CN210319065U - Pipeline inner wall inspection robot - Google Patents
Pipeline inner wall inspection robot Download PDFInfo
- Publication number
- CN210319065U CN210319065U CN201921321537.2U CN201921321537U CN210319065U CN 210319065 U CN210319065 U CN 210319065U CN 201921321537 U CN201921321537 U CN 201921321537U CN 210319065 U CN210319065 U CN 210319065U
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- gear
- bevel gear
- driving
- roller carrier
- circular plate
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Abstract
The utility model discloses a pipeline inner wall patrols and examines robot, including drive mechanism, motor and support frame, drive mechanism includes the driving gear, driven gear, first bevel gear, second bevel gear, first gyro wheel frame, the second gyro wheel frame, the major axis, the camera, the light, the support frame includes circular slab and support column, circular slab fixed mounting is in the upper end of support column, the motor passes through bolt fixed connection with the circular slab, the output shaft of motor passes the circular slab and is connected with the driving gear parallel key, driving gear outer lane gear engagement has driven gear, the major axis is connected to the driven gear parallel key, the major axis passes the circular slab downwards, first bevel gear is connected to this major axis lower extreme parallel key, first bevel gear drives and patrols and examines robot back-and-forth movement, surface mounting has camera and light under the second gyro wheel frame, be used for shooing the inside condition of pipeline. The structure can be suitable for pipelines at various positions and can be always tightly attached to the inner wall of the pipeline.
Description
Technical Field
The utility model belongs to the technical field of the robot design, concretely relates to pipeline inner wall patrols and examines robot.
Background
Steel pipes are often used for transporting fluids and, to ensure the safety of the steel pipes, they need to be inspected regularly. The inspection of the steel pipe cannot be limited to the inspection of the outside of the steel pipe, and since there are concerns that cracking, rusting, etc. may occur in some steel pipes, the inside of the steel pipe must be inspected. The general bore in the steel pipe is less, and operating space is narrow and small and has certain danger, so need replace artifical the inside inspection of steel pipe through the steel pipe robot of patrolling and examining. At present, most of steel pipe inspection robots can only walk in the steel pipe placed horizontally, and can not detect the inclination or the vertical steel pipe, and the application of the robot has limitations and can not adapt to different arrangement forms of pipelines well. Still some steel pipe patrols and examines robot can be used to the detection of vertical pipeline, but need use a plurality of motors, and the structure is comparatively complicated, and the cost is also relatively higher, for this reason we provide a steel pipe patrols and examines robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that to the not enough of above-mentioned prior art, a pipeline inner wall patrols and examines robot is provided.
In order to realize the technical purpose, the utility model discloses the technical scheme who takes does:
the utility model provides a robot is patrolled and examined to pipeline inner wall, wherein: comprises a transmission mechanism, a motor and a support frame; the transmission mechanism comprises a driving gear, a driven gear, a first bevel gear, a second bevel gear, a first roller carrier, a second roller carrier, a long shaft, a camera and an illuminating lamp;
the support frame comprises a circular plate and a plurality of support columns with the same size, the circular plate is fixedly installed at the upper ends of the support columns, the motor is fixedly connected with the circular plate through bolts, an output shaft of the motor penetrates through the circular plate and is connected with a driving gear flat key, a driven gear is meshed with an outer ring gear of the driving gear, the driven gear is connected with a long shaft in a flat key mode, the long shaft penetrates through the circular plate downwards, the lower end of the long shaft is connected with a first bevel gear in a flat key mode, and the first bevel gear drives the first roller frame to move;
the first idler wheel frame and the second idler wheel frame are identical in structure, the first idler wheel frame is installed at the upper end of a support column, the second idler wheel frame is installed at the lower end of the support column, the first idler wheel frame comprises a driving frame, two driving wheels, a first auxiliary wheel and three pairs of first supports, the driving frame is horizontally and fixedly connected to the support column through bolts, the three pairs of first supports are distributed on the outer side wall of the driving frame at equal intervals, a rotating shaft is inserted on the first supports, the driving wheels and the first auxiliary wheel are connected to the rotating shaft between the first supports through flat keys, a second bevel gear is connected to the rotating shaft connected with the driving wheels through a flat key at one end close to the first bevel gear, the second bevel gear is meshed with the first bevel gear, the second bevel gear is driven by the first bevel gear to drive the driving wheels to rotate, the inspection robot is finally driven to move back and forth, and back, a camera and a lighting, the method is used for shooting the condition inside the pipeline in real time.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the driving gear is in bolted connection with the end face of the motor output shaft, the motor output shaft is provided with a sleeve, the sleeve is positioned between the driving gear and the circular plate, and a bearing is arranged between the motor output shaft and the circular plate.
The long shaft is provided with a sleeve cup, an upper bearing and a lower bearing are arranged between the sleeve cup and the long shaft, the bearings are respectively positioned at the top end and the bottom end of the sleeve cup, a first annular snap spring is arranged below the bearing at the bottom end of the sleeve cup, the sleeve cup penetrates through the circular plate, and the sleeve cup is fixed with the circular plate through a bolt.
The two driven gears are respectively connected with the two driving wheels through the long shaft, the driven gears are in bolt connection with the top end face of the long shaft, and the first bevel gear is in bolt connection with the bottom end face of the long shaft.
Second annular snap springs are installed at two ends of the driving wheel on the rotating shaft, and a bearing is installed between the support and the rotating shaft.
The middle part of the bolt of the first support and the second support which are respectively connected with the corresponding first roller carrier and the second roller carrier is an optical axis, and the optical axis part is provided with a spring.
The second roller frame comprises a driven frame, two driven wheels, a second auxiliary wheel and three pairs of second supports, the interval between every two of the second auxiliary wheel and the two driven wheels is 120 degrees, and the upper and lower positions of the first roller frame and the second roller frame correspond to each other.
The driving wheel is a permanent magnet wheel, and the rest rollers are made of rubber.
The utility model has the advantages that:
this pipeline inner wall patrols and examines robot and compares current robot of patrolling and examining, through single motor drive back-and-forth movement, easy operation is convenient, not only can patrol and examine in horizontal pipeline inside, can adapt to the pipeline of multiple position moreover, and this pipeline inner wall patrols and examines the robot simultaneously and through the cooperation of auxiliary wheel and action wheel, makes and patrols and examines the robot and can hug closely all the time on the pipeline inner wall.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a cross-sectional view of the present invention;
FIG. 3 is a schematic view of the connection between the driving gear and the driven gear;
FIG. 4 is a sectional view of the driven gear and its long axis;
FIG. 5 is a bottom view of the second roller frame;
FIG. 6 is a schematic view showing the connection between the bevel gears and the rollers;
FIG. 7 is a partial schematic view of an auxiliary wheel;
fig. 8 is a schematic diagram of the operation of the present invention.
The reference signs are: the device comprises a motor 1, a support frame 2, a circular plate 2-1, a support column 2-2, a driving gear 3, a driven gear 4, a first bevel gear 5, a second bevel gear 6, a first roller frame 7, a driving frame 7-1, a driving wheel 7-2, a first auxiliary wheel 7-3, a first support 7-4, a second roller frame 8, a driven frame 8-1, a driven wheel 8-2, a second auxiliary wheel 8-3, a second support 8-4, a long shaft 9, a camera 10, an illuminating lamp 11, a rotating shaft 12, a sleeve 13, a sleeve cup 14, a first annular snap spring 15, a second annular snap spring 16 and a spring 17.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
As shown in fig. 1-7, the utility model relates to a pipeline inner wall inspection robot, wherein: comprises a transmission mechanism, a motor 1 and a support frame 2; the transmission mechanism comprises a driving gear 3, a driven gear 4, a first bevel gear 5, a second bevel gear 6, a first roller carrier 7, a second roller carrier 8 and a long shaft 9;
the supporting frame 2 comprises a circular plate 2-1 and a plurality of supporting columns 2-2 with the same size, the circular plate 2-1 is fixedly installed at the upper ends of the supporting columns 2-2, the motor 1 is fixedly connected with the circular plate 2-1 through bolts, an output shaft of the motor 1 penetrates through the circular plate 2-1 and is in flat key connection with a driving gear 3, a driven gear 4 is meshed with an outer ring gear of the driving gear 3, the driven gear 4 is in flat key connection with a long shaft 9, the long shaft 9 downwards penetrates through the circular plate 2-1, the lower end of the long shaft 9 is in flat key connection with a first bevel gear 5, and the first bevel gear 5 drives a first roller carrier 7 to move;
the first roller carrier 7 and the second roller carrier 8 have the same structure, the first roller carrier 7 is installed at the upper end of a support column 2-2, the second roller carrier 8 is installed at the lower end of the support column 2-2, the first roller carrier 7 comprises a driving carrier 7-1, two driving wheels 7-2, first auxiliary wheels 7-3 and three pairs of first supports 7-4, the driving carrier 7-1 is horizontally and fixedly connected to the support column 2-2 through bolts, the outer side wall of the driving carrier 7-1 is equidistantly provided with three pairs of first supports 7-4, a rotating shaft 12 penetrates through the first supports 7-4, the driving wheels 7-2 and the first auxiliary wheels 7-3 are connected to the rotating shaft 12 between the first supports 7-4 through flat keys, the rotating shaft 12 connected with the driving wheels 7-2 is connected to a second bevel gear 6 through flat keys at one end close to the first bevel gear 5, the second bevel gear 6 is in gear engagement with the first bevel gear 5, the first bevel gear 5 drives the second bevel gear 6 to further drive the driving wheel 7-2 to rotate, the inspection robot is finally driven to move back and forth, and the camera 10 and the illuminating lamp 11 are mounted on the lower surface of the second roller carrier and used for shooting the condition inside the pipeline in real time.
In the embodiment, the driving gear 3 is connected with the end face of the output shaft of the motor 1 through a bolt, the output shaft of the motor 1 is provided with a sleeve 13, the sleeve 13 is positioned between the driving gear 3 and the circular plate 2-1, and a bearing is arranged between the output shaft of the motor 1 and the circular plate 2-1.
In the embodiment, a sleeve cup 14 is installed on the long shaft 9, an upper bearing and a lower bearing are installed between the sleeve cup 14 and the long shaft 9, the bearings are respectively located at the top end and the bottom end of the sleeve cup 14, a first annular snap spring 15 is installed below the bearing at the bottom end of the sleeve cup 14, the sleeve cup 14 penetrates through the circular plate 2-1, and the sleeve cup 14 is fixed with the circular plate 2-1 through a bolt.
In the embodiment, two driven gears 4 are respectively connected with two driving wheels 7-2 through a long shaft 9, a driven gear 6 is in bolt connection with the top end face of the long shaft 9, and the first bevel gear 5 is in bolt connection with the bottom end face of the long shaft 9.
In the embodiment, the second annular snap springs 16 are mounted at two ends of the driving wheel 7-2 on the rotating shaft 12, and a bearing is mounted between the support 7-4 and the rotating shaft 12.
In the embodiment, the middle part of the bolt of the first support 7-4 and the second support 8-4 connected with the corresponding first roller frame 7 and the second roller frame 8 is an optical axis, and the spring 17 is arranged on the optical axis part.
In the embodiment, the second roller frame 8 comprises a driven frame 8-1, two driven wheels 8-2, a second auxiliary wheel 8-3 and three pairs of second supports 8-4, the second auxiliary wheel 8-3 and the two driven wheels 8-2 are spaced at 120 degrees in pairs, and the first roller frame 7 and the second roller frame 8 are in mutual correspondence in the vertical position.
In the embodiment, the driving wheel 7-3 is a permanent magnet wheel, and the rest rollers are made of rubber.
The utility model discloses a use method as follows:
as shown in fig. 8, when the inspection robot works in a pipeline, firstly, a motor 1 is started, a driving gear 3 on an output shaft of the motor 1 rotates along with the output shaft of the motor 1, then the driving gear 3 drives a driven gear 4 to rotate, the driven gear 4 drives a first bevel gear 5 to rotate through a long shaft 9, the first bevel gear 5 sequentially drives a second bevel gear 6 to rotate, the second bevel gear 5 drives a driving wheel 7-2 to rotate, so as to drive a first roller frame 7 to move, and as the first roller frame 7 and the second roller frame 8 are fixedly connected with a supporting frame 2, the inspection robot moves back and forth under the driving of the driving wheel 7-2, the driven wheel 8-2, the first auxiliary wheel 7-3 and the second auxiliary wheel 8-3.
The driving wheel 7-2 is a permanent magnet wheel and is adsorbed on the inner wall of the pipeline, and the two auxiliary wheels are abutted to the inner wall of the pipeline through the extrusion force of the springs, so that all the rollers are tightly attached to the inner wall of the pipeline and can adapt to pipelines with different positions and sizes.
Meanwhile, in inspection, the illuminating lamp 11 and the camera 10 are turned on, the specific conditions of the inner wall of the pipeline are detected in real time, and whether cracks, rusting and the like exist on the inner wall of the steel pipe is inspected.
Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.
Claims (8)
1. The utility model provides a pipeline inner wall patrols and examines robot which characterized in that: comprises a transmission mechanism, a motor (1) and a support frame (2); the transmission mechanism comprises a driving gear (3), a driven gear (4), a first bevel gear (5), a second bevel gear (6), a first roller carrier (7), a second roller carrier (8), a long shaft (9), a camera (10) and an illuminating lamp (11);
the supporting frame (2) comprises a circular plate (2-1) and a plurality of supporting columns (2-2) with the same size, the circular plate (2-1) is fixedly installed at the upper ends of the supporting columns (2-2), the motor (1) is fixedly connected with the circular plate (2-1) through bolts, an output shaft of the motor (1) penetrates through the circular plate (2-1) and is in flat key connection with the driving gear (3), a driven gear (4) is meshed with an outer ring gear of the driving gear (3), the driven gear (4) is in flat key connection with a long shaft (9), the long shaft (9) penetrates through the circular plate (2-1) downwards, the lower end of the long shaft (9) is in flat key connection with a first bevel gear (5), and the first bevel gear (5) drives the first roller carrier (7) to move;
the first roller carrier (7) and the second roller carrier (8) are identical in structure, the first roller carrier (7) is installed at the upper end of a support column (2-2), the second roller carrier (8) is installed at the lower end of the support column (2-2), the first roller carrier (7) comprises a driving frame (7-1), two driving wheels (7-2), a first auxiliary wheel (7-3) and three pairs of first supports (7-4), the driving frame (7-1) is horizontally and fixedly connected onto the support column (2-2) through bolts, the outer side wall of the driving frame (7-1) is equidistantly provided with three pairs of first supports (7-4), a rotating shaft (12) penetrates through the first supports (7-4), and the driving wheels (7-2) and the first auxiliary wheel (7-3) are connected onto the rotating shaft (12) between the first supports (7-4) through flat keys, a rotating shaft (12) connected with the driving wheel (7-2) is connected with a second bevel gear (6) at one end of the rotating shaft close to the first bevel gear (5) in a flat key mode, the second bevel gear (6) is meshed with the first bevel gear (5) in a gear mode, the first bevel gear (5) drives the second bevel gear (6) to further drive the driving wheel (7-2) to rotate, the inspection robot is finally driven to move back and forth, and a camera (10) and a lighting lamp (11) are installed on the lower surface of the second roller frame and used for shooting the condition inside the pipeline in real time.
2. The pipeline inner wall inspection robot according to claim 1, characterized in that: the driving gear (3) is in bolt connection with the end face of an output shaft of the motor (1), a sleeve (13) is installed on the output shaft of the motor (1), the sleeve (13) is located between the driving gear (3) and the circular plate (2-1), and a bearing is installed between the output shaft of the motor (1) and the circular plate (2-1).
3. The pipeline inner wall inspection robot according to claim 1, characterized in that: the long shaft (9) is provided with a sleeve cup (14), an upper bearing and a lower bearing are arranged between the sleeve cup (14) and the long shaft (9), the bearings are respectively positioned at the top end and the bottom end of the sleeve cup (14), a first annular snap spring (15) is arranged below the bearing at the bottom end of the sleeve cup (14), the sleeve cup (14) penetrates through the circular plate (2-1), and the sleeve cup (14) is fixed with the circular plate (2-1) through a bolt.
4. The pipeline inner wall inspection robot according to claim 1, characterized in that: the two driven gears (4) are respectively connected with the two driving wheels (7-2) through long shafts (9), the driven gears (4) are in bolt connection with the top end faces of the long shafts (9), and the first bevel gears (5) are in bolt connection with the bottom end faces of the long shafts (9).
5. The pipeline inner wall inspection robot according to claim 1, characterized in that: and second annular snap springs (16) are arranged at two ends of the driving wheel (7-2) on the rotating shaft (12), and a bearing is arranged between the support (7-4) and the rotating shaft (12).
6. The pipeline inner wall inspection robot according to claim 1, characterized in that: the middle parts of the bolts of the first support (7-4) and the second support (8-4) which are respectively connected with the corresponding first roller carrier (7) and the second roller carrier (8) are optical axes, and the optical axes are provided with springs (17).
7. The pipeline inner wall inspection robot according to claim 1, characterized in that: the second roller carrier (8) comprises a driven frame (8-1), two driven wheels (8-2), a second auxiliary wheel (8-3) and three pairs of second supports (8-4), the interval between every two second auxiliary wheels (8-3) and two driven wheels (8-2) is 120 degrees, and the upper and lower positions of the first roller carrier (7) and the second roller carrier (8) are mutually corresponding.
8. The pipeline inner wall inspection robot according to claim 1, characterized in that: the driving wheel (7-2) is a permanent magnet wheel, and the rest rollers are made of rubber.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921321537.2U CN210319065U (en) | 2019-08-15 | 2019-08-15 | Pipeline inner wall inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921321537.2U CN210319065U (en) | 2019-08-15 | 2019-08-15 | Pipeline inner wall inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210319065U true CN210319065U (en) | 2020-04-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921321537.2U Expired - Fee Related CN210319065U (en) | 2019-08-15 | 2019-08-15 | Pipeline inner wall inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210319065U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110319300A (en) * | 2019-08-15 | 2019-10-11 | 南京林业大学 | A kind of inner wall of the pipe crusing robot |
-
2019
- 2019-08-15 CN CN201921321537.2U patent/CN210319065U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110319300A (en) * | 2019-08-15 | 2019-10-11 | 南京林业大学 | A kind of inner wall of the pipe crusing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200730 Address after: Chen CI Cun Guangling Shatou 225000 area in Jiangsu city of Yangzhou Province Patentee after: YANGZHOU YIYANG TECHNOLOGY DEVELOPMENT Co.,Ltd. Address before: Longpan road Xuanwu District of Nanjing city of Jiangsu Province, No. 159 210037 Patentee before: NANJING FORESTRY University |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200414 Termination date: 20200815 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |