CN104192216B - Pipeline ditch detecting robot and system thereof - Google Patents
Pipeline ditch detecting robot and system thereof Download PDFInfo
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- CN104192216B CN104192216B CN201410315393.5A CN201410315393A CN104192216B CN 104192216 B CN104192216 B CN 104192216B CN 201410315393 A CN201410315393 A CN 201410315393A CN 104192216 B CN104192216 B CN 104192216B
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- ditches
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- irrigation canals
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- 230000007246 mechanism Effects 0.000 claims abstract description 79
- 230000002262 irrigation Effects 0.000 claims description 34
- 238000003973 irrigation Methods 0.000 claims description 34
- 230000003028 elevating effect Effects 0.000 claims description 29
- 239000000725 suspension Substances 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000013519 translation Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
- 238000001514 detection method Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 5
- 238000004891 communication Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 239000007789 gas Substances 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 3
- 230000008439 repair process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000002737 fuel gas Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000002452 interceptive effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000521257 Hydrops Species 0.000 description 1
- 206010030113 Oedema Diseases 0.000 description 1
- 235000011464 Pachycereus pringlei Nutrition 0.000 description 1
- 240000006939 Pachycereus weberi Species 0.000 description 1
- 235000011466 Pachycereus weberi Nutrition 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 210000004907 gland Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a pipeline ditch detecting robot system which comprises a robot, a control box and a cable connected with the robot and the control box. The robot comprises a vehicle body, walking mechanisms, a lifting mechanism and a pan-tilt camera shooting device. The side face of the vehicle body is in the shape of a big-end-up trapezoid. The walking mechanisms are two sets of crawler type walking mechanisms on the two sides of the vehicle body. Each crawler type walking mechanism comprises a driving wheel, a guide wheel, two track rollers, a plurality of weight bearing wheels and a track, wherein the driving wheels, the guide wheels, the track rollers and the weight bearing wheels are sleeved with the tracks. The driving wheels and the guide wheels are arranged at the two ends of the upper portion of the vehicle body, track guide wheels are arranged between the driving wheels and the guide wheels, and the weight bearing wheels are arranged at the lower end of the vehicle body to bear the vehicle body and elements on the vehicle body. The system is simple in structure, has complete functions, is convenient to operate, and can adapt to more complex conditions.
Description
Technical field
The invention belongs to mobile robot field, particularly relate to a kind of pipeline irrigation canals and ditches for cable detection and detect
Robot and system thereof.
Background technology
Along with Electricity Demand amount constantly increase, the continuous expansion of electrical network scale, the application of buried cable is also
More and more extensive, the frequency that corresponding cable fault occurs is more and more higher.Cable laying in cable duct,
It is difficult to it is detected in real time, so be all by the instrument survey to trouble point after cable breaks down in the past
Away from search so that cable is keeped in repair.This method cannot be avoided the generation of cable fault and corresponding warp
Ji loss, it addition, cable duct is the most unattended, cable duct bad environments again, add maintainer
Danger, therefore, it is necessary to the situation in cable duct is carried out periodic detection, check existing and potential
Fault, it is to avoid accident occurs.Cable duct narrow space, bad environments, there may be many potential safety hazards,
Traditional test mode is to be manually entered cable duct to check, its shortcoming is that labor strength is big, faces
The danger of adverse circumstances, the information detected are not easy to follow-up consult and manage.
Pipeline irrigation canals and ditches measuring robots system, as effectively detecting equipment, substitutes workman and enters cable duct detection,
Obtain increasing application.
The core texture of current existing robot is essentially all on mobile vehicle lift-launch photographic head, after adding
Platform is for controlling the control chamber of robot work.Such as: Chinese patent application discloses CN101468664A
Cable tunnel hazardous environment small-sized caterpillar belt inspection machine people's system number involved by (being called for short ' No. 664), China
Patent application publication CN102354925A (being called for short ' No. 925) number involved one can realize tunnel (pipe)
Robot and Chinese patent application that road is patrolled and examined disclose No. CN101915339A (being called for short ' No. 339)
Involved a kind of pipe robot.These robots not only structure is complicated, and still suffers from performance
Not enough: ' No. 664 and ' No. 925 disclosed robot architectures complex, when robot retreats cannot obstacle detouring,
And the The Cloud Terrace of this robot does not possess The Cloud Terrace elevating function, although can be used for the detection of cable tunnel, but
When using in the cable duct of narrow space, then effect is undesirable.' No. 339 disclosed robot obstacle performances are relatively
Difference, although it possesses the manual upgrade function of The Cloud Terrace, is applicable to pipeline or the irrigation canals and ditches of different tube diameters, but cloud
The lifting of platform needs manual operation, and the liftable scope of The Cloud Terrace is the most extremely limited.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of pipeline irrigation canals and ditches measuring robots system, its
Simple in construction, multiple functional, easy to operate, and can be suitably used for the complicated irrigation canals and ditches of situation or pipeline.
For solving above-mentioned technical problem, the present invention provides a kind of pipeline irrigation canals and ditches measuring robots, including vehicle body,
Assist the walking mechanism of vehicle body traveling, elevating mechanism and the The Cloud Terrace picture pick-up device being supported on elevating mechanism.
Big up and small down trapezoidal in the side of described vehicle body.Described walking mechanism is to be positioned at two set crawler belts of vehicle body both sides
Formula walking mechanism.Often set crawler type walking mechanism include a driving wheel, directive wheel, two carrier wheels,
Multiple thrust wheels and the crawler belt being enclosed within driving wheel, directive wheel, carrier wheel and thrust wheel.Described drive
Driving wheel and directive wheel are arranged on the both upper ends thereof of vehicle body, and described carrier wheel is arranged between driving wheel and directive wheel,
Described thrust wheel is arranged on vehicle body lower end with the element on bearing vehicle body and vehicle body.
Further, wherein the driving wheel of a crawler type walking mechanism is positioned at the rear of robot direct of travel,
Directive wheel is positioned at the front of robot direct of travel；The driving wheel of another crawler type walking mechanism is positioned at robot
The front of direct of travel, directive wheel is positioned at the rear of robot direct of travel.
Further, two set crawler type walking mechanisms lay respectively on the left of vehicle body and right side by each self-corresponding
Movable motor independently drives.
Further, described vehicle body is independent module, and it arranges illuminating lamp and suspension ring；Described illuminating lamp
Arrange towards robot dead ahead；Described driving wheel, directive wheel, carrier wheel and thrust wheel are respectively by propping up
Frame is fixed independently on vehicle body.
Further, described elevating mechanism includes being connected to the lifting support of vehicle body upper surface, for supporting cloud
The The Cloud Terrace bearing of platform picture pick-up device and be movably connected with two connecting rods of lifting support and The Cloud Terrace bearing；Described liter
Descending mechanism can rotate in the range of body upper and fuselage front, thus drives The Cloud Terrace picture pick-up device at machine
Translation in the position range in side and fuselage front with it.
Further, two connecting shafts that described two connecting rods are connected with lifting support are arranged in tandem, and front
Axle is lower than rear shaft position；Two connecting shafts that described two connecting rods are connected with The Cloud Terrace bearing are arranged the most in tandem,
And front axle is lower than rear shaft position；Described two connecting rods are the connecting rod of the broken line type being oppositely arranged, and each connecting rod
Interior angle is obtuse angle, thus avoids producing between two connecting rods interfering.
Further, described The Cloud Terrace picture pick-up device includes rotating mechanism, luffing mechanism and image acquiring device；
Described rotating mechanism includes electric rotating machine, drives luffing mechanism to rotate, bows so that image acquiring device is followed
Face upward mechanism to rotate in the horizontal direction；Described luffing mechanism includes pitching motor, Timing Belt and synchronous pulley,
Image acquiring device in the vertical direction is driven to carry out elevating movement；Obtain during the work of described image acquiring device
Image information in cable duct and the two-dimensional barcode information being attached on cable, described illuminating lamp is arranged on shooting
Head side arrangement equidirectional with photographic head.
Further, the greatest length of described pipeline irrigation canals and ditches measuring robots be 700 millimeters, Breadth Maximum be
260 millimeters, maximum height be 280 millimeters.
The present invention also provides for a kind of pipeline irrigation canals and ditches measuring robots system, detects machine including aforementioned tubular duct irrigation canals and ditches
People, control the control chamber of pipeline irrigation canals and ditches measuring robots and be used for connecting pipeline irrigation canals and ditches measuring robots and control
The cable of case processed.
Further, described control chamber includes Switching Power Supply, industrial control computer mainboard, PC control chip, hard
Dish, video encoder and input-output apparatus；Described input equipment includes touch pad, keyboard, knob, shakes
Bar；Described outut device includes display screen and display lamp.
Compared with prior art, pipeline irrigation canals and ditches measuring robots provided by the present invention and system thereof, not only
Simple in construction, multiple functional, easy to operate, and can be suitably used for the complicated irrigation canals and ditches of situation or pipeline.
Accompanying drawing explanation
Fig. 1 is the system block diagram of the pipeline irrigation canals and ditches measuring robots system that embodiments of the invention are provided；
Fig. 2 is the structured flowchart of the control chamber of the robot that embodiments of the invention are provided；
Fig. 3 is the structural representation of the pipeline irrigation canals and ditches measuring robots system that embodiments of the invention are provided；
Fig. 4 is the The Cloud Terrace elevating mechanism of the pipeline irrigation canals and ditches measuring robots system that embodiments of the invention are provided
Operating diagram；
Fig. 5 is the The Cloud Terrace picture pick-up device of the pipeline irrigation canals and ditches measuring robots system that embodiments of the invention are provided
Structural representation.
Detailed description of the invention
In order to make the technical problem to be solved, technical scheme and beneficial effect clearer,
Below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that this place is retouched
The specific embodiment stated only in order to explain the present invention, is not intended to limit the present invention.
Pipeline irrigation canals and ditches measuring robots system involved in the present invention, is mainly used in substituting workman and enters cable duct
Cable and cable duct environment are detected and management to data, or user detects drainage pipeline, oil
Pipelines etc., as a example by robot to be used for cable duct, the present invention will be described in detail below.
Refer to Fig. 1, the pipeline irrigation canals and ditches measuring robots system that embodiments of the invention are provided includes machine
People, control chamber and connection robot and the cable of control chamber.The modules of robot is separate,
Easy disassembly, follow-up improvement.The surface of cable indicates scale, it is possible to cannot pass through in robot
In the case of ultrasonic ranging positions, by the scale on cable learn robot travel distance and
Carry out rough location.Referring to Fig. 3, robot includes vehicle body 1, the walking assisting vehicle body 1 to advance
Mechanism, the elevating mechanism 3 being arranged on vehicle body 1 upper end, the The Cloud Terrace picture pick-up device 4 being supported on elevating mechanism 3,
The sensor box 5 being arranged on vehicle body 1 and the illuminating lamp 6 being arranged on vehicle body 1 front end.Illuminating lamp 6 court
The dead ahead advanced to robot is arranged, and illuminating lamp 6 is the adjustable spotlight of brightness, and its brightness is high, is used for
The illumination of whole cable duct environment.
Vehicle body 1 is an independent module, except facilitate robot miscellaneous part installation and fixing in addition to, in it
Place the electronic devices and components such as driver, voltage transformation module, slave computer control chip.Fuselage 1 upper end is additionally provided with
It is easy to robot puts into or hangs out cable duct suspension ring 8.Fuselage 1 is additionally provided with aviation socket 7, and robot is by boat
Dummy receptacle 7 coordinates with cable, thus is connected with control chamber.Big up and small down trapezoidal in the side of vehicle body 1,
The greatest length of robot be about 700 millimeters, Breadth Maximum be about 260 millimeters, maximum height be about 280 millimeters.
The walking mechanism of robot includes two set crawler type walking mechanisms, two set crawler type walking mechanism positions respectively
On the left of vehicle body and right side being driven by each self-corresponding movable motor (not shown) is independent, and wherein one
The crawler type walking mechanism of side is front-wheel drive, and opposite side is rear wheel drive.Often set crawler type walking mechanism its
Including 21, driving wheel of a crawler belt 22, directive wheel 23, two carrier wheels 24, multiple thrust wheels
25 and an Athey wheel support/Athey wheel.Driving wheel 22 and directive wheel 23 are arranged on the both upper ends thereof of vehicle body 1,
Carrier wheel 24 is arranged between driving wheel 22 and directive wheel 23, and thrust wheel 25 is arranged on vehicle body lower end, with carrying
Element on vehicle body 1 and vehicle body 1.In the present embodiment, thrust wheel 25 is four, specifically can be according to length of wagon
And robot weight designs the quantity of thrust wheel 25.Driving wheel 22, directive wheel 23, carrier wheel 24 and
Roller 25 is fixed independently on vehicle body 1 by support respectively, crawler belt 21 be enclosed within driving wheel 22, directive wheel 23,
On carrier wheel 24 and thrust wheel 25.Movable motor (not shown) is direct and driving wheel by axle and flat key
22 connect, and save the structure such as gear and worm and gear, simplify robot architecture, save robot and take up room
And transmission efficiency can be improved.In the present embodiment, the driving wheel 22 of the crawler type walking mechanism on the left of vehicle body is positioned at
The rear of robot direct of travel, directive wheel 23 is positioned at the front of robot direct of travel；Shoe on the right side of vehicle body
The driving wheel 22 of belt walking mechanism is positioned at the front of robot direct of travel, and directive wheel 23 is positioned at machine People's Bank of China
Enter the rear in direction.Driving wheel 22 and this design of directive wheel 23, machine due on the left of vehicle body and right side
People can not only complete the action advanced, retreat, and all can realize obstacle detouring when moving forward and backward and advance.
When the crawler belt gait of march difference of both sides, moreover it is possible to realize the differential steering of robot.
Elevating mechanism 3 is parallel-crank mechanism, and it is connected to vehicle body 1 upper surface, and include lifting support 31,
Two connecting rods 32 and The Cloud Terrace bearing 33.Elevating mechanism 3 drives its connecting rod 32 to rotate by steering wheel, and The Cloud Terrace shooting sets
Standby 4 are arranged on The Cloud Terrace bearing 33, so that the The Cloud Terrace picture pick-up device 4 being fixed on connecting rod 32 realizes lifting,
And The Cloud Terrace picture pick-up device 4 can be made to move in parallel all the time in lifting process.The connecting rod 32 of elevating mechanism 3
Two ends are movably connected with lifting support 31 and The Cloud Terrace bearing 33 by connecting shaft 34.Wherein, connecting rod 32 with
Two connecting shafts 34 that lifting support 31 is connected are arranged in tandem, and front axle is lower than rear shaft position；Connecting rod 32
Two connecting shafts 34 being connected with The Cloud Terrace bearing 33 are arranged the most in tandem, and front axle is lower than rear shaft position.Even
This design of spindle 34 so that the frame forward downward of elevating mechanism 3 tilts, and can make elevating mechanism
3 are reduced to lower position, improve the detection range of robot, it is also possible to reduce the overall dimension of robot.
That connecting rod 32 is broken line type and be oppositely arranged, the interior angle of connecting rod 32 is obtuse angle such that it is able to a certain extent
Avoid producing between two connecting rods 32 interfering, ensure that elevating mechanism 3 can be reduced to lower position further.
Referring to Fig. 4, elevating mechanism 3 can rotate in the range of side and fuselage 1 front on the fuselage 1,
Thus translation in driving the position range in The Cloud Terrace picture pick-up device 4 side on the fuselage 1 and fuselage 1 front.Specifically
Ground, elevating mechanism 3 mainly has four kinds of operating modes.1. operating mode rises to the situation of peak for elevating mechanism 3, right
Top cable needs when detecting in detail to use；2. operating mode rises to the shape of higher position for elevating mechanism 3
Condition, robot most of time is in this situation；3. operating mode is in situation during level for elevating mechanism 3, main
If using during obstacle detouring；The situation that 4. operating mode reduces as far as possible for elevating mechanism 3, when there being cable horizontal in cable duct
Need during in passageway in the air to use.
Referring to Fig. 5, The Cloud Terrace picture pick-up device 4 is connected on the The Cloud Terrace bearing 33 of elevating mechanism 3, and it has
Two degree of freedom in horizontal direction and vertical direction.The Cloud Terrace picture pick-up device 4 includes rotating mechanism 41, pitching machine
Structure 42 and image acquiring device 43.Rotating mechanism 41 is arranged on The Cloud Terrace bearing 33, and luffing mechanism 42 is arranged
On rotating mechanism 41, and image acquiring device 43 is arranged on luffing mechanism 42.Rotating mechanism 41 it include
Electric rotating machine 401, electric rotating machine 401 is flat rotating stepper motor, drives luffing mechanism 42 to rotate, from
And make image acquiring device 43 follow luffing mechanism 42 and rotate in the horizontal direction, the operating angle of rotating mechanism 41
Degree is 0 °～360 °.Luffing mechanism 42 includes that pitching motor 402, Timing Belt 403, synchronous pulley (are not marked
Number)；Pitching motor 402 is steering wheel, by synchronous pulley, Timing Belt 403, photographic head connecting shaft band cardon
As acquisition device 43 in the vertical direction carries out elevating movement, it is achieved the pitching function of image acquiring device 43,
The operating angle of luffing mechanism 42 is-15 °～90 °.Image acquiring device 43 includes photographic head 404 and illumination
Lamp 405.Photographic head 404 has optical zoom function, illuminating lamp 405 be arranged on photographic head 404 side and with
The equidirectional arrangement of photographic head 404, illuminating lamp 405 is the adjustable flood light of brightness, and brightness is medium, for photographic head
The local illumination that appropriateness is provided of 404 acquired image information, in order to obtain the image of optimum efficiency.Concrete real
Shi Shi, this image acquiring device 43 may be used without carrying the infrared camera of infrared lamp or using infrared thermal imagery
Instrument, equally reaches to obtain the image information in cable duct and the 2 D code information on cable.
Visible, elevating mechanism 3 and The Cloud Terrace picture pick-up device 4 provide oneself of three directions for image acquiring device 43
By spending, robot is more image informations of each layer cable in can obtaining cable duct, realize bigger to cable duct
The inspection of scope.Robot illuminating lamp 405 on the illuminating lamp 6 and image acquiring device 43 in vehicle body 1 front
There is provided in the case of ambient lighting for cable duct, by can the photographic head 404 of optical zoom get high-quality
Cable duct image information.
Temperature Humidity Sensor, various gas sensor, obliquity sensor and ultrasound wave are set in sensor box 5
Sensor.Wherein, Temperature Humidity Sensor and gas sensor are used for detecting the environmental information in cable duct, than
As in the humiture in cable duct, cable duct with or without fuel gas and harmful gas and fuel gas and have
The information such as the content of evil gas.Obliquity sensor, for the inclination conditions of measuring robots, prevents robot more
Topple during barrier.Ultrasonic sensor is used for detecting whether cable exists shelf depreciation, the most hidden to existing
The cable suffered from repairs or replaces.
Referring to Fig. 2, control chamber includes Switching Power Supply, industrial control computer mainboard, PC control chip, hard
Dish, video encoder and input-output apparatus.Input equipment includes touch pad, keyboard, knob, rocking bar.
Outut device includes display screen and display lamp.
Operationally, control chamber, cable, robot, power supply are connected, start robot system,
By suspension ring 8, from cable shaft, robot being put into cable duct, the various kinds of sensors of robot starts to detect cable duct
Environmental information, photographic head 404 starts to detect cable duct image information simultaneously, and passes each data back control chamber
After in display screen show.When robot finds to there is unusual condition, corresponding display lamp can flash warning.
By the operation of control chamber, robot starts to advance, when staff is by the cable duct image information obtained
Find cable existing problems or have Quick Response Code local time, by The Cloud Terrace elevating mechanism 3 adjust The Cloud Terrace shooting set
The height of standby 4, and regulate rotation and the luffing angle of photographic head 404, allows the robot to get effect
Good image.When having cable on cable duct ground, robot is being lowered the center of gravity by regulation elevating mechanism 3
After allow the robot to cross these cables；When cable duct has cable horizontal passageway in the air time, by cloud
Platform picture pick-up device 4 is adjusted to its lowest position, is preferably minimized by robot whole height, and robot just can be relatively
For passing through smoothly.After one section of cable duct has detected, robot is taken out from current cable shaft, cable
Then regained from previous cable shaft by cable drum.
In the present invention, using and paste two-dimensional bar code on cable, robot obtains cable duct by photographic head 404
While image information, read the bar code on cable, distinguished by the data base on backstage and distinguish cable
Each cable inside ditch, it is simple to realize the management to cable, the production firm of such as cable, construction
Personnel, date of coming into operation, history are undermined repair etc., improve management quality and efficiency.
In the present invention, control chamber is connected with robot by cable, is used for robot offer electric power right
Robot is controlled.For wireless telecommunications, the robot system of the present invention uses wire communication side
Formula has a plurality of advantages: the high communication quality, good stability, by while cable and robot communication, also
Can power to robot, the robot hypodynamic problem of electricity can be avoided, and the volume of robot can be reduced；
In the cable duct of bad environments, it is impossible to obtain the positional information of robot, can by the scale on cable
With rough, robot is positioned.
In robot, the voltage needed for each electricity consumption device is different, and wherein the motor of walking mechanism needs 24V to power,
Image acquiring device 43 wants 12V to power, and illuminating lamp 6 and the steering wheel of elevating mechanism on vehicle body 1 need 7.4V to supply
Electricity, electronic devices and components and illuminating lamp 405 need 5V to power, and therefore use 24V to power to robot, then pass through
Each electricity consumption device is supplied after voltage conversion.When using wire communication and power supply, voltage drop can be there is, therefore
It is 28V or 32V from control chamber to the voltage of the actual offer of robot.
It is usually present hydrops bottom cable duct, and the electronic devices and components in the fuselage 1 of robot are the core of robot
Heart part, it is desirable to have good waterproof sealing performance.Robot employing various ways combination sealing: machine
People's Model For The Bush-axle Type Parts and Plate-shaped parts use sealing ring to seal, and box parts uses sealant sealing；Institute
Bearing is had all to use double-surface contact type rubber seal bearing；The motor of walking mechanism, The Cloud Terrace picture pick-up device 4, liter
Fall steering wheel, illuminating lamp 6 are connected by the gland head of circle with o with vehicle body 1, sensor box 5, cable and car
Body 1 is connected by aviation socket.
Generally speaking, pipeline irrigation canals and ditches measuring robots that embodiments of the invention are provided and system thereof, not only
Simple in construction, multiple functional, easy to operate, and can be suitably used for the cable duct that situation is complicated.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all at this
Any amendment, equivalent and the improvement etc. made within bright spirit and principle, should be included in the present invention
Protection domain within.
Claims (9)
1. a pipeline irrigation canals and ditches measuring robots, including vehicle body, assists the walking mechanism of vehicle body traveling, elevator
Structure and the The Cloud Terrace picture pick-up device being supported on elevating mechanism, it is characterised in that: the side of described vehicle body
Big up and small down is trapezoidal；Described walking mechanism is to be positioned at two set crawler type walking mechanisms of vehicle body both sides；
Often set crawler type walking mechanism includes a driving wheel, directive wheel, two carrier wheels, Duo Gezhi
Roller and the crawler belt being enclosed within driving wheel, directive wheel, carrier wheel and thrust wheel；Described driving
Wheel and directive wheel are arranged on the both upper ends thereof of vehicle body, described carrier wheel be arranged on driving wheel and directive wheel it
Between, described thrust wheel is arranged on vehicle body lower end with the element on bearing vehicle body and vehicle body；Described elevator
Structure include being connected to vehicle body upper surface lifting support, support The Cloud Terrace picture pick-up device The Cloud Terrace bearing and
It is movably connected with two connecting rods of lifting support and The Cloud Terrace bearing；Described two connecting rods are connected with lifting support
Two connecting shafts are arranged in tandem, and front axle is lower than rear shaft position；Described two connecting rods and The Cloud Terrace bearing
Two connecting shafts being connected are arranged the most in tandem, and front axle is lower than rear shaft position, and described two connecting rods are
The connecting rod of the broken line type being oppositely arranged, and the interior angle of each connecting rod is obtuse angle, thus avoid two connecting rods it
Between produce interfere.
Pipeline irrigation canals and ditches measuring robots the most according to claim 1, it is characterised in that: a wherein crawler type
The driving wheel of walking mechanism is positioned at the rear of robot direct of travel, and directive wheel is positioned at traveling side of robot
To front；The driving wheel of another crawler type walking mechanism is positioned at the front of robot direct of travel, leads
The rear of robot direct of travel it is positioned to wheel.
Pipeline irrigation canals and ditches measuring robots the most according to claim 1, it is characterised in that: two set crawler type row
Walk mechanism to lay respectively on the left of vehicle body and right side independently being driven by each self-corresponding movable motor.
Pipeline irrigation canals and ditches measuring robots the most according to claim 1, it is characterised in that: described vehicle body is only
Vertical module, it arranges illuminating lamp and suspension ring；Described illuminating lamp is arranged towards robot dead ahead；
Described driving wheel, directive wheel, carrier wheel and thrust wheel are fixed independently to vehicle body by support respectively
On.
Pipeline irrigation canals and ditches measuring robots the most according to claim 1, it is characterised in that: described elevating mechanism
Can rotate in the range of body upper and fuselage front, thus drive The Cloud Terrace picture pick-up device at fuselage
Translation in the position range in top and fuselage front.
Pipeline irrigation canals and ditches measuring robots the most according to claim 1, it is characterised in that: described The Cloud Terrace images
Equipment includes rotating mechanism, luffing mechanism and image acquiring device；Described rotating mechanism includes rotating
Motor, drives luffing mechanism to rotate, so that image acquiring device follows luffing mechanism in the horizontal direction
Upper rotation；Described luffing mechanism includes that pitching motor, Timing Belt and synchronous pulley, band motion video obtain
Fetching is put in the vertical direction and is carried out elevating movement；Cable duct is obtained during the work of described image acquiring device
Interior image information and the two-dimensional barcode information being attached on cable.
Pipeline irrigation canals and ditches measuring robots the most according to claim 1, it is characterised in that: described pipeline irrigation canals and ditches
The greatest length of measuring robots is 700 millimeters, Breadth Maximum is 260 millimeters, maximum height is 280
Millimeter.
8. a pipeline irrigation canals and ditches measuring robots system, including the pipeline irrigation canals and ditches as described in any one of claim 1-7
Measuring robots, the control chamber controlling pipeline irrigation canals and ditches measuring robots and connection pipeline irrigation canals and ditches testing machine
Device people and the cable of control chamber.
Pipeline irrigation canals and ditches measuring robots system the most according to claim 8, it is characterised in that: described control
Case includes Switching Power Supply, industrial control computer mainboard, PC control chip, hard disk, video encoder and defeated
Enter/outut device；Described input equipment includes touch pad, keyboard, knob, rocking bar；Described output sets
For including display screen and display lamp.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410315393.5A CN104192216B (en) | 2014-07-03 | 2014-07-03 | Pipeline ditch detecting robot and system thereof |
| PCT/CN2015/070947 WO2016000443A1 (en) | 2014-07-03 | 2015-01-17 | Pipeline channel detection robot and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410315393.5A CN104192216B (en) | 2014-07-03 | 2014-07-03 | Pipeline ditch detecting robot and system thereof |
Publications (2)
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| CN204077835U (en) * | 2014-07-03 | 2015-01-07 | 深圳市博铭维智能科技有限公司 | Pipeline irrigation canals and ditches measuring robots and system thereof |
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2014
- 2014-07-03 CN CN201410315393.5A patent/CN104192216B/en active Active
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| WO2016000443A1 (en) | 2016-01-07 |
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Denomination of invention: A pipeline and ditch detection robot and its system Effective date of registration: 20220124 Granted publication date: 20170111 Pledgee: Shenzhen small and medium sized small loan Co.,Ltd. Pledgor: Shenzhen bomingwei Technology Co.,Ltd. Registration number: Y2022440020013 |