CN103008303A - Pipeline robot for pipeline automatic distribution system of Internet of things - Google Patents
Pipeline robot for pipeline automatic distribution system of Internet of things Download PDFInfo
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- CN103008303A CN103008303A CN2012105323645A CN201210532364A CN103008303A CN 103008303 A CN103008303 A CN 103008303A CN 2012105323645 A CN2012105323645 A CN 2012105323645A CN 201210532364 A CN201210532364 A CN 201210532364A CN 103008303 A CN103008303 A CN 103008303A
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Abstract
The invention relates to a pipeline robot for a pipeline automatic distribution system of Internet of things. The pipeline robot comprises a hand-held control end provided with a wireless transceiving module and a pipeline robot body, wherein the pipeline robot body comprises a pipeline robot shell, six groups of pipeline traveling wheels consisting of traveling wheel telescopic rods and traveling wheels, two groups of pipeline positioning suction disks consisting of suction disk telescopic rods and washing disks, and two groups of telescopic manipulators, wherein each group of telescopic manipulator is formed by connecting a telescopic arm, a universal rotating shaft, a movable arm and a manipulator in turn. By using the pipeline robot, the action of the pipeline robot is remotely controlled by the hand-held end; and the dredging work of a pipeline is completed.
Description
Technical field
The present invention relates to a kind of pipe robot for Internet of Things pipeline automatic delivery.
Background technology
In Internet of Things pipeline automatic delivery, pipeline is as a kind of important transmission medium, and its patency causes related personnel's attention.Be transmitted thing at pipeline for some reason and block, cause transmitting in the situation that thing can not transmit normally, will dredge the pipeline that blocks.Because the diameter of pipeline arranges size, determined and can not solve by the mode of artificial dredging, this just needs a kind of robot that in the Internet of Things delivery system pipeline is cleared up of design.
The kind of present existing pipe robot is a lot, the robot that has pair pipeline to clean, and the robot that has pair pipeline to detect a flaw, these robots mainly adopt wheeled or the crawler-type mobile carrier.Because it is simple in structure that wheeled driving has, the advantage such as operate steadily, the robot mobile vehicle that is used in the Internet of Things pipeline cleaning adopts wheeled type of drive.
The layout of the pipe robot of traditional employing wheeled construction wheel is divided into two kinds in plane and space.All wheels of the pipe robot of wheel horizontal layout and ground contact point are mainly used in ventilation shaft, natural gas line etc. at grade.The pipe robot of the many wheel constructions in space normally three groups of bogie wheels in the circumferential direction of the circle, the 120 ° of distributions in space.The pipe robot of early stage research is mainly used in the detection of petroleum pipeline, natural gas line, adopts the many wheel constructions in space more.The wheeled robot of wheel horizontal layout is simple in structure, flexible movements, but because its wheel rim is that line contacts with the pipeline wall, so rigidity, less stable.And the wheel plane of the wheeled robot wheel of the many wheel constructions in space contacts with wall is vertical, for the face contact, so good stability.
Summary of the invention
Technical problem to be solved by this invention provides a kind of pipe robot for Internet of Things pipeline automatic delivery.
The present invention adopts following technical scheme:
The present invention includes hand-held control end and pipe robot with wireless receiving module, described pipe robot comprises robot housing, 6 groups of pipe walking wheel, 2 groups of location of pipeline sucker and 2 groups of telescopic magic hands by the telescopic arm that is connected successively, everything rotating shaft, lever arm and manipulator that are comprised of sucker expansion link and dishwashing that are comprised of road wheel expansion link and road wheel; Corresponding row travelling wheel expansion link, sucker expansion link, telescopic arm are provided with the hole on the described robot housing, described robot enclosure interior be provided with the wheel hub motor that drives pipeline road wheel, location of pipeline sucker, telescopic magic hand, PLC controller, lithium battery and with the wireless transmitter module of the corresponding setting of hand-held control end.
Described robot housing upper end is provided with by camera, is arranged at the LED lamp at camera two ends and is arranged at the video acquisition device that the rotary extension axle in the hole, insertion robot housing upper end of camera lower end forms.
Described wireless transmitter module is 5.8G wireless image-sound transmitter module, and its model is SKY-TX5823, and described wireless receiving module is 5.8G wireless image-sound receiver module, and its model is SKY-TX5808.
The model of described PLC controller is STM8S20x.
The model of described wheel hub motor is KAHOMOTO.
Good effect of the present invention is as follows:
Wireless mode of the present invention adopts 5.8G video Radio Access Network to connect, 5.8G is general adopt be based on IP or based on the Radio Transmission Technology of circuit.IP-based technology signaling protocol is simple, realizes that easily expense is low, and the availability of frequency spectrum is high, and class of business is many, and interface is simply unified, and upgrading is easy, and the broadband wireless access scheme for world is particularly suitable for disconnected data transmission service; Technology time delay based on circuit is little, be suitable for carrying out traditional voice transfer, 5.8G the typical case of wireless transmitting system communication distance, according to video image, the staff is by the operation of handle control slave computer, and value shows the video image that the transmission of screen display slave computer comes greatly about 10 kilometers at desktop computer, by hand-held action of bringing in the long-range pipe robot of control, finish the dredging work of pipeline.
Description of drawings
Accompanying drawing 1 is working state structure schematic diagram of the present invention.
Accompanying drawing 2 is recovery status architecture schematic diagram of the present invention.
The specific embodiment
Shown in accompanying drawing 1-2, the present invention includes hand-held control end and pipe robot with wireless receiving module, described pipe robot comprises robot housing 1,6 groups of pipe walking wheel, 2 groups of location of pipeline sucker and 2 groups of telescopic magic hands by the telescopic arm 9 that is connected successively, everything rotating shaft 10, lever arm 11 and manipulator 12 that are comprised of sucker expansion link 7 and dishwashing 8 that are comprised of road wheel expansion link 2 and road wheel 3; Corresponding row travelling wheel expansion link 2, sucker expansion link 7, telescopic arm 9 are provided with the hole on the described robot housing 1, described robot housing 1 inside be provided with the wheel hub motor that drives pipeline road wheel, location of pipeline sucker, telescopic magic hand, PLC controller, lithium battery and with the wireless transmitter module of the corresponding setting of hand-held control end.Described robot housing 1 upper end is provided with by camera 6, is arranged at the LED lamp 5 at camera 6 two ends and is arranged at the video acquisition device that the rotary extension axle 4 in the hole, insertion robot housing 1 upper end of camera 6 lower ends forms.
Pipeline cleaning machine people is divided into the upper computer control system in control room and ducted slave computer control system, usually upper computer control system is connected with the slave computer control system and is adopted wired and be connected the dual mode connection, the cable of wired mode affects to some extent on the machine human action, be unfavorable for moving forward and backward of robot, therefore the present invention adopts wireless mode to connect host computer and lower computer system.Wireless mode adopts 5.8G video Radio Access Network to connect, 5.8G is general adopt be based on IP or based on the Radio Transmission Technology of circuit.IP-based technology signaling protocol is simple, realizes that easily expense is low, and the availability of frequency spectrum is high, and class of business is many, and interface is simply unified, and upgrading is easy, and the broadband wireless access scheme for world is particularly suitable for disconnected data transmission service; Technology time delay based on circuit is little, is suitable for carrying out traditional voice transfer, and the representative value of 5.8G wireless transmitting system communication distance is greatly about 10 kilometers.
The upper computer control system in pipeline cleaning machine people's control room can be taked two schemes, the first scheme is the control interface of adopting touch-screen-enabled, this control interface can receive the video image of slave computer transmission, and the operating key of pair slave computer is arranged, the operation of control slave computer.This control interface can be applicable on the desktop computer or hand-held electronic equipment on.First scheme is the operation of adopting handle control slave computer, shows the video image that the transmission of screen display slave computer comes at desktop computer, and according to video image, the staff is by the operation of handle control slave computer.
Frame for movement of the present invention is as follows:
Pipeline cleaning machine people slave computer control system comprises robot housing and robot core control assembly.
Pipeline cleaning machine people housing is spherical; spherical diameter is less than pipe diameter; the above is provided with the hole of 6 road wheels; the hole of 2 manipulators, the hole of 2 suckers, 1 can be for the hole of camera and LED visiting; and this outside, hole is provided with transparent material; the assurance camera can be surveyed external circumstances, can not make camera and external contact again, protects its normal operation.
Pipeline cleaning machine people core control part comprises the PLC controller that is arranged on the housing core and provides electric power for whole core control part, light portative lithium battery, in order to solve the cleaning robot because of without the inoperable situation of electric problem, the module of monitoring battery electric quantity is set in core control part inside, and in upper computer control system, has shown; Core control part comprises fore The Cloud Terrace is set, camera and LED, camera is installed on the The Cloud Terrace, LED is installed in around the camera, for camera provides illumination, the best symmetrical even numbers of LED is settled, and each or per two LED are controlled by an I/O mouth of PLC controller, camera can 180 ° of rotations, and are varifocal camera; Core control part comprises 3 road wheels of fore 3 road wheels and rear portion is set, 3 road wheels at anterior 3 road wheels and rear portion be arranged in parallel, 3 anterior one of them road wheels of road wheel are arranged at the top of camera, two other is arranged at the camera both sides, 3 road wheels in the circumferential direction of the circle, the 120 ° of distributions in space, 3 road wheels at rear portion also in the circumferential direction of the circle, the 120 ° of distributions in space, different is, it is wheel hub motor that one of them road wheel that is arranged at camera top of 3 anterior road wheels belongs to, the lower computer system that promotes whole pipeline cleaning machine people advances, retreat, two other connects with curved bar, consist of steering mechanism, its motion of Electric Machine Control, the control system core arranges obliquity sensor, the PLC controller receives the signal of obliquity sensor, use pid algorithm control motor, the small balance movement that keeps tube cleaning device people that turns to of Electric Machine Control steering mechanism, 3 road wheels at rear portion then are common universal wheels, and 6 road wheels are supported in the pipeline pipeline cleaning machine people and steadily advance; Core control part comprises fore telescopic manipulator is set, motor X, and motor Y, motor Z control manipulator moves in the space, and the obturator in the pipeline is cleared up; Core control part comprises the sucker with telescopic support struts that is arranged on both sides, Electric Machine Control telescopic support struts flexible, and the suction of the switch control sucker of magnetic valve is put.
The course of work of the present invention is as follows:
Pipeline cleaning machine people slave computer control system (hereinafter to be referred as slave computer) original state is a sphere, all telescopic road wheels, and telescopic manipulator all is folded in the housing with the sucker of telescopic support struts.Pipeline in the Internet of Things delivery system is to be obliquely installed.When obturator appears in pipeline, slave computer enters the pipeline cleaning obturator, slave computer is from the bottom of pipeline, the opposite direction that namely is the transmission of transmission thing enters pipeline, pipeline cleaning machine people upper computer control system (hereinafter to be referred as host computer) provides the order of stretching out 6 road wheels, slave computer receives order by wireless mode, stretch out road wheel, host computer provides the advance command wheel hub motor and travels forward, other 5 road wheels travel forward under his drive simultaneously, and in motion, host computer can be assigned the order that LED regulates, for the camera illumination, in the process of advancing, the obliquity sensor signal transmission is to the PLC controller simultaneously, and the PLC controller is controlled motor, adjust steering mechanism, keep the balance of whole slave computer.When arriving predeterminated target be, host computer is assigned the order that stops, the slave computer transfixion, host computer is assigned the order of stretching out sucker, the expansion link of sucker stretches out, opening of PLC controller control magnetic valve, sucker holds duct wall, prevent cleaning work finish after the transmission thing to the extruding of slave computer, and slave computer is destroyed, host computer is assigned the order of stretching out manipulator, begin to carry out to transmitting the cleaning of thing, in the course of the work, host computer is finished the cleaning work to pipeline by the motion of control manipulator in the space.After cleaning work was finished, host computer was assigned the withdrawal manipulator fast, regained the order of road wheel, this moment, slave computer was regained manipulator, regained 6 road wheels, after these two orders are finished, host computer is assigned fast and is regained the sucker order, closed electromagnetic valve, sucker unclamps, and telescopic arm is regained in the housing, this moment, slave computer was got back to original state, because pipeline is to be obliquely installed, slave computer can move along pipeline under Action of Gravity Field, gets back to pipeline cleaning machine people's recovery place.
Claims (5)
1. pipe robot that is used for Internet of Things pipeline automatic delivery, it is characterized in that it comprises hand-held control end and pipe robot with wireless receiving module, described pipe robot comprises robot housing (1), 6 groups of pipe walking wheel, 2 groups of location of pipeline sucker and 2 groups of telescopic magic hands by the telescopic arm that is connected successively (9), everything rotating shaft (10), lever arm (11) and manipulator (12) that are comprised of sucker expansion link (7) and dishwashing (8) that are comprised of road wheel expansion link (2) and road wheel (3); The upper corresponding row travelling wheel expansion link (2) of described robot housing (1), sucker expansion link (7), telescopic arm (9) are provided with the hole, described robot housing (1) inside be provided with the wheel hub motor that drives pipeline road wheel, location of pipeline sucker, telescopic magic hand, PLC controller, lithium battery and with the wireless transmitter module of the corresponding setting of hand-held control end.
2. the pipe robot for Internet of Things pipeline automatic delivery according to claim 1 is characterized in that described robot housing (1) upper end is provided with by camera (6), is arranged at the LED lamp (5) at camera (6) two ends and is arranged at the video acquisition device that the rotary extension axle (4) in the hole, insertion robot housing (1) upper end of camera (6) lower end forms.
3. the pipe robot for Internet of Things pipeline automatic delivery according to claim 1 and 2, it is characterized in that described wireless transmitter module is 5.8G wireless image-sound transmitter module, its model is SKY-TX5823, described wireless receiving module is 5.8G wireless image-sound receiver module, and its model is SKY-TX5808.
4. the pipe robot for Internet of Things pipeline automatic delivery according to claim 1 and 2, the model that it is characterized in that described PLC controller is STM8S20x.
5. the pipe robot for Internet of Things pipeline automatic delivery according to claim 1 and 2, the model that it is characterized in that wheel hub motor is KAHOMOTO.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210532364.5A CN103008303B (en) | 2012-12-12 | 2012-12-12 | For the pipe robot of Internet of Things pipeline automatic delivery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210532364.5A CN103008303B (en) | 2012-12-12 | 2012-12-12 | For the pipe robot of Internet of Things pipeline automatic delivery |
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| CN103008303A true CN103008303A (en) | 2013-04-03 |
| CN103008303B CN103008303B (en) | 2016-05-11 |
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| CN201210532364.5A Expired - Fee Related CN103008303B (en) | 2012-12-12 | 2012-12-12 | For the pipe robot of Internet of Things pipeline automatic delivery |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105187777A (en) * | 2015-08-05 | 2015-12-23 | 广州杰赛科技股份有限公司 | Detection ball, camera recovery method thereof and detection system |
| CN106076994A (en) * | 2016-06-21 | 2016-11-09 | 浙江管工智能机械设备有限公司 | A kind of pipeline cleaning ball |
| CN107363048A (en) * | 2016-05-12 | 2017-11-21 | 福建宁德核电有限公司 | Robot is cleared up in a kind of heat exchanger tube inspection |
| CN108725721A (en) * | 2018-05-29 | 2018-11-02 | 深圳大学 | A kind of underwater spherical robot |
| CN109976069A (en) * | 2017-12-21 | 2019-07-05 | 弗兰克公司 | Video camera with bispin adapter |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN114570723A (en) * | 2020-12-01 | 2022-06-03 | 中国石油天然气股份有限公司 | Automatic descaling and derusting device for inner wall of heat-insulating oil pipe |
| GB2611089A (en) * | 2021-09-27 | 2023-03-29 | Hypertunnel Ip Ltd | A drone for use within a pipe |
| CN117644093A (en) * | 2024-01-29 | 2024-03-05 | 山西雅美德印刷科技有限公司 | Recovery processing device of printing waste container |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105187777B (en) * | 2015-08-05 | 2018-10-19 | 广州杰赛科技股份有限公司 | A kind of detecting ball and its camera recovery method, detecting system |
| CN105187777A (en) * | 2015-08-05 | 2015-12-23 | 广州杰赛科技股份有限公司 | Detection ball, camera recovery method thereof and detection system |
| CN107363048A (en) * | 2016-05-12 | 2017-11-21 | 福建宁德核电有限公司 | Robot is cleared up in a kind of heat exchanger tube inspection |
| CN107363048B (en) * | 2016-05-12 | 2020-05-05 | 福建宁德核电有限公司 | Pipe inspection cleaning robot for shell-and-tube heat exchanger |
| CN106076994A (en) * | 2016-06-21 | 2016-11-09 | 浙江管工智能机械设备有限公司 | A kind of pipeline cleaning ball |
| CN106076994B (en) * | 2016-06-21 | 2018-06-22 | 浙江管工智能机械设备有限公司 | A kind of pipeline cleaning ball |
| CN109976069B (en) * | 2017-12-21 | 2022-01-18 | 弗兰克公司 | Camera with double rotary joints |
| CN109976069A (en) * | 2017-12-21 | 2019-07-05 | 弗兰克公司 | Video camera with bispin adapter |
| CN108725721A (en) * | 2018-05-29 | 2018-11-02 | 深圳大学 | A kind of underwater spherical robot |
| CN108725721B (en) * | 2018-05-29 | 2023-11-21 | 深圳大学 | Underwater spherical robot |
| CN111408588A (en) * | 2020-03-31 | 2020-07-14 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN111408588B (en) * | 2020-03-31 | 2021-07-27 | 杭州电子科技大学 | Pipeline cleaning robot and pipeline cleaning method thereof |
| CN114570723A (en) * | 2020-12-01 | 2022-06-03 | 中国石油天然气股份有限公司 | Automatic descaling and derusting device for inner wall of heat-insulating oil pipe |
| GB2611089A (en) * | 2021-09-27 | 2023-03-29 | Hypertunnel Ip Ltd | A drone for use within a pipe |
| GB2611089B (en) * | 2021-09-27 | 2024-02-21 | Hypertunnel Ip Ltd | A drone for use within a pipe |
| CN117644093A (en) * | 2024-01-29 | 2024-03-05 | 山西雅美德印刷科技有限公司 | Recovery processing device of printing waste container |
| CN117644093B (en) * | 2024-01-29 | 2024-04-26 | 山西雅美德印刷科技有限公司 | Recovery processing device of printing waste container |
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Effective date of registration: 20160331 Address after: 050000 Shijiazhuang University, 288, Mount Everest Avenue, Shijiazhuang hi tech Development Zone, Hebei Applicant after: Shijiazhuang College Address before: 510075 Guangdong city of Guangzhou province Tianhe District Guangzhou Avenue North 193 new City Plaza Room 2608 Applicant before: Lu Ying |
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