CN106402576B - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
- Publication number
- CN106402576B CN106402576B CN201610825992.0A CN201610825992A CN106402576B CN 106402576 B CN106402576 B CN 106402576B CN 201610825992 A CN201610825992 A CN 201610825992A CN 106402576 B CN106402576 B CN 106402576B
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- Prior art keywords
- main body
- fixed
- wheel shaft
- camera
- detecting robot
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Classifications
-
- 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
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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
The present invention discloses a kind of detecting robot of pipe, is mainly made of main body, driving body, diameter changing mechanism, camera model, detecting robot of pipe is assembled centered on main body；The camera model is fixed on main body left end, for pipeline internal information to be passed to the external world；The bracket base is equipped with magnetic force mechanism, and the connection and dismounting of bracket base and main body are realized by magnetic force；The diameter changing mechanism is fixed on main body right end, leading screw rotation is driven by reducing motor positive and inverse, nut on leading screw drives push rod so that driving body is unfolded outward centered on main body axis until contact tube wall, similarly, meeting pipeline narrow part can inside contract to adapt to the detection of different tube diameters again；The driving body is symmetrically fixed in main body by bracket base, for realizing the forward or backward of detecting robot of pipe；The present invention is dismounted simply by the bracket base that magnetic force is connect with main body, is readily transported, and can be selected suitable component according to different tube diameters and testing requirements, be improved the flexibility used.
Description
Technical field
The present invention relates to pipe testing apparatus field, specially a kind of detecting robot of pipe.
Background technology
Pipeline is to convey dangerous liquid and the maximally efficient mode of gas.With the extension of pipeline service time, pipeline is old
The problem of change, becomes increasingly conspicuous, and pipe safety operation problem is increasingly valued by people.It is counted according to domestic and international pipeline accident
Analysis, early stage and later stage that pipeline puts into operation are the high-incidence seasons of accident, and especially later stage, pipeline is made because of corrosion failure
At perforation leakage accident happen occasionally, pipeline accident occur possibility be with the increase of conduit running time and several increasing
Add, needs to be detected pipeline thus.
With the continuous expansion of micro electro mechanical system (MEMS) technology development and miniature mobile robot application field, develop suitable
For small-bore detecting robot of pipe, into the detection and repair for carrying out pipeline in the pipeline of narrow space, but it is existing
The applicable caliber range of detecting robot of pipe is not wide, and transport, dismounting are inconvenient.
Invention content
For some technological deficiencies existing for above-mentioned detecting robot of pipe, the present invention is intended to provide a kind of caliber range
Extensively, transport, reducing convenient for disassembly and assembly, separable detecting robot of pipe.
The technical solution adopted by the present invention is as follows：
A kind of detecting robot of pipe is mainly made of main body, driving body, diameter changing mechanism and camera model；The master
Body is triangular prism, and the detecting robot of pipe is assembled centered on main body, and the camera model is fixed on main body left end,
For pipeline internal information to be passed to the external world, the driving body is symmetrically fixed in main body by bracket base, for realizing
The forward or backward of detecting robot of pipe, the bracket base are equipped with magnetic force mechanism, and bracket base and master are realized by magnetic force
The connection and dismounting of body；The diameter changing mechanism is fixed on main body right end, and the diameter changing mechanism includes：It is fixed on by studs
Bearing block one, bearing block two in main body, leading screw of the both ends by bearing support on the bearing block one, bearing block two become
Diameter motor, spiral are set in the nut on leading screw, the push rod being fixedly connected with the nut, are connect with push rod and bearing block one
Connecting rod, the small part for connecting with connecting rod and being contacted with driving body, the reducing motor are connect with the leading screw, pass through reducing motor
Positive and negative rotation drives leading screw rotation, the nut on leading screw to drive push rod that driving body is made to be unfolded outward until connecing using main body axis as the center of circle
Touch tube wall or to contract to adapt to the detection of different tube diameters pipeline.
The driving body includes driving body case, crawler belt, driving motor, intermeshing conical gear one, conical gear
Two, gear shaft, synchronous pulley one, synchronous pulley two, preceding Athey wheel, rear Athey wheel, preceding track wheel shaft, rear track wheel shaft, support
Wheel shaft one, support wheel shaft two；The driving body case is connected by the rack rod being fixed thereon with the bracket base；Institute
The middle part that driving motor is fixed on driving body case is stated, fixed conical gear two on the motor shaft of the driving motor is described
Preceding track wheel shaft, rear track wheel shaft, support wheel shaft one, support wheel shaft two, gear shaft pass through the bearing of both sides, bearing (ball) cover respectively
One, bearing (ball) cover two and bolt are fixed in driving body case, fixed preceding Athey wheel and synchronous belt on the preceding track wheel shaft
Wheel two, fixed conical gear one and synchronous pulley one on the gear shaft, it is fixed on track wheel shaft after described after Athey wheel,
The crawler belt is wrapped in driving body shell exterior；The power of driving motor output by conical gear two, conical gear one,
Synchronous pulley one, synchronous pulley two and preceding Athey wheel, rear Athey wheel are transmitted on crawler belt, make detecting robot of pipe advance or after
It moves back.
Tensioner is equipped with after described at track wheel shaft, rear track wheel shaft is connect by bearing with tensioner, the tensioner
It is equipped with knurled nut, the tensioning for making tensioner move left and right realization crawler belt by rotating knurled nut.
The magnetic force mechanism includes magnetic core, soft-magnetic body one, two, knob, end cap, belt, and the end cap passes through double end spiral shell
Column is fixed in main body, and the knob is connect with magnetic core by belt, and the knob is in contact with the end cap and bearing block one,
The soft-magnetic body one, two is symmetricly set on by end cap on magnetic core；When work, turning knob can drive magnetic core to rotate, and pass through
Bracket base is adsorbed in main body by magneticaction.
The magnetic core includes permanent magnet, is fixed at the fixed ring of cylinder, by permanent magnet and fixed ring with set of permanent magnets
Circular boop together and make the fast pulley that permanent magnet and fixed ring rotate together.
The camera model includes camera support, camera and phase machine protective cover, and the camera support is fixed in main body, institute
It states camera to be fixed on camera support, the phase machine protective cover is covered on outside camera and is fixed together with camera support.
The present invention has the following advantages that compared with prior art：
1, by reducing motor drive leading screw rotation drive nut move left and right, drive push rod push connecting rod rotation to
So that driving body is displaced outwardly, driving physical efficiency is made to be tightly attached on inner tubal wall, it is wide that robot is applicable in caliber range；
2, using magnetic force mechanism, magnetic core is driven through belt by turn knob, make magnetic core rotation to make magnetic force occur or
It disappears, magnetic force appears or disappears or bracket base is made to be fixed in main body, or bracket base is made to be detached with main body, convenient for machine
The dismounting and transport of people；
3, bracket base, driving body can be selected, with different cameral module according to different calibers and testing requirements
Main body enhances applicability, the convenience of robot.
Description of the drawings
Fig. 1 is overall structure of the present invention；
Fig. 2 is the driving body internal structure schematic diagram of the present invention；
Fig. 3 is the strainer sectional view of the present invention；
Fig. 4 is the diameter changing mechanism front view of the present invention；
Fig. 5 is the magnetic force mechanism layout drawing of the present invention；
Fig. 6 is the magnetic force mechanism scheme of installation of the present invention；
Fig. 7 is the core structure schematic diagram of the magnetic force mechanism of the present invention.
In figure：1- nuts, 2- leading screws, 3- reducing motors, 4- studs, 5- push rods, 6- connecting rods, 7- rack rods, 8-
Bearing (ball) cover one, 9- drive body case, 10- crawler belts, 11- bracket bases, 12- bearing (ball) covers two, 13- main bodys, the protection of 14- cameras
It covers, 15- screw rods, 16- knurled nut, 17- bearing blocks one, 18- bearing blocks two, Athey wheel before 19-, 20- supports wheel shaft one, 21-
Conical gear one, 22- conical gears two, 23- driving motors, 24- support wheel shaft two, Athey wheel after 25-, track wheel shaft after 26-,
27- synchronous pulleys one, 28- gear shafts, 29- synchronous pulleys two, 30- tensioners, 31- bearings, 32- small parts, 33- nuts, 34-
Camera, 35- soft magnetic bodies one, 36- knobs, 37- end caps, 38- camera supports, 39- magnetic cores, 39a- fast pulleys, 39b- fixed rings,
39c- circular boops, 39d- permanent magnets, 40- belts, 41- soft magnetic bodies two, track wheel shaft before 42-, 43- bolts.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and examples.
Referring to Fig. 1, Fig. 4, Fig. 5 and Fig. 6, a kind of detecting robot of pipe of the embodiment of the present invention, mainly by main body 13, drive
Kinetoplast, diameter changing mechanism and camera model are constituted；Main body 13 be triangular prism, detecting robot of pipe assembled centered on main body 13 and
At camera model is fixed on main body left end, and camera model is made of camera support 38, camera 34, phase machine protective cover 14, and being used for will
Pipeline internal information passes to the external world, and driving body is symmetrically fixed on by bracket base 11 in main body 13, is examined for realizing pipeline
The forward or backward of robot is surveyed, bracket base 11 is equipped with magnetic force mechanism, and magnetic force mechanism is mainly by soft-magnetic body 1, soft magnetism
Body 2 41, magnetic core 39, knob 36, end cap 37 form, and the connection and dismounting of bracket base 11 and main body 13 are realized by magnetic force；Become
Diameter mechanism is fixed on 13 right end of main body, and diameter changing mechanism includes：Be fixed on by studs 4 bearing block 1 in main body 13,
Bearing block 2 18, leading screw 2 of the both ends by bearing support on bearing block 1, bearing block 2 18, reducing motor 3, screw-casing
The nut 1 being located on leading screw 2, the push rod 5 being fixedly connected with nut 1, the connecting rod 6 being connect with push rod 5 and bearing block 1, with company
The small part 32 that bar 6 is connected and contacted with driving body, reducing motor 3 are connect with leading screw 2, are driven by 3 positive and negative rotation of reducing motor
Leading screw 2 rotates, and the nut 1 on leading screw 2 drives push rod 5 that driving body is made to be unfolded outward using main body axis as the center of circle until contact tube wall
Or to contract to adapt to the detection of different tube diameters pipeline.
Referring to Fig. 1 and Fig. 4, reducing motor 3 is connect with leading screw 2, is driven leading screw 2 to rotate by 3 positive and negative rotation of reducing motor, is made
Nut 1 drives push rod 5 that driving body is made to expand outward or to contract.
Referring to Fig. 1, Fig. 2, driving body case 9 is connected by the rack rod 7 being fixed thereon with bracket base 11；Driving
Fixed driving motor 23 in body case 9, preceding track wheel shaft 42, support wheel shaft 1, gear shaft 28, support wheel shaft 2 24 and after
Track wheel shaft 26, fixed conical gear 2 22 on the motor shaft of driving motor 23, preceding track wheel shaft 42, support wheel shaft 1,
Gear shaft 28 and support wheel shaft 2 24 are fixed on driving body case 9 by the bearing of both sides, bearing (ball) cover 1 and bolt 43 respectively
On, fixed preceding Athey wheel 19 and synchronous pulley 2 29 on preceding track wheel shaft 42, fixed conical gear 1 on gear shaft 28,
Synchronous pulley 1, it is fixed on rear track wheel shaft 26 after Athey wheel 25, the power that driving motor 23 exports passes through circular cone respectively
Gear 2 22, conical gear 1, synchronous belt 1, synchronous belt 2 29 and preceding Athey wheel 19, rear Athey wheel 25 are transmitted to crawler belt
On 10, detection robot is made to move forward or back.
Referring to Fig. 3, rear track wheel shaft 26 is connect with bearing 31, and bearing 31 is connected with tensioner 30, and knurled nut 16 is located at
In tensioner 30, tensioner 30 is set to move left and right the tensioning of realization crawler belt and loosen by rotating knurled nut 16.
Referring to Fig. 1, Fig. 2 and Fig. 3, rear track wheel shaft 26 is fixed on outside driving body by bearing (ball) cover 2 12 and bolt 43
In shell 9.
Referring to Fig. 5, the camera support 38 of camera model is fixed in main body 13, and camera 34 is fixed on camera support 38,
Phase machine protective cover 14 covers on 34 outside of camera, and is fixed together with camera support 38.
Referring to Fig. 7, magnetic core 39 includes：Permanent magnet 39d, with the fixed ring 39b of permanent magnet 39d composition cylinder, by permanent magnetism
The circular boop 39c that body 39d and fixed ring 39b are fixed together and the fast pulley for making permanent magnet 39d be rotated together with fixed ring 39b
39a。
Referring to Fig. 6 and Fig. 7, knob 36 coupled with magnetic core 39 by belt 40, knob 36 and end cap 37, one 17 phase of bearing block
Contact, when turning knob 36 makes magnetic core 39 rotate therewith, to make the poles the N poles S and soft magnetic bodies 1 and the soft magnetic bodies of permanent magnet 39d
2 41 is in alignment or vertical, when the poles the N poles S of permanent magnet 39d and soft magnetic bodies 1 and soft magnetic bodies 2 41 become straight line
When main body 13 outside do not show magnetism, bracket base 11 can be removed, when the poles the N poles S of permanent magnet 39d and soft magnetic bodies 35 and soft
When magnet 41 is vertical, body exterior performance is magnetic, under bracket base 11 is undesirable.
Referring to Fig. 1 and Fig. 4, end cap 37, bearing block 1 and bearing block 2 18 are fixed on by studs 4 and nut 33
In main body 13.
Referring to Fig. 4, bearing block 1 is threaded hole with the hole that studs 4 coordinates.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should all cover within the protection domain of claims of the present invention.
Claims (6)
1. a kind of detecting robot of pipe, which is characterized in that it is mainly by main body (13), driving body, diameter changing mechanism and camera mould
Block is constituted；The main body is triangular prism, and the detecting robot of pipe is assembled centered on main body, and the camera model is solid
It is scheduled on main body left end, for pipeline internal information to be passed to the external world, the driving body is symmetrically fixed by bracket base (11)
In main body (13), for realizing the forward or backward of detecting robot of pipe, the bracket base (11) is equipped with magnetic force mechanism,
The connection and dismounting of bracket base (11) and main body (13) are realized by magnetic force, the magnetic force mechanism includes magnetic core (39), soft magnetism
Property body one (35), soft-magnetic body two (41), knob (36), end cap (37), belt (40), the end cap (37) pass through studs
(4) be fixed in main body (13), the knob (36) is connect with magnetic core (39) by belt (40), the knob (36) with it is described
End cap (37) and bearing block one (17) are in contact, and the soft-magnetic body one (35), soft-magnetic body two (41) are symmetricly set on magnetic core
(39) on, when work, turning knob (36) can drive magnetic core (39) to rotate, and be adsorbed on bracket base (11) by magneticaction
In main body (13)；The diameter changing mechanism is fixed on main body (13) right end, and the diameter changing mechanism includes：It is solid by studs (4)
Bearing block one (17), the bearing block two (18) being scheduled in main body (13), both ends by bearing support the bearing block one (17),
Leading screw (2) on bearing block two (18), reducing motor (3), spiral is set in the nut (1) on leading screw (2), with the nut
(1) push rod (5) being fixedly connected, the connecting rod (6) being connect with push rod (5) and bearing block one (17), connect with connecting rod (6) and with drive
The small part (32) of kinetoplast contact, the reducing motor (3) connect with the leading screw (2), are driven by reducing motor (3) positive and negative rotation
Dynamic leading screw (2) rotates, and it is straight that the nut (1) on leading screw (2) drives push rod (5) that driving body is made to be unfolded outward using main body axis as the center of circle
To contact tube wall or to contract to adapt to the detection of different tube diameters pipeline.
2. a kind of detecting robot of pipe according to claim 1, which is characterized in that the driving body includes outside driving body
Shell (9), crawler belt (10), driving motor (23), intermeshing conical gear one (21), conical gear two (22), gear shaft
(28), synchronous pulley one (27), synchronous pulley two (29), preceding Athey wheel (19), rear Athey wheel (25), preceding track wheel shaft (42),
Track wheel shaft (26) afterwards, support wheel shaft one (20), support wheel shaft two (24)；The driving body case (9) is by being fixed thereon
Rack rod (7) and the bracket base (11) be connected；The driving motor (23) is fixed in driving body case (9)
Portion, fixed conical gear two (22) on the motor shaft of the driving motor (23), the preceding track wheel shaft (42), rear Athey wheel
Axis (26), support wheel shaft one (20), support wheel shaft two (24), gear shaft (28) pass through the bearing of both sides, bearing (ball) cover one respectively
(8), bearing (ball) cover two (12) and bolt (43) are fixed in driving body case (9), fixed on the preceding track wheel shaft (42)
Preceding Athey wheel (19) and synchronous pulley two (29), fixed conical gear one (21) and synchronous pulley one on the gear shaft (28)
(27), fixed rear Athey wheel (25) on the rear track wheel shaft (26), the crawler belt (10) are wrapped in driving body case (9) outside
Portion；The power of driving motor (23) output passes through conical gear two (22), conical gear one (21), synchronous pulley one
(27), synchronous pulley two (29) and preceding Athey wheel (19), rear Athey wheel (25) are transmitted on crawler belt (10), make pipe detection machine
People moves forward or back.
3. a kind of detecting robot of pipe according to claim 2, which is characterized in that set at track wheel shaft (26) after described
There are tensioner (30), rear track wheel shaft (26) to be connect with tensioner (30) by bearing (31), the tensioner (30) is equipped with
Knurled nut (16), the tensioning for making tensioner (30) move left and right realization crawler belt (10) by rotating knurled nut (16).
4. a kind of detecting robot of pipe according to claim 1, which is characterized in that the magnetic core (39) includes permanent magnet
(39d), it is fixed on one with the fixed ring (39b) of permanent magnet (39d) composition cylinder, by permanent magnet (39d) and fixed ring (39b)
The circular boop (39c) risen and the fast pulley (39a) for making permanent magnet (39d) and fixed ring (39b) rotate together.
5. a kind of detecting robot of pipe according to claim 1, which is characterized in that the camera model includes camera branch
Frame (38), camera (34), phase machine protective cover (14), the camera support (38) are fixed in main body (13), the camera (34)
It is fixed on camera support (38), the phase machine protective cover (14) covers on outside camera (34) and is fixed on camera support (38)
Together.
6. detecting robot of pipe according to claim 1, which is characterized in that the bearing block one (17) and studs
(4) hole coordinated is threaded hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610825992.0A CN106402576B (en) | 2016-09-18 | 2016-09-18 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610825992.0A CN106402576B (en) | 2016-09-18 | 2016-09-18 | A kind of detecting robot of pipe |
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| Publication Number | Publication Date |
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| CN106402576A CN106402576A (en) | 2017-02-15 |
| CN106402576B true CN106402576B (en) | 2018-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610825992.0A Active CN106402576B (en) | 2016-09-18 | 2016-09-18 | A kind of detecting robot of pipe |
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| CN (1) | CN106402576B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108612957A (en) * | 2018-07-26 | 2018-10-02 | 邱爱玲 | A kind of pipeline detection cleaning robot |
| CN109611640B (en) * | 2018-12-04 | 2022-02-11 | 山东大学 | Pipeline robot |
| CN110056742B (en) * | 2019-03-14 | 2021-03-05 | 山东大学 | Pipeline robot with telescopic walking device and control system thereof |
| CN115095735B (en) * | 2022-07-29 | 2024-05-07 | 福建建利达工程技术有限公司 | Pipeline robot detection device and pipeline fault detection method |
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|---|---|---|---|---|
| CN1544211A (en) * | 2003-11-11 | 2004-11-10 | 东华大学 | Running gear of height-adjustable independent displacement crawler type pipeline robot |
| CN103807566A (en) * | 2012-11-15 | 2014-05-21 | 雷学军 | Multifunctional pipeline sanitation supervision robot |
| CN105465551A (en) * | 2016-01-25 | 2016-04-06 | 武汉大学 | Supporting type pipeline inside detection robot with flexibility self-adapting function |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2711665B1 (en) * | 1993-10-25 | 1995-12-08 | Atochem Elf Sa | PVDF adhesion binder, its application as a barrier material and materials obtained from it. |
| US8800396B2 (en) * | 2011-07-14 | 2014-08-12 | Crts, Inc. | Pipeline internal field joint cleaning, coating, and inspection robot |
| KR101311357B1 (en) * | 2012-02-03 | 2013-09-25 | 한국건설기술연구원 | Internal Exploration Equipment of Pipeline |
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2016
- 2016-09-18 CN CN201610825992.0A patent/CN106402576B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1544211A (en) * | 2003-11-11 | 2004-11-10 | 东华大学 | Running gear of height-adjustable independent displacement crawler type pipeline robot |
| CN103807566A (en) * | 2012-11-15 | 2014-05-21 | 雷学军 | Multifunctional pipeline sanitation supervision robot |
| CN105465551A (en) * | 2016-01-25 | 2016-04-06 | 武汉大学 | Supporting type pipeline inside detection robot with flexibility self-adapting function |
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| CN106402576A (en) | 2017-02-15 |
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Effective date of registration: 20210811 Address after: No.1088 Fanghe Road, Minhang District, Shanghai Patentee after: Shanghai Qiaozhi Technology Co.,Ltd. Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |
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