CN209615539U - A kind of control system for the detection of pipeline climbing robot - Google Patents
A kind of control system for the detection of pipeline climbing robot Download PDFInfo
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- CN209615539U CN209615539U CN201920351926.3U CN201920351926U CN209615539U CN 209615539 U CN209615539 U CN 209615539U CN 201920351926 U CN201920351926 U CN 201920351926U CN 209615539 U CN209615539 U CN 209615539U
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Abstract
The utility model provides a kind of control system for the detection of pipeline climbing robot.The pipeline climbing robot includes fuselage and the multiple pulleys being connected with fuselage, the control system include close to switch, photoelectric sensor, PLC and at least two induction pieces；The PLC is set on fuselage, described to be electrically connected respectively with PLC close to switch and photoelectric sensor；The photoelectric sensor is set to the one end of fuselage towards direction of advance；At least two induction pieces are respectively arranged on the side of pulley and set gradually around the central axis of pulley, described to be set on fuselage close to switch, and the motion profile of the induction pieces intersects with the induction range close to switch.Above-mentioned control system can to the speed of travel of pipeline climbing robot, travel distance, creep in the barrier that encounters detected.
Description
Technical field
The utility model relates to robot controller, in particular to a kind of control for the detection of pipeline climbing robot
System.
Background technique
Pipeline climbing robot refers to the crawling device with cleaning function that cleaning pipeline is placed in pipeline.
The speed of travel of pipeline climbing robot, travel distance, detection of obstacles are very important several parameters.
1, the detection of the speed of travel: pipeline climbing robot is when cleaning pipeline, if the speed of travel is too slow, will affect clear
Clean efficiency, and increase the usage amount of dry ice, increase cleaning cost, production efficiency reduces；If the speed of travel is too fast, will be unable to
Duct cleaning is clean, so must be adjusted to a suitable speed, efficiency and cleaning is made to reach a best level.
2, the detection of travel distance: being that can not see machine from the outside when pipeline climbing robot is walked inside pipeline
People's specific location, so must be it is to be understood that robot ambulation how many distance, judging the specific location of robot.
3, the detection of barrier: dust and tar in pipeline accumulate over a long period for a long time, it is possible to can be by the big face of dust
Product covering or entire pipeline are all blocked, and robot is possible to that these barriers can be bumped against when walking in pipeline, causes event
Barrier, in order to avoid this accident generation it is necessary to be detected to barrier, when meeting these barriers, it is desirable that robot
Stopping creeps and exports alarm signal.
Utility model content
The technical problem to be solved by the utility model is to provide it is a kind of can to the speed of travel of pipeline climbing robot,
Travel distance, creep in the control system for the detection of pipeline climbing robot that is detected of the barrier that encounters.
In order to solve the above-mentioned technical problem, the technical solution adopted in the utility model are as follows:
A kind of control system for the detection of pipeline climbing robot, the pipeline climbing robot includes fuselage and and machine
The connected multiple pulleys of body, the control system include close to switch, photoelectric sensor, PLC and at least two induction pieces；
The PLC is set on fuselage, described to be electrically connected respectively with PLC close to switch and photoelectric sensor；
The photoelectric sensor is set to the one end of fuselage towards direction of advance；
At least two induction pieces are respectively arranged on the side of pulley and set gradually around the central axis of pulley, described close
Switch is set on fuselage, and the motion profile of the induction pieces intersects with the induction range close to switch.
Further, the photoelectric sensor is the electric transducer that diffuses.
Further, the fuselage further includes linking arm, and one end of the linking arm is connected with fuselage, the linking arm
The other end is respectively equipped with two pulleys, and two pulleys on the other end of the linking arm are symmetrical arranged, symmetrically arranged described
At least two induction pieces on two pulleys are arranged in a one-to-one correspondence respectively；
It is described to be set to the other end of linking arm close to switch and be located between two pulleys.
Further, described to set close to switch there are two induction end, two induction end are arranged radially along pulley and difference position
In the two sides close to switch, two induction end and the motion profile close to the induction pieces on two pulleys of switch two sides are distinguished
It is arranged in a one-to-one correspondence.
Further, the number of the induction pieces is 12.
Further, the close switch is capacitive approach switch.
Further, the induction pieces are metal bump.
The utility model has the beneficial effects that:
(1) cooperate close to switch and induction pieces, travel distance and the speed of travel can be calculated, induction pieces turn with pulley
Dynamic and rounded motion profile often senses that an induction pieces enter the induction region of itself close to switch, all exports one
For signal to PLC, PLC can calculate the circle number that pulley turns according to the quantity for receiving switching signal, in conjunction with the diameter of pulley,
Travel distance can be calculated；According to the time used in one switching signal of every reception, the speed of travel can be calculated.Finally
The data of travel distance and the speed of travel show on the touchscreen and constantly update.
(2) photoelectric sensor be set to robot front end, when robot pipe walking find barrier when, photoelectric sensing
Device will reflect signal to receiver, and receiver exports a signal and controls relay power-off to PLC, PLC, stop movable motor
Only advance, corresponding alarm lamp flashing alarm.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the control system for the detection of pipeline climbing robot of the utility model embodiment；
Fig. 2 is the enlarged structure schematic diagram in Fig. 1 at A；
Fig. 3 is the electricity of the PLC connection of the control system for the detection of pipeline climbing robot of the utility model embodiment
Gas schematic diagram；
Fig. 4 is the electricity of the motor internal of the control system for the detection of pipeline climbing robot of the utility model embodiment
Gas schematic diagram；
Label declaration:
10, fuselage；11, linking arm；
20, pulley；
30, close to switch；
40, photoelectric sensor；
50, induction pieces.
Specific embodiment
For technology contents, the objects and the effects that the utility model is described in detail, below in conjunction with embodiment and match
Attached drawing is closed to be explained.
The design of the utility model most critical is: is respectively provided on climbing robot close to switch and photoelectric sensing
Device, to be detected to the speed of travel of climbing robot, travel distance and the barrier encountered.
Please refer to Fig. 1-4, a kind of control system for the detection of pipeline climbing robot, the pipeline climbing robot packet
The multiple pulleys 20 for including fuselage 10 and being connected with fuselage, the control system include close to switch 30, photoelectric sensor 40,
The induction pieces 50 of PLC and at least two；
The PLC is set on fuselage 10, described to be electrically connected respectively with PLC close to switch 30 and photoelectric sensor 40；
The photoelectric sensor 40 is set to the one end of fuselage 10 towards direction of advance；
At least two induction pieces 50 are respectively arranged on the side of pulley 20 and set gradually around the central axis of pulley 20, institute
It states and is set on fuselage 10 close to switch 30, the motion profile of the induction pieces 50 intersects with the induction range close to switch 30.
As can be seen from the above description, the utility model has the beneficial effects that:
(1) cooperate close to switch and induction pieces, travel distance and the speed of travel can be calculated, induction pieces turn with pulley
Dynamic and rounded motion profile often senses that an induction pieces enter the induction region of itself close to switch, all exports one
For signal to PLC, PLC can calculate the circle number that pulley turns according to the quantity for receiving switching signal, in conjunction with the diameter of pulley,
Travel distance can be calculated；According to the time used in one switching signal of every reception, the speed of travel can be calculated.Finally
The data of travel distance and the speed of travel show on the touchscreen and constantly update.
(2) when robot is when pipe walking finds barrier, photoelectric sensor will reflect signal to receiver, receive
Device exports a signal and controls relay power-off to PLC, PLC, and movable motor is made to halt, corresponding alarm lamp flashing report
It is alert.
Further, the photoelectric sensor 40 is the electric transducer that diffuses.
Seen from the above description, the electric transducer that diffuses is a kind of sensor for integrating transmitter and receiver,
When there is object to be detected to pass through, the light of the sufficient amount of transmitter transmitting is reflected into receiver, and then photoelectric sensor just produces
Switching signal is given birth to.
Further, the fuselage 10 further includes linking arm 11, and one end of the linking arm 11 is connected with fuselage 10, described
The other end of linking arm 11 is respectively equipped with two pulleys 20, and two pulleys 20 on the other end of the linking arm 11 are symmetrically set
It sets, at least two induction pieces 50 on symmetrically arranged described two pulleys 20 are arranged in a one-to-one correspondence respectively；
It is described to be set to the other end of linking arm 11 close to switch 30 and be located between two pulleys 20.
Seen from the above description, two pulleys 20 on the other end of each linking arm 11 have a close switch 30 single
It is solely correspondingly arranged, so that collected data are more accurate.
Further, described to set close to switch 30 there are two induction end, two induction end are arranged radially and divide along pulley 20
It is not located adjacent to the two sides of switch 30, two induction end and the induction pieces 50 on two pulleys 20 of close 30 two sides of switch
Motion profile is arranged in a one-to-one correspondence respectively.
Seen from the above description, the motion profile of the respective induction pieces 50 on ipsilateral pulley 20 of 20 face of induction end, makes
It must measure more accurate.
Further, the number of the induction pieces 50 is 12.
Further, the close switch 30 is capacitive approach switch.
Further, the induction pieces 50 are metal bump.
Please refer to Fig. 1-4, the embodiments of the present invention one are as follows:
A kind of control system for the detection of pipeline climbing robot, the pipeline climbing robot include fuselage 10, connect
Connect arm 11 and with multiple pulleys 20, the control system include close to switch 30, photoelectric sensor 40, PLC and 12 incude
Part 50；
The outside of the fuselage 10 is equipped with control box, and the PLC is set in control box；
One end of the linking arm 11 is connected with fuselage 10, and the other end of the linking arm 11 is respectively equipped with two pulleys
20, two pulleys 20 on the other end of the linking arm 11 are symmetrical arranged, and are respectively equipped on two sides of each pulley 20
12 induction pieces 50, induction pieces 50 are set gradually around the central axis of pulley 20, when pipeline climbing robot moves forward, often
Induction pieces 50 on a pulley 20 are all center axis thereof of the motion profile around pulley 20 with circle；
The photoelectric sensor 40 is set to the one end of fuselage 10 towards direction of advance, for detecting the barrier in front, institute
Stating photoelectric sensor 40 is the electric transducer that diffuses；
It is described to be set to the other end of linking arm 11 close to switch 30 and be located between two pulleys 20, it is described close to switch 30
For column structure and be respectively induction end along two axial ends, the center close to switch 30 and two pulleys 20
Axis is arranged in parallel, and the motion profile of each induction end and the induction pieces 50 on the pulley 20 of respective side corresponds respectively to be set
It sets, specifically, induction end is fallen on the motion profile of the induction pieces 50 on pulley 20 along the axial projection close to switch 30,
Therefore it when each induction pieces 50 pass through the induction end of close switch 30 from the distant to the near, can all trigger once close to switch 30.
It is a kind of without the manipulable position switch with moving component mechanically direct contact of progress close to switch 30, when
When close to the sensitive surface of switch 30 to operating distance, switch motion can be made by not needing Mechanical Contact and any pressure of application, from
And PLC device is driven to provide control instruction.It is kind of a switch-type sensor (i.e. noncontacting switch), its existing stroke close to switch 30
The characteristic of switch, microswitch, while there are sensing capabilities, and reliable in action, performance is stablized, and frequency response is fast, application life
Long, strong antijamming capability etc. simultaneously has the characteristics that waterproof, shockproof, corrosion-resistant.Product have inductance type, condenser type, Hall-type, friendship,
Once-through type.In this embodiment, using capacitive approach switch, induction pieces are metal bump；
Described to be electrically connected respectively with PLC close to switch 30 and photoelectric sensor 40, the pipeline of the PLC control pulley 20 is climbed
The traveling of row robot.
In conclusion the utility model, which provides one kind, to creep to the speed of travel of pipeline climbing robot, travel distance
In the control system for the detection of pipeline climbing robot that is detected of the barrier that encounters.Wherein, close to switch and induction
Part cooperation, can calculate travel distance and the speed of travel, and the induction pieces motion profile rounded with the rotation of pulley approaches
Switch often senses that an induction pieces enter itself induction region, all exports a signal to PLC, and PLC is according to receiving out
The quantity of OFF signal can calculate diameter of the circle number in conjunction with pulley of pulley turn, so that it may calculate travel distance；According to every
The time used in a switching signal is received, the speed of travel can be calculated, photoelectric sensor is set to the front end of robot, works as machine
For device people when pipe walking finds barrier, photoelectric sensor will reflect signal to receiver, and receiver exports a signal
Relay power-off is controlled to PLC, PLC, movable motor is made to halt, corresponding alarm lamp flashing alarm.
The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
Equivalents made based on the specification and figures of the utility model are applied directly or indirectly in relevant technology neck
Domain is also included in the patent protection scope of the utility model.
Claims (7)
1. a kind of control system for the detection of pipeline climbing robot, the pipeline climbing robot includes fuselage and and fuselage
Connected multiple pulleys, which is characterized in that further include close to switch, photoelectric sensor, PLC and at least two induction pieces；
The PLC is set on fuselage, described to be electrically connected respectively with PLC close to switch and photoelectric sensor；
The photoelectric sensor is set to the one end of fuselage towards direction of advance；
At least two induction pieces are respectively arranged on the side of pulley and set gradually around the central axis of pulley, described close to switch
On fuselage, the motion profile of the induction pieces intersects with the induction range close to switch.
2. the control system according to claim 1 for the detection of pipeline climbing robot, which is characterized in that the photoelectricity
Sensor is the electric transducer that diffuses.
3. the control system according to claim 1 for the detection of pipeline climbing robot, which is characterized in that the fuselage
It further include linking arm, one end of the linking arm is connected with fuselage, and the other end of the linking arm is respectively equipped with two pulleys, institute
Two pulleys stated on the other end of linking arm are symmetrical arranged, at least two induction pieces on symmetrically arranged described two pulleys
It is arranged in a one-to-one correspondence respectively；
It is described to be set to the other end of linking arm close to switch and be located between two pulleys.
4. the control system according to claim 3 for the detection of pipeline climbing robot, which is characterized in that described close
Switch is set there are two induction end, and two induction end are arranged radially along pulley and are respectively situated proximate to the two sides of switch, two senses
The motion profile of Ying Duanyu close to the induction pieces on two pulleys of switch two sides is arranged in a one-to-one correspondence respectively.
5. the control system according to claim 1 for the detection of pipeline climbing robot, which is characterized in that the induction
The number of part is 12.
6. the control system according to claim 1 for the detection of pipeline climbing robot, which is characterized in that described close
Switch is capacitive approach switch.
7. the control system according to claim 1 for the detection of pipeline climbing robot, which is characterized in that the induction
Part is metal bump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920351926.3U CN209615539U (en) | 2019-03-20 | 2019-03-20 | A kind of control system for the detection of pipeline climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920351926.3U CN209615539U (en) | 2019-03-20 | 2019-03-20 | A kind of control system for the detection of pipeline climbing robot |
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| Publication Number | Publication Date |
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| CN209615539U true CN209615539U (en) | 2019-11-12 |
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| CN201920351926.3U Active CN209615539U (en) | 2019-03-20 | 2019-03-20 | A kind of control system for the detection of pipeline climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760071A (en) * | 2019-03-20 | 2019-05-17 | 厦门佰欧环境智能科技有限公司 | A kind of control system and control method for the detection of pipeline climbing robot |
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2019
- 2019-03-20 CN CN201920351926.3U patent/CN209615539U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109760071A (en) * | 2019-03-20 | 2019-05-17 | 厦门佰欧环境智能科技有限公司 | A kind of control system and control method for the detection of pipeline climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A control system for pipeline crawling robot detection Effective date of registration: 20210726 Granted publication date: 20191112 Pledgee: Bank of China Limited Xiamen Convention and Exhibition Center sub branch Pledgor: XIAMEN BAIO ENVIRONMENT INTELLIGENT TECHNOLOGY Co.,Ltd. Registration number: Y2021980006756 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right |