RU142123U1 - ROBOT FOR PIPELINE DIAGNOSTICS - Google Patents

Abstract

A pipeline diagnostics robot comprising a self-propelled carriage with a supporting structure and supporting wheels engines, characterized in that the robot is equipped with a two-degree-of-freedom manipulator, a video camera, ultrasonic and infrared rangefinders, a voltage pulse converter, a power supply, a motherboard that controls the robot, racks with hinged mechanisms, connected by springs in pairs between each other and a cover on which small wheels are located - clamps to press the robot to the surface pipes, while motors, ultrasonic and infrared rangefinders, a pulse voltage converter, a power source, the motherboard are located inside the supporting structure, and rangefinders and a video camera transmit information to the motherboard, which is capable of transmitting signals to the manipulator, video camera and motors with reference wheels.

Description

A useful model for the diagnosis of pipelines is a mobile laboratory, it can be used in the field of housing and communal services, for the diagnosis of pipelines for water supply, industrial wastewater, oil and gas transportation.

It is known that there is a complex for tele-inspection of pipelines of 100-1500 mm, which includes the SUPERVISION T self-propelled robot [1]. The movement of the robot is controlled by the operator. Motion recording is performed by a video camera installed on SUPERVISION T. Lamps are used for lighting. The robot is connected to the control console by cable. There are temperature and pressure sensors.

The R-200 robot moves only on a horizontal plane, with the help of an operator.

Consider the Rausch ECO-Star 400/400 Pro prototype robot [2].

System for television inspection with a cable up to 400 m long for television diagnostics of pipelines with a diameter of 100 mm and above, which includes a self-propelled L100 trolley. The L100 is equipped with a high-resolution color camera. The robot is tight and able to work with immersion in water, while the camera provides good visibility in transparent water. The Rausch ECO-Star 400/400 Pro is mounted in a vehicle that houses a control room, an electric generator, a cable drum and other equipment.

The L100 robot moves only horizontally, with the help of an operator, connected by cable.

The task is to create an autonomous utility model for diagnosing the internal state of pipelines.

A robot for diagnosing pipelines, a self-propelled trolley with increased cross-country ability, for examining horizontal and vertical sections of a pipeline with autonomous diagnostics.

A pipeline diagnostic robot (Fig. 1), containing a self-propelled carriage with a supporting structure (1), is equipped with a manipulator with two degrees of freedom (2), a video camera (3) with infrared and visible light, stands with articulated mechanisms (4), connected by springs (5) in pairs between each other and the cover (6), on which small wheels are located - clamps (7), ultrasonic (9) and infrared (10) range finders, a pulse voltage converter (12), a power source (13), a mother a board (14) that implements robot control ohm, while the engines (11), ultrasonic and infrared rangefinders, a pulse voltage converter, a power source, a motherboard are located inside the supporting structure, and rangefinders and a video camera transmit information to the motherboard, which is designed to transmit signals to the manipulator, video camera, and engines with supporting wheels.

Figure 1 shows a general view of the robot for piping diagnostics, assembled:

1 - self-propelled truck with a supporting structure

2 - manipulator,

3 - video camera,

4 - racks with articulated mechanisms,

5 - springs,

6 - cover

7 - small wheels - clamps,

8 - the main support wheels,

9 - ultrasonic rangefinders,

10 - infrared rangefinders.

In Fig. 2, a diagram of the internal device of the robot for diagnostics, where the supporting structure (1), ultrasonic rangefinders (9), infrared rangefinders (10), motors (11), pulse voltage converter (12), battery (13), motherboard (fourteen).

The device operates as follows.

The motherboard (14) implements control of the entire robot for television inspection, provides a wi-fi and ethernet connection for connecting with an operator for monitoring, and a pulse converter (12) provides power.

Inside the self-propelled cart with a supporting structure (1) there are ultrasonic rangefinders (9) for determining the distance to the obstacle and infrared rangefinders (10) that allow you to determine the angle and direction of rotation of the robot, from the rangefinders information is simultaneously transmitted to the motherboard (14), here motors (11), a pulse voltage converter (12), a battery (13) are located. The motherboard (14) transmits signals to the manipulator (3), to the video camera (2), data from the video camera is returned to the motherboard (14), where it is stored and processed. After processing the initial data coming from the rangefinders (9 and 10) and the video camera (2), a signal is transmitted from the motherboard (14) to the engines (11) with the support wheels (8) and there is movement in the required direction. Racks with hinged mechanisms (4) are pulled together by springs (5) connected to the cover (6), the robot is pressed to the surface of the pipe, due to small wheels - clamps (7) and support wheels (8), which provide sliding on the pipe surface, movement the pipeline is carried out by four engines (11). The engines and camcorders are powered directly from the power source (13).

EFFECT: motherboard with “wi-fi and ethernet” implements control of the robot for diagnostics and provides movement along the pipeline, installed sensors allow to diagnose the pipeline, throughput is increased due to the construction of the robot small wheels - clamps from above and main supporting wheels advance the robot in the studied direction.

Used Books:

1. Robots for television inspection of a series SUPERVISION T class <LUX> Pro [Electronic resource] - Electron. Dan. - Access mode: http://www.videorobot.ru/show_full.asp?uic=04032009200042&login=vrobot free. - Zagl. From the screen. - Yaz. Russian

2. The system of television inspection of pipelines Rausch ECO-STAR 400/400 Pro [Electronic resource] - Electron. Dan. - Access mode: http://taris.ru/catalog/products/teleinspection/videorobots/rausch_eco-star_400/, free. - Zagl. From the screen. - Yaz. Russian

Claims (1)

A pipeline diagnostics robot comprising a self-propelled carriage with a supporting structure and supporting wheels engines, characterized in that the robot is equipped with a two-degree-of-freedom manipulator, a video camera, ultrasonic and infrared rangefinders, a voltage pulse converter, a power supply, a motherboard that controls the robot, racks with hinged mechanisms, connected by springs in pairs between each other and a cover on which small wheels are located - clamps to press the robot to the surface pipes, while motors, ultrasonic and infrared rangefinders, a pulse voltage converter, a power source, the motherboard are located inside the supporting structure, and rangefinders and a video camera transmit information to the motherboard, which is capable of transmitting signals to the manipulator, video camera and motors with reference wheels.

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