CN214703439U - Vibration-driven robot for pipeline flaw detection - Google Patents
Vibration-driven robot for pipeline flaw detection Download PDFInfo
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- CN214703439U CN214703439U CN202120841384.5U CN202120841384U CN214703439U CN 214703439 U CN214703439 U CN 214703439U CN 202120841384 U CN202120841384 U CN 202120841384U CN 214703439 U CN214703439 U CN 214703439U
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Abstract
The utility model discloses a vibration-driven robot towards pipeline usage of detecting a flaw, include: the robot comprises a robot shell, a driving mechanism, an arduino development board, a Bluetooth module and an ultrasonic probe, wherein the driving mechanism, the arduino development board, the Bluetooth module and the ultrasonic probe are arranged in the robot shell; the bottom of the robot shell is provided with an anisotropic glass fiber layer, fibers of the glass fiber layer incline to the rear end of the robot shell, and two sides of the bottom of the robot shell are oppositely provided with two elastic pads; the driving mechanism comprises a motor driving module and two eccentric motors, the two eccentric motors are arranged in parallel in a groove in the center of the robot shell, and a motor shell of each eccentric motor is fixedly connected with the robot shell; ultrasonic transducer is located the front end of robot housing, and bluetooth module, ultrasonic transducer and motor drive module are connected respectively to arduino development board, and arduino development board communicates through bluetooth module and remote control end.
Description
Technical Field
The utility model belongs to the technical field of the large-scale pipeline is detected a flaw, a vibration drive robot towards pipeline use of detecting a flaw is related to.
Background
The large pipeline network for oil and gas transportation and the small pipeline network for household gas and tap water all face the danger of leakage caused by pipeline rupture at all times. The light weight causes the leakage of the transported substances, which causes economic loss; and the fire and explosion are caused and casualties are brought. Therefore, pipeline flaw detection technology plays a significant role in the field of pipeline design and application. In recent years, flaw detection mainly depends on a pipeline flaw detector, and a pulse reflection type ultrasonic flaw detector is most widely used. The ultrasonic flaw detection has the advantages of higher flaw detection sensitivity, short period, low cost, flexibility, convenience, high efficiency, no harm to human bodies and the like, so the ultrasonic flaw detection is widely applied to the field of flaw detection. However, the existing flaw detector has limitations due to single working mode, complex conditions in large pipelines, low temperature, high humidity and uneven inner walls, and a common wheel-type structure robot is difficult to reliably work in the environment and cannot be applied to the flaw detection work of large pipeline engineering.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model aims at providing a vibration-driven robot towards pipeline flaw detection usage combines vibration drive theory and ultrasonic flaw detection theory of operation, can in time discover weak, the damage part of pipeline and carry out restoration and adjustment, has improved pipeline engineering's efficiency.
The utility model provides a vibration-driven robot towards pipeline usage of detecting a flaw, include: the robot comprises a robot shell, a driving mechanism, an arduino development board, a Bluetooth module and an ultrasonic probe, wherein the driving mechanism, the arduino development board, the Bluetooth module and the ultrasonic probe are arranged in the robot shell; the bottom of the robot shell is provided with an anisotropic glass fiber layer, fibers of the glass fiber layer incline to the rear end of the robot shell, and two sides of the bottom of the robot shell are oppositely provided with two elastic pads; the driving mechanism comprises a motor driving module and two eccentric motors which provide driving torque for the robot, the two eccentric motors are arranged in a groove in the center of a robot shell in parallel, and a motor shell of each eccentric motor is fixedly connected with the robot shell; ultrasonic transducer is located the front end of robot housing, bluetooth module, ultrasonic transducer and motor drive module are connected respectively to arduino development board, and arduino development board communicates through bluetooth module and remote control end.
The utility model discloses an among the vibration drive robot towards pipeline flaw detection usage, the fibre and the horizontal plane of anisotropic glass fiber layer become 60 degrees contained angles.
The utility model discloses an among the vibration drive robot towards pipeline use of detecting a flaw, the robot shell is flat rectangle casing, and the robot shell comprises casing and top cap down, installs waterproof pad between casing and the top cap down.
The utility model discloses an among the vibration drive robot towards pipeline flaw detection usage, be equipped with power module in the robot shell and for arduino development board, bluetooth module and ultrasonic transducer and eccentric motor power supply.
The utility model discloses an among the vibration drive robot towards pipeline use of detecting a flaw, be equipped with the development board support in the robot housing, arduino development board is installed on the development board support, and two eccentric motors are located development board support below.
The utility model discloses a vibration-driven robot towards pipeline use of detecting a flaw has following beneficial effect at least:
1. the driving robot adopts a vibration driving mode, the shell is driven to move by the two eccentric motors, and compared with the traditional wheel type structure, the driving robot adopts a completely sealed design, can efficiently work in a wet and complex pipeline and has good reliability;
2. the overall height is reduced. Because do not possess wheeled structure, and consider the narrow operating mode of pipeline, set up overall structure into the platykurtic, can move in all kinds of pipelines more in a flexible way.
3. The functionality is strong. The signal can be received autonomously and is transmitted back to the remote control end for analysis, so that the flaw detection work is completed.
Drawings
Fig. 1 is a control block diagram of a vibration-driven robot for pipeline inspection of the present invention;
fig. 2 is a schematic structural view of the robot of the present invention;
fig. 3 is a schematic view of the installation of the eccentric motor of the present invention;
fig. 4a is a force analysis diagram of the eccentric motor of the present invention;
FIG. 4b is a state view of an eccentric mass of the eccentric motor of embodiment 1;
FIG. 4c is a state diagram of the eccentric mass of the eccentric motor of embodiment 2.
Wherein, 1-top cap, 2-cushion, 3-lower casing, 4-waterproof pad, 5-development board support, 6-arduino development board, 7-drive module, 8-ultrasonic wave is visited, 9-bluetooth module, 10-eccentric motor.
Detailed Description
As shown in fig. 1-3, the utility model discloses a vibration-driven robot for pipeline flaw detection purpose, include: the robot comprises a robot shell, a driving mechanism arranged inside the robot shell, an arduino development board 6, a Bluetooth module 9 and an ultrasonic probe 8. The bottom of robot shell is equipped with anisotropic glass fiber layer, and the fibre on glass fiber layer inclines to the rear end of robot shell, and the bottom both sides of robot shell are equipped with two elastic cushions 2 relatively, and this elastic cushion 2 has certain elasticity, can guarantee the stationarity of robot motion in-process, can effectively reduce the vibration of robot in the operation on vertical direction to reduce the fault rate. The driving mechanism comprises a motor driving module and two eccentric motors 10 for providing driving torque for the robot, the two eccentric motors 10 are arranged in a groove 11 in the center of a robot shell in parallel, and a motor shell of each eccentric motor 10 is fixedly connected with the robot shell. Blue tooth module 9, ultrasonic transducer 8 and motor drive module are connected respectively to arduino development board 6, and arduino development board 6 communicates with the remote control end through blue tooth module 9. Ultrasonic probe 8 is located the front end of shell, by 6 control switchs of arduino development board, can launch the ultrasonic wave after opening and survey its surface at place to give arduino development board 6 with the reflection signal transmission that the probe was collected, rethread bluetooth module 9 sends to the remote control end, and the oscilloscope that connects through the remote control end demonstrates the reflection signal, thereby plays the effect that the metal was detected a flaw.
The robot uses an arduino development board 6 as a core component to control each part and perform centralized processing of various data. Be equipped with development board support 5 in the robot shell, arduino development board 6 is installed on development board support 5 to guarantee its stable in position, reduce possible trouble. Two eccentric motors 10 are located below the development board bracket 5.
In specific implementation, the fibers of the anisotropic glass fiber layer form an included angle of 60 degrees with the horizontal plane, and the front-back friction ratio of the glass fiber layer reaches the maximum and has the maximum advancing speed. The robot shell is a flat rectangular shell and can move in various pipelines more flexibly. The robot shell comprises lower casing 3 and top cap 1, installs waterproof pad 4 between lower casing 3 and the top cap 1, accomplishes the back with sealed again in the installation to guarantee the inside seal of robot. Be equipped with power module 7 in the robot shell and develop 6, bluetooth module 9 and ultrasonic transducer 8 and the power supply of eccentric motor 10 for arduino.
The motion principle of the driving robot is as follows:
forward movement: the bottom of the robot is provided with fine fibers which are inclined towards the rear of the robot. When the built-in motor of the robot rotates, when the eccentric block rotates to the state 2 as shown in fig. 4c, as shown in fig. 4a, the force applied to the eccentric block can be divided into two components, namely, upward component and forward component, wherein the upward component counteracts the gravity of the robot, so that the friction force applied to the robot is reduced, and the forward component provides forward motion for the robot. When the eccentric block rotates to the state 1 in fig. 4b, the robot still receives a forward force, but the friction force is increased, so the motion effect is not as good as that in the previous state. When the eccentric block is in the state 2 in fig. 4b and the state 1 in fig. 4c, the forward resistance of the robot and the backward force of the robot are counteracted due to the existence of the fiber at the bottom of the robot shell, so that the forward movement of the robot is realized.
Backward movement: considering the actual situation that the robot works in the pipeline, the robot needs to retreat less, but the robot still has a certain backward movement capacity, and the specific realization mode is that the robot performs in-situ 180-degree turning.
Pivot steering: because the robot is internally provided with two eccentric motors which are arranged in parallel, the whole robot can generate torque in the horizontal direction only by stopping one of the eccentric motors, so that the robot is driven to finish horizontal rotation in the left or right direction, and the steering function is realized.
The utility model discloses a vibration drive robot's towards pipeline usage of detecting a flaw working process as follows:
the operator carries out remote control through remote control end pair robot in the pipeline outside, control signal sends to arduino development board 6 via bluetooth module 9 through wireless transmission mode, arduino development board 6 control drive module drive two eccentric motors 10 rotate, eccentric motor 10 provides moment drive robot through rotating and carries out preceding, back motion, thereby the principle that turns to through eccentric motor 10 differential provides the torque around the z axle direction simultaneously realizes turning to of robot. Thereby, the movement of the robot to all directions can be realized.
Simultaneously, the operator sends the signal through the remote control end, sends 6 backs to arduino development board through bluetooth module 9, and 6 control power module of arduino development board supply power to ultrasonic probe 8, and ultrasonic probe 6 begins work. Ultrasonic probe 6 sends high frequency ultrasonic wave to its direction that faces, takes place the reflection back on the metal pipeline wall, and the back is collected by ultrasonic probe 6 and is sent to arduino development board 6 and change the signal of telecommunication back and send to the remote control end through bluetooth module after. And the remote control end demodulates the returned signal and displays the demodulated signal through an oscilloscope. Whether the pipe wall is damaged or not can be judged by observing the waveform of the oscilloscope. Thereby, the flaw detection function of the robot is realized. Through the mutual matching of the moving part and the flaw detection part, the robot can realize the flaw detection operation on the whole pipeline.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the spirit of the present invention, and any modifications, equivalent replacements, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. A vibration-driven robot for pipeline inspection use, comprising: the robot comprises a robot shell, a driving mechanism, an arduino development board, a Bluetooth module and an ultrasonic probe, wherein the driving mechanism, the arduino development board, the Bluetooth module and the ultrasonic probe are arranged in the robot shell; the bottom of the robot shell is provided with an anisotropic glass fiber layer, fibers of the glass fiber layer incline to the rear end of the robot shell, and two sides of the bottom of the robot shell are oppositely provided with two elastic pads; the driving mechanism comprises a motor driving module and two eccentric motors which provide driving torque for the robot, the two eccentric motors are arranged in a groove in the center of a robot shell in parallel, and a motor shell of each eccentric motor is fixedly connected with the robot shell; ultrasonic transducer is located the front end of robot housing, bluetooth module, ultrasonic transducer and motor drive module are connected respectively to arduino development board, and arduino development board communicates through bluetooth module and remote control end.
2. A vibration-powered robot oriented for pipe inspection applications as claimed in claim 1 wherein the fibers of the anisotropic glass fiber layer are at an angle of 60 degrees to the horizontal.
3. A vibration-powered robot for pipeline inspection applications as claimed in claim 1, wherein the robot housing is a flat rectangular shell, the robot housing is composed of a lower shell and a top cover, and a waterproof pad is installed between the lower shell and the top cover.
4. The vibration-driven robot for pipeline inspection use according to claim 1, wherein a power module is provided in the robot housing to supply power to the arduino development board, the bluetooth module, the ultrasonic probe and the eccentric motor.
5. The vibration-driven robot for pipeline inspection use according to claim 1, wherein a development plate holder is provided in the robot housing, the arduino development plate is mounted on the development plate holder, and the two eccentric motors are located below the development plate holder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120841384.5U CN214703439U (en) | 2021-04-23 | 2021-04-23 | Vibration-driven robot for pipeline flaw detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120841384.5U CN214703439U (en) | 2021-04-23 | 2021-04-23 | Vibration-driven robot for pipeline flaw detection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214703439U true CN214703439U (en) | 2021-11-12 |
Family
ID=78533116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120841384.5U Expired - Fee Related CN214703439U (en) | 2021-04-23 | 2021-04-23 | Vibration-driven robot for pipeline flaw detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214703439U (en) |
-
2021
- 2021-04-23 CN CN202120841384.5U patent/CN214703439U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211112 |