CN212900380U - Robot for detecting branch pipe in pipeline - Google Patents
Robot for detecting branch pipe in pipeline Download PDFInfo
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- CN212900380U CN212900380U CN202021444093.4U CN202021444093U CN212900380U CN 212900380 U CN212900380 U CN 212900380U CN 202021444093 U CN202021444093 U CN 202021444093U CN 212900380 U CN212900380 U CN 212900380U
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Abstract
The utility model relates to a robot for detecting branch pipes in pipelines, which comprises a detection device, a branch pipe cable device and a walkable carrying vehicle body, wherein the detection device and the branch pipe cable device are respectively positioned at one side of two ends of the carrying vehicle body and are connected through cables, and the detection device and the branch pipe cable device are respectively used for detecting branch pipes and accommodating cables; the carrying vehicle body is provided with a pushing device used for pushing the cable from one end of the carrying vehicle body to the other end of the carrying vehicle body, and the carrying vehicle body is at least provided with a monitoring device used for monitoring the pushing state of the cable. The utility model has the advantages that the automatic long-distance transmission of the hard cable in the pipeline can be realized, especially in the small-caliber narrow closed pipeline in water or sludge; meanwhile, the device can accurately enter the small-caliber narrow and closed branch pipe and perform detection, and is convenient to use.
Description
Technical Field
The utility model relates to a pipeline branch detects technical field, concretely relates to a robot that is arranged in pipeline branch pipe to detect.
Background
The pipeline endoscopic detection equipment is widely applied to drainage pipelines, power pipelines, nondestructive testing, municipal administration, archaeology and other industries at present, is mainly used for rapid detection and diagnosis in petroleum and petrochemical industry and municipal drainage pipelines, is provided with a powerful illumination light source and a portable control system, is very suitable for the field and mobile workplaces, can be provided with a transmission cable according to user requirements, and can deliver the equipment to a required working position.
At present, the traditional large pipeline detection is pipeline crawler detection, when the crawler cannot enter the pipeline detection device for detecting the small-diameter pipeline, a hard straight push rod endoscope is adopted for detecting the small-diameter pipeline, and when the large-diameter pipeline has a small-diameter branch pipe, the pipeline detection device cannot further detect the small-diameter branch pipe.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a robot for branch pipe detects in pipeline is provided, aim at solving above-mentioned technical problem.
The utility model provides an above-mentioned technical problem's technical scheme as follows:
a robot for detecting branch pipes in pipelines comprises a detection device, a branch pipe cable device and a walkable carrying vehicle body, wherein the detection device and the branch pipe cable device are respectively positioned on one side of two ends of the carrying vehicle body and are connected through cables and are respectively used for detecting branch pipes and accommodating cables; the carrying vehicle body is provided with a pushing device used for pushing a cable from one end of the carrying vehicle body to the other end of the carrying vehicle body, and the carrying vehicle body is at least provided with a monitoring device used for monitoring the pushing state of the cable.
The utility model has the advantages that: during detection, the carrying vehicle body drives the detection device, the pushing device and the monitoring device to travel in the pipeline; in the process, the branch pipe cable device receives the cable and provides a longer length of cable for the detection device; in addition, the pushing device pushes the cable to realize forward conveying of the cable; the carrying vehicle body is matched with the pushing device, so that long-distance conveying of the cable in the pipeline is realized, and the detection of the pipeline is realized; moreover, in the cable pushing process, the state of cable pushing is monitored in real time through the monitoring device, so that a worker can timely know the pushing state of the cable. The utility model has compact structure, can realize the long-distance transmission of hard cables in pipelines, especially in small-caliber narrow closed pipelines in water or sludge; meanwhile, the device can accurately enter the small-caliber narrow and closed branch pipe and perform detection, and is convenient to use.
On the basis of the technical scheme, the utility model discloses can also do following improvement.
Furthermore, a cup bowl is arranged at one end of the carrying vehicle body close to the detection device, is positioned between the detection device and one end of the carrying vehicle body and can rotate in the vertical direction and the horizontal direction respectively; one end of the cup bowl is open, the other end of the cup bowl is provided with a threading hole for the cable to pass through, and one end of the cable passes through the threading hole and then is connected with the detection device.
The beneficial effect who adopts above-mentioned further scheme is through realizing that the cup bowl is at the rotation on vertical direction and horizontal direction to be applicable to the detection of different small-bore branch pipes, application scope is wider.
Furthermore, a mounting channel is horizontally and fixedly arranged on the position, close to one end of the carrying vehicle body, and one end, close to one end of the carrying vehicle body, of the mounting channel is open; the mounting channel is internally rotatably provided with a fixed sleeve, and the fixed sleeve is internally provided with a driving component for driving the cup bowl to rotate in the vertical direction.
The beneficial effect who adopts above-mentioned further scheme is that drive the bowl through drive assembly and rotate 0-90 in vertical direction, makes fixed sleeve drive assembly and bowl rotation through the mode that technical personnel in the field can think simultaneously to realize the 360 rotations of bowl on the horizontal direction, so that the angle of adjustment bowl, so that be applicable to the detection of the small-bore branch pipe of difference, application range is wider, convenient to use.
Further, the driving assembly comprises a screw rod, the screw rod is horizontally and rotatably arranged in the fixed sleeve, and a screw rod sleeve is sleeved on the screw rod through a thread; one end of the screw rod sleeve horizontally extends out of the open end of the mounting channel and is connected with the cup bowl through at least one vertical rotating rod, and two ends of the vertical rotating rod are respectively connected with one end of the screw rod sleeve and the other end of the cup bowl in a rotating mode.
The beneficial effect who adopts above-mentioned further scheme is that the lead screw rotates and changes its self rotation into telescopic rectilinear movement of lead screw, and the lead screw sleeve passes through perpendicular rotary rod and drives cup bowl rotatory in vertical direction to change the angle of cup bowl in vertical direction, so that be applicable to the detection of different small-bore branch pipes, simple structure, it is easy and simple to handle.
Furthermore, but fixed cover barrel overcoat is equipped with horizontal rotation's rotatory sleeve, rotatory telescopic one end level extends outside the open end of installation passageway to through an at least horizontal rotary rod with the cup bowl is connected, horizontal rotary rod's both ends respectively with rotatory telescopic one end and the other end of cup bowl rotates and is connected.
The beneficial effect who adopts above-mentioned further scheme is that the mode that can think through the technical staff in the field rotates rotatory sleeve to drive horizontal rotation pole and fixed sleeve and its inside part 360 rotations, thereby change the angle of cup bowl on the horizontal direction, so that be applicable to the detection of the small-bore branch pipe of difference, simple structure, it is easy and simple to handle.
Further, monitoring devices includes the camera, camera fixed mounting in carry on one of automobile body upper surface, its camera lens orientation carry on outside the one end of automobile body.
The beneficial effect who adopts above-mentioned further scheme is through the picture of camera real-time acquisition cable propelling movement to send the video that corresponds for the controller, the controller receives corresponding video, and judge whether the propelling movement of analysis cable breaks down, so that the staff in time knows the particular case of cable propelling movement.
Further, monitoring devices still includes for the light of camera illumination, light fixed mounting carry on one of automobile body upper surface and serve, its orientation carry on outside the one end of automobile body, and be located one side of camera, the cable is located the camera with between the light.
The beneficial effect who adopts above-mentioned further scheme is that the in-process of cable propelling movement monitoring, is the camera illumination through the light, improves the video quality of camera collection to the more accurate analysis of controller judges the particular case of cable propelling movement, and the precision is higher.
Further, the pushing device comprises at least one driving wheel and driven wheels in one-to-one correspondence with the driving wheel, and the driving wheel and the driven wheels are oppositely arranged on the carrying vehicle body in a direction perpendicular to the cable pushing direction and are respectively connected with the carrying vehicle body in a horizontal rotating mode; the cable is located between the driving wheel and the driven wheel, and two sides of the cable are respectively attached to the driving wheel and the driven wheel.
The beneficial effect who adopts above-mentioned further scheme is that the in-process of cable propelling movement makes the action wheel rotate through the mode that technical personnel in the field can think, and the action wheel utilizes between its and the cable and the frictional force between cable and the follower to drive the cable and remove to realize the transport of cable, simple structure, it is convenient to carry.
Further, the branch pipe cable device comprises an electric cabinet and a cable tray, and a through threading opening is formed in the bottom of one end of the electric cabinet; the cable disc comprises a fixed disc and a movable disc which are coaxially arranged, the fixed disc comprises a fixed shaft which is horizontally and fixedly arranged in the electric cabinet and fixed discs which are coaxially and fixedly sleeved at two ends of the fixed shaft, the movable disc comprises a core shaft and two movable discs which are coaxially sleeved at two ends of the core shaft, the core shaft is hollow, two ends of the core shaft are both open, and the core shaft is coaxially sleeved outside the fixed shaft in a rotating manner and is positioned between the two fixed discs; the flexible cable is wound on the movable wheel disc, and the hard cables are wound on the movable wheel disc and the static wheel disc in sequence.
The beneficial effect who adopts above-mentioned further scheme is when accomodating, at first soft cable and stereoplasm cable accomodate in proper order on moving the rim plate, and unnecessary stereoplasm cable then twines on quiet rim plate, and quiet rim plate can prevent the stereoplasm cable slippage. The utility model discloses simple structure can realize accomodating of soft or hard cable, saves space.
Furthermore, a through opening is formed in the middle of one end of the electric cabinet, a lead arm assembly for a lead is mounted at the opening in a vertically-overturning mode in a positionable mode, the lead arm assembly comprises a lead frame, one end of the lead frame is rotatably connected with the lower end of the opening, and the other end of the lead frame can be turned downwards to one side of the threading opening to be used for the lead or turned upwards to abut against the upper end of the opening to be folded; and a wire guide rod for a wire is horizontally and rotatably arranged at the other end of the wire guide frame.
The wire frame can be turned downwards to the threading opening to realize the guiding and the quick conveying of the cable; the lead frame is upwards overturned to the opening to realize self storage, save space and facilitate carrying and storage.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a matching diagram of the carrying vehicle body, the detecting device, the pushing device and the monitoring device of the present invention;
FIG. 3 is a schematic view of the inner structure of FIG. 2 along the line A-A;
FIG. 4 is an enlarged view of B in FIG. 3;
FIG. 5 is a schematic structural view of the pushing device of the present invention cooperating with a vehicle body;
fig. 6 is a schematic view of the overall structure of the middle branch cable device according to the present invention;
fig. 7 is a schematic structural view of a cable tray according to the present invention;
fig. 8 is a schematic view of the internal structure of the cable tray according to the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
1. the vehicle comprises a vehicle body, 2, cables, 3, a camera, 4, a lighting lamp, 5, a driving wheel, 6, a driven wheel, 7, a belt, 8, an end cover, 9, a limiting block, 10, a wheel, 11, a cup bowl, 12, a fixed sleeve, 13, a screw rod, 14, a screw rod sleeve, 15, a vertical rotating rod, 16, a rotating sleeve, 17, a horizontal rotating rod, 19, an auxiliary lighting lamp, 20, a detection device, 21, an electric cabinet, 22, a threading opening, 23, a fixed wheel disc, 24, a movable wheel disc, 25, a guide rod, 26, an opening, 27, a lead frame, 28, a lead rod, 29, a connecting rod, 30, a positioning hook, 31, a positioning ring, 32, a brake assembly, 33, a meter assembly, 34, a soft cable, 35, a hard cable, 36, a control panel, 37, a supporting frame, 38 and a power assembly.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
As shown in fig. 1 to 8, the utility model provides a robot for detecting branch pipes in pipelines, which comprises a detection device 20, a branch pipe cable device and a walkable carrying vehicle body 1, wherein the detection device 20 and the branch pipe cable device are respectively positioned at one side of two ends of the carrying vehicle body 1 and are connected through cables 2, and are respectively used for detecting branch pipes and accommodating the cables 2; the carrying vehicle body 1 is provided with a pushing device used for pushing the cable 2 from one end to the other end of the cable, and the carrying vehicle body 1 is provided with at least one monitoring device used for monitoring the pushing state of the cable 2. During detection, the carrying vehicle body 1 drives the detection device 20, the pushing device and the monitoring device to travel in a pipeline; in this process, the branch cable device takes in the cable 2 and provides the long length of the cable 2 to the detecting device 20; in addition, the pushing device pushes the cable 2, so that the cable 2 is conveyed forwards; the carrying vehicle body 1 is matched with a pushing device to realize long-distance conveying of the cable 2 in the pipeline so as to realize detection of the pipeline; moreover, in the process of pushing the cable 2, the state of pushing the cable 2 is monitored in real time through the monitoring device, so that a worker can timely know the pushing state of the cable 2. The utility model has compact structure, can realize the long-distance transmission of the hard cable 35 in the pipeline, especially in the small-caliber narrow closed pipeline in water or sludge; meanwhile, the device can accurately enter the small-caliber narrow and closed branch pipe and perform detection, and is convenient to use.
In the process that the vehicle body 1 moves in the pipeline, the detection device 20 moves in the pipeline along with the vehicle body 1; when the branch pipe is detected, the vehicle body 1 is stopped, the branch pipe cable device releases the cable 2, and the cable 2 pushes the detection device 20 to move in the branch pipe.
The detection device 20 preferably employs a detection camera, and the detection camera is fixedly connected to one end of the cable 2, where the cable 2 is a hard cable 35.
A plurality of wheels 10, preferably four wheels 10, are mounted at the bottom of the vehicle body 1 at regular intervals, and the four wheels 10 are oppositely mounted on two ends of the vehicle body 1 in pairs. Two wheels 10 positioned at the same end of the carrying vehicle body 1 are connected through a rotating shaft, and the rotating shaft is rotatably connected with one end of the carrying vehicle body 1; one of the carrying vehicle body 1 is served and is equipped with the motor through bolt fixed mounting, and the drive end of motor is connected with the one end transmission of pivot, and concrete mode can be: gears are respectively coaxially and fixedly sleeved on the driving end of the motor and one end of the rotating shaft, and the two gears are in transmission connection through a chain; the gears can also be changed into belt pulleys, and the two belt pulleys are respectively connected through belt transmission.
It should be noted that the utility model discloses still include the controller, above-mentioned monitoring devices and pusher are connected with the controller respectively, and it is all can to connect or wireless communication connects through cable 2.
In addition, the power supply of each electronic device may be an external power supply, or a storage battery may be fixedly mounted on the vehicle body 1.
Example 1
On the basis of the above structure, in the present embodiment, the cup 11 is installed at one end of the carrying vehicle body 1 close to the detection device 20, and the cup 11 is located between the detection device 20 and one end of the carrying vehicle body 1 and can rotate in the vertical direction and the horizontal direction respectively; one end of the cup bowl 11 is open, the other end of the cup bowl is provided with a threading hole for the cable 2 to pass through, and one end of the cable 2 passes through the threading hole and then is connected with the detection device 20. During operation, the cup bowl 11 rotates in the vertical direction and the horizontal direction to drive the detection device 20 to rotate, so that the position of the detection camera is adjusted according to requirements, the detection device is suitable for detection of different small-caliber branch pipes, and the application range is wide.
Example 2
On the basis of the first embodiment, in the first embodiment, a mounting channel is horizontally and fixedly arranged on the carrying vehicle body 1 at a position close to one end of the carrying vehicle body 1, the mounting channel and the carrying vehicle body 1 are integrally formed, and one end of the mounting channel close to one end of the carrying vehicle body 1 is open; a fixed sleeve 12 is rotatably arranged in the mounting channel, and a driving component for driving the cup bowl 11 to rotate in the vertical direction is arranged in the fixed sleeve 12. When the cup bowl detection device is used, the driving assembly drives the cup bowl 11 to rotate by 0-90 degrees in the vertical direction, and meanwhile, the fixing sleeve 12 drives the driving assembly and the cup bowl 11 to rotate in a mode which can be thought by a person skilled in the art so as to realize 360-degree rotation of the cup bowl 11 in the horizontal direction and adjust the angle of the cup bowl 11, so that the cup bowl detection device is suitable for detection of different small-caliber branch pipes, and is wide in application range and convenient to use.
Example 3
On the basis of the second embodiment, in the present embodiment, the driving assembly includes a screw rod 13, the screw rod 13 is horizontally and rotatably installed in the fixed sleeve 12, and a screw rod sleeve 14 is threaded on the screw rod 13; one end of the screw rod sleeve 14 horizontally extends out of the open end of the installation channel and is connected with the cup 11 through at least one vertical rotating rod 15, and two ends of the vertical rotating rod 15 are respectively connected with one end of the screw rod sleeve 14 and the other end of the cup 11 in a rotating manner, and are usually connected through a hinge or a rotating shaft. During operation, the screw rod 13 rotates and converts the rotation of the screw rod into linear movement of the screw rod sleeve 14, the screw rod sleeve 14 drives the cup bowl 11 to rotate in the vertical direction through the vertical rotating rod 15, and therefore the angle of the cup bowl 11 in the vertical direction is changed, the cup bowl is suitable for detection of different small-caliber branch pipes, and the cup bowl detection device is simple in structure and easy and convenient to operate.
Preferably, in this embodiment, the number of the vertical rotating rods 15 is two, and the two vertical rotating rods 15 are respectively located at two sides of the cup 11, so as to increase the stability of the cup 11 during the rotating process.
The driving method for the rotation of the screw 13 may be: the end of the fixed sleeve 12 far away from the opening end of the installation channel is fixedly provided with a motor through a bolt, and the driving end of the motor is directly welded with one end of the wire rod 13.
Example 4
On the basis of the second embodiment, in this embodiment, the fixed sleeve 12 is sleeved with a rotating sleeve 16 capable of rotating horizontally, one end of the rotating sleeve 16 extends out of the open end of the installation channel horizontally and is connected with the cup bowl 11 through at least one horizontal rotating rod 17, and two ends of the horizontal rotating rod 17 are respectively connected with one end of the rotating sleeve 16 and the other end of the cup bowl 11 in a rotating manner, typically through a hinge or a rotating shaft. In operation, the rotating sleeve 16 is rotated in a manner that can be thought by those skilled in the art, and the horizontal rotating rod 17, the fixed sleeve 12 and the components inside the fixed sleeve are driven to rotate for 360 degrees, so that the angle of the cup bowl 11 in the horizontal direction is changed, and the cup bowl is suitable for detection of different small-caliber branch pipes, and is simple in structure and convenient to operate.
Preferably, in the embodiment, the number of the horizontal rotating rods 17 is two, and the two horizontal rotating rods 17 are respectively located at two sides of the cup bowl 11, so that the stability of the cup bowl 11 in the rotating process is improved.
The rotation driving method of the rotary sleeve 16 may be: the motor is fixedly installed in the installation channel through a bolt, a gear or a belt wheel is fixedly sleeved on a driving end of the motor, the gear or the belt wheel is coaxially and fixedly sleeved on one end of the rotating sleeve 16, and the two gears are connected through a chain or the two belt wheels are connected through a belt.
It should be noted that the two vertical rotating rods 15 are both located in the two horizontal rotating rods 17, and of the four rotating rods, two adjacent rotating rods are arranged at intervals and do not affect each other.
Example 5
On the basis of the above structure, in the present embodiment, the monitoring device includes the camera 3, and the camera 3 is fixedly mounted on one end of the carrier vehicle body 1 by a bolt, and its lens faces the outside of one end of the carrier vehicle body 1. The in-process of 2 propelling movements of cable, gather the video of 2 propelling movements of cable in real time through camera 3 to send the video that corresponds for the controller, the controller receives the video that corresponds, and judge whether the propelling movement of analysis cable 2 breaks down, so that the staff in time knows the particular case of 2 propelling movements of cable.
Example 6
On the basis of the fifth embodiment, in this embodiment, the monitoring device further includes an illumination lamp 4 for illuminating the camera 3, and the illumination lamp 4 is fixedly installed on one end of the carrying vehicle body 1 through a bolt, faces the outside of the one end of the carrying vehicle body 1, and is located on one side of the camera 3. The in-process of 2 propelling movement monitoring of cable is the illumination of camera 3 through light 4, improves the video quality of camera 3 collection to the more accurate analysis of controller judges the particular case of 2 propelling movements of cable, and the precision is higher.
Preferably, the illuminating lamp 4 is preferably an LED lamp, and has a good energy-saving effect.
Besides the structure, the monitoring device can also adopt an infrared camera which can directly collect videos in dark pipelines.
Example 7
On the basis of embodiment six, in this embodiment, camera 3 and light 4 set up in the both sides of cable 2 relatively, simple structure, and reasonable in design can realize the monitoring of 2 propelling movement states of cable, does not influence the propelling movement of cable 2 simultaneously yet, saves space.
Besides the above distribution, the camera 3 and the illuminating lamp 4 can be arranged on the same side of the cable 2, but the cable 2 is not as stable as the above arrangement.
Example 8
On the basis of the structure, in this embodiment, the number of the monitoring devices is two, and the two monitoring mechanisms are respectively located at the two ends of the carrying vehicle body 1 and are respectively used for monitoring the pushing state of the cables 2 at the two ends of the carrying vehicle body 1. In the process of pushing the cable 2, the pushing states of the cable 2 carrying the two ends of the vehicle body 1 are monitored through the two monitoring devices respectively, and monitoring is more comprehensive.
In addition, still install auxiliary lighting lamp 19 through bolt fixed mounting on carrying on automobile body 1, auxiliary lighting lamp is preferentially installed on one of them monitoring devices for auxiliary camera 3 gathers the video of cable 2 propelling movement, further ensures that what video acquisition thought, preferentially adopts the LED lamp.
Example 9
On the basis of the above structure, in this embodiment, the pushing device includes at least one driving wheel 5 and driven wheels 6 corresponding to the driving wheel 5 one by one, the driving wheel 5 and the driven wheels 6 are oppositely disposed on the carrying vehicle body 1 along a direction perpendicular to the pushing direction of the cable 2, and are respectively connected with the carrying vehicle body 1 through a mandrel in a horizontal rotation manner; the cable 2 is positioned between the driving wheel 5 and the driven wheel 6, and two sides of the cable are respectively attached to the driving wheel 5 and the driven wheel 6. In the process of cable 2 propelling movement, make action wheel 5 rotate through the mode that the skilled person in the art can think, action wheel 5 utilizes its and between cable 2 and the frictional force between cable 2 and the follower 6 to drive cable 2 and remove to realize the transport of cable 2, simple structure carries the convenience.
Preferably, in the present embodiment, the number of the driving wheels 5 and the driven wheels 6 is two, and the two driving wheels 5 and the two driven wheels 6 are arranged opposite to each other; the two driving wheels 5 and the two driven wheels 6 are in transmission connection through belts 7 respectively; the cable 2 is positioned between the two belts 7, and two sides of the cable are respectively attached to the two belts 7. The two driving wheels 5 are matched with the two driven wheels 6 at the same time, and the arrangement mode can increase the power for pushing the cables 2, so that the cables 2 can be normally pushed; in addition, the cable 2 is conveyed by the belt 7, so that damage to the cable 2 is reduced, and the quality of the cable 2 is guaranteed.
Example 10
On the basis of the ninth embodiment, in the present embodiment, a motor is fixedly mounted at a position below the driving wheel 5 on the carrying vehicle body 1 through a bolt, and a mounting groove for accommodating the motor is formed on the carrying vehicle body 1; the driving end of the motor is vertically upward and is fixedly connected with the lower end of the mandrel of one driving wheel 5, and the driving end is usually connected with the mandrel by welding or bolts. In the process of conveying the cables 2, one driving wheel 5 is driven to rotate through the motor, so that the cables 2 are actively pushed by the aid of friction force between the driving wheel and the cables 2 and between the cables 2 and the driven wheel 6, and time and labor are saved.
Besides the above driving modes, the motor can also be in transmission connection with the corresponding driving wheel 5 through a gear, specifically: and gears are respectively coaxially and fixedly sleeved at one end of the corresponding mandrel of the driving wheel 5 and the driving end of the motor, and the two gears are connected through chain transmission.
Example 11
In addition to the above structure, in the present embodiment, the end cover 8 for covering the pushing device is mounted on the carrying vehicle body 1 in a turnable manner, one side of the end cover 8 is rotatably connected to one side of the carrying vehicle body 1, usually by a hinge or a hinge, and the other side of the end cover is turned to the other side of the carrying vehicle body 1 and fastened. When the cable 2 is conveyed, the whole pushing device is covered by the end cover 8, so that the attractiveness of the whole equipment is improved; in addition, the end cover 8 can prevent dust from affecting the working performance of the pushing device.
The integrated into one piece of center department of above-mentioned end cover 8 opposite side has buckle one, and integrated into one piece has buckle two on the opposite side of carrying on automobile body 1, and buckle two cooperates with buckle one, realizes that end cover 8 opposite side and carrying on being connected of automobile body 1 opposite side, simple structure, and is easy and simple to handle, labour saving and time saving.
Example 12
On the basis of above-mentioned structure, in this embodiment, monitoring devices is close to installing of the upper and lower upset that can fix a position on one end of carrying automobile body 1 and is used for carrying out spacing stopper 9 to cable 2, and stopper 9 is preferred to be set up in the one end of carrying automobile body 1, carries out spacingly through stopper 9 to cable 2, avoids 2 slippage of cable and influences the transport of cable 2.
Above-mentioned stopper 9 is preferred to be set up between the camera 3 and the light 4 that correspond, and the shell of camera 3 or the shell of light 4 are close to one of carrying on automobile body 1 and correspond one of end and are served and be equipped with the equal open recess in both sides, and the one side of hinge and recess inner wall is passed through to stopper 9 one end rotates and is connected, and the other end can overturn to the shell with light 4 or the shell laminating of camera 3 to carry on spacingly to cable 2.
In addition, the limiting block 9 can be limited by directly utilizing the friction force between the limiting block and the inner wall of the groove, and can also be limited by a bolt, namely, one end of the limiting block 9 is provided with a through screw hole I, the screw hole I is internally connected with a bolt, and the bottom of the groove is provided with a screw hole II; the limiting block 9 is turned to be in a horizontal state, the screw hole II is communicated with the screw hole I, and then the limiting block 9 is locked through the bolt.
Example 13
As shown in fig. 6 to 8, based on the above structure, in this embodiment, the branch cable device includes an electric cabinet 21 and a cable tray, and a through threading opening 22 is provided at the bottom of one end of the electric cabinet 21; the cable disc comprises a static wheel disc 23 and a movable wheel disc 24 which are coaxially arranged, the static wheel disc 23 comprises a fixed shaft which is horizontally and fixedly arranged in the electric cabinet 21 and static disc which are coaxially and fixedly sleeved at two ends of the fixed shaft, the two static disc are directly welded at two ends of the fixed shaft, and two ends of the fixed shaft are respectively and fixedly connected with two sides of the electric cabinet 21 through bolts; the movable wheel disc 24 comprises a mandrel and two movable discs coaxially sleeved at two ends of the mandrel, the mandrel is hollow, two ends of the mandrel are both open, the mandrel is coaxially sleeved outside the fixed shaft in a rotating mode and is located between the two fixed discs, and the two movable discs are respectively and directly welded at two ends of the mandrel; the soft cable 34 is wound on the movable wheel disc 24, and the hard cable 35 is wound on the movable wheel disc 24 and the fixed wheel disc 23 in sequence.
The electric cabinet is horizontally and fixedly arranged in the electric cabinet 21 through a fixed shaft, the fixed wheel disc 23 is fixedly sleeved on the fixed shaft, and two ends of the fixed shaft are respectively and fixedly connected with two sides of the electric cabinet 21 through bolts; the movable wheel disc 24 is horizontally and rotatably arranged in the electric cabinet 21 and positioned between the baffles at two sides of the static wheel disc 23, the movable wheel disc 24 is coaxially and fixedly sleeved on the sleeve, and the sleeve is coaxially and rotatably sleeved on the fixed shaft. The cable in the utility model is a soft cable 34 at the end section and a hard cable 35 at the front end; when the cable is stored, firstly, the soft cable 34 and the hard cable 35 are sequentially stored on the movable wheel disc 24 from inside to outside, the redundant hard cable 35 is wound on the static wheel disc 23, and the static wheel disc 23 can prevent the hard cable 35 from slipping off from the cable disc. The utility model discloses simple structure can realize accomodating of soft or hard cable, saves space.
Example 14
On the basis of the thirteenth embodiment, in the present embodiment, a plurality of guide rods 25 are distributed at intervals along the circumferential direction between the edges of the two baffles of the fixed wheel disc 23, and the two baffles are respectively coaxially and fixedly sleeved on the two ends of the fixed shaft; each guide rod 25 is horizontally arranged, and two ends of each guide rod are respectively connected with the edges of the baffles on two sides of the fixed wheel disc 23 and used for preventing the cable from slipping. Can carry on spacingly through a plurality of guide arms 25 to the cable on the cable dish, prevent that the stereoplasm cable from slipping from the cable dish, simple structure, the cable is accomodate the effect preferred.
Example 15
On the basis of the fourteenth embodiment, in this embodiment, both ends of each guide rod 25 are respectively connected with the edge of the baffle on both sides of the fixed wheel disc 23 in a rotating manner through rotating shafts, the two rotating shafts are all integrally formed with the guide rods 25, and rotating holes matched with the two rotating shafts are relatively arranged on the edges of the two baffles. Every guide arm 25 all rotates with quiet reel 23 to be connected, changes the static friction between stereoplasm cable 35 and the guide arm 25 into rotational friction, effectively reduces the friction between stereoplasm cable 35 and the guide arm 25, avoids stereoplasm cable 35 to take place the damage, protects stereoplasm cable 35.
The guide rod 25 can be arranged in a rotating mode or in a fixed mode, when the guide rod 25 is fixedly arranged, the friction force between the guide rod 25 and the hard cable 35 is obviously larger than the friction force when the guide rod rotates, and the rotating arrangement scheme is better.
Example 16
On the basis of the thirteenth embodiment, in the present embodiment, a through opening 26 is provided in the middle of one end of the electric cabinet 21, and the opening 26 is preferably a directional opening; a wire arm assembly for the wire is mounted in an upside down position positionable at the opening 26 and can be flipped up to be received at the opening 26. In the cable paying-off process, the guide of the cable can be realized through the wire arm component, and the rapid transmission of the cable is realized; in addition, the wire arm can be upwards overturned and stored in the opening 26, so that the space is saved, and the wire arm is convenient to carry and store.
Example 17
On the basis of the sixteenth embodiment, in the present embodiment, the lead arm assembly includes a lead frame 27, one end of the lead frame 27 is rotatably connected with the lower end of the opening 26, usually by a hinge or a rotating shaft, and the other end can be turned downwards to one side of the threading opening 22 for leading the lead, or turned upwards to abut against the upper end of the opening 26 for furling; a wire guide bar 28 for wires is horizontally rotatably mounted on the other end of the wire frame 27. During paying off, the lead frame 27 can be turned downwards to the threading opening 22, so that the guide and the quick conveying of the cables are realized; when not in use, the lead frame 27 is turned upwards to the opening 26 to realize self storage, save space and facilitate transportation and storage.
In addition, a supporting frame 37 is fixedly installed at a position, below the opening 26, of one end of the electric cabinet 21 through bolts, and a notch penetrating through the threading opening 22 is formed in the supporting frame 37. During paying off, the lead frame 27 is turned downwards to abut against the supporting frame 37, and the supporting frame 37 supports the lead frame 27, so that the lead frame 27 is in an inclined state, and the lead is better conducted.
Besides the above structure, one end of the electric cabinet 21 may be open, the supporting frame 37 covers the bottom of one end of the electric cabinet 21, and the threading opening 22 is located on the supporting frame 37.
In order to increase the stability of the lead frame 27 itself, the two sides thereof are connected by at least one reinforcement bar.
Example 18
In the present embodiment, on the basis of the sixteenth embodiment, at least one side of the lead frame 27 is connected to two sides of the opening 26 through a connecting rod 29, and two ends of the connecting rod 29 are respectively rotatably connected to the same side of the lead frame 27 and the opening 26, typically by a hinge or a rotating shaft. During the process of turning the lead frame 27 upside down, the lead frame 27 is connected with the opening 26 through the connecting rod 29, and the stability of the lead frame 27 is increased.
Preferably, in this embodiment, the number of the connecting rods 29 is preferably two, two connecting rods 29 are respectively located at two sides of the lead frame 27, and two ends of each connecting rod 29 are respectively rotatably connected with the same side of the lead frame 27 and the opening 26, so as to increase the stability of the lead frame 27 in turning up and down.
In addition, each link 29 has one end rotatably connected to the middle portion of one side of the lead frame 27 and the other end rotatably connected to the lower portion of the corresponding side of the opening 26, thereby facilitating the accommodation of the lead frame 27.
In addition to the above-described structure, the link 29 may not be provided between the opening 26 and the lead frame 27
Example 19
As shown in fig. 6, on the basis of the sixteenth embodiment, in the present embodiment, at least one positioning hook 30 is installed at the upper end of the opening 26 at intervals along the horizontal direction, and the positioning hook 30 is integrally formed with the electric cabinet 21 or connected with the electric cabinet by a bolt; positioning rings 31 corresponding to the positioning hooks 30 one by one are arranged at the other end of the lead frame 27 at intervals along the horizontal direction, and the positioning rings 31 and the lead frame 27 are integrally formed; the lead frame 27 is turned upward with its other end abutting the upper end of the opening 26, and the positioning hook 30 is hooked into the positioning ring 31 to fix the lead frame 27. When not in use, the positioning hook 30 at the upper end of the opening 26 is matched with the positioning ring 31 at the other end of the lead frame 27 to realize the quick positioning of the lead frame 27, and the device has the advantages of simple structure, simple and convenient operation, time saving and labor saving.
Preferably, in this embodiment, the number of the positioning hooks 30 and the positioning rings 31 is two, and two positioning hooks 30 and two positioning rings 31 are oppositely arranged on two sides of two ends of the opening 26 in pairs, so as to increase the stability of the lead frame 27.
In addition to the above structure, the lead frame 27 may also be connected to the electric cabinet 21 by bolts, and at this time, the other end of the lead frame 27 corresponding to the electric cabinet 21 is provided with screw holes (as shown in fig. 2).
Example 20
On the basis of the structure, in the embodiment, a controller and a power assembly 38 for driving the movable wheel disc 24 to rotate are installed in the electric cabinet 21, and the power assembly 38 is in transmission connection with the mandrel of the movable wheel disc 24 and is connected with the controller through a circuit; the controller is fixedly arranged in the electric cabinet 21 through bolts. The power assembly 38 is controlled by the controller to drive the movable wheel disc 24 to rotate forwards or reversely, so that the cables are stored or released, the automation degree is high, and time and labor are saved.
The power assembly 38 can be a motor, the motor is fixed in the electric cabinet 21 through a bolt, a gear is fixedly sleeved on a driving end of the motor, a gear is coaxially and fixedly sleeved on one end of a sleeve on the movable wheel disc 24, and the two gears are connected through a chain; the motor can also be matched with the belt component, and the assembly mode of the belt component is the same as that of the gear and the chain.
Example 21
On the basis of the twenty embodiment, in this embodiment, the electric cabinet 21 is further provided with a brake assembly 32 for braking the movable sheave 24, and the brake 12 is connected with the controller through a line. The brake assembly 32 is controlled by the controller to brake the movable wheel disc 24 in time so as to meet different requirements and avoid excessive cable release.
It should be noted that the brake assembly 32 is a brake pad of an automobile in the prior art, and the movable wheel disc 24 herein is equivalent to a wheel of an automobile, and the brake pad is used for braking a hub of the movable wheel disc 24.
Example 22
On the basis of the twenty embodiment, in this embodiment, a meter counting assembly 33 is fixedly installed at a position on one side of the threading opening 22 in the electric cabinet 21 through a bolt, and the meter counting assembly 33 is connected with the controller through a circuit. In the cable paying-off process, the length of cable release is monitored in real time through the meter counting assembly 33, and the accuracy is higher.
In addition, a control panel 36 is fixedly mounted on the outer wall of the electric cabinet 21, and a plurality of control buttons for controlling the operations of the above components are mounted on the control panel 36.
It should be noted that the meter counting assembly 33 is an electronic meter counter in the prior art, and the structure principle thereof is not described herein again.
Additionally, the utility model discloses can adopt external power supply, also can adopt the installation battery in electric cabinet 21, for the power supply of each part of the aforesaid.
Furthermore, the utility model discloses mainly be applied to the survey in the narrow and small airtight pipeline, especially have under the condition of water or silt in the pipeline, consequently above-mentioned each electron device all has waterproof function, ensures normal operating.
The working principle of the utility model is as follows:
when not in use, the lead frame 27 is turned upwards until the other end of the lead frame abuts against the upper end of the opening 26, and then the lead frame 27 is fixed through the cooperation of the positioning hook 30 and the positioning ring 31;
when paying off, firstly, manually and downwardly overturning the lead frame 27 until the lead frame is abutted against the supporting frame 37; then, one end of a manual hard wire coil 35 penetrates through the threading opening 22 and then is in sliding fit with the wire guide rod 28; finally, starting the metering component 33 and the power component 38, wherein the power component 38 drives the movable wheel disc 24 to rotate so as to release the cable, and meanwhile, the metering component 33 calculates the length of the cable;
meanwhile, the driving wheel 5 is driven to rotate by a corresponding motor, and the driving wheel 5 realizes the pushing of the cable 2 by utilizing the friction force between the driving wheel 5 and the cable 2 and between the cable 2 and the driven wheel 6; in the process, the two cameras 3 are respectively illuminated by the two illuminating lamps 4, the two cameras 3 respectively collect the push videos of the cables 2 carrying the two ends of the vehicle body 1 and send the push videos to the controller, and the controller receives the corresponding videos and analyzes the push states of the cables 2, so that workers can know the push states of the cables 2 in time;
during detection, the corresponding motor drives the screw rod 13 to rotate, the screw rod 13 rotates and converts the rotation of the screw rod 13 into linear movement of the screw rod sleeve 14, and the screw rod sleeve 14 drives the cup bowl 11 to rotate in the vertical direction through the vertical rotating rod 15, so that the angle of the cup bowl 11 in the vertical direction is changed;
in addition, the rotating sleeve 16 is driven to rotate by the corresponding motor, and the horizontal rotating rod 17, the fixed sleeve 12 and the components inside the fixed sleeve are driven to rotate by 360 degrees, so that the angle of the cup bowl 11 in the horizontal direction is changed, the detection device 20 accurately extends into the branch pipe, the detection device is suitable for detection of different small-caliber branch pipes, and the detection device is simple in structure and convenient to operate.
It should be noted that the utility model relates to a motor (model YE-2), camera (model DS-IPC-T12H) and LED lamp (model E-NLED0024) all adopt prior art to above-mentioned each part is connected with controller (model TC-SCR) electricity, and the control circuit between controller and each part is prior art.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (10)
1. A robot for branch pipe detection in a pipeline is characterized in that: the device comprises a detection device (20), a branch pipe cable device and a traveling carrying vehicle body (1), wherein the detection device (20) and the branch pipe cable device are respectively positioned on one side of two ends of the carrying vehicle body (1), are connected through cables (2) and are respectively used for detecting branch pipes and accommodating cables (2); the carrying vehicle body (1) is provided with a pushing device used for pushing the cable (2) from one end to the other end of the cable, and the carrying vehicle body (1) is at least provided with a monitoring device used for monitoring the pushing state of the cable (2).
2. A robot for branch in pipe inspection according to claim 1, characterized in that: a cup bowl (11) is mounted at one end, close to the detection device (20), of the carrying vehicle body (1), the cup bowl (11) is located between the detection device (20) and one end of the carrying vehicle body (1), and the cup bowl can rotate in the vertical direction and the horizontal direction respectively; one end of the cup bowl (11) is open, the other end of the cup bowl is provided with a threading hole for the cable (2) to pass through, and one end of the cable (2) passes through the threading hole and then is connected with the detection device (20).
3. A robot for branch in pipe inspection according to claim 2, characterized in that: a mounting channel is horizontally and fixedly arranged on the carrying vehicle body (1) at a position close to one end of the carrying vehicle body, and one end of the mounting channel close to one end of the carrying vehicle body (1) is open; the mounting channel is internally rotatably provided with a fixed sleeve (12), and the fixed sleeve (12) is internally provided with a driving component for driving the cup bowl (11) to rotate in the vertical direction.
4. A robot for branch in pipe inspection according to claim 3, characterized in that: the driving assembly comprises a screw rod (13), the screw rod (13) is horizontally and rotatably arranged in the fixed sleeve (12), and a screw rod sleeve (14) is sleeved on the screw rod (13) in a threaded manner; one end of the screw rod sleeve (14) horizontally extends out of the open end of the mounting channel and is connected with the cup bowl (11) through at least one vertical rotating rod (15), and two ends of the vertical rotating rod (15) are respectively connected with one end of the screw rod sleeve (14) and the other end of the cup bowl (11) in a rotating mode.
5. A robot for branch in pipe inspection according to claim 3, characterized in that: but fixed sleeve (12) overcoat is equipped with horizontal rotation's rotatory sleeve (16), the one end level of rotatory sleeve (16) is extended outside the open end of installation passageway to through an at least horizontal rotary rod (17) with cup bowl (11) are connected, the both ends of horizontal rotary rod (17) respectively with the one end of rotatory sleeve (16) and the other end of cup bowl (11) is rotated and is connected.
6. A robot for branch pipe inspection in a pipeline according to any of claims 1-5, characterised in that: the monitoring device comprises a camera (3), wherein the camera (3) is fixedly installed at one end of the upper surface of the carrying vehicle body (1), and a lens of the camera faces the outside of one end of the carrying vehicle body (1).
7. A robot for branch in pipe inspection according to claim 6, characterized in that: monitoring devices still includes and does light (4) of camera (3) illumination, light (4) fixed mounting be in one of carrying on automobile body (1) upper surface is served, its orientation outside the one end of carrying on automobile body (1), and be located one side of camera (3), cable (2) are located camera (3) with between light (4).
8. A robot for branch pipe inspection in a pipeline according to any of claims 1-5, characterised in that: the pushing device comprises at least one driving wheel (5) and driven wheels (6) which correspond to the driving wheel (5) one by one, and the driving wheel (5) and the driven wheels (6) are oppositely arranged on the carrying vehicle body (1) along the direction vertical to the pushing direction of the cable (2) and are respectively connected with the carrying vehicle body (1) in a horizontal rotating mode; the cable (2) is located between the driving wheel (5) and the driven wheel (6), and two sides of the cable are respectively attached to the driving wheel (5) and the driven wheel (6).
9. A robot for branch pipe inspection in a pipeline according to any of claims 1-5, characterised in that: the branch pipe cable device comprises an electric cabinet (21) and a cable tray, wherein a through threading opening (22) is formed in the bottom of one end of the electric cabinet (21); the cable disc comprises a static disc (23) and a movable disc (24) which are coaxially arranged, the static disc (23) comprises a fixed shaft and static discs, the fixed shaft is horizontally and fixedly installed in the electric cabinet (21), the static discs are coaxially and fixedly sleeved at two ends of the fixed shaft, the movable disc (24) comprises a mandrel and two movable discs, the two movable discs are coaxially sleeved at two ends of the mandrel, the mandrel is hollow, two ends of the mandrel are both open, and the movable disc is coaxially sleeved outside the fixed shaft in a rotating mode and located between the two static discs; the soft cable (34) is wound on the movable wheel disc (24), and the hard cable (35) is wound on the movable wheel disc (24) and the static wheel disc (23) in sequence.
10. A robot for branch in pipe inspection according to claim 9, wherein: a through opening (26) is formed in the middle of one end of the electric cabinet (21), a lead arm assembly for leads is mounted on the opening (26) in a positioning and up-and-down overturning manner, the lead arm assembly comprises a lead frame (27), one end of the lead frame (27) is rotatably connected with the lower end of the opening (26), and the other end of the lead frame (27) can be overturned downwards to one side of the threading opening (22) for leads or upwards to abut against the upper end of the opening (26) for folding; and a wire guide rod (28) for a wire is horizontally and rotatably arranged at the other end of the wire guide frame (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021444093.4U CN212900380U (en) | 2020-07-21 | 2020-07-21 | Robot for detecting branch pipe in pipeline |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021444093.4U CN212900380U (en) | 2020-07-21 | 2020-07-21 | Robot for detecting branch pipe in pipeline |
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| CN212900380U true CN212900380U (en) | 2021-04-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117470102A (en) * | 2023-11-15 | 2024-01-30 | 湖南湘排环境科技有限公司 | Underground pipeline size detection equipment and detection method thereof |
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2020
- 2020-07-21 CN CN202021444093.4U patent/CN212900380U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117470102A (en) * | 2023-11-15 | 2024-01-30 | 湖南湘排环境科技有限公司 | Underground pipeline size detection equipment and detection method thereof |
| CN117470102B (en) * | 2023-11-15 | 2024-05-10 | 湖南湘排环境科技有限公司 | Underground pipeline size detection equipment and detection method thereof |
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