WO2020088116A1 - 一种管道探测机器人 - Google Patents

一种管道探测机器人 Download PDF

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Publication number
WO2020088116A1
WO2020088116A1 PCT/CN2019/105558 CN2019105558W WO2020088116A1 WO 2020088116 A1 WO2020088116 A1 WO 2020088116A1 CN 2019105558 W CN2019105558 W CN 2019105558W WO 2020088116 A1 WO2020088116 A1 WO 2020088116A1
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WIPO (PCT)
Prior art keywords
drive motor
signal receiver
base
electrically connected
pipeline detection
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PCT/CN2019/105558
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English (en)
French (fr)
Inventor
陆昕云
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苏州赛亚智能技术有限公司
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Publication of WO2020088116A1 publication Critical patent/WO2020088116A1/zh

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

Definitions

  • the utility model belongs to the technical field of robot design and manufacturing, and particularly relates to a pipeline detection robot.
  • the pipeline is a device for conveying gas, liquid or fluid with solid particles, which is connected by pipes, pipe connectors and valves.
  • the fluid is pressurized by blowers, compressors, pumps and boilers, etc., and is discharged from the high pressure of the pipeline It can also be transported by the pressure or gravity of the fluid when it flows to low pressure.
  • the pipeline is widely used, mainly used in water supply, drainage, heating, gas supply, long-distance transportation of oil and natural gas, agricultural irrigation, water conservancy engineering and various industries In the device.
  • Pipeline failures such as clogging, corrosion, cracks, etc. will reduce the efficiency of material transmission, cause hidden safety hazards and even cause major safety accidents.
  • some pipeline detection equipment on the market has a complicated structure and poor operability, which cannot meet the pipeline detection work in different situations. The need to influence the accuracy of the pipeline detection information, there are certain defects.
  • the purpose of the present invention is to provide a pipeline detection robot to solve the problems raised in the background art mentioned above.
  • a pipeline detection robot including a base, a damping shock absorber and an intelligent controller
  • a signal receiver is installed on an upper side of the base away from the robot body
  • the signal machine A battery is installed on the right side of the receiver.
  • the battery is electrically connected to the signal receiver through a wire.
  • the upper end of the roller is welded and fixed to the outer edge of the lower surface of the base, and a first drive motor is installed above the middle of the base.
  • a second drive motor is installed on the left side of the top of the first drive motor, a screw is installed directly above the first drive motor, a limited position block is welded and fixed on the top of the screw, a beam is installed outside the screw, and the outer surface of the beam is right A lighting lamp group is installed on the side, and a camera is installed on the top of the right side of the beam.
  • a protection net is installed outside the lighting lamp group.
  • the bottom of the camera is fixedly connected to the crossbeam through a rotating screw.
  • an intelligent controller control switch is installed in the middle of the intelligent controller, a signal transmitter is installed on the left side above the intelligent controller, and a first drive motor control switch and a second drive are installed on the right side of the signal transmitter Motor control switch.
  • a limit plate is installed on the left side of the damping shock absorber, a push rod is welded and fixed on the right side of the damping shock absorber, and a buffer block is installed on the end of the push rod away from the damping shock absorber.
  • the signal receiver is electrically connected to the first drive motor through a wire
  • the signal receiver is electrically connected to the second drive motor through a wire
  • the second drive motor is electrically connected to the camera through a wire.
  • the second driving motor is electrically connected to the lighting lamp group through a wire.
  • the pipeline detection robot works in cooperation with the first drive motor, the second drive motor, the camera, and the lighting lamp group, the structure is simple, the operability is strong, and the pipeline detection work under different circumstances is satisfied
  • the right side of the damping shock absorber is welded and fixed with a push rod, and the end of the push rod away from the damping shock absorber is equipped with a buffer block.
  • the damping shock absorber and the buffer block can effectively avoid direct collision of the robot It protects the whole device with higher safety.
  • Figure 1 is a schematic diagram of the structure of the utility model body
  • FIG. 2 is a schematic structural view of the utility model damping shock absorber
  • FIG. 3 is a schematic structural diagram of an intelligent controller of the utility model
  • FIG. 4 is a schematic diagram of the external structure of the camera of the utility model
  • 5 is a schematic diagram of the electrical connection structure of the utility model.
  • FIG. 1 is a schematic structural diagram of a main body of the utility model.
  • a pipeline detection robot includes a base 2 and an intelligent controller 17, and a signal receiver 3 is installed on an upper side of the base 2 away from the robot body.
  • a battery 4 is installed on the right side of the signal receiver 3, the battery 4 is electrically connected to the signal receiver 3 through a wire, and the upper end of the roller 1 is welded and fixed to the outer edge of the lower surface of the base 2 above the middle of the base 2
  • a first drive motor 11 is installed, a second drive motor 5 is installed on the top left side of the first drive motor 11, a screw 10 is installed directly above the first drive motor 11, and a limit block is welded and fixed on the top of the screw 10 7.
  • a beam 6 is installed on the outside of the screw rod 10
  • a lighting lamp group 9 is installed on the right side of the outer surface of the beam 6
  • a protection net 91 is installed on the outside of the lighting lamp group 9
  • a camera is installed on the top right 8
  • the bottom of the camera 8 is fixedly connected to the beam 6 through a rotating screw 81.
  • FIG. 2 is a schematic structural diagram of the damping shock absorber of the present invention.
  • a limit plate 15 is installed on the left side of the damping shock absorber 12, and a push rod 13 is welded and fixed on the right side of the damping shock absorber 12.
  • a buffer block 14 is installed at one end of the push rod 13 away from the damping shock absorber 12.
  • FIG. 3 is a schematic structural diagram of an intelligent controller of the present invention.
  • An intelligent controller control switch 171 is installed in the middle of the intelligent controller 17, and a signal transmitter 16 is installed on the left side above the intelligent controller 17, A first drive motor control switch 172 and a second drive motor control switch 173 are installed on the right side of the signal transmitter 16.
  • FIG. 4 is a schematic diagram of the external structure of the camera of the present invention.
  • a camera 8 is installed on the top of the right side of the crossbeam 6.
  • FIG. 5 is a schematic diagram of the electrical connection structure of the present invention.
  • the signal receiver 3 is electrically connected to the first drive motor 11 through a wire, and the signal receiver 3 is connected to the second drive motor 5 through a wire Electrically connected, the second driving motor 5 is electrically connected to the camera 8 through a wire, and the second driving motor 5 is electrically connected to the lighting lamp group 9 through a wire.
  • the intelligent controller 17 can control the movement of the robot, open the intelligent controller control switch 171, the first drive motor control switch 172, the second drive motor control Switch 173, the detection robot keeps advancing in the pipeline, through the signal transmitter 16, the signal receiver 3, the camera 8, the lighting group 9 work together, the outside can clearly see the situation inside, when it encounters obstacles such as blockages Yes, the damping shock absorber 12 and the buffer block 14 can effectively avoid direct collision of the robot and protect the entire device.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种管道探测机器人，包括底座（2）和智能控制器（17），所述底座（2）上部远离机器人本体一侧安装有信号接收器（3），所述信号机接收器（3）右侧安装有蓄电池（4），所述蓄电池（4）通过导线与所述信号接收器（3）电性连接，所述底座（2）下表面外缘焊接固定有滚轮（1）的上部顶端，所述底座（2）中部上方安装有第一驱动电机（11），所述第一驱动电机（11）顶部左侧安装有第二驱动电机（5），所述第一驱动电机（11）正上方安装有螺杆（10），所述螺杆（10）顶部焊接固定有限位块（7），所述螺杆（10）外部安装有横梁（6），所述横梁（6）外表面右侧安装有照明灯组（9），所述横梁（6）右侧顶部安装有摄像头（8）；该管道探测机器人，通过第一驱动电机、第二驱动电机、摄像头协同工作，可操作性较强，满足不同情况下管道探测工作的需要。

Description

一种管道探测机器人 技术领域
本实用新型属于机器人设计制造技术领域，具体涉及一种管道探测机器人。
背景技术
管道是用管子、管子连接件和阀门等连接成的用于输送气体、液体或带固体颗粒的流体的装置，通常流体经鼓风机、压缩机、泵和锅炉等增压后，从管道的高压出流向低压处，也可利用流体自身的压力或重力输送，管道的用途很广泛，主要用在给水、排水、供热、供煤气、长距离输送石油和天然气、农业灌溉、水利工程和各种工业装置中。
管道故障如堵塞、腐蚀、裂缝等会降低物料传输的效率，造成安全隐患甚至引发重大安全事故，目前市场上一些管道探测设备，结构复杂，可操作性较差，无法满足不同情况下管道探测工作的需要，从而影响管道探测的信息准确性，存在一定的缺陷性。
实用新型内容
本实用新型的目的在于提供一种管道探测机器人，以解决上述背景技术中提出的问题。
为实现上述目的，本实用新型提供如下技术方案：一种管道探测机器人，包括底座、阻尼减震器和智能控制器，所述底座上部远离机器人本体一侧安装有信号接收器，所述信号机接收器右侧安装有蓄电 池，所述蓄电池通过导线与信号接收器电性连接，所述底座下表面外缘焊接固定有滚轮的上部顶端，所述底座中部上方安装有第一驱动电机，所述第一驱动电机顶部左侧安装有第二驱动电机，所述第一驱动电机正上方安装有螺杆，所述螺杆顶部焊接固定有限位块，所述螺杆外部安装有横梁，所述横梁外表面右侧安装有照明灯组，所述横梁右侧顶部安装有摄像头。
优选的，所述照明灯组外部安装有保护网。
优选的，所述摄像头底部通过旋转螺杆与横梁固定连接。
优选的，所述智能控制器中部安装有智能控制器控制开关，所述智能控制器上方左侧安装有信号发射器，所述信号发射器右侧安装有第一驱动电机控制开关与第二驱动电机控制开关。
优选的，所述阻尼减震器左侧安装有限位板，所述阻尼减震器右侧焊接固定有推杆，所述推杆远离阻尼减震器一端安装有缓冲块。
优选的，所述信号接收器通过导线与第一驱动电机电性连接，所述信号接收器通过导线与第二驱动电机电性连接，所述第二驱动电机通过导线与摄像头电性连接，所述第二驱动电机通过导线与照明灯组电性连接。
本实用新型的技术效果和优点：该管道探测机器人，通过第一驱动电机、第二驱动电机、摄像头、照明灯组协同工作，结构简单，可操作性较强，满足不同情况下管道探测工作的需要，同时阻尼减震器右侧焊接固定有推杆且推杆远离阻尼减震器一端安装有缓冲块，当遇到堵塞等障碍是，阻尼减震器与缓冲块可以有效避免机器人直接碰撞， 保护整个装置，安全性更高。
附图说明
图1为本实用新型本体的结构示意图；
图2为本实用新型阻尼减震器的结构示意图；
图3为本实用新型智能控制器的结构示意图；
图4为本实用新型摄像头的外部结构示意图；
图5为本实用新型的电性连接结构示意图。
图中：1滚轮、2底座、3信号接收器、4蓄电池、5第二驱动电机、6横梁、7限位块、8摄像头、81旋转螺杆、9照明灯组、91保护网、10螺杆、11第一驱动电机、12阻尼减震器、13推杆、14缓冲块、15限位板、16信号发射器、17智能控制器、171智能控制器开关、172第一驱动电机控制开关、173第二驱动电机控制开关。
具体实施方式
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。
请参阅图1，图1为本实用新型本体的结构示意图，一种管道探测机器人，包括底座2和智能控制器17，所述底座2上部远离机器人本体一侧安装有信号接收器3，所述信号机接收器3右侧安装有蓄电池4，所述蓄电池4通过导线与信号接收器3电性连接，所述底座 2下表面外缘焊接固定有滚轮1的上部顶端，所述底座2中部上方安装有第一驱动电机11，所述第一驱动电机11顶部左侧安装有第二驱动电机5，所述第一驱动电机11正上方安装有螺杆10，所述螺杆10顶部焊接固定有限位块7，所述螺杆10外部安装有横梁6，所述横梁6外表面右侧安装有照明灯组9，所述照明灯组9外部安装有保护网91，所述横梁6右侧顶部安装有摄像头8所述摄像头8底部通过旋转螺杆81与横梁6固定连接。
请参阅图2，图2为本实用新型阻尼减震器的结构示意图，所述阻尼减震器12左侧安装有限位板15，所述阻尼减震器12右侧焊接固定有推杆13，所述推杆13远离阻尼减震器12一端安装有缓冲块14。
请参阅图3，图3为本实用新型智能控制器的结构示意图，所述智能控制器17中部安装有智能控制器控制开关171，所述智能控制器17上方左侧安装有信号发射器16，所述信号发射器16右侧安装有第一驱动电机控制开关172与第二驱动电机控制开关173。
请参阅图4，图4为本实用新型摄像头的外部结构示意图，，所述横梁6右侧顶部安装有摄像头8所述摄像头8底部通过旋转螺杆81与横梁6固定连接。
请参阅图5，图5为本实用新型的电性连接结构示意图，所述信号接收器3通过导线与第一驱动电机11电性连接，所述信号接收器3通过导线与第二驱动电机5电性连接，所述第二驱动电机5通过导线与摄像头8电性连接，所述第二驱动电机5通过导线与照明灯组9电性连接。
工作原理：使用时，将整个装置放置在需要探测的管道内，通过智能控制器17可以控制机器人的动作，打开智能控制器控制开关171,、第一驱动电机控制开关172、第二驱动电机控制开关173，探测机器人在管道中不断前进，通过信号发射器16、信号接收器3、摄像头8、照明灯组9协同工作，外部可以清楚地看到赶到内的情况，当遇到堵塞等障碍是，阻尼减震器12与缓冲块14可以有效避免机器人直接碰撞，保护整个装置。
最后应说明的是：以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，尽管参照前述实施例对本实用新型进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换,凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。

Claims (6)

  1. 一种管道探测机器人，包括底座(2)、阻尼减震器(12)和智能控制器(17)，其特征在于：所述底座(2)上部远离机器人本体一侧安装有信号接收器(3)，所述信号机接收器(3)右侧安装有蓄电池(4)，所述蓄电池(4)通过导线与信号接收器(3)电性连接，所述底座(2)下表面外缘焊接固定有滚轮(1)的上部顶端，所述底座(2)中部上方安装有第一驱动电机(11)，所述第一驱动电机(11)顶部左侧安装有第二驱动电机(5)，所述第一驱动电机(11)正上方安装有螺杆(10)，所述螺杆(10)顶部焊接固定有限位块(7)，所述螺杆(10)外部安装有横梁(6)，所述横梁(6)外表面右侧安装有照明灯组(9)，所述横梁(6)右侧顶部安装有摄像头(8)。
  2. 根据权利要求1所述的一种管道探测机器人，其特征在于：所述照明灯组(9)外部安装有保护网(91)。
  3. 根据权利要求1所述的一种管道探测机器人，其特征在于：所述摄像头(8)底部通过旋转螺杆(81)与横梁(6)固定连接。
  4. 根据权利要求1所述的一种管道探测机器人，其特征在于：所述智能控制器(17)中部安装有智能控制器控制开关(171)，所述智能控制器(17)上方左侧安装有信号发射器(16)，所述信号发射器(16)右侧安装有第一驱动电机控制开关(172)与第二驱动电机控制开关(173)。
  5. 根据权利要求1所述的一种管道探测机器人，其特征在于： 所述阻尼减震器(12)左侧安装有限位板(15)，所述阻尼减震器(12)右侧焊接固定有推杆(13)，所述推杆(13)远离阻尼减震器(12)一端安装有缓冲块(14)。
  6. 根据权利要求1所述的一种管道探测机器人，其特征在于：所述信号接收器(3)通过导线与第一驱动电机(11)电性连接，所述信号接收器(3)通过导线与第二驱动电机(5)电性连接，所述第二驱动电机(5)通过导线与摄像头(8)电性连接，所述第二驱动电机(5)通过导线与照明灯组(9)电性连接。
PCT/CN2019/105558 2018-10-31 2019-09-12 一种管道探测机器人 WO2020088116A1 (zh)

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CN109253343A (zh) * 2018-10-31 2019-01-22 苏州赛亚智能技术有限公司 一种管道探测机器人
CN111238886A (zh) * 2020-01-17 2020-06-05 新乡学院 一种全地形履带式采样机器人

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