CN219889033U - High-precision inspection robot for variable-pipe-diameter single-support-configuration pipeline - Google Patents
High-precision inspection robot for variable-pipe-diameter single-support-configuration pipeline Download PDFInfo
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- CN219889033U CN219889033U CN202320750734.6U CN202320750734U CN219889033U CN 219889033 U CN219889033 U CN 219889033U CN 202320750734 U CN202320750734 U CN 202320750734U CN 219889033 U CN219889033 U CN 219889033U
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- 238000007689 inspection Methods 0.000 title claims abstract description 50
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 25
- 230000003287 optical effect Effects 0.000 claims description 19
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 229910052757 nitrogen Inorganic materials 0.000 claims description 13
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000005056 compaction Methods 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 230000006872 improvement Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
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Abstract
The utility model discloses a high-precision inspection robot for a variable-pipe-diameter single-support-configuration pipeline, which relates to the technical field of inspection of pipeline inner wall damage by the inspection robot. The beneficial effects of the utility model are as follows: compact structure, improvement pipeline inner wall inspection accuracy, prevent empting.
Description
Technical Field
The utility model relates to the technical field of inspection robots for inspecting damage on the inner wall of a pipeline, in particular to a high-precision inspection robot for a variable-pipe-diameter single-support-configuration pipeline.
Background
The variable-pipe-diameter single-support-configuration pipeline is tightly attached to the inner cavity of the stator through plastic deformation, and one end of the variable-pipe-diameter single-support-configuration pipeline is fixed on the ground through a bracket, namely the variable-pipe-diameter single-support-configuration pipeline is called a single-support configuration. A plurality of butted through holes are arranged in the variable-pipe-diameter single-support-configuration pipeline along the axial direction of the variable-pipe-diameter single-support-configuration pipeline, and the diameters of the through holes are different.
After the pipe with the variable pipe diameter single support structure is used for a period of time, the inner wall of the through hole is damaged by cracks, scratches or pits, and the like, so that the damage is inspected by an inspection robot, the inspection robot comprises a walking body, two hub motors are arranged at the bottom of the walking body, driving wheels are connected to the output ends of the two hub motors, a two-degree-of-freedom tripod head is arranged on the walking body, and a camera is connected to an output shaft of the two-degree-of-freedom tripod head.
When the inspection robot is used, firstly, the inspection robot is placed at the head port of the pipeline, two driving wheels are supported on the bottom surface of the pipeline, the two-degree-of-freedom cradle head is controlled by the controller to start, the two-degree-of-freedom cradle head drives the camera to rotate relative to the axis of the pipeline, in the rotating process, the camera shoots an image of the inner wall of the pipeline at the position of the head port, meanwhile, the camera transmits the image to the controller, and after the camera rotates for one circle, the two-degree-of-freedom cradle head is controlled by the controller to be closed; then, controlling a hub motor to start, driving a driving wheel to rotate by the hub motor, driving the whole inspection robot to move along the axial direction of the pipeline, continuously controlling the two-degree-of-freedom cradle head to start when the whole inspection robot moves at a position of 150mm, and shooting an image of the inner wall of the pipeline at the position by a camera, and simultaneously transmitting the image to a controller by the camera; repeating the operation, and completing the shooting of the image on the circumference of the inner wall of the whole pipeline when the inspection robot moves to the tail end opening of the pipeline; finally, the controller splices the acquired images into a complete pipeline inner wall expansion diagram; and an operator checks whether the inner wall of the pipeline is damaged such as cracks, scratches or pits by checking the splice diagram, and if so, the damaged part is repaired later.
However, such inspection robots, while capable of inspecting for losses on the inner wall of the pipe, still have the following technical drawbacks during actual use:
I. if the damage is distributed on the bottom wall of the pipeline, the damage part enables the driving wheel to deviate, so that the inspection robot deviates in the pipeline, and then the camera is caused to deviate, so that the images in the spliced unfolding images are misplaced, and the whole unfolding images are not formed, namely, some damage parts are not shot, the inspection is incomplete, and the technical defect of low inspection precision exists.
II. When the size of the damaged portion on the bottom wall of the pipe is large, and when the driving wheel presses the damaged portion, the driving wheel can topple over, so that the whole inspection robot topples over in the pipe, and the pipe cannot be inspected. Therefore, there is a need for a high-precision inspection robot for a variable-diameter single-support-configuration pipe that improves the inspection accuracy of the pipe inner wall, and prevents toppling.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art and provide the high-precision inspection robot for the variable-pipe-diameter single-support-configuration pipeline, which has the advantages of compact structure, improvement of the inspection precision of the inner wall of the pipeline and prevention of toppling.
The aim of the utility model is achieved by the following technical scheme: the utility model provides a high-precision inspection robot for become pipe diameter list supports configuration pipeline, it includes the roof, on the top surface of roof and be located its left and right sides end all set firmly the mount pad, set firmly the optical axis between two mount pads, slidable mounting has the slider on the optical axis, the right-hand member threaded connection of optical axis has the clamp force adjusting block, the cover is equipped with the spring on the optical axis, the one end of spring sets firmly on the left end face of clamp force adjusting block, the other end sets firmly on the right-hand member face of slider, be provided with the parallelogram connecting rod tensioning assembly of two alternately setting between slider and the two mount pads, parallelogram connecting rod tensioning assembly includes nitrogen spring, auxiliary wheel, connecting rod and two connecting rods, two connecting rods hinge respectively on two mount pads, two connecting rods all slope to the right side sets up, all install the auxiliary wheel on the top of two connecting rods in a rotation, the both ends of connecting rod hinge respectively on two connecting rods, the one end of nitrogen spring articulates on the slider, the other end articulates on the connecting rod of left side;
the bottom surface of the top plate is fixedly provided with supporting plates at the front side and the rear side of the top plate, two driving assemblies are arranged between the two supporting plates, and the two driving assemblies are symmetrically arranged left and right; the left end face of the left mounting seat is provided with a two-degree-of-freedom cradle head, the output end of the two-degree-of-freedom cradle head is fixedly provided with a rotating plate, and the top surface of the rotating plate is fixedly provided with a camera.
The included angle between the two parallelogram link tensioning assemblies is 120 °.
The driving assembly comprises a hub motor fixedly arranged between the two supporting plates, and the output shaft of the hub motor is connected with a driving wheel.
The cylinder of the right end part of the optical axis is provided with external threads, the compaction force adjusting block is internally provided with a threaded hole, and the compaction force adjusting block is fixedly arranged on the optical axis through the threaded hole and the external threads.
The auxiliary wheel is a polyurethane roller.
The mounting plate is fixedly arranged on the left end face of the mounting seat positioned on the left side, and the two-degree-of-freedom cradle head is fixedly arranged on the mounting plate.
LED lamps are fixedly arranged on the top surface of the rotating plate and located on the front side and the rear side of the camera.
The inspection robot further comprises a controller, wherein the controller is electrically connected with the camera, the two-degree-of-freedom cradle head and the hub motor through cables.
The utility model has the following advantages: the utility model has compact structure, improves the inspection precision of the inner wall of the pipeline and prevents toppling.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a left side view of FIG. 1;
FIG. 5 is a schematic view of the structure of the auxiliary wheel;
FIG. 6 is a schematic diagram of a connection between a two-degree-of-freedom cradle head and a camera;
FIG. 7 is a schematic illustration of the placement of the present utility model into a pipeline head port;
in the figure, 1-roof, 2-mount pad, 3-optical axis, 4-slider, 5-clamp force adjusting block, 6-spring, 7-parallelogram connecting rod tensioning assembly, 8-nitrogen spring, 9-auxiliary wheel, 10-connecting rod, 11-connecting rod, 12-backup pad, 13-drive assembly, 14-two degree of freedom cloud platform, 15-rotor plate, 16-camera, 17-drive wheel, 18-LED lamp, 19-pipe diameter change single support configuration pipeline.
Detailed Description
The utility model is further described below with reference to the accompanying drawings, the scope of the utility model not being limited to the following:
as shown in fig. 1 to 6, a high-precision inspection robot for a variable-pipe-diameter single-support-configuration pipeline comprises a top plate 1, mounting seats 2 are fixedly arranged on the top surface of the top plate 1 and positioned at the left end and the right end of the top plate, an optical axis 3 is fixedly arranged between the two mounting seats 2, a sliding block 4 is slidably mounted on the optical axis 3, the right end part of the optical axis 3 is in threaded connection with a compression force adjusting block 5, an external thread is arranged on the cylindrical surface of the right end part of the optical axis 3, a threaded hole is formed in the compression force adjusting block 5, and the compression force adjusting block 5 is fixedly arranged on the optical axis 3 through the threaded hole and the external thread. The optical axis 3 is sleeved with a spring 6, one end of the spring 6 is fixedly arranged on the left end face of the pressing force adjusting block 5, the other end of the spring 6 is fixedly arranged on the right end face of the sliding block 4, two parallelogram connecting rod tensioning assemblies 7 which are arranged in a crossing mode are arranged between the sliding block 4 and the two mounting seats 2, an included angle between the two parallelogram connecting rod tensioning assemblies 7 is 120 degrees, each parallelogram connecting rod tensioning assembly 7 comprises a nitrogen spring 8, an auxiliary wheel 9, a connecting rod 10 and two connecting rods 11, the two connecting rods 11 are respectively hinged to the two mounting seats 2, the two connecting rods 11 are obliquely arranged right, the auxiliary wheels 9 are respectively rotatably arranged on the top end portions of the two connecting rods 11, the auxiliary wheels 9 are polyurethane idler wheels, two ends of each connecting rod 10 are respectively hinged to the two connecting rods 11, one end of each nitrogen spring 8 is hinged to the sliding block 4, and the other end of each nitrogen spring 8 is hinged to the connecting rod 11 on the left side.
As shown in fig. 1 to 6, the bottom surface of the top plate 1 is fixedly provided with support plates 12 on the front and rear sides thereof, two driving assemblies 13 are arranged between the two support plates 12, and the two driving assemblies 13 are symmetrically arranged on the left and right sides; the left end face of the left mounting seat 2 is provided with a two-degree-of-freedom cradle head 14, the output end of the two-degree-of-freedom cradle head 14 is fixedly provided with a rotary plate 15, and the top surface of the rotary plate 15 is fixedly provided with a camera 16. The driving assembly 13 comprises a hub motor fixedly arranged between the two support plates 12, and the output shaft of the hub motor is connected with a driving wheel 17. The mounting plate is fixedly arranged on the left end face of the mounting seat 2 positioned on the left side, the two-degree-of-freedom cradle head 14 is fixedly arranged on the mounting plate, the LED lamps 18 are fixedly arranged on the top surface of the rotating plate 15 and positioned on the front side and the rear side of the camera 16, and the LED lamps 18 are used for illuminating the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 so as to ensure that the image shot by the camera 16 is clearer.
The inspection robot further includes a controller electrically connected to the camera 16, the two-degree-of-freedom cradle head 14, and the in-wheel motor via cables.
The working process of the utility model is as follows:
s1, hoisting the whole inspection robot by an operator, and sending the inspection robot into a head port of a variable-pipe-diameter single-support-configuration pipeline 19, wherein driving wheels 17 of two driving assemblies are supported on the bottom wall of the variable-pipe-diameter single-support-configuration pipeline 19, and two auxiliary wheels 9 of two parallelogram connecting rod tensioning assemblies 7 are pressed against the upper inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 under the action of the elasticity of a nitrogen spring 8, as shown in FIG. 7; the operator rotates the pressing force adjusting block 5 to enable the pressing force adjusting block 5 to move leftwards along the optical axis 3, the pressing force adjusting block 5 pushes the spring 6 leftwards, the spring 6 pushes the sliding block 4 to move leftwards, the sliding block 4 pushes the nitrogen spring 8 to move leftwards, the nitrogen spring 8 enables the left connecting rod 11 to rotate leftwards, the connecting rod 11 enables the auxiliary wheel 9 to have a leftwards movement trend, and therefore the pressing force of the auxiliary wheel 9 is increased;
s2, an operator controls the two-degree-of-freedom tripod head 14 to start through the controller, the two-degree-of-freedom tripod head 14 drives the rotary plate 15 to rotate, the rotary direction of the camera 16 rotates relative to the axis of the variable-pipe-diameter single-support-configuration pipeline 19, the rotary direction is shown by an arrow in FIG. 7, in the rotary process, the camera 16 shoots an image of the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 at the head port position, meanwhile, the camera 16 transmits the image to the controller, and after the camera 16 rotates for one circle, the controller controls the two-degree-of-freedom tripod head 14 to close;
s3, controlling a hub motor to start, driving a driving wheel 17 to rotate by the hub motor, driving the whole inspection robot to move along the axial direction of the variable-pipe-diameter single-support-configuration pipeline 19 by the driving wheel 17, continuously controlling the two-degree-of-freedom holder 14 to start when the whole inspection robot moves at a position of 150mm, shooting an image of the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 at the position by a camera 16, and transmitting the image to a controller by the camera 16;
s4, repeating the operation of the step S3, and completing the shooting of the image on the circumference of the inner wall of the whole variable-pipe-diameter single-support-configuration pipeline 19 when the inspection robot moves to the tail end of the variable-pipe-diameter single-support-configuration pipeline 19;
s5, the controller splices the acquired images into a complete unfolded view of the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19, and an operator checks whether the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 is damaged by checking the spliced view.
When the inspection robot moves in the variable-pipe-diameter single-support-configuration pipeline 19, the two auxiliary wheels 9 of the two parallelogram connecting rod tensioning assemblies 7 are always pressed against the upper inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 under the action of the elasticity of the nitrogen springs 8, and the auxiliary wheels 9 can stably pass through the damaged parts on the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19, so that the two driving wheels 17 can always move on the bottom wall of the variable-pipe-diameter single-support-configuration pipeline 19 and along the axial direction of the variable-pipe-diameter single-support-configuration pipeline 19, compared with a traditional inspection robot, the inspection robot effectively avoids the damage parts distributed on the bottom wall of the variable-pipe-diameter single-support-configuration pipeline 19 from shifting the driving wheels 17, and further avoids the camera 16 from shifting, so that a complete unfolding diagram can be obtained, and the inspection robot has the characteristic of higher inspection precision.
In addition, because the inspection robot is additionally provided with four auxiliary wheels 9, and the four auxiliary wheels 9 are all always propped against the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19, when the driving wheel 17 is pressed to a damaged part with a larger size, the whole inspection robot can not topple over, so that the inner wall of the variable-pipe-diameter single-support-configuration pipeline 19 is ensured to be continuously inspected.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (8)
1. A high-accuracy inspection robot for changing single support configuration pipeline of pipe diameter, its characterized in that: it comprises a top plate (1), mounting seats (2) are fixedly arranged on the top surface of the top plate (1) and positioned at the left end and the right end of the top plate, an optical axis (3) is fixedly arranged between the two mounting seats (2), a sliding block (4) is slidably arranged on the optical axis (3), a compression force adjusting block (5) is connected with the right end part of the optical axis (3) in a threaded manner, a spring (6) is sleeved on the optical axis (3), one end of the spring (6) is fixedly arranged on the left end surface of the compression force adjusting block (5), the other end of the spring is fixedly arranged on the right end surface of the sliding block (4), two parallelogram connecting rod tensioning assemblies (7) which are arranged in a crossed manner are arranged between the sliding block (4) and the two mounting seats (2), the parallelogram connecting rod tensioning assembly (7) comprises a nitrogen spring (8), an auxiliary wheel (9), a connecting rod (10) and two connecting rods (11), wherein the two connecting rods (11) are respectively hinged to the two mounting seats (2), the two connecting rods (11) are obliquely arranged rightwards, the auxiliary wheel (9) is rotatably arranged at the top ends of the two connecting rods (11), the two ends of the connecting rod (10) are respectively hinged to the two connecting rods (11), one end of the nitrogen spring (8) is hinged to the sliding block (4), and the other end of the nitrogen spring is hinged to the left connecting rod (11);
the bottom surface of the top plate (1) is fixedly provided with support plates (12) at the front side and the rear side of the top plate, two driving assemblies (13) are arranged between the two support plates (12), and the two driving assemblies (13) are symmetrically arranged left and right; the left end face of the left mounting seat (2) is provided with a two-degree-of-freedom cradle head (14), the output end of the two-degree-of-freedom cradle head (14) is fixedly provided with a rotary plate (15), and the top surface of the rotary plate (15) is fixedly provided with a camera (16).
2. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that: the included angle between the two parallelogram link tensioning assemblies (7) is 120 degrees.
3. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that: the driving assembly (13) comprises a hub motor fixedly arranged between the two supporting plates (12), and a driving wheel (17) is connected to an output shaft of the hub motor.
4. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that: the cylindrical surface of the right end part of the optical axis (3) is provided with external threads, the compaction force adjusting block (5) is internally provided with a threaded hole, and the compaction force adjusting block (5) is fixedly arranged on the optical axis (3) through the threaded hole and the external threads.
5. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that: the auxiliary wheel (9) is a polyurethane roller.
6. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that: the left end face of the mounting seat (2) positioned on the left side is fixedly provided with a mounting plate, and the two-degree-of-freedom cradle head (14) is fixedly arranged on the mounting plate.
7. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that: LED lamps (18) are fixedly arranged on the top surface of the rotary plate (15) and positioned on the front side and the rear side of the camera (16).
8. A high-precision inspection robot for a variable-diameter single-support configuration pipe according to claim 1, characterized in that:
the inspection robot further comprises a controller, wherein the controller is electrically connected with the camera (16), the two-degree-of-freedom cradle head (14) and the hub motor through cables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320750734.6U CN219889033U (en) | 2023-04-07 | 2023-04-07 | High-precision inspection robot for variable-pipe-diameter single-support-configuration pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320750734.6U CN219889033U (en) | 2023-04-07 | 2023-04-07 | High-precision inspection robot for variable-pipe-diameter single-support-configuration pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219889033U true CN219889033U (en) | 2023-10-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320750734.6U Active CN219889033U (en) | 2023-04-07 | 2023-04-07 | High-precision inspection robot for variable-pipe-diameter single-support-configuration pipeline |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219889033U (en) |
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2023
- 2023-04-07 CN CN202320750734.6U patent/CN219889033U/en active Active
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