CN107990083A - A kind of detecting robot of pipe with transfer - Google Patents
A kind of detecting robot of pipe with transfer Download PDFInfo
- Publication number
- CN107990083A CN107990083A CN201610942459.2A CN201610942459A CN107990083A CN 107990083 A CN107990083 A CN 107990083A CN 201610942459 A CN201610942459 A CN 201610942459A CN 107990083 A CN107990083 A CN 107990083A
- Authority
- CN
- China
- Prior art keywords
- fixedly connected
- motion bar
- bottom plate
- gear
- bull stick
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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 invention discloses a kind of detecting robot of pipe with transfer, including bottom plate, the upper surface of the bottom plate is fixedly connected with bearing, the inner surface of the bearing is fixedly connected with bull stick, the surface of the bull stick is fixedly connected with the first motion bar, the surface of first motion bar is fixedly connected with fixed block, and the one side of the fixed block is fixedly connected with round bar, and the round bar is socketed in the through hole that the second motion bar one side opens up.The present invention is by setting bull stick, the first motion bar, the second motion bar, first gear, sliding block and triangle steering wheel, first motion bar rotates, first motion bar drives bull stick rotation, first gear band movable slider on bull stick moves up and down, deflecting roller is driven to be turned to by triangle steering wheel again so that robot solves pipe robot through piping corner by the corner of pipeline, the problem of being difficult to turn to, the detection of pipeline can not be continued to complete.
Description
Technical field
The present invention relates to robotic technology field, is specially a kind of detecting robot of pipe with transfer.
Background technology
Pipeline transportation has many advantages, such as of low cost, carrying capacity is big and transports continuation, in the transport of today's society
In occupation of consequence in system.Pipeline will accumulate in the pipeline dirt, and pipeline in prolonged transportational process
Wall can also be damaged thinning or even partial fracture, these all restrict the development of pipeline transportation.But because pipeline has closure
Feature, and some pipelines are embedded in underground, thinning or even partial fracture can be also damaged and can not send out by accumulating dirt and duct wall in pipeline
It is existing, influence pipeline transportation and have some potential safety problems, this just needs pipe robot to enter inside pipeline, to pipeline inside into
Row checks, but pipeline has corner, when pipe robot is through piping corner, it is difficult to turn to, can not continue
Complete the detection of pipeline.
The content of the invention
(1) technical problem solved
In view of the deficiencies of the prior art, the present invention provides a kind of detecting robot of pipe with transfer, solve
Pipe robot is through piping corner, it is difficult to the problem of turning to, can not continuing to complete the detection of pipeline.
(2) technical solution
To achieve the above object, the present invention provides following technical solution：A kind of pipe detection machine with transfer
People, including bottom plate, the upper surface of the bottom plate are fixedly connected with bearing, and the inner surface of the bearing is fixedly connected with bull stick, institute
The surface for stating bull stick is fixedly connected with the first motion bar, and the surface of first motion bar is fixedly connected with fixed block, described solid
The one side for determining block is fixedly connected with round bar, and the round bar is socketed in the through hole that the second motion bar one side opens up, and described
The one end of two motion bars away from round bar is fixedly connected with roller, and the surface of second motion bar and one end of spring, which are fixed, to be connected
Connect, the other end of the spring is fixedly connected with the surface of the first motion bar.
The surface of the bull stick is socketed with first gear, and the surface of the bottom plate slidably connects sliding block, the sliding block
One side is fixedly connected with organic tooth, and first gear is engaged with machine tooth, and the back side of the sliding block passes through pin and triangle steering wheel
Front flexible connection, the one side of the bottom plate is fixedly connected with fixed plate, and the front of the fixed plate passes through axis pin and three
The back side of angle steering wheel is flexibly connected, and one end of the triangle steering wheel is fixedly connected with deflecting roller, the lower surface of the bottom plate
Motor is fixedly connected with, the output shaft of the motor is fixedly connected with second gear, and the lower surface of the bottom plate is connected with
Drive link, the surface of the drive link are fixedly connected with the 3rd gear, and the second gear is engaged with the 3rd gear, the transmission
The both ends of bar have been fixedly connected with driving wheel, and the upper surface of the bottom plate is fixedly connected with camera.
Preferably, the quantity of the fixed block is two, and two fixed blocks form a hinged seat with round bar.
Preferably, the quantity of the machine tooth is six, and six machine teeth are spaced substantially equidistant the one side in sliding block.
Preferably, the upper surface of the bottom plate is fixedly connected with restraining position ring block, the inside of the spacing ring and the surface of sliding block
It is slidably connected.
Preferably, the quantity of second motion bar is two.
(3) beneficial effect
The present invention provides a kind of detecting robot of pipe with transfer.Possesses following beneficial effect：
(1), the present invention is by setting bull stick, the first motion bar, the second motion bar, first gear, sliding block and triangle to turn to
Disk, the rotation of the first motion bar, the first motion bar drive bull stick to rotate, and the first gear band movable slider on bull stick moves up and down, then
Deflecting roller is driven to be turned to by triangle steering wheel so that robot solves pipe robot by the corner of pipeline
Through piping corner, it is difficult to the problem of turning to, the detection of pipeline can not be continued to complete.
(2), the present invention is by setting fixed block, round bar, the second motion bar and spring so that between two the second motion bars
Distance can change, when caliber becomes it is small when, spring is compressed, and the distance between two second motion bars diminish so that this hair
The bright pipeline that can be used for different tube diameters.
Brief description of the drawings
Fig. 1 is the overlooking structure figure schematic diagram of the present invention；
Fig. 2 is the bottom view of the floor structure diagram of the present invention；
Fig. 3 is the bull stick front view structural representation of the present invention；
Fig. 4 is the fixed block front view structural representation of the present invention.
In figure：1 bottom plate, 2 bearings, 3 bull sticks, 4 first motion bars, 5 fixed blocks, 6 round bars, 7 second motion bars, 8 rollers, 9
Spring, 10 first gears, 11 sliding blocks, 12 machine teeth, 13 triangle steering wheels, 14 fixed plates, 15 deflecting rollers, 16 motors, 17 second teeth
Wheel, 18 drive links, 19 the 3rd gears, 20 driving wheels, 21 cameras, 22 spacing rings.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
As shown in Figs 1-4, the present invention provides a kind of technical solution：A kind of detecting robot of pipe with transfer,
Including bottom plate 1, the upper surface of bottom plate 1 is fixedly connected with bearing 2, and the inner surface of bearing 2 is fixedly connected with bull stick 3, the table of bull stick 3
Face is fixedly connected with the first motion bar 4, and the surface of the first motion bar 4 is fixedly connected with fixed block 5, and the one side of fixed block 5 is consolidated
Surely round bar 6 is connected with, the quantity of fixed block 5 is two, and two fixed blocks 5 form a hinged seat with round bar 6, pass through setting
Fixed block 5, round bar 6 and spring 9 so that the distance between two second motion bars 7 can change so that the present invention can be used for
The pipeline of different tube diameters, round bar 6 are socketed in the through hole that 7 one side of the second motion bar opens up, and the quantity of the second motion bar 7 is two
A, the inner wall of two rollers 8 and pipeline is slidably connected, and when caliber change is small, spring 9 is compressed, between two the second motion bars 7
Distance diminish so that the present invention can be used for the pipelines of different tube diameters, and the one end of the second motion bar 7 away from round bar 6, which is fixed, to be connected
Roller 8 is connected to, the surface of the second motion bar 7 is fixedly connected with one end of spring 9, the other end of spring 9 and the first motion bar 4
Surface is fixedly connected, and roller 8 is slided along the inner wall of pipeline, when robot ambulation is to pipeline corner, the traveling road of roller 8
Line changes so that steering force is passed to the first motion bar 4 by the second motion bar 7 by spring 9 so that the first motion bar 4
Rotation.
The surface of bull stick 3 is socketed with first gear 10, and the surface of bottom plate 1 slidably connects sliding block 11, the upper surface of bottom plate 1
Restraining position ring block 22 is fixedly connected with, the inside and the surface of sliding block 11 of spacing ring 22 are slidably connected, and the presence of spacing ring 22 is to sliding block
Restriction effect is played in 11 movement, and anti-limited slip block 11 moves left and right, while anti-limited slip block 11 departs from bottom plate 1, adds structure
Stability, the one side of sliding block 11 are fixedly connected with organic tooth 12, and the quantity of machine tooth 12 is six, and six 12 equidistant rows of machine tooth
The one side of sliding block 11 is listed in, and first gear 10 is engaged with machine tooth 12, the back side of sliding block 11 passes through pin and triangle steering wheel
13 front flexible connection, the one side of bottom plate 1 are fixedly connected with fixed plate 14, and the front of fixed plate 14 passes through axis pin and triangle
The back side of steering wheel 13 is flexibly connected, and one end of triangle steering wheel 13 is fixedly connected with deflecting roller 15, and the first motion bar 4 rotates,
First motion bar 4 drives bull stick 3 to rotate, and the first gear 10 on bull stick 3 is moved up and down with movable slider 11, then is turned to by triangle
Disk 13 drives deflecting roller 15 to be turned to so that by the corner of pipeline, the lower surface of bottom plate 1 is fixedly connected with electricity for robot
Machine 16, the output shaft of motor 16 are fixedly connected with second gear 17, and the lower surface of bottom plate 1 is connected with drive link 18, transmission
The surface of bar 18 is fixedly connected with the 3rd gear 19, and second gear 17 is engaged with the 3rd gear 19, and the both ends of drive link 18 are solid
Surely driving wheel 20 is connected with, the power supply mode of motor 16 is external power supply, drives drive link 18 to rotate by motor 16, drives and drive
Driving wheel 20 rotates so that the present invention can move in pipeline, and the upper surface of bottom plate 1 is fixedly connected with camera 21, by taking the photograph
As the situation inside first 21 shooting pipelines, pipeline inside is checked, finds that pipeline is damaged thinning or even partial fracture in time
Place, exclude security risk, reduce loss.
In use, roller 8 is slided along the inner wall of pipeline, and when robot ambulation is to pipeline corner, the traveling of roller 8
Route changes so that steering force is passed to the first motion bar 4 by the second motion bar 7 by spring 9 so that the first motion bar
4 rotations, the first motion bar 4 drive bull stick 3 to rotate, and the first gear 10 on bull stick 3 is moved up and down with movable slider 11, then passes through three
Angle steering wheel 13 drives deflecting roller 15 to be turned to so that the corner that robot passes through pipeline.
It can to sum up obtain, the present invention is by setting bull stick 3, the first motion bar 4, the second motion bar 7, first gear 10, sliding block
11 and triangle steering wheel 13, solve pipe robot through piping corner, it is difficult to turn to, pipeline can not be continued to complete
Detection the problem of.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of changes, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of detecting robot of pipe with transfer, including bottom plate (1), it is characterised in that：The bottom plate (1) it is upper
Surface is fixedly connected with bearing (2), and the inner surface of the bearing (2) is fixedly connected with bull stick (3), the surface of the bull stick (3)
The first motion bar (4) is fixedly connected with, the surface of first motion bar (4) is fixedly connected with fixed block (5), the fixed block
(5) one side is fixedly connected with round bar (6), and the round bar (6) is socketed in the through hole that the second motion bar (7) one side opens up
Interior, the one end of second motion bar (7) away from round bar (6) is fixedly connected with roller (8), the table of second motion bar (7)
Face is fixedly connected with the one end of spring (9), and the other end of the spring (9) is fixedly connected with the surface of the first motion bar (4)；
The surface of the bull stick (3) is socketed with first gear (10), and the surface of the bottom plate (1) slidably connects sliding block (11),
The one side of the sliding block (11) is fixedly connected with organic tooth (12), and first gear (10) is engaged with machine tooth (12), the sliding block
(11) the back side is flexibly connected by pin with the front of triangle steering wheel (13), and the one side of the bottom plate (1) is fixedly connected
There is fixed plate (14), the front of the fixed plate (14) is flexibly connected by axis pin with the back side of triangle steering wheel (13), described
One end of triangle steering wheel (13) is fixedly connected with deflecting roller (15), and the lower surface of the bottom plate (1) is fixedly connected with motor
(16), the output shaft of the motor (16) is fixedly connected with second gear (17), and the lower surface of the bottom plate (1) is connected with
Drive link (18), the surface of the drive link (18) are fixedly connected with the 3rd gear (19), the second gear (17) and the 3rd
Gear (19) engages, and the both ends of the drive link (18) have been fixedly connected with driving wheel (20), and the upper surface of the bottom plate (1) is consolidated
Surely it is connected with camera (21).
A kind of 2. detecting robot of pipe with transfer according to claim 1, it is characterised in that：The fixation
The quantity of block (5) is two, and two fixed blocks (5) form a hinged seat with round bar (6).
A kind of 3. detecting robot of pipe with transfer according to claim 1, it is characterised in that：The machine tooth
(12) quantity is six, and six machine teeth (12) are spaced substantially equidistant the one side in sliding block (11).
A kind of 4. detecting robot of pipe with transfer according to claim 1, it is characterised in that：The bottom plate
(1) upper surface is fixedly connected with restraining position ring block (22), and the inside and the surface of sliding block (11) of the spacing ring (22) are slidably connected.
A kind of 5. detecting robot of pipe with transfer according to claim 1, it is characterised in that：Described second
The quantity of motion bar (7) is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610942459.2A CN107990083A (en) | 2016-10-26 | 2016-10-26 | A kind of detecting robot of pipe with transfer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610942459.2A CN107990083A (en) | 2016-10-26 | 2016-10-26 | A kind of detecting robot of pipe with transfer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107990083A true CN107990083A (en) | 2018-05-04 |
Family
ID=62028523
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610942459.2A Pending CN107990083A (en) | 2016-10-26 | 2016-10-26 | A kind of detecting robot of pipe with transfer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107990083A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111664807A (en) * | 2020-04-24 | 2020-09-15 | 河北津西钢铁集团股份有限公司 | Rotary structure optical method pipeline detection system |
| CN111828773A (en) * | 2019-04-22 | 2020-10-27 | 西北工业大学 | Space steering mechanism of pipeline robot |
| CN111912789A (en) * | 2019-05-07 | 2020-11-10 | 湖北省鲲发工程检测有限公司 | Pipeline weld joint detection mechanism and method thereof |
| CN112325050A (en) * | 2020-11-24 | 2021-02-05 | 中国矿业大学 | Pipeline robot capable of adapting to pipe diameter change |
| CN113500063A (en) * | 2021-07-29 | 2021-10-15 | 李竹苗 | Pipeline dredging device with efficient automatic hydraulic engineering |
-
2016
- 2016-10-26 CN CN201610942459.2A patent/CN107990083A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111828773A (en) * | 2019-04-22 | 2020-10-27 | 西北工业大学 | Space steering mechanism of pipeline robot |
| CN111828773B (en) * | 2019-04-22 | 2022-05-27 | 西北工业大学 | Space steering mechanism of pipeline robot |
| CN111912789A (en) * | 2019-05-07 | 2020-11-10 | 湖北省鲲发工程检测有限公司 | Pipeline weld joint detection mechanism and method thereof |
| CN111664807A (en) * | 2020-04-24 | 2020-09-15 | 河北津西钢铁集团股份有限公司 | Rotary structure optical method pipeline detection system |
| CN111664807B (en) * | 2020-04-24 | 2022-08-12 | 河北津西钢铁集团股份有限公司 | Rotary structure optical method pipeline detection system |
| CN112325050A (en) * | 2020-11-24 | 2021-02-05 | 中国矿业大学 | Pipeline robot capable of adapting to pipe diameter change |
| CN113500063A (en) * | 2021-07-29 | 2021-10-15 | 李竹苗 | Pipeline dredging device with efficient automatic hydraulic engineering |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180504 |
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| WD01 | Invention patent application deemed withdrawn after publication |