CN210551182U - Intelligent inspection device suitable for ladder channel - Google Patents
Intelligent inspection device suitable for ladder channel Download PDFInfo
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- CN210551182U CN210551182U CN201921490797.2U CN201921490797U CN210551182U CN 210551182 U CN210551182 U CN 210551182U CN 201921490797 U CN201921490797 U CN 201921490797U CN 210551182 U CN210551182 U CN 210551182U
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- ladder passageway
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Abstract
The utility model discloses an intelligence inspection device suitable for ladder passageway, including hang set up in the inside of first direction section ladder passageway on the first slide rail of top surface, set up elevating gear on the inside wall face of second direction section ladder passageway and along this first slide rail slide the robot that patrols and examines that sets up, second direction section ladder passageway cooperatees with first direction section ladder passageway and is connected, first slide rail with elevating gear cooperation swing joint sets up, the mobile carrying of elevating gear patrol and examine the robot and remove along second direction section ladder passageway and carry the setting. The utility model discloses a set up the track that slides of suspension type, the realization is patrolled and examined the robot and all can be current smoothly in the passageway of patrolling and examining of different earth's surface condition, avoids influencing the normal operation of patrolling and examining of robot because of the difference of ground surface or hollow in the pipeline, has changed the mode and the method that traditional pipeline was patrolled and examined, realizes the operation of patrolling and examining the pipeline ground better.
Description
Technical Field
The utility model relates to a pipeline detection smart machine field, the more specifically intelligence inspection device suitable for ladder passageway that says so.
Background
The conventional pipeline inspection equipment generally adopts an inspection robot trolley with a plurality of wheel sets to complete inspection operation, the inspection robot trolley generally carries a battery, and then the inspection robot trolley runs on the upper surface in a pipeline to perform pipeline inspection operation, but the traditional inspection robot trolley has higher requirements on a running environment, not only requires that the ground surface in the pipeline is relatively flat and is difficult to pass, but also requires that the pipeline cannot be bent at a large angle or be bent at a 90-degree step, otherwise, the inspection trolley is more difficult to pass. In the actual operation process, the ground surface in the pipeline often has obstacles or hollow positions, the ground surface is uneven, and meanwhile, the complex pipeline can also be bent at a large angle or bent at a 90-degree step. Therefore, the traditional inspection robot trolley cannot pass through normally and smoothly under the environmental conditions, and the pipeline inspection work of the robot trolley is seriously influenced.
In order to overcome the technical problems in the prior art in the field, the utility model provides an intelligent inspection device for pipeline detection, which lays and hangs the sliding track of the robot in the air of the pipeline, so that the robot can not be influenced by the ground environment of the pipeline when inspecting the pipeline, and the inspection structure and the inspection method change the traditional inspection method and the traditional inspection method for the robot trolley. Simultaneously, this application scheme not only can make the robot smoothly pass through the wide-angle bending of pipeline or 90 ladder buckling department through setting up the lift platform that can transport the robot on the pipeline lateral wall that the ladder buckled, does not influence the normal operation of patrolling and examining the robot through the in-process in addition, can accomplish the work that the passageway detected better.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an intelligence inspection device suitable for ladder passageway, its main aim at overcome the above-mentioned technical problem who exists.
The utility model adopts the technical scheme as follows:
the utility model provides an intelligence inspection device suitable for ladder passageway, sets up in the first slide rail of top surface on the inside of first direction section ladder passageway, sets up elevating gear on the inside wall face of second direction section ladder passageway and follows the robot that patrols and examines that this first slide rail slided the setting including hanging, this second direction section ladder passageway cooperatees with first direction section ladder passageway and is connected, first slide rail with elevating gear cooperation swing joint sets up, elevating gear mobile carries on it carries the setting along the removal of second direction section ladder passageway to patrol and examine the robot.
Furthermore, elevating gear includes that the track that slides, the cooperation activity that the bisymmetry set up are slided and are established crane, transfer connection slide rail and drive on the track are slided to two crane along the actuating mechanism that the second direction removed, the transfer connection slide rail is fixed to be set up on the crane, and this transfer connection slide rail mobile butt establish in first slide rail, the robot that should patrol and examine can cooperate to slide to be established on the transfer connection rail.
Furthermore, the lifting frame comprises an upper top plate, a left side plate and a right side plate which are perpendicular to the upper top plate, the bottom surface of the upper top plate is outwards protruded to form a fixed sliding chute, and the transfer connecting sliding rail is fixedly arranged on the upper top surface of the upper top plate; three groups of guide wheels are respectively arranged on the two side plates.
Furthermore, the sliding track is an I-shaped track and comprises side rails and a bottom rail, the guide wheels comprise first guide wheels, second guide wheels and third guide wheels, the first guide wheels and the second guide wheels are respectively matched with the inner side surfaces and the outer side surfaces of the side rails of the sliding track in a sliding mode and used for preventing the lifting frame from overturning forwards and backwards, and the third guide wheels are matched with the upper end surface of the bottom rail of the sliding track in a sliding mode and used for preventing the lifting frame from moving leftwards and rightwards.
Furthermore, the upper top plate, the left side plate and the right side plate are of an integrally formed structure.
Furthermore, the driving mechanism comprises a driving motor, an upper bearing seat, an upper chain wheel, a chain, a lower chain wheel, a lower bearing seat and a lower rotating shaft, wherein the upper bearing seat is fixedly arranged at the upper end of the sliding track, the lower bearing seat is fixedly arranged at the lower end of the sliding track, the upper chain wheel is arranged on the upper bearing seat in a matched manner, the power output end of the driving motor is in driving connection with the upper chain wheel, and the lower chain wheel is arranged on the lower bearing seat in a matched manner through the lower rotating shaft; the chain is matched and wound on the upper chain wheel and the lower chain wheel, the chain is matched and penetrated through the fixed chute of the upper top plate and is fixedly connected with the upper top plate, and the lifting frame driven by the chain is movably arranged.
Further, be equipped with first signal switch, second signal switch and third signal switch on first slide rail, second direction section ladder passageway and the transfer connection slide rail respectively, first, second signal switch respectively with driving motor electricity is connected mutually, third signal switch with it is connected mutually to patrol and examine the robot.
Further, the first, second and third signal switches are preferably triggered photoelectric switches.
Furthermore, a fixed reinforcing plate is arranged between the transfer connecting slide rail and the upper top plate.
Furthermore, the first direction step channel is perpendicular to the second direction step channel.
Furthermore, the inspection robot is provided with an absolute encoder for positioning and a position sensor for correcting the position.
Furthermore, the inspection robot is also provided with a charging electrode, and a charging connector which is matched with the charging electrode for charging connection is arranged in the first direction section stepped channel and the second direction section stepped channel.
The utility model discloses a use method: when the stepped passage is a 90 deg. stepped passage,
firstly, the inspection robot slides along a first slide rail and performs inspection work, when the inspection robot runs to a step bending part at the tail end of the first slide rail, a photoelectric switch arranged on the first slide rail is triggered, the position of a lifting frame is judged, when the lifting frame is at the highest position, the first slide rail is in butt joint with a transfer connecting slide rail on the lifting frame, and the robot moves to the transfer connecting slide rail; when the lifting frame is not positioned at the highest position, a driving motor of the driving mechanism starts to operate and drives the upper chain wheel to rotate, a chain wound on the upper chain wheel and the lower chain wheel rotates under the driving of the upper chain wheel, and drives the lifting frame to move upwards to the highest position, so that a transfer connecting slide rail on the lifting frame is matched and butted with a first slide rail, and the inspection robot slides to the transfer connecting slide rail from the first slide rail; when the inspection robot which slides into the rotary connecting slide rail triggers a photoelectric switch arranged on the rotary connecting slide rail, the inspection robot stops running, and a driving motor of the driving mechanism drives an upper chain wheel to rotate, so that a chain drives a lifting frame to carry the inspection robot to move downwards, and meanwhile, the inspection robot carries out inspection operation in the downward moving and transporting process; when the elevating platform descends to the lowest position, the photoelectric switch arranged on the second direction section step channel is triggered, the elevating platform stops running, the transfer connection slide rail on the elevating platform is matched and butted with the slide rail on the next direction section step channel, at the moment, the inspection robot drives away from the transfer connection slide rail, enters the slide rail of the next direction section step channel, the passage of step bending is completed, and then the subsequent inspection operation is continuously completed.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
1. the utility model discloses a set up the track that slides of suspension type, the realization is patrolled and examined the robot and all can be current smoothly in the passageway of patrolling and examining of different earth's surface condition, avoids influencing the normal operation of patrolling and examining of robot because of the difference of ground surface or hollow in the pipeline, has changed the mode and the method that traditional pipeline was patrolled and examined, realizes the operation of patrolling and examining the pipeline ground better.
2. The utility model discloses a lifting device, transportation connection slide rail and slide the track, make and patrol and examine the robot and buckle especially 90 ladder department of buckling at the wide-angle, all can pass through very smoothly, do not influence the normal pipeline through the in-process simultaneously and patrol and examine the operation, realized that the no angle obstacle of equipment is current, and slide more stably smooth and easy.
3. The utility model discloses a set up the charging electrode on patrolling and examining the robot and set up the joint that charges in the pipeline, realize patrolling and examining the autonomic charging of robot, make and patrol and examine the robot and can charge the use according to actual conditions free choice, avoid appearing the electric quantity and exhaust and influence the going on of patrolling and examining the operation.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a partially enlarged schematic view of a portion a of fig. 1.
Fig. 3 is a schematic structural diagram of the lifting device of the present invention.
Figure 4 is the structure schematic diagram of the lifting frame of the utility model.
Figure 5 is the side view structure sketch map of the utility model discloses crane.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1 to 5, an intelligence inspection device suitable for ladder passageway, including hang set up in first slide rail 2 of top surface on first direction section ladder passageway 1's inside, set up elevating gear 4 on second direction section ladder passageway 3's inside wall face and along this first slide rail 2 slide inspection robot 5 that sets up, this second direction section ladder passageway 3 cooperatees with first direction section ladder passageway 1 and is connected, first slide rail 2 with elevating gear 4 cooperation swing joint sets up, elevating gear 4 mobile carry on inspection robot 5 removes along second direction section ladder passageway 3 and carries the setting.
Furthermore, elevating gear 4 includes that the gliding track 41, the cooperation activity that two symmetries set up are slided and are established crane 42, transfer connection slide rail 43 and drive on two gliding tracks 41 lift 42 and put up the actuating mechanism who removes along the second direction, transfer connection slide rail 43 is fixed to be set up crane 42 is last, and this movable the setting of butt of transfer connection slide rail 43 connect in first slide rail 2, this inspection robot 5 can cooperate the cunning to be established on the transfer connection rail 43.
Furthermore, the lifting frame 42 comprises an upper top plate 421, and a left side plate 422 and a right side plate 422 which are perpendicular to the upper top plate 421, the bottom surface of the upper top plate 421 is protruded outwards to form a fixed sliding groove 423, and the transfer connecting sliding rail 43 is fixedly arranged on the upper top surface of the upper top plate 421; three groups of guide wheels are respectively arranged on the two side plates 422.
Furthermore, the sliding track 41 is an i-shaped track, and comprises a side rail 411 and a bottom rail 412, the guide wheels comprise a first guide wheel 424, a second guide wheel 425 and a third guide wheel 426, the first guide wheel (424) and the second guide wheel (425) are respectively matched with the inner side surface and the outer side surface of the side rail 411 of the sliding track 41 in a sliding manner and used for preventing the lifting frame from overturning forwards and backwards, and the third guide wheel 426 is matched with the upper end surface of the bottom rail 412 of the sliding track 41 in a sliding manner and used for preventing the lifting frame from displacing left and right.
Furthermore, the top plate 421 and the left and right side plates 422 are integrally formed.
Further, the driving mechanism includes a driving motor 441, an upper bearing seat 442, an upper chain wheel 443, a chain 444, a lower chain wheel 445, a lower bearing seat 446 and a lower rotating shaft 447, the upper bearing seat 442 is fixedly mounted at the upper end of the sliding track 41, the lower bearing seat 446 is fixedly mounted at the lower end of the sliding track 41, the upper chain wheel 443 is mounted on the upper bearing seat 442 in a matching manner, the power output end of the driving motor 441 is in driving connection with the upper chain wheel 443, and the lower chain wheel 445 is mounted on the lower bearing seat 446 in a matching manner through the lower rotating shaft 447; the chain 444 is cooperatively wound around the upper chain wheel 443 and the lower chain wheel 445, the chain 444 is cooperatively inserted into the fixed sliding groove 423 of the upper top plate 421 and is fixedly connected with the upper top plate 421, and the lifting frame 42 driven by the chain 444 is movably disposed.
Furthermore, a first signal switch (not shown in the figure), a second signal switch (not shown in the figure) and a third signal switch (not shown in the figure) are respectively arranged on the first slide rail 2, the second direction section ladder channel 3 and the transfer connecting slide rail 43, the first signal switch and the second signal switch are respectively electrically connected with the driving motor 441, and the third signal switch is electrically connected with the inspection robot 5.
Further, the first, second and third signal switches are preferably triggered photoelectric switches.
Further, a fixing reinforcing plate 427 is disposed between the transfer connecting slide rail 43 and the upper top plate 421.
Furthermore, the first direction section stepped channel 1 is perpendicular to the second direction section stepped channel 3.
Further, the inspection robot 5 is equipped with an absolute encoder for positioning and a position sensor for correcting the position.
Furthermore, the inspection robot 5 is also provided with a charging electrode, and charging connectors which are matched with the charging electrode for charging connection are arranged in the first direction section stepped channel 1 and the second direction section stepped channel 3.
The utility model discloses a use method: when the stepped passage is a 90 deg. stepped passage,
firstly, the inspection robot slides along a first slide rail and performs inspection work, when the inspection robot runs to a step bending part at the tail end of the first slide rail, a photoelectric switch arranged on the first slide rail is triggered, the position of a lifting frame is judged, when the lifting frame is at the highest position, the first slide rail is in butt joint with a transfer connecting slide rail on the lifting frame, and the robot moves to the transfer connecting slide rail; when the lifting frame is not positioned at the highest position, a driving motor of the driving mechanism starts to operate and drives the upper chain wheel to rotate, a chain wound on the upper chain wheel and the lower chain wheel rotates under the driving of the upper chain wheel, and drives the lifting frame to move upwards to the highest position, so that a transfer connecting slide rail on the lifting frame is matched and butted with a first slide rail, and the inspection robot slides to the transfer connecting slide rail from the first slide rail; when the inspection robot which slides into the rotary connecting slide rail triggers a photoelectric switch arranged on the rotary connecting slide rail, the inspection robot stops running, and a driving motor of the driving mechanism drives an upper chain wheel to rotate, so that a chain drives a lifting frame to carry the inspection robot to move downwards, and meanwhile, the inspection robot carries out inspection operation in the downward moving and transporting process; when the elevating platform descends to the lowest position, the photoelectric switch arranged on the second direction section step channel is triggered, the elevating platform stops running, the transfer connection slide rail on the elevating platform is matched and butted with the slide rail on the next direction section step channel, at the moment, the inspection robot drives away from the transfer connection slide rail, enters the slide rail of the next direction section step channel, the passage of step bending is completed, and then the subsequent inspection operation is continuously completed.
Through the above-mentioned right the utility model discloses a description compares with prior art, the advantage of the utility model lies in:
1. the utility model discloses a set up the track that slides of suspension type, the realization is patrolled and examined the robot and all can be current smoothly in the passageway of patrolling and examining of different earth's surface condition, avoids influencing the normal operation of patrolling and examining of robot because of the difference of ground surface or hollow in the pipeline, has changed the mode and the method that traditional pipeline was patrolled and examined, realizes the operation of patrolling and examining the pipeline ground better.
2. The utility model discloses a lifting device, transportation connection slide rail and slide the track, make and patrol and examine the robot and buckle especially 90 ladder department of buckling at the wide-angle, all can pass through very smoothly, do not influence the normal pipeline through the in-process simultaneously and patrol and examine the operation, realized that the no angle obstacle of equipment is current, and slide more stably smooth and easy.
3. The utility model discloses a set up the charging electrode on patrolling and examining the robot and set up the joint that charges in the pipeline, realize patrolling and examining the autonomic charging of robot, make and patrol and examine the robot and can charge the use according to actual conditions free choice, avoid appearing the electric quantity and exhaust and influence the going on of patrolling and examining the operation.
The above is only the concrete implementation of the present invention, but the design concept of the present invention is not limited to this, and all the design concepts are to be utilized to improve the present invention insubstantially, and all the behaviors belonging to the infringement of the protection scope of the present invention should be considered.
Claims (10)
1. The utility model provides an intelligence inspection device suitable for ladder passageway which characterized in that: including hang the first slide rail that sets up top surface on first direction section ladder passageway's inside, set up elevating gear on second direction section ladder passageway's inside lateral wall face and slide the robot that patrols and examines that sets up along this first slide rail, this second direction section ladder passageway cooperatees with first direction section ladder passageway and is connected, first slide rail with elevating gear cooperation swing joint sets up, elevating gear is mobile to be carried patrols and examines the robot and carry the setting along second direction section ladder passageway removal.
2. The intelligent inspection device suitable for the ladder passageway according to claim 1, wherein: elevating gear includes that the track that slides, the cooperation activity that the bisymmetry set up are slided and are established crane, transfer connection slide rail and drive on the track are slided to two crane along the actuating mechanism that the second direction removed, the transfer connection slide rail is fixed to be set up on the crane, and this mobile butt of transfer connection slide rail establish in first slide rail, the robot that should patrol and examine can cooperate to slide to be established on the transfer connection rail.
3. The intelligent inspection device suitable for the ladder passageway according to claim 2, wherein: the lifting frame comprises an upper top plate, a left side plate and a right side plate which are perpendicular to the upper top plate, the bottom surface of the upper top plate is outwards protruded to form a fixed sliding chute, and the transfer connecting sliding rail is fixedly arranged on the upper top surface of the upper top plate; three groups of guide wheels are respectively arranged on the two side plates.
4. The intelligent inspection device suitable for the ladder passageway according to claim 3, wherein: the sliding track is an I-shaped track and comprises side rails and a bottom rail, the guide wheels comprise first guide wheels, second guide wheels and third guide wheels, the first guide wheels and the second guide wheels are respectively matched with the inner side surfaces and the outer side surfaces of the side rails of the sliding track in a sliding mode and used for preventing the lifting frame from overturning forwards and backwards, and the third guide wheels are matched with the upper end surface of the bottom rail of the sliding track in a sliding mode and used for preventing the lifting frame from moving leftwards and rightwards.
5. The intelligent inspection device suitable for the ladder passageway according to claim 3, wherein: the upper top plate and the left and right side plates are of an integrally formed structure.
6. The intelligent inspection device suitable for the ladder passageway according to claim 3, wherein: the driving mechanism comprises a driving motor, an upper bearing seat, an upper chain wheel, a chain, a lower chain wheel, a lower bearing seat and a lower rotating shaft, the upper bearing seat is fixedly arranged at the upper end of the sliding track, the lower bearing seat is fixedly arranged at the lower end of the sliding track, the upper chain wheel is arranged on the upper bearing seat in a matched manner, the power output end of the driving motor is in driving connection with the upper chain wheel, and the lower chain wheel is arranged on the lower bearing seat in a matched manner through the lower rotating shaft; the chain is matched and wound on the upper chain wheel and the lower chain wheel, the chain is matched and penetrated through the fixed chute of the upper top plate and is fixedly connected with the upper top plate, and the lifting frame driven by the chain is movably arranged.
7. The intelligent inspection device suitable for the ladder passageway according to claim 6, wherein: be equipped with first signal switch, second signal switch and third signal switch on first slide rail, second direction section ladder passageway and the transportation connection slide rail respectively, first, second signal switch respectively with driving motor electricity is connected mutually, third signal switch with it is connected mutually to patrol and examine the robot.
8. The intelligent inspection device suitable for the ladder passageway according to claim 7, wherein: the first, second and third signal switches are triggered photoelectric switches.
9. The intelligent inspection device suitable for the ladder passageway according to claim 3, wherein: still be equipped with fixed reinforcing plate between transportation connection slide rail and the last roof.
10. The intelligent inspection device suitable for the ladder passageway according to claim 1, wherein: the first direction step passage is vertical to the second direction step passage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921490797.2U CN210551182U (en) | 2019-09-09 | 2019-09-09 | Intelligent inspection device suitable for ladder channel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921490797.2U CN210551182U (en) | 2019-09-09 | 2019-09-09 | Intelligent inspection device suitable for ladder channel |
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| Publication Number | Publication Date |
|---|---|
| CN210551182U true CN210551182U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921490797.2U Active CN210551182U (en) | 2019-09-09 | 2019-09-09 | Intelligent inspection device suitable for ladder channel |
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| CN (1) | CN210551182U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450132A (en) * | 2019-09-09 | 2019-11-15 | 福建（泉州）哈工大工程技术研究院 | A kind of intelligent patrol detection device suitable for stepped channel |
-
2019
- 2019-09-09 CN CN201921490797.2U patent/CN210551182U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110450132A (en) * | 2019-09-09 | 2019-11-15 | 福建（泉州）哈工大工程技术研究院 | A kind of intelligent patrol detection device suitable for stepped channel |
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