", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "inner", "outside" is orientation based on the figure or position
Relationship is merely for convenience of describing the present invention and simplifying the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.This
Outside, such as there is term " first ", " second ", " third " are used for description purposes only, be not understood to indicate or imply relatively heavy
The property wanted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, such as there is term
" installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
The utility model provides a kind of pipeline detection device of adaptive caliber, the pipeline detection of the adaptive caliber
Device includes crawler travel component 11, driving assembly, pressure sensor 13 and controller；The output end and shoe of the driving component
Input terminal connection with walking component 11, the crawler travel component 11 include multiple creepers undercarriage 111, the driving group
Part is able to drive multiple creepers undercarriage 111 and does relatively close or separate movement；The pressure sensor 13 is for feeling
Pressure suffered by creeper undercarriage 111 is answered, the controller is connect with pressure sensor 13, the controller and driving group
Part connection, when the pressure value that the pressure sensor 13 senses is less than threshold value, the pressure sensor 13 is transmitted a signal to
Controller, the controller control driving assembly work, so that the creeper undercarriage 111 of crawler travel component 11 is done relatively far
From movement；When the pressure value that the pressure sensor 13 senses is equal to threshold value, controller controls driving assembly and closes, with
Fix the opening and closing state of the creeper undercarriage 111 of crawler travel component 11；When the pressure that the pressure sensor 13 senses
When force value is greater than threshold value, the pressure sensor 13 transmits a signal to controller, and the controller control driving assembly is reversely transported
It is dynamic, so that the creeper undercarriage 111 of crawler travel component 11 makees relatively close movement.
As shown in Figure 1-3, the pipeline detection device of adaptive caliber provided by the utility model, the driving component is electricity
Machine, the controller are STM32 system, and the driving component is located at the right end of crawler travel component 11, the driving component
Output end is connect with the input terminal of crawler travel component 11, and multiple creepers undercarriage 111 of the crawler travel component 11 exist
Relatively close or separate movement can be done under the drive of driving assembly；The pressure sensor 13 is for incuding crawler travel
Pressure suffered by mechanism 111, the controller are connect with pressure sensor 13, and the controller is connect with driving assembly；?
In use, pressure when set when creeper undercarriage 111 is exactly in contact with tube wall first and enabling to crawler belt mobile is threshold
Value, when the pressure value that pressure sensor 13 senses is less than threshold value, the pressure sensor 13 transmits a signal to controller, institute
It states controller and transmits a signal to driving assembly, driving assembly controls multiple creepers undercarriage 111 and opens, when pressure sensor 13
When the pressure value sensed is equal to threshold value, controller controls driving assembly and closes, and multiple 111 opening and closing states of creeper undercarriage are solid
It is fixed；When the pressure value that pressure sensor 13 senses is greater than threshold value, the pressure sensor 13 transmits a signal to controller, institute
It states controller and transmits a signal to driving assembly, driving assembly controls multiple creepers undercarriage 111 and is closed, when pressure sensor 13
When the pressure value sensed is equal to threshold value, controller controls driving assembly and closes, and multiple 111 opening and closing states of creeper undercarriage are solid
It is fixed (wherein to open and refer to that multiple creepers undercarriage 111 do the movement being relatively distant from, conjunction refers to multiple creepers undercarriage
111 do relatively close movement)；The pressure value of creeper undercarriage 111 is directly incuded by using pressure sensor 13, so that
Pressure signal is more intuitively transmitted in controller, more easily controls the movement of driving assembly, and the process of signal transmitting is more
Add simply, it is more convenient, the time needed for shortening operator in terms of calculating, simplify the design of overall plan.
It should be noted that the threshold value needs are repeatedly tested repeatedly.
It should also be noted that, the threshold value can also be able to be a point value for a segment limit.
Further, the pressure sensor 13 is located at the underface of the crawler belt axis of creeper undercarriage 111.
The pressure sensor 13 is located at the underface of the crawler belt axis of creeper undercarriage 111, directly induction crawler travel
From the pressure of tube wall suffered by mechanism 111, more intuitively, react quicker.
Further, the creeper undercarriage 111 includes track assembly 1111, first support arm 1112 and second support arm
1113；The crawler belt axis connection of the track assembly 1111 is between first support arm 1112 and second support arm 1113, and described first
Arm 1112 is oppositely arranged with second support arm 1113, with track assembly 1111 described in clamping；The first support arm 1112 is located at second
The top of support arm 1113；Card slot 1114, the pressure sensing are equipped with along the crawler belt axis direction of motion in the second support arm 1113
Device 13 is arranged in card slot 1114.
Described picture 1-4, the crawler belt axis connection of the track assembly 1111 is in first support arm 1112 and second support arm 1113
Between, first support arm 1112 is located at the surface of second support arm 1113, position corresponding with crawler belt axis in the second support arm 1113
The card slot 1114 for being equipped with and being recessed inwardly is set, the pressure sensor 13 is located in card slot 1114；Crawler belt is bonded with inner wall of the pipe
When generating pressure, this pressure passes to the bearing installed on crawler belt axis, and bearing can pass to pressure between lower branch arm and bearing
Pressure sensor 13, the value of this pressure sensor 13 is the normal pressure between crawler belt and inner wall of the pipe, directly passes pressure
Sensor 13 is located at the lower section of the bearing of crawler belt axis, and the pressure of induction is more intuitive, convenient.
Further, the creeper undercarriage 111 includes track drive part 1115, active crawler belt 1116, driven crawler belt
1117 and crawler haulage component 1118；The output end of the track drive part 1115 and the input terminal of crawler haulage component 1118 connect
It connects, the output end of the crawler haulage component 1118 is connect with active crawler belt 1116, is being carried out in the crawler haulage component 1118
Drive active crawler belt 1116 mobile under drive with actuator 1115, so that driven crawler belt 1117 is mobile.
As described in Figure 1, the crawler haulage component 1118 includes input gear and output gear, the track drive part
1115 output end is connect with the input gear of crawler haulage component 1118, the input gear output gear engagement connection,
Under the drive of track drive part 1115, power is transmitted to the master of creeper undercarriage 111 by the input gear through output gear
Dynamic crawler belt 1116, active crawler belt 1116 is mobile, and driven crawler belt 1117 moves under the drive of active crawler belt 1116；In a crawler belt
The design of active crawler belt 1116 and driven crawler belt 1117 is set in walking mechanism 111, is capable of increasing between crawler belt and inner wall of the pipe
Normal pressure, it can be ensured that when wherein crawler belt fitting inner wall of the pipe is not tight, another crawler belt can be also bonded, with true
The walking for protecting crawler travel component 11 is smooth, guarantees that crawler belt is non-slip.
Further, the pipeline detection device further includes the camera shooting mechanism 14 for recording state in caliber；It is described to take the photograph
Camera structure 14 is located at one end of the separate driving assembly of crawler travel component 11.
As shown in Figure 1, the camera shooting mechanism 14 is located at the left end of crawler travel component 11, as shown in Fig. 2, the video camera
Structure 14 is connect by fixing piece with crawler travel component 11, and the camera shooting mechanism 14 is able to record the state in caliber, facilitates sight
It examines.
It should be noted that the camera shooting mechanism 14 be camera, video camera or other can play the zero of photographic effect
Part.
Further, the pipeline detection device further includes the first camera shooting driving mechanism 12；The first camera shooting driving machine
One end of structure 12 is connect with one end of the separate driving assembly of crawler travel component 11, and described first images driving mechanism 12 and take the photograph
Camera structure 14 connects, so that the camera shooting mechanism 14 is under the drive of the first camera shooting driving mechanism 12 in vertical rotation in surface.
As shown in Figure 1, the first camera shooting driving mechanism 12 is steering engine, the steering engine is located at first since right side
Between disc and second disc, the left end of the right end of the steering engine and crawler travel component 11 by the first disc and
Connecting column connection, two discs that the output shaft of the steering engine passes through left end are connect with camera shooting mechanism 14, in the effect of steering engine
Under, camera shooting mechanism 14 can rotate in perpendicular, realize the detection to 360 degree of directions in caliber.
Further, the pipeline detection device further includes the second camera shooting driving mechanism 15；The second camera shooting driving machine
Structure 15 is rotatably connected on the side of the separate crawler travel component 11 of the first camera shooting driving mechanism 12, the camera shooting mechanism 14 and
Two camera shooting driving mechanisms 15 connect, so that camera shooting mechanism 14 is put in vertical plane under the drive of the second camera shooting driving mechanism 15
It is dynamic.
Specifically, as depicted in figs. 1 and 2, the second camera shooting driving mechanism 15 is steering engine, and the output shaft of steering engine, which rotates, to be connected
It connecing on the fixing piece in the left side of the first camera shooting driving mechanism 12, camera shooting mechanism 14 is connected in the second camera shooting driving mechanism 15,
The camera shooting mechanism 14 can be swung in vertical plane under the drive of the rotation of the shell of the second camera shooting driving mechanism 15；Camera shooting
Mechanism 14 can realize 360 degree of annular detection of different tube diameters depth, detection under the action of the first camera shooting driving mechanism 12
Range is big；Camera shooting mechanism 14 is equipped with by fixing piece in second camera shooting driving mechanism 15, can control camera shooting mechanism 14 perpendicular
Swing in straight plane, the first camera shooting driving mechanism 12 is used to control the rotation of the second camera shooting driving mechanism 15, thus, it is possible to make
The tool of mechanism 14 must be imaged there are two freedom degree, the first camera shooting driving mechanism 12 is for driving camera shooting mechanism 14 to rotate, the second camera shooting
Driving mechanism 15 is for driving camera shooting mechanism 14 to swing.Second camera shooting driving mechanism 15 and the first camera shooting driving mechanism 12
It realizes two degrees of freedom, not only can detecte conduit axis direction, but also can detecte the function of inner wall of the pipe.
Further, the crawler travel component 11 includes hoofing part mechanism 112 and connection component 113；The walking
One end of driving mechanism 112 is connect with driving assembly, the other end of the hoofing part mechanism 112 and the one of connection component 113
End connection, the other end of the connection component 113 are connect with creeper undercarriage 111, the connection component 113 and crawler travel
The quantity of mechanism 111 be it is multiple, multiple connection components 113 and creeper undercarriage 111 are evenly arranged on hoofing part mechanism 112
In circumferential direction.
As shown in Figure 1, the left end of the hoofing part mechanism 112 is connect with driving assembly, the hoofing part mechanism 112
Right end connect with the lower end of connection component 113, the upper end of the connection component 113 is connect with creeper undercarriage 111, described
The quantity of connection component 113 and creeper undercarriage 111 is three, and three connection components 113 and creeper undercarriage 111 are equal
Cloth is in the circumferential direction of hoofing part mechanism 112；Under the drive of driving assembly, hoofing part mechanism 112 drives connection component 113
And creeper undercarriage 111 moves, and realizes the opening and closing of three creepers undercarriage 111.
It should be noted that the quantity of the creeper undercarriage 111 and connection component 113 can also be four or two
It is a, as long as being able to achieve the pipeline detection device of adaptive caliber inside caliber, and can be under the drive of hoofing part mechanism 112
It opens or is closed.
Further, the hoofing part mechanism 112 includes lead screw 1121 and feed screw nut bracket 1122；The lead screw
1121 one end and the output end of driving assembly connect, and the feed screw nut bracket 1122 is socketed on lead screw 1121, the silk
Thick stick nut bracket 1122 is connect with connection component 113.
Specifically, the hoofing part mechanism 112 is the structure that lead screw 1121 is connect with feed screw nut bracket 1122；It is described
The left end of lead screw 1121 and the output end of driving assembly connect, and the feed screw nut bracket 1122 is socketed on lead screw 1121, institute
Feed screw nut bracket 1122 is stated to connect with connection component 113；Under the drive of driving assembly, lead screw 1121 rotates, and is socketed in silk
Feed screw nut bracket 1122 on thick stick 1121 is threadedly coupled with lead screw 1121, and lead screw 1121 rotates, 1122 edge of feed screw nut bracket
Lead screw 1121 moves in the horizontal direction, and feed screw nut bracket 1122 is connect with connection component 113, so that connection component
113 drive creepers undercarriage 111 are moved along the direction close to or far from lead screw 1121；Using lead screw 1121 and feed screw nut
The structure that bracket 1122 connects, structure is simple, easy to control.
Further, the connection component 113 includes 1131, two connecting rods 1132 of push rod and two fixed plates 1133；One
A fixed plate 1133 is connected to one end of lead screw 1121, another fixed plate 1133 is connected to the other end of lead screw 1121, described
One end of push rod 1131 and feed screw nut bracket 1122 are hinged, and the other end of the push rod 1131 and a connecting rod 1132 are hinged,
One end of one connecting rod 1132 is connect with a fixed plate 1133, the other end and a creeper undercarriage of a connecting rod 1132
111 side connection, one end of another connecting rod 1132 connect with another fixed plate 1133, another connecting rod 1132 it is another
End is connect with the other side of the creeper undercarriage 111, so that feed screw nut bracket 1122 drives under the action of lead screw 1121
Push plate is moved along lead screw 1121, and then moves the creeper undercarriage 111 under the drive of push plate.
As shown in Figure 1, the fixed plate 1133 in left side is connected to the left end of lead screw 1121, the fixed plate 1133 on right side is connected to
The right end of lead screw 1121, the upper end of the push rod 1131 and feed screw nut bracket 1122 are hinged, the lower end of the push rod 1131 with
The connecting rod 1132 of right end is hinged, and the upper end of the connecting rod 1132 of right end and the fixed plate 1133 on right side connect, the connecting rod 1132 of right end
Lower end connect with the right side of creeper undercarriage 111, the fixed plate 1133 of the upper end of the connecting rod 1132 of left end and left end connects,
The lower end of the connecting rod 1132 of left end is connect with the left side of creeper undercarriage 111, and lead screw 1121 rotates under the drive of actuator,
So that feed screw nut bracket 1122 is moved along lead screw 1121, so that push plate drives connecting rod 1132 to push creeper undercarriage
111 is mobile, realizes the opening or closure of three creepers undercarriage 111；Using the structure of push rod 1131 and connecting rod 1132, knot
Structure is simple, easy to control.
Specifically, threshold value, pressure sensor directly are set in 111 arranged beneath pressure sensor 13 of creeper undercarriage
The pressure value and threshold value of 13 inductions form closed-loop control, and closed-loop control is completed in STM32 system, the output access of controller
Driver, the rotation of driver control driving assembly, and then control lead screw 1121 and rotate, so that crawler belt is bonded inner wall of the pipe,
Normal pressure is generated, when pressure value is equal to threshold value, driving assembly stops operating, due to feed screw nut bracket 1122 and lead screw 1121
Directly there is latching characteristics, be able to maintain crawler belt with certain pressure close to inner wall of the pipe.Moreover, the pipeline detection of adaptive caliber
Device realization principle is closed-loop control, and when crawler belt and the reduction of inner wall of the pipe pressure, controller will increase output, driving assembly meeting
It is again started up, so that crawler attachment is expanded, reaches threshold value again.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of pipeline detection device of adaptive caliber, which is characterized in that including crawler travel component, driving assembly, pressure
Sensor and controller；
The output end of the driving component is connect with the input terminal of crawler travel component, and the crawler travel component includes multiple shoes
Band walking mechanism, the driving component are able to drive multiple creepers undercarriage and do relatively close or separate movement；It is described
Pressure sensor is for incuding pressure suffered by creeper undercarriage, and the controller is connect with pressure sensor, the control
Device processed is connect with driving assembly, when the pressure value that the pressure sensor senses is less than threshold value, the pressure sensor hair
The number of delivering letters arrives controller, the controller control driving assembly work, so that the creeper undercarriage of crawler travel component does phase
To separate movement；When the pressure value that the pressure sensor senses is equal to threshold value, controller controls driving assembly and closes,
So that the opening and closing state of the creeper undercarriage of crawler travel component is fixed；When the pressure value that the pressure sensor senses is big
When threshold value, the pressure sensor transmits a signal to controller, and the controller controls driving assembly counter motion, so as to carry out
Creeper undercarriage with walking component makees relatively close movement.
2. the pipeline detection device of adaptive caliber according to claim 1, which is characterized in that the pressure sensor is set
In the underface of the crawler belt axis of creeper undercarriage.
3. the pipeline detection device of adaptive caliber according to claim 2, which is characterized in that the creeper undercarriage
Including track assembly, first support arm and second support arm；
The crawler belt axis connection of the track assembly is between first support arm and second support arm, the first support arm and second support arm phase
To setting, with track assembly described in clamping；The first support arm is located at the top of second support arm；
It is equipped with card slot along the crawler belt axis direction of motion in the second support arm, the pressure sensor is arranged in card slot.
4. the pipeline detection device of adaptive caliber according to claim 1, which is characterized in that the creeper undercarriage
Including track drive part, active crawler belt, driven crawler belt and crawler haulage component；
The output end of the track drive part is connect with the input terminal of crawler haulage component, the output end of the crawler haulage component
It is connect with active crawler belt, drives active crawler belt mobile under the drive of track drive part in the crawler haulage component, so that from
Dynamic crawler belt is mobile.
5. the pipeline detection device of adaptive caliber according to claim 1, which is characterized in that the pipeline detection device
It further include the camera shooting mechanism for recording state in caliber；
The camera shooting mechanism is located at one end of the separate driving assembly of crawler travel component.
6. the pipeline detection device of adaptive caliber according to claim 5, which is characterized in that the pipeline detection device
It further include the first camera shooting driving mechanism；
One end of the first camera shooting driving mechanism is connect with one end of the separate driving assembly of crawler travel component, and described first
Camera shooting driving mechanism is connect with camera shooting mechanism, so that the camera shooting mechanism is under the drive of the first camera shooting driving mechanism in vertical plane
Interior rotation.
7. the pipeline detection device of adaptive caliber according to claim 6, which is characterized in that the pipeline detection device
It further include the second camera shooting driving mechanism；
The second camera shooting driving mechanism is rotatably connected on the side of the separate crawler travel component of the first camera shooting driving mechanism, institute
It states camera shooting mechanism to connect with the second camera shooting driving mechanism, so that camera shooting mechanism is under the drive of the second camera shooting driving mechanism vertical
It is swung in face.
8. the pipeline detection device of adaptive caliber according to claim 1, which is characterized in that the crawler travel component
Including hoofing part mechanism and connection component；
One end of the hoofing part mechanism is connect with driving assembly, the other end of the hoofing part mechanism and connection component
One end connection, the other end of the connection component connect with creeper undercarriage, the connection component and creeper undercarriage
Quantity be it is multiple, multiple connection components and creeper undercarriage are evenly arranged in the circumferential direction of hoofing part mechanism.
9. the pipeline detection device of adaptive caliber according to claim 8, which is characterized in that the hoofing part mechanism
Including lead screw and feed screw nut bracket；
One end of the lead screw and the output end of driving assembly connect, and the feed screw nut bracket is socketed on lead screw, the silk
Thick stick nut bracket is connect with connection component.
10. the pipeline detection device of adaptive caliber according to claim 9, which is characterized in that the connection component packet
Include push rod, two connecting rods and two fixed plates；
One fixed plate is connected to one end of lead screw, another fixed plate is connected to the other end of lead screw, one end of the push rod
Hinged with feed screw nut bracket, the other end of the push rod and a connecting rod are hinged, one end of a connecting rod and a fixed plate
Connection, the other end of a connecting rod are connect with the side of a creeper undercarriage, and one end of another connecting rod is solid with another
Fixed board connection, the other end of another connecting rod is connect with the other side of the creeper undercarriage, so that feed screw nut bracket is in silk
It drives push plate to move along lead screw under the action of thick stick, and then moves the creeper undercarriage under the drive of push plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920231392.0U CN209513660U (en) | 2019-02-21 | 2019-02-21 | A kind of pipeline detection device of adaptive caliber |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920231392.0U CN209513660U (en) | 2019-02-21 | 2019-02-21 | A kind of pipeline detection device of adaptive caliber |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209513660U true CN209513660U (en) | 2019-10-18 |
Family
ID=68204628
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920231392.0U Expired - Fee Related CN209513660U (en) | 2019-02-21 | 2019-02-21 | A kind of pipeline detection device of adaptive caliber |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209513660U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110925523A (en) * | 2019-12-12 | 2020-03-27 | 浙江省特种设备科学研究院 | Pipeline inspection robot |
| CN111781966A (en) * | 2020-07-08 | 2020-10-16 | 宜昌利民管业科技股份有限公司 | Self-feedback lining stainless steel pipe composite system |
| CN112576861A (en) * | 2020-11-25 | 2021-03-30 | 深圳市博铭维智能科技有限公司 | Geological radar robot, control system, method, terminal and readable storage medium |
| CN112709886A (en) * | 2020-12-24 | 2021-04-27 | 武汉理工大学 | Detector for trenchless laying pipeline |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113586840A (en) * | 2021-07-28 | 2021-11-02 | 中国人民解放军陆军工程大学 | Pipeline robot capable of self-adapting to pipe diameter and curve |
| CN114296079A (en) * | 2022-03-09 | 2022-04-08 | 中大检测(湖南)股份有限公司 | Highway tunnel structure stability detection system and method based on radar |
-
2019
- 2019-02-21 CN CN201920231392.0U patent/CN209513660U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110925523A (en) * | 2019-12-12 | 2020-03-27 | 浙江省特种设备科学研究院 | Pipeline inspection robot |
| CN111781966A (en) * | 2020-07-08 | 2020-10-16 | 宜昌利民管业科技股份有限公司 | Self-feedback lining stainless steel pipe composite system |
| CN111781966B (en) * | 2020-07-08 | 2024-04-16 | 宜昌利民管业科技股份有限公司 | Self-feedback lining stainless steel tube composite system |
| CN112576861A (en) * | 2020-11-25 | 2021-03-30 | 深圳市博铭维智能科技有限公司 | Geological radar robot, control system, method, terminal and readable storage medium |
| CN112576861B (en) * | 2020-11-25 | 2021-11-05 | 深圳市博铭维智能科技有限公司 | Geological radar robot, control system, method, terminal and readable storage medium |
| CN112709886A (en) * | 2020-12-24 | 2021-04-27 | 武汉理工大学 | Detector for trenchless laying pipeline |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113586840A (en) * | 2021-07-28 | 2021-11-02 | 中国人民解放军陆军工程大学 | Pipeline robot capable of self-adapting to pipe diameter and curve |
| CN114296079A (en) * | 2022-03-09 | 2022-04-08 | 中大检测(湖南)股份有限公司 | Highway tunnel structure stability detection system and method based on radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209513660U (en) | A kind of pipeline detection device of adaptive caliber | |
| CN208311788U (en) | A kind of wheeled pipeline detecting and sampling robots | |
| CN207316352U (en) | A kind of pipeline climbing robot for being used to detect dredging | |
| CN108414153B (en) | Intelligent pipe gallery inspection robot with emergency function | |
| CN101915339A (en) | Pipeline robot | |
| CN108730676A (en) | A kind of ball shape robot for pipe detection | |
| CN107160359A (en) | A kind of explosion-proof wheeled crusing robot | |
| CN208595355U (en) | A kind of steering tapered pipeline robot | |
| CN104613274A (en) | Self-adaptive pipeline exploration robot | |
| CN107131391A (en) | A kind of adaptive screwdriven pipe robot | |
| CN105666491A (en) | Control system for multi-joint pipeline maintenance robot | |
| CN208793905U (en) | A kind of new pipeline robot | |
| CN107366797A (en) | A kind of controllable pneumatic type pipe robot of speed | |
| CN105757397A (en) | Pipeline robot | |
| CN209226575U (en) | A kind of full-automatic oil filling riser of cantilevered train being automatically aligned to tank car tank mouth | |
| CN109630806A (en) | The pipe robot that can be screwed on, grab and detect | |
| CN202927362U (en) | Structure of pipeline inspection robot | |
| CN105500362B (en) | A kind of multi-joint omnidirectional type Pipe-out Robot control system | |
| CN107416062A (en) | The climbing robot and its detection method of a kind of restructural | |
| CN206112401U (en) | Intelligent pipeline inner wall running gear | |
| US4442974A (en) | Land irrigation system and method | |
| CN109129420A (en) | A kind of novel omnidirectional moving spherical robot | |
| CN209511419U (en) | The pipe robot that can be screwed on, grab and detect | |
| CN205383393U (en) | But tapered pipeline inspection robot | |
| CN108999071A (en) | Apparatus for striping of roads |
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: 20191018 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |