CN210219051U - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
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- CN210219051U CN210219051U CN201921190328.9U CN201921190328U CN210219051U CN 210219051 U CN210219051 U CN 210219051U CN 201921190328 U CN201921190328 U CN 201921190328U CN 210219051 U CN210219051 U CN 210219051U
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- motor
- wheel
- pipeline
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- driving
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Abstract
The utility model provides a pipeline detection robot, which comprises a base body, wherein a detection module is arranged on the base body, the detection module comprises a controller, and the controller is connected with a sensor for detecting the environment in a pipeline; the base body is also rotatably provided with a first motor, and the first motor is in driving connection with the rotating shaft; a shaft sleeve is arranged outside the rotating shaft, the shaft sleeve is rotatably arranged on the base body, and the second motor is connected with the shaft sleeve in a driving mode; the transmission shaft is provided with a first driving wheel, the second motor is provided with a second driving wheel, a plurality of telescopic rods are respectively arranged on the first driving wheel and the second driving wheel, each telescopic rod is provided with a corresponding driven auxiliary wheel, and the inclination direction of the driven auxiliary wheel of the first rotation is opposite to that of the driven auxiliary wheel of the second driving wheel; the controller is connected with the first motor and the second motor. The utility model provides a technical scheme can solve among the prior art pipeline inspection robot and cause its relatively poor problem of suitability owing to difficult pipeline that turns.
Description
Technical Field
The utility model belongs to the technical field of the pipeline detects, concretely relates to pipeline inspection robot.
Background
Industrial piping systems have been widely used in the fields of metallurgy, petroleum, chemical industry, urban water heating supply, etc., and industrial piping has a very harsh working environment and is susceptible to corrosion, fatigue damage or leakage accidents caused by the development of potential defects inside the piping after long-term use. The normal production and living orders of people are seriously affected by the leakage and emission of toxic, harmful, inflammable and explosive articles to the atmosphere in an out-of-control state, so that the pipelines need to be overhauled and maintained regularly.
However, due to the working environment of the pipeline, the traditional detection method for directly inspecting the pipeline has huge workload and extremely low efficiency, and the problem can be solved by adopting the pipeline inspection robot.
The pipeline detection robot is a robot with small size, the robot can move in the pipeline, a sensor used for detecting the pipeline is arranged on the robot, the robot is controlled to move in the pipeline, the pipeline is detected through the sensor in the moving process, and data of the pipeline are obtained to judge whether the pipeline is abnormal or not.
Because the pipeline not only includes vertical pipeline, still includes the turn pipeline, the pipeline inspection robot among the prior art can be very easy through vertical pipeline, but difficult pipeline through turning causes the relatively poor problem of pipeline inspection robot suitability.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a pipeline inspection robot to solve among the prior art pipeline inspection robot and cause its relatively poor problem of suitability owing to difficult through the turn pipeline.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pipeline detection robot comprises a base body, wherein a detection module is arranged on the base body, the detection module comprises a controller, and the controller is connected with a sensor for detecting the environment in a pipeline; the base body is provided with a first motor and a second motor, and the first motor is in driving connection with the rotating shaft and used for driving the rotating shaft to rotate; a shaft sleeve is arranged outside the rotating shaft, and the second motor is connected with the shaft sleeve in a driving mode and used for driving the shaft sleeve to rotate; the transmission shaft is provided with a first driving wheel, the second motor is provided with a second driving wheel, the first driving wheel and the second driving wheel are both provided with a plurality of telescopic rods, one end of each telescopic rod, which is far away from the first driving wheel or the second driving wheel, is provided with a corresponding driven auxiliary wheel, and the inclination direction of the first rotating driven auxiliary wheel is opposite to that of the driven auxiliary wheel of the second driving wheel; the controller is connected with the first motor and the second motor and used for controlling the working states of the first motor and the second motor.
Furthermore, pipeline inspection robot still includes base and a plurality of stabilizer wheels, and the base setting is on the base member, and the contour of each stabilizer wheel is located the coplanar to in the plane internal peripheral evenly distributed, install on the base through corresponding connecting rod respectively, each stabilizer wheel rotates on corresponding connecting rod and sets up, and is provided with opening angle control spring between connecting rod and base.
Furthermore, the telescopic rod comprises a telescopic spring, a spring sleeve, a spring connecting rod and a pull wire, wherein one end of the spring connecting rod is arranged on the first driving wheel or the second driving wheel, the other end of the spring connecting rod is connected with one end of the pull wire, and the other end of the pull wire is connected with a corresponding driven auxiliary wheel; the telescopic spring is arranged between the spring connecting rod and the corresponding driven auxiliary wheel, and the spring sleeve is arranged outside the telescopic spring.
Furthermore, the driven auxiliary wheel is of a cylindrical structure, and two ends of the cylindrical structure are spherical surfaces.
The utility model has the advantages that: the utility model provides a technical scheme, first action wheel and second action wheel pass through the telescopic link and connect, and the steerable pipeline inspection robot of rotational speed through controlling first action wheel and second action wheel turns to at the turn pipeline, solves among the prior art pipeline inspection robot and leads to the fact the relatively poor problem of its suitability owing to difficult through the turn pipeline.
Drawings
Fig. 1 is a schematic structural diagram of a pipeline inspection robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a control and detection module in an embodiment of the present invention;
fig. 3 is a peripheral circuit diagram of a controller according to an embodiment of the present invention;
fig. 4 is a schematic structural view of the telescopic rod in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a transmission shaft in an embodiment of the present invention.
Detailed Description
The embodiment provides a pipeline detection robot for solve the problem that pipeline detection robot is poor in applicability among the prior art.
The pipeline inspection robot provided by the embodiment has a structure as shown in fig. 1, and comprises a tail end stabilizing rubber wheel 1, a connecting rod 2, a base 3, a base body 4, a first steering wheel 5 and a second steering wheel 7.
The pipeline inspection robot that this embodiment provided, the quantity that rubber wheel 1 was stabilized to its tail end is provided with threely, and each tail end is stabilized rubber wheel 1 and is rotated and set up on corresponding connecting rod 2, connects on base 3 through corresponding connecting rod 2, and base 3 sets up on base member 4. The axes of the three tail end stabilizing rubber wheels 1 are positioned on the same plane and distributed in a regular triangle, and an opening angle control spring is arranged between each connecting rod 2 and the base 3, so that the pipeline detection robot can be suitable for pipelines with different diameters.
Control and detection module sets up on base member 4, its structure includes the controller, the controller is connected with sensor and wireless communication device, and be connected with first motor and second motor, as shown in fig. 2, relay K1 and relay K2's contact part sets up respectively on the circuit that first motor and second motor are connected the motor power, triode Q1 and triode Q2 set up respectively on relay K1 and relay K2 and the circuit of power VCC, the base of triode Q1 and triode Q2 is connected to the controller, control relay K1 and relay K2's action respectively through triode Q1 and triode Q2, and then control first motor and second motor. The sensor is used for detecting in the pipeline and sending a detection signal to the controller, and the controller sends the detection signal to the upper computer through the wireless communication device. In this embodiment, the controller is a 80C52 serial single chip, and its peripheral circuit is shown in fig. 3, in which the chip U1 is an 80C52 chip, VCC is a power supply, Y1 is a crystal oscillator of 11.0592Hz, SP is a reset button switch, C0, C1, and C2 are capacitors, and R0 is a current-limiting resistor. The wireless communication device is a wireless communication device based on a ZigBee singlechip and has the model of ZM2410P0, and the wireless communication device is in communication connection with part of pins of a chip U1 through a serial port.
The first driving wheel 5 is connected with a plurality of driven auxiliary wheels 51, and each driven wheel 51 is connected to the first driving wheel 5 through a corresponding telescopic rod and is uniformly distributed around the first driving wheel 5; the second driving wheel 7 is connected with a plurality of driven auxiliary wheels 71, and each driven auxiliary wheel 71 is connected to the second driving wheel 7 through a corresponding telescopic rod and is uniformly distributed around the second driving wheel 7.
The driven auxiliary wheel 51 and the driven auxiliary wheel 71 have the same structure and are of a cylindrical structure, and two ends of the cylindrical structure are spherical surfaces and can be fully contacted with the pipe wall of a pipeline to be detected.
The structure of the telescopic rod is shown in fig. 2, the telescopic rod 6 comprises a telescopic spring 61, a spring sleeve 62 and a spring connecting rod 63, one end of a pull wire 64 is connected to one end of the spring connecting rod 63, the other end of the pull wire is connected to the middle of a driven wheel of a corresponding driven wheel, the other end of the spring connecting rod 63 is connected to the corresponding first steering wheel 5 or second steering wheel 7, and the spring 61 is arranged in the spring sleeve 62.
The sensor connected with the controller comprises a pressure sensor and an image sensor, wherein the pressure sensor is a pressure sensor with the model number L10B, is arranged at the telescopic rod and is used for detecting the pressure between the telescopic rod and the pipeline to be detected so as to obtain the motion condition of the telescopic rod and the contact condition between the telescopic rod and the pipeline to be detected. The image sensor is an industrial endoscope with the model of Fluke ds70 and is used for collecting images inside the pipeline to be detected and acquiring the conditions inside the pipeline to be detected.
The first motor is in transmission connection with the first steering wheel 5, the second motor is in transmission connection with the second steering wheel 7, the connection mode is as shown in fig. 3, a rotating shaft of the second motor 72 is connected with a gear 731, the second steering wheel 7 is arranged at one end of the rotating shaft 71, the other end of the rotating shaft 71 is provided with a gear 732, and the gear 731 is matched with the gear 732 to realize transmission connection between the second motor 72 and the second steering wheel 7.
A sleeve 51 is provided outside the rotating shaft 71, and the first steering wheel 5 is provided at one end of the sleeve 51. A gear 532 is arranged outside the other end of the shaft sleeve 51, a rotating shaft of the first motor 52 is connected with the gear 531, and the gear 531 is matched with the gear 532 to realize the transmission connection between the first motor 52 and the first steering wheel 5.
The pipeline inspection robot that this embodiment provided, its theory of operation is:
the telescopic rod is adjusted according to the diameter of the pipeline to be measured, so that the telescopic rod can adapt to the pipeline to be measured;
the pipeline detection robot is placed in a detected pipeline, the controller receives a control signal through the wireless communication device and drives the first motor to rotate, and therefore the pipeline detection robot moves forward in the detected pipeline;
in the advancing process of the pipeline robot, the controller detects the interior of the pipeline to be detected through the image sensor, detects the pressure between each telescopic rod and the inner wall of the pipeline to be detected through the pressure sensor, and sends the detection result to the upper computer through the wireless communication device;
the spiral directions of the driven auxiliary wheels connected with the first main runner 5 and the second main runner 7 are opposite, the axial spiral force is decomposed into left and right force and driving force along the axial direction, the decomposition directions are opposite when the axial spiral force is reversed, and the force deviating to the left or right is caused by the differential rotation of the two driving wheels at the turning position of the pipeline to be tested to realize auxiliary over-bending.
Claims (4)
1. A pipeline detection robot is characterized by comprising a base body, wherein a detection module is arranged on the base body, the detection module comprises a controller, and the controller is connected with a sensor for detecting the environment in a pipeline; the base body is provided with a first motor and a second motor, and the first motor is in driving connection with the rotating shaft and used for driving the rotating shaft to rotate; a shaft sleeve is arranged outside the rotating shaft, and the second motor is connected with the shaft sleeve in a driving mode and used for driving the shaft sleeve to rotate; the rotating shaft is provided with a first driving wheel, the second motor is provided with a second driving wheel, a plurality of telescopic rods are arranged on the first driving wheel and the second driving wheel, one end of each telescopic rod, which is far away from the first driving wheel or the second driving wheel, is provided with a corresponding driven auxiliary wheel, and the inclination direction of the first rotated driven auxiliary wheel is opposite to that of the driven auxiliary wheel of the second driving wheel; the controller is connected with the first motor and the second motor and used for controlling the working states of the first motor and the second motor.
2. The pipeline inspection robot of claim 1, further comprising a base and a plurality of stabilizing wheels, wherein the base is disposed on the base, the circumference of each stabilizing wheel is located in the same plane and is uniformly distributed in the plane, each stabilizing wheel is mounted on the base through a corresponding connecting rod, each stabilizing wheel is rotatably disposed on the corresponding connecting rod, and an opening angle control spring is disposed between the connecting rod and the base.
3. The pipeline inspection robot of claim 1, wherein the telescoping rod comprises a telescoping spring, a spring sleeve, a spring link and a pull wire, wherein one end of the spring link is mounted on the first driving wheel or the second driving wheel, the other end of the spring link is connected with one end of the pull wire, and the other end of the pull wire is connected with a corresponding driven secondary wheel; the telescopic spring is arranged between the spring connecting rod and the corresponding driven auxiliary wheel, and the spring sleeve is arranged outside the telescopic spring.
4. The pipeline inspection robot of claim 1, wherein the driven auxiliary wheel is a cylindrical structure, and both ends of the cylindrical structure are spherical surfaces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921190328.9U CN210219051U (en) | 2019-07-26 | 2019-07-26 | Pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921190328.9U CN210219051U (en) | 2019-07-26 | 2019-07-26 | Pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210219051U true CN210219051U (en) | 2020-03-31 |
Family
ID=69917874
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921190328.9U Expired - Fee Related CN210219051U (en) | 2019-07-26 | 2019-07-26 | Pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210219051U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023035377A1 (en) * | 2021-09-09 | 2023-03-16 | 南京蹑波物联网科技有限公司 | Pipeline evaluation robot having diameter measurement function, and evaluation method therefor |
-
2019
- 2019-07-26 CN CN201921190328.9U patent/CN210219051U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023035377A1 (en) * | 2021-09-09 | 2023-03-16 | 南京蹑波物联网科技有限公司 | Pipeline evaluation robot having diameter measurement function, and evaluation method therefor |
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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 |
Granted publication date: 20200331 Termination date: 20210726 |
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| CF01 | Termination of patent right due to non-payment of annual fee |