CN214618505U - Information acquisition robot in underground pipe network - Google Patents
Information acquisition robot in underground pipe network Download PDFInfo
- Publication number
- CN214618505U CN214618505U CN202120348887.9U CN202120348887U CN214618505U CN 214618505 U CN214618505 U CN 214618505U CN 202120348887 U CN202120348887 U CN 202120348887U CN 214618505 U CN214618505 U CN 214618505U
- Authority
- CN
- China
- Prior art keywords
- pipe network
- underground pipe
- information acquisition
- head
- servo motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a pipeline overhauls technical field, relates to an information acquisition robot in underground pipe network. The utility model provides an information acquisition robot in underground pipe network, include: a housing comprising a head and a body; the head rotating mechanism is arranged between the head and the body and comprises a first servo motor, and the first servo motor drives the head to rotate; a drive system for movement of the robot; the system comprises an information acquisition and detection system, a data acquisition and detection system and a data processing system, wherein the information acquisition and detection system comprises a gas sensor; the battery system supplies power for the electric equipment to provide power; and the central processing system is electrically connected with the driving system, the information acquisition and detection system, the battery system and the head rotating mechanism. The robot detects gas in the running process of the underground pipe network to judge whether the underground pipe network meets the underground condition of personnel, so that safety accidents are avoided.
Description
Technical Field
The utility model relates to a pipeline overhauls technical field, especially relates to an information acquisition robot in underground pipe network.
Background
When patrolling and examining in underground pipe network, the mode of artifical patrolling and examining is adopted to traditional approach and is examined, but because the problem that underground environment is blocked, the air does not circulate, and the interior air of pipeline is not suitable for the maintenance of going into the well, if oxygen concentration is low excessively, appears causing patrolling and examining personnel the problem of unexpected incident.
Therefore, there is a need in the art for an information collecting robot in an underground pipe network.
In view of this, the present invention is proposed.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an information acquisition robot in underground pipe network to solve above-mentioned at least one technical problem.
Specifically, the utility model provides an information acquisition robot in underground pipe network, include:
a housing comprising a head and a body;
the head rotating mechanism is arranged between the head and the body and comprises a first servo motor, and the first servo motor drives the head to rotate;
a drive system for movement of the robot;
the system comprises an information acquisition and detection system, a data acquisition and detection system and a data processing system, wherein the information acquisition and detection system comprises a gas sensor;
the battery system supplies power for the electric equipment to provide power;
and the central processing system is electrically connected with the driving system, the information acquisition and detection system, the battery system and the head rotating mechanism.
By adopting the technical scheme, the driving system can adopt any one of pneumatic driving, hydraulic driving, electro-hydraulic hybrid driving and motor driving to realize crawler belt, wheel type or multi-foot traveling; the robot records the required gas parameters in the detection area in the running process of the underground pipe network, and after the detection area is recorded, a professional reads relevant parameters through a computer and other equipment for analysis so as to judge whether the underground pipe network meets the personnel downhole conditions or not and avoid safety accidents; first servo motor realizes through modes such as gear, axis that drive the head and lifts up, puts down to detect not gas at co-altitude, gas sensor can monitor common gas like the concentration of oxygen, carbon dioxide, can also detect whether poisonous and harmful gas exceeds standard, like nitrogen dioxide, sulfur dioxide, ozone etc..
Further, the head rotating mechanism comprises a middle shaft, the middle shaft is connected with the head, one end of the middle shaft is connected with a shaft of the first servo motor, and the first servo motor is connected with the body.
By adopting the technical scheme, the first servo motor is arranged in the shell and can be arranged at the body part, and the first servo motor drives the middle shaft to rotate so as to drive the head to rotate, realize head raising and head lowering and detect gases with different heights.
Further, the shell is provided with an air inlet and an air outlet; an air chamber is arranged in the shell, and the air inlet, the air outlet and the air chamber are connected through a pipeline; the information acquisition and detection system comprises an air pump, the air pump is arranged on a pipeline, and the gas sensor is arranged in the air chamber.
Further, the air outlet and the air inlet are arranged on the same side of the shell, and the air outlet is arranged in an inclined downward direction.
Adopt above-mentioned technical scheme, the air pump promotes the interior gas of pipeline and gets into the air chamber by the air inlet, discharges from the gas outlet after gas sensor detects, realizes the gaseous comprehensive detection of bleeding in the pipeline, has improved the detection accuracy to the poisonous and harmful gas of trace.
Furthermore, the information acquisition robot in the underground pipe network comprises a navigation system, and the navigation system plans a path for the robot; the navigation system is electrically connected with the central processing system.
By adopting the technical scheme, the path planning of the robot can be carried out by the robot through machine training in a pipe network or installing an obstacle avoidance radar in the robot per se, so that the robot can advance in a complex pipeline.
Furthermore, the central processing system comprises a controller and a memory, the controller is electrically connected with the memory, and the information acquisition and detection system is electrically connected with the controller.
By adopting the technical scheme, the controller controls the on and off of the equipment in the information acquisition and detection system, and the memory is used for storing the detection result.
Further, the gas sensor comprises at least one of an oxygen concentration sensor, a carbon dioxide concentration sensor, a nitrogen dioxide sensor, a sulfur dioxide sensor and an ozone sensor.
By adopting the technical scheme, the gas sensor can detect the oxygen concentration, the carbon dioxide concentration and/or the nitrogen dioxide concentration in the pipeline so as to judge whether the pipeline is suitable for personnel to go into the well.
Further, the information acquisition and detection system comprises a temperature sensor, and the temperature sensor is arranged on the shell.
By adopting the technical scheme, the temperature sensor can measure the temperature in the pipeline so as to judge whether the temperature in the pipeline is suitable for people to come in and go out and guarantee the safety of the people.
Further, the information acquisition and detection system comprises a water level sensor, and the water level sensor is arranged on the shell.
By adopting the technical scheme, the water level sensor can find accumulated water in the pipeline in time, and prevent the robot from leaking electricity or falling into a water pit and being incapable of advancing.
Further, the navigation system comprises an obstacle avoidance radar.
By adopting the technical scheme, the robot can move in the pipeline by using the obstacle avoidance radar, and the moving autonomy of the robot is increased.
Further, the navigation system comprises a radar moving mechanism, the radar moving mechanism comprises a second servo motor and a supporting rod, the second servo motor is arranged on the shell, one end of the supporting rod is connected with the obstacle avoidance radar, and the other end of the supporting rod is connected with the second servo motor.
In a specific implementation process, the second servo motor is arranged at the tail of the robot dog to prevent the support rod from shielding an observation device such as a camera arranged at the head, and the support rod enables the obstacle avoidance radar to exceed the body profile of the robot dog to scan and simulate the tail of the dog; the second servo motor drives the supporting rod to rotate, so that the scanning range of the obstacle avoidance radar can be expanded, the advancing route of the machine dog is guided, and the position of the supporting rod can be changed to prevent the supporting rod from being clamped in a pipeline. The two second servo motors can be vertically arranged, so that the supporting rod can rotate in multiple directions.
By adopting the technical scheme, the radar moving mechanism realizes the movement of the obstacle avoidance radar, realizes scanning at a plurality of heights in the aspect of finding passable paths, and simultaneously prevents the support rod from obstructing the advance when the support rod encounters a turn and a narrow path.
Further, the support rod adopts a push rod motor.
By adopting the technical scheme, the supporting rod can be extended and contracted, so that the obstacle avoidance radar can be flexibly moved, when the push rod motor is extended, the scanning range of the obstacle avoidance radar is larger, and when the push rod motor is contracted, the obstacle avoidance radar is prevented from colliding and being hindered from advancing.
To sum up, the utility model discloses following beneficial effect has:
1. the robot detects gas and temperature in the running process of the underground pipe network, judges whether the underground pipe network meets the personnel underground condition, and avoids safety accidents;
2. the gas sensor can detect the oxygen concentration, the carbon dioxide concentration and/or the nitrogen dioxide concentration in the pipeline so as to judge whether the pipeline is suitable for personnel to go into the well;
3. the radar moving mechanism realizes the movement of the obstacle avoidance radar, realizes scanning at a plurality of heights in the aspect, finds a passable path, and simultaneously prevents the support rod from obstructing the advance when the obstacle avoidance radar meets a turning or narrow path.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only 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 schematic view of an embodiment of an information collecting robot in an underground pipe network according to the present invention;
FIG. 2 is a schematic diagram of one embodiment of a navigation system of the present invention;
FIG. 3 is an electrical schematic diagram of an embodiment of the information-gathering robot in an underground pipe network according to the present invention;
fig. 4 is a schematic view of an embodiment of the head rotation mechanism of the present invention.
Description of the reference numerals
Through the above reference sign explanation, combine the embodiment of the utility model, can more clearly understand and explain the technical scheme of the utility model.
100. A housing; 103. an air pump; 1. a drive system; 11. a drive motor; 12. a moving mechanism; 2. an information acquisition detection system; 21. a gas sensor; 22. a temperature sensor; 23. a water level sensor; 3. a navigation system; 31. obstacle avoidance radar; 32. a radar moving mechanism; 33. a second servo motor; 34. a push rod motor; 4. a central processing system; 41. a controller; 42. a memory; 5. a battery system; 6. a head rotating mechanism; 61. a first servo motor; 62. a middle shaft.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
The present invention will be described in detail below by way of examples.
Referring to fig. 1, fig. 3 and fig. 4, the utility model provides an information acquisition robot in underground pipe network, include:
a housing 100, the housing 100 including a head and a body;
the head rotating mechanism 6 is arranged between the head and the body, the head rotating mechanism 6 comprises a first servo motor 61, and the first servo motor 61 drives the head to rotate;
a drive system 1, the drive system 1 being used for movement of a robot;
the information acquisition and detection system 2, the information acquisition and detection system 2 comprises a gas sensor 21;
the battery system 5 is used for supplying power to the electric equipment and providing power;
and the central processing system 4 is electrically connected with the driving system 1, the information acquisition and detection system 2, the battery system 5 and the head rotating mechanism 6.
By adopting the technical scheme, the driving system 1 can adopt any one of pneumatic driving, hydraulic driving, electro-hydraulic hybrid driving and motor driving to realize crawler belt, wheel type or multi-foot traveling; the robot records the required gas parameters in the detection area in the running process of the underground pipe network, and after the detection area is recorded, a professional reads relevant parameters through a computer and other equipment for analysis so as to judge whether the underground pipe network meets the personnel downhole conditions or not and avoid safety accidents; first servo motor 61 realizes driving the head through modes such as gear, axis 62 and lifts up, puts down to detect not gas at co-altitude, gas sensor 21 can monitor common gas like the concentration of oxygen, carbon dioxide, can also detect whether poisonous and harmful gas exceeds standard, like nitrogen dioxide, sulfur dioxide, ozone etc..
In a preferred embodiment of the present invention, the head rotating mechanism 6 includes a central shaft 62, the central shaft 62 is connected to the head, one end of the central shaft 62 is connected to a shaft of the first servo motor 61, and the first servo motor 61 is connected to the body.
By adopting the technical scheme, the first servo motor 61 is arranged in the shell 100 and can be arranged at the body part, and the first servo motor 61 drives the middle shaft 62 to rotate so as to drive the head part to rotate, so that the head raising and lowering are realized, and the detection of the gases with different heights is realized.
In a preferred embodiment of the present invention, the housing 100 has an air inlet and an air outlet; an air chamber is arranged in the shell 100, and the air inlet, the air outlet and the air chamber are connected through a pipeline; the information acquisition and detection system 2 comprises an air pump 103, the air pump 103 is arranged on a pipeline, and the gas sensor 21 is arranged in an air chamber.
In a preferred embodiment of the present invention, the air outlet and the air inlet are disposed on the same side of the housing 100, and the air outlet is disposed in a direction inclined downward.
By adopting the technical scheme, the air pump 103 pushes the gas in the pipeline to enter the air chamber from the air inlet and is discharged from the air outlet after being detected by the gas sensor 21, so that the gas in the pipeline can be comprehensively detected by pumping, and the detection accuracy of trace toxic and harmful gas is improved.
In a specific implementation process, the casing 100 is provided with a head part and a body, the air inlet is arranged on the head part, the air outlet is arranged on the body part close to the bottom part, the air outlet is inclined downwards, the number of the air outlets is multiple, and a filtering device can be arranged in the pipeline to filter dust; casing 100 can be the machine dog shape, and nose department sets up the air inlet, sets up the gas outlet under the neck, sets up the air chamber in the belly, the air inlet is provided with the difference in height with the gas outlet, just the gas outlet is put down the slope downwards, blows the interior gas of pipeline and flows in the front of the robot, makes gaseous testing result more accurate.
In a specific implementation process, the driving system 1 includes a driving motor 11 and a moving mechanism 12, the driving motor 11 may adopt a servo motor to realize joint bending and drive the moving mechanism 12 to realize four-foot movement, or may adopt a dc motor to drive wheels of the moving mechanism 12 to rotate.
In a preferred embodiment of the present invention, the information collecting robot in the underground pipe network includes a navigation system 3, and the navigation system 3 plans a path for the robot; the navigation system 3 is electrically connected with the central processing system 4.
By adopting the technical scheme, the path planning of the robot can be carried out by the robot through machine training in a pipe network or installing the obstacle avoidance radar 31 in the robot per se, so that the robot can advance in a complex pipeline.
In a preferred embodiment of the present invention, the central processing system 4 includes a controller 41 and a memory 42, the controller 41 is electrically connected to the memory 42, and the information collecting and detecting system 2 is electrically connected to the controller 41.
By adopting the above technical scheme, the controller 41 controls the on and off of the devices in the information acquisition and detection system 2, and the memory 42 is used for storing the detection result.
In a preferred embodiment of the present invention, the gas sensor 21 includes at least one of an oxygen concentration sensor, a carbon dioxide concentration sensor, a nitrogen dioxide sensor, a sulfur dioxide sensor, and an ozone sensor.
By adopting the technical scheme, the gas sensor 21 can detect the oxygen concentration, the carbon dioxide concentration and/or the nitrogen dioxide concentration in the pipeline so as to judge whether the pipeline is suitable for personnel to go into the well.
In a preferred embodiment of the present invention, the information collecting and detecting system 2 includes a temperature sensor 22, and the temperature sensor 22 is disposed on the casing 100.
In the implementation process, the temperature sensor 22 is arranged on the head so as to find out temperature abnormality in time.
Adopt above-mentioned technical scheme, temperature sensor 22 can measure the interior temperature of pipeline to judge whether temperature is fit for personnel's discrepancy in the pipeline, guarantee personnel's safety.
In a preferred embodiment of the present invention, the information collecting and detecting system 2 includes a water level sensor 23, and the water level sensor 23 is disposed on the housing 100.
In a specific implementation process, the water level sensor 23 can be arranged on the leg of the robot dog, and the height can be set according to requirements.
By adopting the technical scheme, the water level sensor 23 can find accumulated water in the pipeline in time, and prevent the robot from leaking electricity or falling into a water pit and being incapable of advancing.
In a preferred embodiment of the present invention, the navigation system 3 includes an obstacle avoidance radar 31.
By adopting the technical scheme, the obstacle avoidance radar 31 is utilized to realize the movement of the robot in the pipeline, and the moving autonomy of the robot is increased.
Referring to fig. 2, in a preferred embodiment of the present invention, the navigation system 3 includes a radar moving mechanism 32, the radar moving mechanism 32 includes a second servo motor 33 and a support rod, the second servo motor 33 is disposed on the casing 100, one end of the support rod is connected to the obstacle avoidance radar 31, and the other end is connected to the second servo motor 33.
In a specific implementation process, the second servo motor 33 is arranged at the tail of the robot dog to prevent the support rod from shielding an observation device such as a camera arranged at the head, and the support rod enables the obstacle avoidance radar 31 to exceed the body profile of the robot dog for scanning and simulate the tail of the dog; the second servo motor 33 drives the supporting rod to rotate, so that the scanning range of the obstacle avoidance radar 31 can be expanded, the advancing route of the machine dog can be guided, and the position of the supporting rod can be changed to prevent the supporting rod from being clamped in a pipeline. Two second servo motors 33 can be vertically arranged, so that the supporting rods can rotate in multiple directions.
By adopting the technical scheme, the radar moving mechanism 32 realizes the movement of the obstacle avoidance radar 31, realizes scanning at a plurality of heights in the aspect of finding a passable path, and simultaneously prevents the support rod from obstructing the advance when the support rod encounters a turn or a narrow path.
In a preferred embodiment of the present invention, the support rod is a push rod motor 34.
By adopting the technical scheme, the supporting rod can be extended and contracted, so that the obstacle avoidance radar 31 can be moved more flexibly, when the push rod motor 34 is extended, the scanning range of the obstacle avoidance radar 31 is larger, and when the push rod motor 34 is contracted, the obstacle avoidance radar 31 is prevented from colliding and being prevented from advancing.
It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall into the protection scope of the claims of the present invention.
Claims (10)
1. An information acquisition robot in underground pipe network, characterized by comprising:
a housing (100), the housing (100) comprising a head and a body;
the head rotating mechanism (6) is arranged between the head and the body, the head rotating mechanism (6) comprises a first servo motor (61), and the first servo motor (61) drives the head to rotate;
a drive system (1), the drive system (1) being for movement of a robot;
an information acquisition and detection system (2), wherein the information acquisition and detection system (2) comprises a gas sensor (21);
the battery system (5) supplies power to the electric equipment and provides power;
the central processing system (4), the central processing system (4) with actuating system (1), information acquisition detecting system (2), battery system (5), head slewing mechanism (6) electric connection.
2. The underground pipe network information collecting robot according to claim 1, wherein: the head rotating mechanism (6) comprises a middle shaft (62), the middle shaft (62) is connected with the head, one end of the middle shaft (62) is connected with a shaft of the first servo motor (61), and the first servo motor (61) is connected with the body.
3. The underground pipe network information collecting robot according to claim 1 or 2, wherein: the information acquisition robot in the underground pipe network comprises a navigation system (3), and the navigation system (3) plans a path for the robot; the navigation system (3) is electrically connected with the central processing system (4).
4. The underground pipe network information collecting robot according to claim 3, wherein: the central processing system (4) comprises a controller (41) and a memory (42), the controller (41) is electrically connected with the memory (42), and the information acquisition and detection system (2) is electrically connected with the controller (41).
5. The underground pipe network information acquisition robot according to claim 4, wherein: the gas sensor (21) comprises at least one of an oxygen concentration sensor, a carbon dioxide concentration sensor, a nitrogen dioxide sensor, a sulfur dioxide sensor and an ozone sensor.
6. The underground pipe network information collecting robot according to claim 5, wherein: the information acquisition and detection system (2) comprises a temperature sensor (22), and the temperature sensor (22) is arranged on the shell (100).
7. The underground pipe network information collecting robot according to claim 6, wherein: the information acquisition and detection system (2) comprises a water level sensor (23), and the water level sensor (23) is arranged on the shell (100).
8. The underground pipe network information collecting robot according to any one of claims 4 to 7, wherein: the navigation system (3) comprises an obstacle avoidance radar (31).
9. The underground pipe network information collecting robot according to claim 8, wherein: navigation (3) include radar moving mechanism (32), radar moving mechanism (32) include second servo motor (33) and bracing piece, second servo motor (33) set up on casing (100), bracing piece one end with keep away barrier radar (31) and connect, the other end with second servo motor (33) are connected.
10. The underground pipe network information collecting robot according to claim 9, wherein: the support rod adopts a push rod motor (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120348887.9U CN214618505U (en) | 2021-02-07 | 2021-02-07 | Information acquisition robot in underground pipe network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120348887.9U CN214618505U (en) | 2021-02-07 | 2021-02-07 | Information acquisition robot in underground pipe network |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214618505U true CN214618505U (en) | 2021-11-05 |
Family
ID=78441679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120348887.9U Active CN214618505U (en) | 2021-02-07 | 2021-02-07 | Information acquisition robot in underground pipe network |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214618505U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114877165A (en) * | 2022-06-21 | 2022-08-09 | 中国十七冶集团有限公司 | Municipal engineering underground pipeline quadruped robot pipeline detection device and method |
-
2021
- 2021-02-07 CN CN202120348887.9U patent/CN214618505U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114877165A (en) * | 2022-06-21 | 2022-08-09 | 中国十七冶集团有限公司 | Municipal engineering underground pipeline quadruped robot pipeline detection device and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN214618505U (en) | Information acquisition robot in underground pipe network | |
| EP3665497B1 (en) | Device and method for maintaining the capability for precise navigation of an automated guided vehicle | |
| CN110606096A (en) | Inside equipment of patrolling and examining and cleaning of air-rail track roof beam | |
| CN111559411A (en) | Movable heavy-load carrying robot device, system and use method | |
| CN112581645A (en) | Cable tunnel collaborative inspection method and system | |
| CN109131016A (en) | A kind of multi-use architecture structure detection vehicle | |
| CN112123319A (en) | Suspension type monorail inspection robot and inspection method thereof | |
| CN113954089A (en) | Intelligent detection device and method for nondestructive detection robot | |
| CN106194260A (en) | A kind of tunnel routing inspection trolley | |
| AU2019435041A1 (en) | Track synchronization moving apparatus of wellbore inspection system and control method thereof | |
| CN109200509A (en) | A kind of rescuing robot for fire control convenient to use | |
| CN109838210A (en) | A kind of application method of rigid contact net suspension fully-automatic intelligent positioning drilling device | |
| CN210162104U (en) | Rail transit rolling stock inspection device and system | |
| CN217072397U (en) | Rail vehicle inspection robot | |
| JP7088591B1 (en) | Exterior wall repair device and exterior wall repair method | |
| CN112405564A (en) | Automatic inspection robot for vehicle base comprehensive pipe gallery | |
| CN113274671A (en) | Portable turbofan big gun extinguishing device | |
| CN208962961U (en) | A kind of multi-use architecture structure detection vehicle | |
| CN212373385U (en) | Row inspection robot equipment based on six-axis robot | |
| CN112489239A (en) | Inspection system | |
| JP2006184029A (en) | Auscultation inspection method by self-propelled robot | |
| CN206388392U (en) | A kind of fork truck training field ground tracks real-time acquisition device | |
| CN217745458U (en) | Portable turbofan big gun extinguishing device | |
| CN112857230B (en) | System and method for measuring distance between induction plates | |
| CN220481730U (en) | Sewage treatment plant inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |