CN107218474A - A kind of detecting robot of pipe and its detection method - Google Patents
A kind of detecting robot of pipe and its detection method Download PDFInfo
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- CN107218474A CN107218474A CN201710440966.0A CN201710440966A CN107218474A CN 107218474 A CN107218474 A CN 107218474A CN 201710440966 A CN201710440966 A CN 201710440966A CN 107218474 A CN107218474 A CN 107218474A
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- robot
- pipeline
- platform
- support
- wheel
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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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 invention discloses a kind of detecting robot of pipe machine detection method, robot includes moving assembly, lifting assembly, horizontal rotation component, tilting component, longitudinal distance measuring sensor, horizontal distance measuring sensor and camera.The detecting robot of pipe can be moved in pipeline, shoot the image in pipeline, and robot is when pipeline is moved, and energy automatic turning in pipeline image shoot process, can adjust the height of camera, left and right angle and luffing angle.A kind of detecting robot of pipe of the present invention is easy to detection of the people to defect of pipeline, reduce the manual operation amount of inner-walls of duct detection, improve the efficiency of defect of pipeline, the caliber of wide variation is can adapt to, the deficiency that driving wheel present in prior art is skidded or shooting grease head highness can not be adjusted is overcome.
Description
Technical field
The present invention relates to the detecting robot of pipe of a kind of detecting robot of pipe, more particularly to view-based access control model.
Background technology
There is various difference in functionality, various sizes of pipeline in daily life, as petroleum pipeline, gas piping,
Lower communication cable pipeline etc..These pipelines are internal without defect to ensure using preceding needing to be detected.Also need in use
Often inner-walls of duct is checked, so as to find the situation and defect of inner-walls of duct in time, be easy to tie up pipeline
Shield.
For the detection robot of different calibers, robot employs telescopic or slide block type mechanism, and robot is in pipe
Usually occur the phenomenon of driving wheel skidding in road moving process, it is impossible to adapt to the caliber of wide variation, or camera bat
Taking the photograph height can not be adjusted, and have impact on the effect of image taking.
The content of the invention
It is an object of the invention to：One inner-walls of duct defects detection machine people is provided, is shot and managed by pipe robot
The defect situation of the graphical analysis pipeline of road inwall.
To solve the above problems, the technical solution adopted by the present invention is：
A kind of detecting robot of pipe, including moving assembly, lifting assembly, horizontal rotation component, tilting component, camera
And control unit；Wherein,
The moving assembly is arranged at the bottom of robot, for being moved in pipeline；
The horizontal rotation component is arranged on above moving assembly, and is connected by lifting assembly with moving assembly；
Fixing camera on the tilting component, tilting component is connected on the horizontal rotation component；
The moving assembly, lifting assembly, horizontal rotation component, tilting component, camera control to connect with control unit
Connect；
The moving assembly includes：First support platform, deflecting roller and the adjustable drive wheel assemblies of support angle, its
In, one end of first support platform is fixedly connected with deflecting roller, and the other end connects the adjustable drive wheel group of support angle
Part；
The adjustable drive wheel assemblies of support angle include：It is fixed on two screw rods of the first support platform end；
Driving wheel and actuation are connected on wheel carrier, wheel carrier, the wheel carrier is rotatably socketed on screw rod, and is led to
Cross and interfixed between nut and the first support platform；
Also include range cells, range cells are arranged on the fuselage of robot to be connected with control unit signal, to sentence
Whether whether disconnected robot is moved at pipeline turning and in the centre position of pipeline.
The lifting assembly includes：First support arm, the second support arm and lifting steering wheel, wherein, the lifting steering wheel
One end be fixed on the first support arm lower end, other end is fixed on the upper end of the second support arm, the lower end of the first support arm with
Moving assembly is connected through the hinge, and the upper end of the second support arm is connected by hinge with horizontal rotation component.
The horizontal rotation component includes：Second support platform, pivoting support, rotation platform and the first rotation steering wheel；
Wherein, the first rotation steering wheel is arranged in the second support platform, is connected by transmission mechanism with rotation platform, rotation platform is installed
On revolving support, revolving support is arranged in the second support platform.
The tilting component includes the second rotation steering wheel, pitching seat, pitching platform and installing plate, wherein, rotation platform
Upper installation pitching seat, pitching seat tool has arc-shaped concave, and pitching mesa base has the arc being engaged with the arc-shaped concave convex
Face, pitching platform is provided with axis hole, and the second rotation steering wheel is arranged on rotation platform by installing plate, and second rotates the defeated of steering wheel
Shaft is connected with the shaft hole matching on the pitching platform.
The range cells include installed in one of the second support platform front end middle position longitudinal distance measuring sensor,
And be symmetrically arranged on two at the side position of the second support platform two horizontal distance measuring sensors, longitudinal distance measuring sensor and
Horizontal distance measuring sensor is connected with described control unit signal.
The transmission mechanism includes：Big belt wheel, small pulley and timing belt, the output shaft of the first rotation steering wheel pass through second
It is connected after support platform with small pulley, timing belt is installed between small pulley and big belt wheel, rotation platform is provided with vertical pivot, and vertical pivot is passed through
It is connected after second support platform with the big belt wheel.
4 installation bases are installed on the upper surface of the first support platform, the first support arm for installing lifting assembly,
The leading portion centre position of second support platform is threaded hole, for installing deflecting roller；The tail end processing of first support platform
Two screw rods.
The invention also discloses a kind of method for detecting pipeline based on described detecting robot of pipe, for different-diameter
Pipeline, by adjusting setting angle and deflecting roller peace relative to first support platform of the wheel carrier relative to the first support platform
Dress height, makes deflecting roller and two driving wheels fully be contacted with pipeline；
Horizontal distance measuring sensor is used for first distance of the robot measurement apart from pipeline left and right sides wall, and by the first distance
Signal is sent in control unit, control unit and is previously provided with first threshold, and the first distance is compared with first threshold and sentenced
Whether disconnected robot is in the centre position of pipeline, if judging, robot is in the centre position of pipeline, control unit control machine
Device people moves linearly, and is specifically：Control unit control actuation drives two driving wheels to be rotated with identical rotating speed, pipeline
Detect robot rectilinear movement；
Longitudinal distance measuring sensor is used for second distance of the robot measurement apart from above tube wall, and second distance signal is sent out
Give in control unit, control unit and be previously provided with Second Threshold, second distance and Second Threshold are compared judgement machine
Whether people is moved at pipeline turning, when judging that robot is at pipeline turning, and control unit control actuation is made
Go out corresponding turning, be specifically：When left side drive wheel rotating speed is higher than right side drive wheel, detecting robot of pipe bends to right；
When right side drive wheel rotating speed is higher than left side drive wheel, detecting robot of pipe is turned to the left.
The beneficial effects of the invention are as follows：
A kind of detecting robot of pipe of the present invention is easy to detection of the people to defect of pipeline, reduces inner-walls of duct detection
Manual operation amount, improves the efficiency of defect of pipeline.It is particularly advantageous in that：
Firstth, the detecting robot of pipe can change the height of picture shooting, and left and right angle, luffing angle are preferably right
The comprehensive detection of inner-walls of duct；
Secondth, by changing the setting height(from bottom) of deflecting roller and the setting angle of driving wheel, deflecting roller and driving wheel can be made
Fully contacted with pipeline, it is to avoid the generation of moving process skidding, while make the detecting robot of pipe can be suitably used for not
With the pipe detection of diameter, the application of detecting robot of pipe is expanded；
3rd, the fore-and-aft distance sensor and lateral separation sensor installed, can perceive robot relative in pipeline
The position of wall, realizes automatic turning and orientation adjustment.
Brief description of the drawings
Fig. 1 is the overall structure diagram that inventive pipeline detects robot；
Fig. 2 is Fig. 1 left view；
Fig. 3 is Fig. 1 top view (eliminating camera)；
Fig. 4 is the structural representation of moving assembly；
Fig. 5 is Fig. 4 right view；
Fig. 6 is the first support platform structural representation；
Fig. 7 is Fig. 6 top views；
Fig. 8 moving assemblies are placed on the structural representation in small pipeline；
Fig. 9 moving assemblies are placed on the structural representation in big pipeline；
Figure 10 is the structural representation of lifting assembly；
Figure 11 is Figure 10 left view；
Figure 12 is the structural representation for horizontally rotating component；
Figure 13 is the structural representation of tilting component；
Figure 14 is Figure 13 A-A views；
Figure 15 is Figure 13 top view；
Wherein：1. deflecting roller, 2. first support platforms, 3. first support arms, 4. lifting steering wheels, 5. second support arms, 6.
Second support platform, 7. longitudinal distance measuring sensors, 8. pivoting supports, 9. rotation platforms, 10. second rotation steering wheels, 11. shootings
Head, 12. big belt wheels, 13. timing belts, 14. horizontal distance measuring sensors, 15. first rotation steering wheels, 16. small pulleys, 17. wheel carriers,
18. driving wheel, 19. pitching seat, 20. pitching platforms, 21. installing plates, 22. actuations, 23. pipelines.
Embodiment
Below in conjunction with the accompanying drawings, specific embodiments of the present invention are described in detail.
As shown in Figure 1 to Figure 3, a kind of detecting robot of pipe, including：Moving assembly, lifting assembly, horizontal rotation group
Part, tilting component, longitudinal distance measuring sensor, horizontal distance measuring sensor and camera.
The detecting robot of pipe can be moved in pipeline, shoot pipeline in image, robot when pipeline is moved,
Energy automatic turning, in pipeline image shoot process, can adjust the height of camera, left and right angle and luffing angle.
As shown in Fig. 4 to Fig. 5, the moving assembly includes deflecting roller 1, the first support platform 2, wheel carrier 17, driving wheel 18
With actuation 22.Moving assembly is responsible for robot and moved in pipeline.
As shown in Figures 6 and 7,4 installation bases are installed on the upper surface of the first support platform 2, for installing lifting group
First support arm 3 of part, the leading portion centre position of the first support platform 2 is threaded hole, for installing deflecting roller 1, first
The tail end of support platform 2 is machined with two horizontal mounting bars, for installing wheel carrier 17.
As shown in Figures 4 to 7, deflecting roller 1 is arranged in the first support platform 2 by thread mechanism, and wheel carrier 17 is arranged on
On the horizontal mounting bar of the tail end of platform 2, wheel carrier 17 is pressed in the first support platform 2 by nut (omitted in figure and do not have picture),
Ensure that wheel carrier 17 will not be rotated around the horizontal mounting bar of the tail end of the first support platform 2.
Actuation 22 is arranged on wheel carrier 17, and driving wheel 18 is arranged on the axle of actuation 22, and driving wheel
18 are located between the U-shaped groove of wheel carrier 17.
Detecting robot of pipe has a deflecting roller 1, and two driving wheels 18, when two rotating speeds of driving wheel 18 are identical, are managed
The rectilinear movement of road detection robot；When left side drive wheel rotating speed is higher than right side drive wheel, detecting robot of pipe bends to right；
When right side drive wheel rotating speed is higher than left side drive wheel, detecting robot of pipe is turned to the left.
As shown in FIG. 8 and 9, for the pipeline 23 of different-diameter, by adjusting wheel carrier 17 relative to the first support platform 2
Setting angle and deflecting roller 1 can make deflecting roller 1 and driving wheel 18 and pipeline relative to the setting height(from bottom) of the first support platform 2
Fully contact, it is to avoid the generation of moving process skidding, while make the detecting robot of pipe can be suitably used for different-diameter
Pipe detection, expand the application of detecting robot of pipe.
As shown in Figure 10 to Figure 11, the lifting assembly, including the first support arm 3, lifting steering wheel 4, the second support arm 5,
With the second support platform 6.One end of the lifting steering wheel 4 is fixed on the lower end of the second support arm 5, and other end is fixed on first
Formd " dynamic hinge connection " between the upper end of brace 3, such support arm 5 of first support arm 3 and second.First support
The lower end of arm 3 and the first support platform of moving assembly are connected through the hinge, and the upper end of the second support arm 5 passes through hinge and second
Support platform 6 is connected.The swing of the lifting steering wheel 4 causes the first support arm 3 and the second support arm 5 to rotate against,
So as to drive the second support platform to move up and down, lifting is realized.
As shown in figure 12, it is described horizontal rotation component include pivoting support 8, rotation platform 9, big belt wheel 12, timing belt 13,
Rotate steering wheel 15 and small pulley 16.Described rotation steering wheel 15 is arranged on the top of the second support platform 6 of lifting assembly rearward
Centre position, the rotation output shaft of steering wheel 15 is connected through the second support platform 6 with small pulley 16, and the revolving support 8 is pacified
Mounted in the forward centre position in the top of the second support platform 6, rotation platform 9 is arranged on revolving support 8, the centre of rotation platform 9
There is a vertical pivot position, and vertical pivot passes through and big belt wheel 12 is provided with the second support platform 6, the vertical pivot of rotation platform 9, big belt wheel 12 and small
Timing belt 16 is installed between belt wheel 16.The rotation rotation of steering wheel 15 drives small pulley 13 to rotate, so that drive big belt wheel 9 to rotate,
So that turntable 9 rotates.
As shown in FIG. 13 to 15, the tilting component, including second rotation steering wheel 10, pitching seat 19, pitching platform 20,
Installing plate 21.The second described rotation steering wheel 10 is arranged on by installing plate 21 on the rotation platform 9 of horizontal rotation component, described
Pitching seat 19 install on rotation platform 9, the semicircle orifice interference fits of the semicolumn and pitching seat 19 of described pitching platform 20,
The semicolumn of pitching platform 20 can be rotated in the semicircle orifice of pitching seat 19, and the center of pitching platform 20 is machined with semicolumn
Hole, the axle and the semicylindrical opening of the center of pitching platform 20 of the second rotation steering wheel 10 are interference fitted, such second rotation rudder
The swing of machine 10 just drives the swing of pitching platform 20.
Camera 11 is fixedly mounted on the upper surface of pitching platform 20.
As shown in figure 3, the front end centre position of the second support platform 6 is provided with a longitudinal distance measuring sensor 7, second
The side position of centre two for supportting platform 6 respectively installs a horizontal distance measuring sensor 14, and longitudinal distance measuring sensor 7 is used for robot measurement
Apart from the distance of above tube wall, to judge whether robot is moved at pipeline turning, horizontal distance measuring sensor 14 is used to survey
Robot is measured apart from the distance of pipeline left and right sides wall, judges robot whether in the centre position of pipeline.
A kind of method for detecting pipeline based on described detecting robot of pipe, be specifically：
For the pipeline of different-diameter, by adjusting setting angle and deflecting roller phase of the wheel carrier relative to the first support platform
For the setting height(from bottom) of the first support platform, deflecting roller and two driving wheels are made fully to be contacted with pipeline；
Horizontal distance measuring sensor is used for first distance of the robot measurement apart from pipeline left and right sides wall, and by the first distance
Signal is sent in control unit, control unit and is previously provided with first threshold, and the first distance is compared with first threshold and sentenced
Whether disconnected robot is in the centre position of pipeline, if judging, robot is in the centre position of pipeline, control unit control machine
Device people moves linearly, and is specifically：Control unit control actuation drives two driving wheels to be rotated with identical rotating speed, pipeline
Detect robot rectilinear movement；
Longitudinal distance measuring sensor is used for second distance of the robot measurement apart from above tube wall, and second distance signal is sent out
Give in control unit, control unit and be previously provided with Second Threshold, second distance and Second Threshold are compared judgement machine
Whether people is moved at pipeline turning, when judging that robot is at pipeline turning, and control unit control actuation is made
Go out corresponding turning, be specifically：When left side drive wheel rotating speed is higher than right side drive wheel, detecting robot of pipe bends to right；
When right side drive wheel rotating speed is higher than left side drive wheel, detecting robot of pipe is turned to the left.
Claims (8)
1. a kind of detecting robot of pipe, including moving assembly, lifting assembly, horizontal rotation component, tilting component, camera,
Range cells and control unit；Wherein,
The moving assembly is arranged at the bottom of robot, for being moved in pipeline；
The horizontal rotation component is arranged on above moving assembly, and is connected by lifting assembly with moving assembly；
Fixing camera on the tilting component, tilting component is connected on the horizontal rotation component；
The moving assembly, lifting assembly, horizontal rotation component, tilting component, camera are connected with control unit control；
Characterized in that, the moving assembly includes：First support platform, deflecting roller and the adjustable drive wheel group of support angle
Part, wherein, one end of first support platform is fixedly connected with deflecting roller, and the other end connects the adjustable driving of support angle
Wheel assembly；
The adjustable drive wheel assemblies of support angle include：It is fixed on two screw rods of the first support platform end；
Wheel body and actuation are connected on wheel carrier, wheel carrier, the wheel carrier is rotatably socketed on screw rod, and passes through nut
Interfixed between the first support platform；
The range cells are arranged on the fuselage of robot to be connected with control unit signal, to judge whether robot moves
At to pipeline turning and whether in the centre position of pipeline.
2. detecting robot of pipe according to claim 1, it is characterised in that the lifting assembly includes：First support
Arm, the second support arm and lifting steering wheel, wherein, one end of the lifting steering wheel is fixed on the first support arm lower end, and in addition one
End is fixed on the upper end of the second support arm, and lower end and the moving assembly of the first support arm are connected through the hinge, the second support arm
Upper end is connected by hinge with horizontal rotation component.
3. detecting robot of pipe according to claim 1, it is characterised in that the horizontal rotation component includes：Second
Support platform, pivoting support, rotation platform and the first rotation steering wheel；Wherein, the first rotation steering wheel is arranged on the second support and put down
On platform, it is connected by transmission mechanism with rotation platform, rotation platform is arranged on revolving support, revolving support is arranged on second
Support on platform.
4. detecting robot of pipe according to claim 1, it is characterised in that the tilting component includes the second rotation rudder
Machine, pitching seat, pitching platform and installing plate, wherein, pitching seat is installed, pitching seat tool has arc-shaped concave, bowed on rotation platform
Facing upward mesa base has the arc convex being engaged with the arc-shaped concave, and pitching platform is provided with axis hole, the second rotation steering wheel
It is arranged on by installing plate on rotation platform, the output shaft of the second rotation steering wheel connects with the shaft hole matching on the pitching platform
Connect.
5. detecting robot of pipe according to claim 3, it is characterised in that the range cells include being arranged on second
One of support platform front end middle position longitudinal distance measuring sensor and it is symmetrically arranged on the side position of the second support platform two
Two horizontal distance measuring sensors at place, longitudinal distance measuring sensor and transverse direction distance measuring sensor with described control unit signal
Connection.
6. detecting robot of pipe according to claim 3, it is characterised in that the transmission mechanism includes：It is big belt wheel, small
Belt wheel and timing belt, the output shaft of the first rotation steering wheel are connected after passing through the second support platform with small pulley, small pulley and big band
Timing belt is installed, rotation platform is provided with vertical pivot, and vertical pivot is connected after passing through the second support platform with the big belt wheel between wheel.
7. detecting robot of pipe according to claim 1, it is characterised in that installed on the upper surface of the first support platform
There are 4 installation bases, the first support arm for installing lifting assembly, the leading portion centre position of the second support platform is machined with spiral shell
Pit, for installing deflecting roller；The tail end of first support platform processes two screw rods.
8. a kind of method for detecting pipeline of the detecting robot of pipe based on described in claim 1, it is characterised in that for difference
The pipeline of diameter, by adjusting setting angle and deflecting roller of the wheel carrier relative to the first support platform relative to the first support platform
Setting height(from bottom), deflecting roller and two driving wheels is fully contacted with pipeline；
Horizontal distance measuring sensor is used for first distance of the robot measurement apart from pipeline left and right sides wall, and by the first distance signal
It is sent in control unit, control unit and is previously provided with first threshold, the first distance and first threshold is compared judgement machine
Whether device people is in the centre position of pipeline, if judging, robot is in the centre position of pipeline, control unit control machine people
Rectilinear movement, be specifically：Control unit control actuation drives two driving wheels to be rotated with identical rotating speed, pipe detection
Robot moves linearly；
Longitudinal distance measuring sensor is used for second distance of the robot measurement apart from above tube wall, and second distance signal is sent to
Second Threshold is previously provided with control unit, control unit, second distance and Second Threshold are compared and judge that robot is
No to be moved at pipeline turning, when judging that robot is at pipeline turning, control unit control actuation makes phase
The turning answered, be specifically：When left side drive wheel rotating speed is higher than right side drive wheel, detecting robot of pipe bends to right；Work as the right side
When side drive wheel rotating speed is higher than left side drive wheel, detecting robot of pipe is turned to the left.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440966.0A CN107218474B (en) | 2017-06-13 | 2017-06-13 | A kind of detecting robot of pipe and its detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440966.0A CN107218474B (en) | 2017-06-13 | 2017-06-13 | A kind of detecting robot of pipe and its detection method |
Publications (2)
| Publication Number | Publication Date |
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| CN107218474A true CN107218474A (en) | 2017-09-29 |
| CN107218474B CN107218474B (en) | 2019-04-23 |
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ID=59948674
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710440966.0A Expired - Fee Related CN107218474B (en) | 2017-06-13 | 2017-06-13 | A kind of detecting robot of pipe and its detection method |
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Cited By (13)
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| CN108869947A (en) * | 2018-08-23 | 2018-11-23 | 国家电网有限公司 | A kind of cable preheating embedding line expansion robot |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN110243863A (en) * | 2019-07-09 | 2019-09-17 | 苏交科集团股份有限公司 | A kind of the weld defect infrared intelligent detection system and method for Active spurring |
| CN110606138A (en) * | 2019-09-11 | 2019-12-24 | 国营芜湖机械厂 | Airplane air inlet excess article checking image recognition robot and recognition method thereof |
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| CN108869947B (en) * | 2018-08-23 | 2023-08-11 | 国家电网有限公司 | Cable pre-buried pipeline expansion robot |
| CN108869947A (en) * | 2018-08-23 | 2018-11-23 | 国家电网有限公司 | A kind of cable preheating embedding line expansion robot |
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
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