CN102913715A - Robot for detecting small pipeline - Google Patents
Robot for detecting small pipeline Download PDFInfo
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- CN102913715A CN102913715A CN201210343246XA CN201210343246A CN102913715A CN 102913715 A CN102913715 A CN 102913715A CN 201210343246X A CN201210343246X A CN 201210343246XA CN 201210343246 A CN201210343246 A CN 201210343246A CN 102913715 A CN102913715 A CN 102913715A
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Abstract
The invention discloses a robot for detecting a small pipeline. The robot adopts a variable diameter designing mechanism, a posture of the robot can be adjusted according to diameter of the pipeline so as to ensure that pipe diameter is coaxial with the robot, and moreover, the robot is applicable to pipelines of which pipe diameter ranges are 60-120mm. With the adoption of the robot, so that a purpose that three gears are driven to move by one motor at the same time is achieved, a coaxial movement of the robot is realized. The robot comprises a buffer structure with a two-stage spring, so as to be adaptive to fine deformation of the pipeline. According to one embodiment of the invention, the robot comprises a body (30, 29), a variable diameter mechanism connected with the body (30, 29), and a driving mechanism for driving a radial distance change between the variable diameter mechanism and the body.
Description
Technical field
The present invention relates to a kind of small pipeline detection machine people.
Background technique
Pipeline is to use widely material transportation means in the fields such as industry, the energy, military equipment, urban architecture, and the ventilation system of urban sewage, rock gas and industrial material transportation, plumbing and building etc. are all used the hidden pipeline of large amount of complex.The Security and the validity that ensure these pipe-line systems are most important.But along with the increase of service life, wearing out can appear in pipeline inevitably, the crack, corrode or be subject to the destruction of external construction.If untimely processing not only can bring huge economic loss in case have an accident, also can cause serious pollution to environment.Therefore, regularly pipeline is reconnoitred and safeguarded, just seem very necessary.For improving the life-span of pipeline, just must effectively detect maintenance to pipeline, detecting robot of pipe produces for satisfying these needs.
Detecting robot of pipe is a kind of specialized robot of developing for Maintenance and Repair operations such as the detection of the conveyance conduits such as oil, gas, spraying, joint weld, foreign matter cleanings, it can enter the people can't be obtained, in the non-structural pipeline environment complicated and changeable, by the cannot-harm-detection device and the apparatus for work that carries, pipeline in the work is detected online, clears up, safeguards, with the safety that ensures pipeline and unblocked work.
But it is the Large Diameter Pipeline operations such as the above petroleum pipeline of 150mm, underground sewer that existing pipeline robot great majority are applicable to caliber, can't finish the small pipeline environment measuring.In order to realize that caliber is automatically to detect such as the metallic conduit in the 60-120mm scope, need a kind of reducing small pipeline detection machine people of exploitation, by image data in pipeline robot collection, processing and the analysis conduit, and then detect fault.With the automation requirement of realization pipe-dredging, detection, maintenance, and be widely used in the fields such as draining, electric power system, industry conveying.
Summary of the invention
The invention discloses the portable small pipeline detection machine of a kind of belt people, comprise crawl device, the single-degree-of-freedom camera.Described single-degree-of-freedom camera is placed on the crawl device top.Described crawl device comprises housing, main transmission, passive tooth wheels, belt wheel group, diameter changing mechanism.Settle a motor in the described housing.Motor links to each other with worm screw on the active power train.Described main transmission comprises helical gear of a worm screw.Worm screw one end links to each other with motor, and an end links to each other with helical gear, and helical gear links to each other with the passive tooth wheels, plays transmitting effect.Described passive tooth wheels comprise three driven gears, and driven gear is meshed with active oblique gear, and the driven gear extension links to each other with driving wheel in the belt wheel group by Timing Belt.Described belt wheel group comprises a driving wheel, a follower, six upper saw pulleys, a belt.This small pipeline robot comprises 3 belt wheel group.Driving wheel links to each other with driven gear in the passive tooth wheels by Timing Belt in the single belt wheel group, then drives follower by belt, thereby realizes the movement of small pipeline robot.Described diameter changing mechanism comprises that is adjusted a circle, and there is the thread slider seat on a surface, a slide block base, a sleeve pipe, spring, a support, two ribs, a locking nut.Sleeve pipe one end links to each other with slider seat, and an end links to each other with the slide block base, lays spring between slider seat and slide block base.Support an end and be fixed on the slider seat, an end links to each other with guide groove.Ribs one end links to each other with guide groove, and an end is fixed on the base, and it supports and the running shaft effect.Adjust circle when rotation, adjust astragal movable slider seat and move axially, during Compress Spring, spring promotes the slide block base and moves axially, and moves axially thereby drive to support, and drives guide groove and radially upholds.Adjust astragal movable slider seat when rotation and move axially, when spring was upheld, the slide block base moved axially by sleeve belt movable slider seat, moved axially thereby drive to support, and drove the guide groove radial contraction.
According to an aspect of the present invention, provide a kind of wheel type mobile small pipeline robot, it is characterized in that comprising:
Crawl device, it comprises housing and is fixed on motor on the housing, worm-gear drive system, belt wheel group, diameter changing mechanism.
The single-degree-of-freedom camera.
Description of drawings
Fig. 1 is the plan view according to the crawl device of an example of the present invention;
Fig. 2 is the plan view according to the crawl device of an example of the present invention.
Fig. 3 is the revolved sectional view of example shown in Figure 1;
Reference character:
1 vidicon camera, 2 front cases 3 are adjusted circle 4 support arms
5 parallel arms, 6 guide grooves cover 7 Timing Belts, 8 rear cases lid
9 bonnets, 10 traitorous device 11 utilizing camera interfaces 12 double-screw bolts
13 locking nuts, 14 slider seats, 15 springs, 16 slide blocks
17 lock washers, 18 sleeve pipes, 19 followers, 20 auxiliary wheels
21 belts, 22 guide grooves, 23 driving wheels, 24 driven gears
25 motors, 26 drag hooks, 27 active oblique gears, 28 pinion stands
29 connect post 30 parallel arm seat 31 rear cases
Embodiment
According to one embodiment of present invention, according to the size of pipe diameter, adjust the elongation of belt guidance by diameter changing mechanism.Robot as Figure 1-3 comprises body, diameter changing mechanism and reducing driving mechanism; Body comprises at least two parallel arm seats 30 and the company's post 29 that is connected these at least two parallel arm seats 30.The reducing driving mechanism comprises that one is adjusted 13, one slide blocks 16 of 3,18, one locking nuts of 14, one sleeve pipes of the threaded slider seat of outer surface tool of circle, 4, one lock washers 17 of support arm; Diameter changing mechanism comprises parallel arms 5 and guide groove 22.Spring 15 is mounted on the sleeve pipe 18.Wherein locking nut 13 is fixed together slide block 16 and sleeve pipe 18.Lock washer 17 is fixed together sleeve pipe 18 and slider seat 14.Spring 15 arranges around sleeve pipe 18.Wherein slide block 14 links to each other with slider seat 14 by sleeve pipe 18, and between is placed with spring 15.One end of support arm 4 links to each other with slider seat 14, and the other end links to each other with guide groove 22.Parallel arms 5 has six, is divided into three groups; One end of each parallel arms links to each other with guide groove 22, and the other end links to each other with parallel arm seat 30.Wherein slider seat 14 is fixed on the rear case 31, and rear case lid 8 is arranged on the rear case 31, and rear case 31 is shielded.Link to each other by connecting post 29 between the two parallel wall seats 30.
Concrete adjustment mode according to an embodiment of the invention is as follows: when needs are upheld guide groove 22, circle 3 is adjusted in rotation, adjust between circle 3 and the slider seat 14 and be connected by screw thread, slider seat 14 moves axially along double-screw bolt 12, slider seat 14 is by Compress Spring 15, band movable slider 16 produces and moves axially, thereby drives moving axially of support arm 4, and moving axially of support arm 4 causes guide groove 22 generation extensions radially.When needs shrink guide groove 22, circle 3 is adjusted in rotation, adjust between circle 3 and the slider seat 14 and be connected by screw thread, slider seat 14 produces along double-screw bolt 12 and moves axially, spring 15 is upheld, slider seat 14 moves axially by sleeve pipe 18 band movable sliders 16, moves axially thereby drive support arm 4, and moving axially of support arm 4 causes guide groove 22 generation contractions radially.Thereby finish reducing.
In embodiment as shown in Figure 2, the transfer mode of mobile power is: motor 25 links to each other with active oblique gear (perhaps worm screw) 27, active oblique gear (perhaps worm screw) 27 links to each other with driven gear (perhaps worm gear) 24, driven gear (perhaps worm gear) 24 links to each other with driving wheel 23 by Timing Belt 7, driving wheel 23 drives follower 19 by belt 21 and rotates, thereby realizes the movement of crawl device.Wherein auxiliary wheel 20 be placed in the guide groove 22 belt 21 wherein along being moved by the auxiliary wheel 20 that is installed between guide groove 22 and the guide groove lid 6.Driving gear 27, driven gear 24 is installed in the pinion stand 28.Pinion stand 28 is fixed on the rear case 31.Guide groove lid 6, guide groove 22 are fixed on support arm 4 and the parallel arms 5.
The afterbody of robot according to an embodiment of the invention has drag hook 26, can be connected with rope, when robot breaks down, can carry out manual recovery.Wherein drag hook 26 is placed on the bonnet 9.The device 10 of switching political loyalty is installed on the bonnet 9, is the motor power joint.
This small machine people video acquisition is finished by the vidicon camera 1 that is connected with front case 2, and vidicon camera 1 is connected with utilizing camera interface 11, carries out the signal transmission.
Advantage of the present invention comprises:
One, this small pipeline robot comprises crawl device, vidicon camera 1 two-part, all adopts modular design, and is easy to connect, uses reliable
Two, this small pipeline robot adopts variable diameter design mechanism, can adjust according to the caliber of pipeline, and is applied widely; And the buffer structure with twin-stage spring adapts to the trickle distortion of pipeline.
Three, this small pipeline robot is coaxial with pipeline, and with the tube wall close contact, dangerous without rollover, obstacle climbing ability is strong, IMAQ is stable, is convenient to the location.
Four, this small pipeline robot is coaxial with pipeline, and during vidicon camera 1 rotation, object distance does not change, and conveniently carries out the automatic measurement of image.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, any professional and technical personnel, within not breaking away from the technical solution of the present invention scope, make change or modification when the technology contents that can utilize above-mentioned announcement, these changes or modification still belong in the scope of technical solution of the present invention.
Advantage of the present invention comprises:
1. this small pipeline robot adopts variable diameter design mechanism, can adjust attitude according to the caliber of pipeline, guarantee that caliber and robot are coaxial, and the Applicable scope caliber is the pipeline of 60-120mm;
2. this small pipeline robot has realized that a motor drives three gear movements simultaneously, thereby realizes the coaxial movement of pipeline robot;
3. this small pipeline robot has the buffer structure of twin-stage spring, adapts to the trickle distortion of pipeline.
Claims (9)
1. small pipeline detection machine people is characterized in that comprising:
A body (30,29),
The diameter changing mechanism that links to each other with body (30,29),
Drive the driving mechanism of the change of the radial distance between described diameter changing mechanism and the described body.
2. according to claim 1 small pipeline detection machine people is characterized in that described diameter changing mechanism comprises:
Guide groove (22);
The parallel arms (5) that connects body and guide groove (22).
3. according to claim 2 small pipeline detection machine people is characterized in that described driving mechanism comprises:
Adjust circle (3) for one,
Be connected by screw thread between the threaded slider seat of outer surface tool (14), described adjustment circle (3) and slider seat (14), when adjusting circle (3), make slider seat (14) along axially the moving of described body (30,29) by screw thread,
A slide block (16),
Support arm (4), the one end links to each other with slider seat (14), and the other end links to each other with guide groove (22),
Be arranged on the Compress Spring (15) between slide block (16) and the slider seat (14), thereby slider seat (14) produced with respect to the moving axially of described body (30,29) by Compress Spring (15) band movable slider (16),
Thereby moving axially of the described end that drive support arm (4) links to each other with slide block (16) makes guide groove (22) produce moving radially of relative body (30,29), thereby realizes reducing.
4. according to claim 3 small pipeline detection machine people is characterized in that described driving mechanism further comprises:
A sleeve pipe (18), spring (15) are mounted on the sleeve pipe (18), and spring (15) arranges around sleeve pipe (18).
5. according to claim 3 small pipeline detection machine people is characterized in that described body (30,29) comprising:
At least two parallel arm seats (30),
The company's post (29) that connects described at least two parallel arm seats (30), an end of each described parallel arms links to each other with guide groove (22), and the other end links to each other with one of described two parallel arm seats (30) at least.
6. according to claim 3 small pipeline detection machine people is characterized in that further comprising:
Rear case (31),
Be arranged on the rear case lid (8) on the rear case (31), wherein, slider seat (14) is fixed on the rear case (31), and rear case 8 pairs of rear cases of lid (31) shield.
7. small pipeline detection machine people one of according to claim 1-6 is characterized in that further comprising:
Guide groove lid (6),
Pinion stand (28),
Timing Belt (7),
Driving wheel (23),
Follower (19),
Belt (21),
Be installed in the auxiliary wheel (20) between guide groove (22) and the guide groove lid (6),
Pinion stand 28,
Be installed in driving gear (27) and driven gear (24) in the pinion stand (28), wherein driven gear (24) is coupled by Timing Belt (7) and driving wheel (23),
The motor (25) that links to each other with driving gear (27),
Follower (19), it is subject to the drive of driving wheel (23) by belt (21), thereby realizes the movement of crawl device.
8. according to claim 7 small pipeline detection machine people is characterized in that:
Driving gear (27) is active oblique gear/worm screw (27),
Driven gear (24) is that driven gear/worm gear (24) links to each other.
9. small pipeline detection machine people one of according to claim 1-6 is characterized in that further comprising:
Bonnet (9),
Be arranged on the drag hook (26) on the bonnet (9), it can be connected with rope, is used for carrying out when robot breaks down manual recovery,
Be installed in the traitorous device (10) on the bonnet (9), as power connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210343246.XA CN102913715B (en) | 2012-09-14 | 2012-09-14 | Detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210343246.XA CN102913715B (en) | 2012-09-14 | 2012-09-14 | Detecting robot of pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102913715A true CN102913715A (en) | 2013-02-06 |
| CN102913715B CN102913715B (en) | 2015-12-09 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210343246.XA Expired - Fee Related CN102913715B (en) | 2012-09-14 | 2012-09-14 | Detecting robot of pipe |
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| CN (1) | CN102913715B (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103672295A (en) * | 2013-12-06 | 2014-03-26 | 北京信息科技大学 | Peristaltic pipeline robot crawling mechanism |
| CN103737589A (en) * | 2014-01-23 | 2014-04-23 | 中国科学院武汉岩土力学研究所 | Wireless remote-control comprehensive hole measuring robot used for rock mass engineering |
| CN103982778A (en) * | 2013-02-08 | 2014-08-13 | 香港中华煤气有限公司 | Method and apparatus for detecting pipeline leakage |
| CN104715801A (en) * | 2013-12-15 | 2015-06-17 | 郑州新力光电技术有限公司 | Nuclear power detection mirror with fishing pliers |
| CN104712907A (en) * | 2013-12-15 | 2015-06-17 | 郑州新力光电技术有限公司 | Manual variable-diameter supporting frame of pipeline endoscope |
| CN107703272A (en) * | 2017-11-09 | 2018-02-16 | 哈尔滨程天科技发展有限公司 | A kind of cesspool crusing robot and its detection method |
| CN108204230A (en) * | 2016-12-16 | 2018-06-26 | 中国石油天然气股份有限公司 | Detection method of oil pipe lining |
| CN109990166A (en) * | 2019-03-27 | 2019-07-09 | 上海理工大学 | A kind of petroleum pipeline construction machinery and its working method |
| CN112815178A (en) * | 2021-02-05 | 2021-05-18 | 南海燕 | Pipeline rescue robot |
| CN113814990A (en) * | 2021-08-31 | 2021-12-21 | 南京理工大学 | Novel power pipeline inspection robot structure device |
| CN114397305A (en) * | 2022-01-31 | 2022-04-26 | 北京航空航天大学 | Variable inner diameter pipeline inner wall defect detection robot based on annular structured light vision |
| CN116539727A (en) * | 2023-06-30 | 2023-08-04 | 天津市首通工程检测技术有限公司 | Pipeline defect ultrasonic detection device |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103982778A (en) * | 2013-02-08 | 2014-08-13 | 香港中华煤气有限公司 | Method and apparatus for detecting pipeline leakage |
| CN103672295B (en) * | 2013-12-06 | 2016-04-20 | 北京信息科技大学 | Creeping type pipeline robot crawling mechanism |
| CN103672295A (en) * | 2013-12-06 | 2014-03-26 | 北京信息科技大学 | Peristaltic pipeline robot crawling mechanism |
| CN104715801A (en) * | 2013-12-15 | 2015-06-17 | 郑州新力光电技术有限公司 | Nuclear power detection mirror with fishing pliers |
| CN104712907A (en) * | 2013-12-15 | 2015-06-17 | 郑州新力光电技术有限公司 | Manual variable-diameter supporting frame of pipeline endoscope |
| CN104715801B (en) * | 2013-12-15 | 2017-07-14 | 郑州润德光电科技有限公司 | A kind of band salvages the nuclear power detection mirror of pincers |
| CN103737589A (en) * | 2014-01-23 | 2014-04-23 | 中国科学院武汉岩土力学研究所 | Wireless remote-control comprehensive hole measuring robot used for rock mass engineering |
| CN103737589B (en) * | 2014-01-23 | 2015-08-05 | 中国科学院武汉岩土力学研究所 | The comprehensive gaging hole robot of rock mass engineering project wireless remote control |
| CN108204230A (en) * | 2016-12-16 | 2018-06-26 | 中国石油天然气股份有限公司 | Detection method of oil pipe lining |
| CN107703272A (en) * | 2017-11-09 | 2018-02-16 | 哈尔滨程天科技发展有限公司 | A kind of cesspool crusing robot and its detection method |
| CN107703272B (en) * | 2017-11-09 | 2023-10-03 | 哈尔滨跃渊环保智能装备有限责任公司 | Sewage pool inspection robot and detection method thereof |
| CN109990166A (en) * | 2019-03-27 | 2019-07-09 | 上海理工大学 | A kind of petroleum pipeline construction machinery and its working method |
| CN112815178A (en) * | 2021-02-05 | 2021-05-18 | 南海燕 | Pipeline rescue robot |
| CN113814990A (en) * | 2021-08-31 | 2021-12-21 | 南京理工大学 | Novel power pipeline inspection robot structure device |
| CN114397305A (en) * | 2022-01-31 | 2022-04-26 | 北京航空航天大学 | Variable inner diameter pipeline inner wall defect detection robot based on annular structured light vision |
| CN116539727A (en) * | 2023-06-30 | 2023-08-04 | 天津市首通工程检测技术有限公司 | Pipeline defect ultrasonic detection device |
| CN116539727B (en) * | 2023-06-30 | 2023-09-08 | 天津市首通工程检测技术有限公司 | Pipeline defect ultrasonic detection device |
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