CN212377561U - Pipeline inspection robot - Google Patents
Pipeline inspection robot Download PDFInfo
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- CN212377561U CN212377561U CN202020699751.8U CN202020699751U CN212377561U CN 212377561 U CN212377561 U CN 212377561U CN 202020699751 U CN202020699751 U CN 202020699751U CN 212377561 U CN212377561 U CN 212377561U
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Abstract
The utility model provides a pipeline inspection robot, include: the tail part of the robot main body is provided with a tail joint for connecting with a cable; the two sides of the robot main body are provided with spiral rollers, the spiral rollers are connected with the robot main body through a support, the end part of each spiral roller is provided with a driving mechanism, and the driving mechanisms are controlled by a controller in the robot main body; and the robot main body is also provided with a two-dimensional laser radar, and the two-dimensional laser radar is connected with the controller. The utility model provides a pipeline inspection robot, the rotatory mode of helical blade drives the spiral drum robot and removes on the spiral drum, and the promotion robot that can be by a wide margin adapts to various detection ring border's ability, has carried on two-dimensional laser radar simultaneously on the robot to can be in the pipeline environment that has water or muddy water to mix, more accurately gather pipeline state information.
Description
Technical Field
The utility model relates to a pipeline inspection technical field, concretely relates to pipeline inspection robot.
Background
The in-pipeline detection refers to the operation of utilizing a detector to run in a pipeline, detecting and recording the damage conditions of deformation, corrosion and the like of the pipeline in real time and accurately positioning.
Along with the development of the intelligent detection industry, the equipment for detecting in the pipeline is developed towards miniaturization and integration at present. In the prior art, for pipeline detection in a small urban water channel, a robot is caused to travel in the pipeline in a mode of driving wheels or a crawler by a motor. However, the environment in urban sewer pipes is complex and changeable, and especially, in some pipelines, there is a high water level or a muddy water mixed environment, and a common detection robot is difficult to adapt to such an environment, so that the conditions of blurred lenses and skidding of wheels or crawler belts are easy to occur, and the detection task cannot be smoothly completed.
SUMMERY OF THE UTILITY MODEL
For solving the problem that exists among the above-mentioned prior art, the embodiment of the utility model provides a pipeline inspection robot.
An embodiment of the utility model provides a pipeline inspection robot, include: the tail part of the robot main body is provided with a tail joint for connecting with a cable;
the two sides of the robot main body are provided with spiral rollers, the spiral rollers are connected with the robot main body through a support, the end part of each spiral roller is provided with a driving mechanism, and the driving mechanisms are controlled by a controller in the robot main body;
and the robot main body is also provided with a two-dimensional laser radar, and the two-dimensional laser radar is connected with the controller.
On the basis of the above embodiment, a sonar sensor is arranged below the robot main body, and the sonar sensor is connected with the controller.
On the basis of the embodiment, the robot main body is further provided with a pipeline positioning probe which is used for positioning the pipeline positioning probe through a pipeline positioning instrument.
On the basis of the above embodiment, the robot main body is further provided with an inertia measurement unit.
On the basis of the embodiment, the robot main body is further provided with an external battery interface.
On the basis of the embodiment, the robot body comprises a cavity for arranging the controller, the tail end of the cavity is connected with the tail connector, a lifting support is arranged on the upper portion of the cavity, and the front end of the lifting support is connected with the first camera.
On the basis of the embodiment, a second camera is further arranged at the tail end of the robot body, and the shooting directions of the second camera and the first camera are opposite.
The embodiment of the utility model provides a pipeline inspection robot, the rotatory mode of helical blade drives the helical drum robot and removes on the helical drum, and the promotion robot that can be by a wide margin adapts to various detection ring border's ability, has carried on two-dimensional laser radar simultaneously on the robot to can be in the pipeline environment that has water or muddy water to mix, more gather pipeline state information for accurately.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a bottom view of a pipeline inspection robot according to an embodiment of the present invention;
fig. 2 is a top view of a pipeline inspection robot according to an embodiment of the present invention;
fig. 3 is a rear view of the pipeline inspection robot provided by an embodiment of the present invention
Fig. 4 is a side view of a pipeline inspection robot according to an embodiment of the present invention.
In the figure, 1-tail joint, 2-robot body, 3-bracket, 4-spiral roller, 5-sonar sensor, 6-pipeline positioning probe rod, 7-second camera, 8-two-dimensional laser radar, 9-first camera and 10-external battery interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a pipeline inspection robot according to an embodiment of the present invention, the provided pipeline inspection robot includes: the tail part of the robot main body 2 is provided with a tail joint 1 which is used for connecting with a cable;
Specifically, two rollers that include the spiral line are symmetrically arranged on 2 bilateral symmetry of robot main part, and the spiral roller passes through support 3 and is connected with robot main part 2, and the spiral roller can assist the robot to advance or retreat in the pipeline of high water level or muddy water mixed environment, and wherein, the spiral roller has adopted the structural design of fusiform, has designed streamlined structure at the bottom of the chamber for the robot can steadily advance on the surface of water. The tail connector 1 arranged at the tail of the robot can be connected with a cable, so that the transmission of collected data and the power supply of the robot are realized.
Be provided with two-dimensional laser radar in the robot main part, because traditional machine pipeline detection robot relies on the camera to carry out video acquisition to the pipeline internal state, often need camera and lighting device cooperation, perhaps adopt infrared camera to carry out intraductal shooting, the image brightness of gathering receives lighting apparatus's restriction, the camera lens of camera probably is covered by the spot simultaneously, lead to the image to produce the deviation, in this embodiment, adopted two-dimensional laser radar to scan the part on water in the pipeline, obtain radar scanning formation of image, do not receive lighting apparatus's restriction, also difficult muddy water is disturbed, thereby more accurately obtain the information of the inside water level top of pipeline. In addition, can also cooperate sonar sensor, obtain information on water, under water respectively to obtain the whole state information in the pipeline, utilized laser scanning anti-interference, advantage that the penetrability is strong has promoted information acquisition's in the pipeline accuracy.
Through this pipeline inspection robot, the rotatory mode of helical blade drives the spiral drum robot and removes on the spiral drum, and promotion robot that can be by a wide margin adapts to various detection ring border's ability, has carried on two-dimensional laser radar simultaneously on the robot to can gather pipeline state information in the pipeline environment of high water level or muddy water mixture.
In addition to the above embodiments, a sonar sensor 5 is provided below the robot main body 2, and the sonar sensor 5 is connected to the controller.
As shown in fig. 2 and 4, the robot main body is further provided with a pipeline positioning probe 6, and the pipeline positioning probe 6 is positioned by a pipeline positioning instrument. The robot body is also provided with an inertial measurement unit. The robot main body is also provided with an external battery interface 10.
The robot body including being used for setting up the cavity of controller, the end of cavity with afterbody articulate, cavity upper portion is equipped with the lifting support, the front end of lifting support is connected with first camera 9.
As shown in fig. 3, a second camera 7 is further disposed at the tail end of the robot body, and the shooting directions of the second camera 7 and the first camera 9 are opposite.
In concrete implementation, be provided with sonar sensor 5 at robot main part 2 downside for carry out sonar detection under water, be in full water state when the pipeline, and when not possessing the drainage condition, adopt traditional video detection means and can't gain better detection effect, pipeline section sonar imager is just being applicable to this type of pipeline.
The pipeline section sonar imager is composed of a sonar head, a cable reel and a pipe sonar detection imaging analysis software. It adopts sonar imaging technique, places sonar sensor in the inside underwater of pipeline, adopts the robot drive to remove in the pipeline. And performing imaging display, editing analysis, three-dimensional modeling and report output of the pipeline sonar detection data, wherein the output contents comprise structural defects, a longitudinal section map of deposition, deposition calculation and the like of the pipeline.
Furthermore, a pipeline positioning carbon rod is further arranged on the robot main body and used for positioning the pipeline positioning probe rod through a pipeline positioning instrument. The pipeline locator detects the position of underground metal pipelines and cables by using the theory of electromagnetic signals. It consists of receiver and transmitter, and the receiver can make operator accurately detect the position of underground metal pipeline or cable. The pipeline positioning instrument is mainly used for providing guarantee for safe excavation, identifying the type of underground facilities by means of the instrument, and identifying and tracking the underground facilities according to the characteristics of the facilities. When the underground facility is identified and tracked, an operator can quickly and accurately complete the tasks of plane positioning and depth measurement on the underground facility by means of the instrument, so that the underground facility is positioned in three dimensions.
In this embodiment, the pipeline location probe that sets up in the robot main part is the transmitter of pipeline locater promptly, and constructor can confirm the concrete position of pipeline location probe through pipeline locater subaerial, and then obtains the concrete position of exploration robot, conveniently carries out position tracking to exploration robot in the work progress.
On the other hand, an Inertial Measurement Unit (IMU) is further arranged on the robot body, so that the attitude information of the detection robot in the advancing process can be obtained in real time, and the accuracy of obtaining the state information in the pipeline is further improved. Further, still be provided with external battery interface in the robot main part, under some special environment, can use external battery to supply power to satisfy multiple energy supply demand.
Furthermore, the lifting support is provided with a driving motor for driving the lifting support to lift, and the driving motor is controlled by the controller. The camera is connected with the lifting support through an aviation plug, and the aviation plug is controlled by the controller. On the other hand, the tail end of the robot body is also provided with a second camera 7, and the shooting directions of the second camera 7 and the first camera 9 are opposite, so that the back of the robot can be shot.
The above embodiments are only used for illustrating the design ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all the equivalent changes or modifications made according to the principles and design ideas disclosed by the present invention are within the protection scope of the present invention.
Claims (7)
1. A pipeline inspection robot, comprising: the tail part of the robot main body is provided with a tail joint for connecting with a cable;
the two sides of the robot main body are provided with spiral rollers, the spiral rollers are connected with the robot main body through a support, the end part of each spiral roller is provided with a driving mechanism, and the driving mechanisms are controlled by a controller in the robot main body;
and the robot main body is also provided with a two-dimensional laser radar, and the two-dimensional laser radar is connected with the controller.
2. The pipeline inspection robot according to claim 1, wherein a sonar sensor is provided below the robot main body, and the sonar sensor is connected to the controller.
3. The pipeline inspection robot according to claim 1, wherein a pipeline positioning probe for remote connection with an external pipeline positioning instrument for positioning is further arranged on the robot main body.
4. The pipeline inspection robot of claim 2, wherein the robot body is further provided with an inertial measurement unit.
5. The pipeline inspection robot according to claim 1, wherein an external battery interface is further provided on the robot body.
6. The pipeline inspection robot of claim 1, wherein the robot body comprises a cavity for arranging the controller, the tail end of the cavity is connected with the tail connector, a lifting support is arranged at the upper part of the cavity, and a first camera is connected to the front end of the lifting support.
7. The pipeline inspection robot according to claim 6, wherein a second camera is further disposed at the tail end of the robot body, and the shooting direction of the second camera is opposite to that of the first camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699751.8U CN212377561U (en) | 2020-04-30 | 2020-04-30 | Pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020699751.8U CN212377561U (en) | 2020-04-30 | 2020-04-30 | Pipeline inspection robot |
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| CN212377561U true CN212377561U (en) | 2021-01-19 |
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| CN202020699751.8U Active CN212377561U (en) | 2020-04-30 | 2020-04-30 | Pipeline inspection robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440054A (en) * | 2022-02-11 | 2022-05-06 | 阜阳嘉瑞环境科技有限公司 | Spiral propelling type all-terrain pipeline detection robot |
| CN114593307A (en) * | 2022-03-11 | 2022-06-07 | 苏州江创智能科技有限公司 | Spiral roller pipeline inspection robot |
-
2020
- 2020-04-30 CN CN202020699751.8U patent/CN212377561U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114440054A (en) * | 2022-02-11 | 2022-05-06 | 阜阳嘉瑞环境科技有限公司 | Spiral propelling type all-terrain pipeline detection robot |
| CN114593307A (en) * | 2022-03-11 | 2022-06-07 | 苏州江创智能科技有限公司 | Spiral roller pipeline inspection robot |
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