CN109268618A - Inner condition of pipeline detects robot - Google Patents
Inner condition of pipeline detects robot Download PDFInfo
- Publication number
- CN109268618A CN109268618A CN201811090814.3A CN201811090814A CN109268618A CN 109268618 A CN109268618 A CN 109268618A CN 201811090814 A CN201811090814 A CN 201811090814A CN 109268618 A CN109268618 A CN 109268618A
- Authority
- CN
- China
- Prior art keywords
- pipeline
- shaft
- driving motor
- driving
- arm section
- 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.)
- Pending
Links
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
Landscapes
- 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 inner condition of pipeline to detect robot, including body and set on the power supply for powering to each electrical component of body, running gear for walking, for driving the travel driving unit of running gear, for picking up the pick device of foreign matter in pipeline, for driving the pickup driving device of pick device, aggregation of data processing unit for being handled collected data and external command, data transmission device for information transmission, for acquiring the parameter sensing device of external information, detection device for foreign matter in pipeline to be scanned and identified and the record memory device for recording storage data;The mechanical arm that the pick device includes clamp hand and moves in space for controlling clamp hand, one end of the mechanical arm is connected to body, the other end is connected to clamp hand;The present invention can not only detect the specific situation in pipeline, but also can be picked up to the foreign matter in pipeline.
Description
Technical field
The present invention relates to pipe detection fields more particularly to a kind of inner condition of pipeline to detect robot.
Background technique
Pipeline transportation play the role of in current engineering field it is vital, due to pipe design complexity with it is closed
Property, periodic maintenance detection in use becomes a great problem of engineers and technicians;For the real-time shape inside pipeline
Condition is monitored using fixed equipment, at high cost, and sensitive for damages;Instrument appliance arrangement is in for a long time in certain extraordinary substances,
Its own precision, the accuracy for acquiring data are difficult for technical staff's grasp;Meanwhile fixed equipment is only capable of in detection smaller range
Field data, and it is inconvenient update, increase with pipeline service life, local ageing damages, hoards foreign matter (or obstacle
Object) the phenomenon that possibly can not find and handle in time, easily initiation related accidents, cause economic loss and environmental disruption, give people
Production and living bring adverse effect.Based on this, 103615663 A of Chinese patent CN discloses a kind of pair of fluid delivery tube
The inner condition of pipeline that road internal state is inspected periodically detects robot comprising provides power supply, the control of electric power for robot
The drive module of robot motion, the propulsive mechanism being connected with drive module, to collected data and external command at
The aggregation of data processing module of reason, for information transmission communication and data transmission module, for acquiring a variety of of external information
Parameter sensing module and memory module is photographed to record, which can timely and conveniently detect the specific situation in pipeline and examine
It is big to survey range.However, the robot can not be picked up the foreign matter in pipeline, and narrow in pipeline, rugged environment is not
Conducive to manually being picked up, engineers and technicians manually picked up by force if not only risk it is high, but also efficiency is lower.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of inner condition of pipeline to detect robot, can not only detect in pipeline
Specific situation, but also the foreign matter in pipeline can be picked up.
Inner condition of pipeline of the invention detects robot, including body and set on body for powering to each electrical component
Power supply, for the running gear of walking, the travel driving unit for driving running gear, for picking up picking up for foreign matter in pipeline
Take device, the pickup driving device for driving pick device, for what is handled collected data and external command
Aggregation of data processing unit, the parameter sensing device for acquiring external information, is used the data transmission device for information transmission
The detection device that foreign matter is scanned and identifies in pipeline and the record memory device for recording storage data;The row
Driving device, pickup driving device, parameter sensing device, detection device and record memory device is walked to handle with aggregation of data respectively
Device connection;The data transmission device has connected aggregation of data processing unit and has carried out the external of auxiliary control to robot and supervised
Survey control device;The mechanical arm that the pick device includes clamp hand and moves in space for controlling clamp hand, the mechanical arm
One end be connected to body, the other end is connected to clamp hand.
The pick device further includes the control box being removably connected on body, is symmetrically set on the control box
There are two mechanical arm, two clamp hands are separately positioned on the end of two mechanical arms;It is located at control box rear on the body
Position be equipped with containing box for accommodating the foreign matter that clamp hand is picked up.
The pickup driving device includes driving motor I, driving motor II, driving motor III and driving motor IV;It is described
Mechanical arm includes the first arm section, the second arm section and third arm section being successively hinged and connected;The head end of the first arm section is by turning
Axis I and control box rotation connection, the shaft I, which is connected with driving motor I and is driven by driving motor I, to be rotated;Second arm
The head end of section is rotatablely connected by shaft II and the first arm section, and the shaft II is connected with driving motor II and by driving motor II
Driving rotation, the shaft II are parallel to the setting of shaft I;The head end of the third arm section is rotated by shaft III and the second arm section
Connection, the shaft III, which is connected with driving motor III and is driven by driving motor III, to be rotated, and the shaft III is perpendicular to shaft II
Setting;The third arm section is connected by shaft IV with clamp hand, driving motor shaft IV and be fixed in third arm section
IV, which is connected and is driven by driving motor IV, rotates, and the shaft IV is arranged both perpendicular to shaft II and shaft III.
As further improvement to above-mentioned technical proposal, the parameter sensing device carries out data using digital sensor
Acquisition, including detecting the Temperature Humidity Sensor of temperature and humidity, detecting the gas concentration sensor of gas concentration in pipeline, detection
The ambient pressure sensor of air pressure in pipeline detects the illuminance sensor for whether having light leakage phenomena in pipeline and detects pipeline and inclines
The gravity sensor of gradient.
As further improvement to above-mentioned technical proposal, the data transmission device uses wireless mode and external monitoring
Control device is connected.
As further improvement to above-mentioned technical proposal, the detection device includes that 3 D stereo camera and illumination are set
It is standby.
As further improvement to above-mentioned technical proposal, the running gear includes at least two traveling wheels, the row
Walking driving device includes passing with the one-to-one movable motor of traveling wheel, the wheel shaft of the traveling wheel and the output shaft of movable motor
Dynamic connection.
As further improvement to above-mentioned technical proposal, the body is four-wheel body construction, and the running gear is set
There are four four wheels of the traveling wheel as body.
As further improvement to above-mentioned technical proposal, magnetic tire is arranged with outside the traveling wheel.
As further improvement to above-mentioned technical proposal, the pickup driving device further includes driving motor V;It is described
Clamp hand includes fixed station, geosynclinal block, fixed plate, clamping jaw and Y-shaped drive rod, and the fixed station and driving motor IV are sequentially connected;
The fixed plate is connected by geosynclinal block with fixed station;Two clamping jaws are symmetrical arranged, and each clamping jaw includes pawl head, drives and shake
Bar and driven rocking bar, the drive rocker are arranged in parallel with driven rocking bar, one end and pawl of the drive rocker and driven rocking bar
Head is hinged and connected, the other end and fixed plate are hinged and connected;The Y-shaped drive rod is by a vertical pole and two symmetrical branch bars
Composition, the geosynclinal block are equipped with for accommodating vertical pole and for the sliding slot of vertical pole sliding;The output end of the driving motor V and vertical
Bar is sequentially connected and vertical pole is driven to slide along the chute;The vertical pole is pierced by from fixed plate to be connected with two branch bars afterwards, the branch
Bar is equipped with slideway, and the bottom surface of the drive rocker is equipped with traveller, and the traveller is set in slideway, so that two drive rockers can
It opens or draws close during the linear slide of two branch bars respectively.
By above disclosure, the present invention has following advantageous effects:
Inner condition of pipeline of the invention detects robot, can not only timely and conveniently detect the specific situation in pipeline, and
Foreign matter in pipeline can also be picked up;Specifically, robot is before execution task, it is first by engineers and technicians' foundation
Pipeline Specific disposition sets relevant parameter, and to be measured section of node opening of pipeline is put into robot, can be inside corresponding pipeline
Carry out automatic measurement monitoring;It can be in real time to the temperature and humidity in pipeline, special gas concentration, air pressure, illuminance in detection process
Etc. parameters measure;When encountering has foreign matter in pipeline, foreign substance information is acquired by detection device and is transmitted this information to
Aggregation of data processing unit, after aggregation of data processing unit handles the collected information of detection device, control walking is driven
Dynamic device drives running gear, after body moves to the appropriate position, then controls and picks up driving device driving mechanical arm and clamp hand pair
Foreign matter is picked up, and is accumulated pipeline to avoid foreign matter and is caused related accidents;Pick device of the invention can replace manually certainly
The dynamic pickup for carrying out foreign matter, has saved manpower and time cost, improves work efficiency and safety.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention;
Fig. 2 is the principle of the present invention block diagram;
Fig. 3 is the structural schematic diagram of pick device of the invention;
Fig. 4 is enlarged drawing at A in Fig. 3.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, in the following with reference to the drawings and specific embodiments
The present invention is described in further detail.
As shown in Figures 1 to 4: the inner condition of pipeline of the present embodiment detects robot, including body 1 and set on the use of body 1
In the power supply powered to each electrical component, for the running gear of walking, the travel driving unit for driving running gear, use
In pick up the pick device of foreign matter in pipeline, the pickup driving device for driving pick device, for collected data
The aggregation of data processing unit that is handled with external command, for the data transmission device of information transmission, for acquiring outside
The parameter sensing device of information, the detection device for foreign matter in pipeline to be scanned and identified and for recording storage data
Record memory device;The travel driving unit picks up driving device, parameter sensing device, detection device and record storage
Device is connect with aggregation of data processing unit respectively;The data transmission device has connected aggregation of data processing unit and to machine
People carries out the external monitoring control device of auxiliary control;The pick device includes clamp hand 2 and for controlling clamp hand 2 in space
Mobile mechanical arm 3, one end of the mechanical arm 3 is connected to body 1, the other end is connected to clamp hand 2.
Body 1 can be car body mechanism or other Rational structures;Power supply for example can be the great Rong being located inside body 1
Measure battery;Running gear enables body 1 to walk in pipeline;Aggregation of data processing unit is preferably MSP430 series monolithic
Machine can carry out power supply, travel driving unit, pickup driving device, parameter sensing device, detection device and record memory device
Centralized management;External monitoring control device can be computer, such as can be controlled by LabVIEW system robot.
In the present embodiment, the parameter sensing device using digital sensor carry out data acquisition, including detection temperature and
The Temperature Humidity Sensor of humidity, the environment gas for detecting the gas concentration sensor of gas concentration in pipeline, detecting air pressure in pipeline
Whether there is the illuminance sensor of light leakage phenomena in pressure sensor, detection pipeline and detects the gravity sensor of pipeline gradient;
Data acquisition is carried out using digital sensor, to ensure the precision of total system;These digital sensors are separately mounted to machine
The suitable position of body 1;The data transmission device then uses wireless mode to be connected with external monitoring control device, will count in real time
According to reaching external monitoring control device;The detection device includes 3 D stereo camera and lighting apparatus, 3 D stereo camera shooting
Head allow robot can the physical features to each foreign matter sufficiently identified, the then navigation of hoisting machine people, track, identification etc.
AI application power improves intelligence;Lighting apparatus carries out floor light, to improve accuracy of identification and return the display effect of image
Fruit.
The inner condition of pipeline of the present embodiment detects robot, can not only timely and conveniently detect the specific situation in pipeline, and
And the foreign matter in pipeline can also be picked up;Specifically, robot is before execution task, first by engineers and technicians according to
Relevant parameter is set according to pipeline Specific disposition, to be measured section of node opening of pipeline is put into robot, it can be in corresponding pipeline
Portion carries out automatic measurement monitoring;It can be in real time to the temperature and humidity in pipeline, special gas concentration, air pressure, illumination in detection process
The parameters such as degree measure;When encountering has foreign matter in pipeline, foreign substance information is acquired by detection device and transmits the information
After giving aggregation of data processing unit, aggregation of data processing unit to handle the collected information of detection device, control walking
Driving device drives running gear, after body 1 moves to the appropriate position, then controls and picks up driving device driving mechanical arm 3 and folder
Hand 2 is picked up foreign matter, accumulates pipeline to avoid foreign matter and causes related accidents;Pick device can replace it is artificial automatically into
The pickup of row foreign matter, has saved manpower and time cost, improves work efficiency and safety.
In the present embodiment, the running gear includes at least two traveling wheels 4, and the travel driving unit includes and walking
4 one-to-one movable motors 5 are taken turns, the wheel shaft of the traveling wheel 4 and the output shaft of movable motor 5 are sequentially connected;Traveling wheel 4 can
To be that there is certain gradient, to adapt to the inner wall of circular pipe, achieve the effect that smoothly to walk;Each traveling wheel 4 has single
The movable motor 5 solely controlled, so as to conveniently realize differential control;The bearing and movable motor 5 of fixed 4 wheel shaft of traveling wheel can
It is fixed on a rotatable turntable, so as to adjust the angle of traveling wheel 4, body 1 is enable to turn to;Preferably, described
Body 1 is four-wheel body construction, and the running gear is set there are four four wheels of the traveling wheel 4 as body 1;In addition, described
It is arranged with magnetic tire 4a outside traveling wheel 4, traveling wheel 4 is adsorbed on magnetic pipeline, improves the stability of its walking.
In the present embodiment, the pick device further includes the control box 5 being removably connected on body 1, described
Two mechanical arms 3 are symmetrically arranged on control box 6, two clamp hands 2 are separately positioned on the end of two mechanical arms 3;The machine
It is located at the position at control 6 rear of box on body 1 equipped with the containing box 7 for accommodating the foreign matter that clamp hand 2 is picked up;Two mechanical arms 3
It is respectively provided at the left and right side of control box 5;Two mechanical arms 3 are conducive to keep the balance of pick device, and are provided with two
Can mutually matched clamp hand 2, elongate or large volume of foreign matter can be picked up.
In the present embodiment, the pickup driving device includes I 31b of driving motor, II 32b of driving motor, driving motor III
IV 34b of 33b and driving motor;The mechanical arm 3 includes the first arm section 31, the second arm section 32 and the third arm being successively hinged and connected
Section 33;The head end of the first arm section 31 is rotatablely connected by shaft I and control box 5, the shaft I and I 31b phase of driving motor
It is driven even and by I 31b of driving motor and is rotated;The head end of the second arm section 32 is rotated by II 32a of shaft and the first arm section 31
Connection, II 32a of shaft, which is connected with II 32b of driving motor and is driven by II 32b of driving motor, to be rotated, II 32a of shaft
It is parallel to the setting of shaft I;The head end of the third arm section 33 is rotatablely connected by III 33a of shaft and the second arm section 32, and described turn
III 33a of axis, which is connected with III 33b of driving motor and is driven by III 33b of driving motor, to be rotated, and III 33a of shaft is perpendicular to shaft II
32a setting;The third arm section 33 is connected by IV 34a of shaft with clamp hand 2, IV 34a of shaft be fixed on third arm section
IV 34b of driving motor on 33, which is connected and is driven by IV 34b of driving motor, to be rotated, and IV 34a of shaft is both perpendicular to shaft
II 32a and III 33a of shaft setting;First arm section 31, the second arm section 32 and third arm section 33 are in long plate shape, the length of each arm section
It can set as needed;Shaft I is connected with the output shaft of I 31b of driving motor, or directly can be I 31b of driving motor
Output shaft;I 31b of driving motor is mounted on the first arm section 31 and control box 5, under the action of I 31b of driving motor, the first arm
Section 31 can do pitching movement up and down;II 32a of shaft is connected with the output shaft of II 32b of driving motor, or directly can be to drive
The output shaft of dynamic II 32b of motor;II 32b of driving motor is mounted in the first arm section 31 and the second arm section 32, in driving motor II
Under the action of 32b, the second arm section 32 can do pitching movement up and down;III 33a of shaft is connected with the output shaft of III 33b of driving motor,
Or directly can be III 33b of driving motor output shaft;III 33b of driving motor is mounted on the second arm section 32 and third arm section
On 33, under the action of III 33b of driving motor, third arm section 33 can swing;IV 34a of shaft and driving motor IV
The output shaft of 34b is connected, or directly can be the output shaft of IV 34b of driving motor;IV 34b of driving motor is mounted on third
In arm section 33, under the action of IV 34b of driving motor, clamp hand 2 is whole to be rotated;It using the above structure can improving clamping
The motion range of hand 2 enables the flexible movement of clamp hand 2.
In the present embodiment, the pickup driving device further includes driving motor V 26;The clamp hand 2 include fixed station 21,
Geosynclinal block 22, fixed plate 23, clamping jaw and Y-shaped drive rod, fixed station 21 and IV 34b of driving motor are sequentially connected;It is described solid
Fixed board 23 is connected by geosynclinal block 22 with fixed station 21;Two clamping jaws are symmetrical arranged, and each clamping jaw includes pawl head 241, drives
Shake bar 242 and driven rocking bar 243, the drive rocker 242 is arranged in parallel with driven rocking bar 243, the drive rocker 242 with
One end of driven rocking bar 243 is hinged and connected with pawl head 241, the other end and fixed plate 23 are hinged and connected;The Y-shaped drive rod by
A piece vertical pole 251 and two symmetrical branch bars 252 form, and the geosynclinal block 22 is equipped with for accommodating vertical pole 251 and for vertical pole
The sliding slot of 251 slidings;Driving motor V 26 is located on fixed station 21, and the output end and vertical pole 251 of the driving motor V 26 pass
It is dynamic to connect and vertical pole 251 is driven to slide along the chute;The vertical pole 251 is pierced by from fixed plate 23 to be connected with two branch bars 252 afterwards, institute
Branch bar 252 is stated equipped with slideway 252a, the bottom surface of the drive rocker 242 is equipped with traveller 242a, and the traveller 242a, which is set to, to be slided
In road 252a, so that two drive rockers 242 can be opened or be drawn close during the linear slide of two branch bars 252 respectively;
When IV 34b of driving motor is acted, fixed station 21 is rotated, to drive the rotation of entire clamp hand 2;Geosynclinal block 22 is in long blocky, sliding slot
For straight groove structure;Driving motor V 26 can be for example connected by screw mechanism or other transmission mechanisms with vertical pole 251, and driving is vertical
Bar 251 slides;It can be control effectively to the movement of clamping jaw by above structure, Y-shaped drive rod is inwardly (i.e. towards mechanical arm
Direction) it is mobile when, two clamping jaws move toward one another, and clamp to foreign matter;When Y-shaped drive rod moves outwardly, two clamping jaws are reversed
The foreign matter clamped is decontroled in movement.
Finally, it is stated that applying herein, a specific example illustrates the principle and implementation of the invention, with
The explanation of upper embodiment is merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, also
Can several improvements and modifications are made to the present invention, these improvement and modification are also fallen within the scope of the present invention.
Claims (8)
1. a kind of inner condition of pipeline detects robot, it is characterised in that: including body and set on body for each electrical component
The power supply of power supply, for the running gear of walking, the travel driving unit for driving running gear, different in pipeline for picking up
The pick device of object, the pickup driving device for driving pick device are used to carry out collected data and external command
The aggregation of data processing unit of processing is perceived for the data transmission device of information transmission, the parameter for acquiring external information
Device, the detection device for foreign matter in pipeline to be scanned and identified and the record storage dress for recording storage data
It sets;The travel driving unit, pick up driving device, parameter sensing device, detection device and record memory device respectively with number
It is connected according to Integrated Processing Unit;The data transmission device has connected aggregation of data processing unit and has carried out auxiliary control to robot
The external monitoring control device of system;The mechanical arm that the pick device includes clamp hand and moves in space for controlling clamp hand,
One end of the mechanical arm is connected to body, the other end is connected to clamp hand;
The pick device further includes the control box being removably connected on body, is symmetrically arranged with two on the control box
A mechanical arm, two clamp hands are separately positioned on the end of two mechanical arms;It is located at the portion at control box rear on the body
Position is equipped with the containing box for accommodating the foreign matter that clamp hand is picked up;
The pickup driving device includes driving motor I, driving motor II, driving motor III and driving motor IV;The machinery
Arm includes the first arm section, the second arm section and third arm section being successively hinged and connected;The head end of the first arm section by shaft I with
Box rotation connection is controlled, the shaft I, which is connected with driving motor I and is driven by driving motor I, to be rotated;The head of the second arm section
End is rotatablely connected by shaft II and the first arm section, and the shaft II, which is connected with driving motor II and is driven by driving motor II, revolves
Turn, the shaft II is parallel to the setting of shaft I;The head end of the third arm section is rotatablely connected by shaft III and the second arm section,
The shaft III, which is connected with driving motor III and is driven by driving motor III, to be rotated, and the shaft III is arranged perpendicular to shaft II;
The third arm section is connected by shaft IV with clamp hand, and the shaft IV is connected with the driving motor IV being fixed in third arm section
And driven and rotated by driving motor IV, the shaft IV is arranged both perpendicular to shaft II and shaft III.
2. inner condition of pipeline according to claim 1 detects robot, it is characterised in that: the parameter sensing device uses number
Word sensor carries out data acquisition, including detecting the Temperature Humidity Sensor of temperature and humidity, detecting the gas of gas concentration in pipeline
Whether the illuminance of light leakage phenomena is had in concentration sensors, detection pipeline in the ambient pressure sensor, detection pipeline of air pressure
The gravity sensor of sensor and detection pipeline gradient.
3. inner condition of pipeline according to claim 2 detects robot, it is characterised in that: the data transmission device uses nothing
Line mode is connected with external monitoring control device.
4. inner condition of pipeline according to claim 3 detects robot, it is characterised in that: the detection device includes three-dimensional vertical
Body camera and lighting apparatus.
5. inner condition of pipeline according to any one of claims 1 to 4 detects robot, it is characterised in that: the running gear
Including at least two traveling wheels, the travel driving unit includes and the one-to-one movable motor of traveling wheel, the traveling wheel
Wheel shaft and movable motor output shaft be sequentially connected.
6. inner condition of pipeline according to claim 5 detects robot, it is characterised in that: the body is four-wheel car body knot
Structure, the running gear are set there are four four wheels of the traveling wheel as body.
7. inner condition of pipeline according to claim 5 detects robot, it is characterised in that: be arranged with magnetism outside the traveling wheel
Tire.
8. inner condition of pipeline according to any one of claims 1 to 7 detects robot, it is characterised in that: the pickup driving
Device further includes driving motor V;The clamp hand includes fixed station, geosynclinal block, fixed plate, clamping jaw and Y-shaped drive rod, described solid
Determine platform and driving motor IV is sequentially connected;The fixed plate is connected by geosynclinal block with fixed station;Two clamping jaws are symmetrical arranged,
Each clamping jaw includes pawl head, drive rocker and driven rocking bar, and the drive rocker is arranged in parallel with driven rocking bar, the driving
Rocking bar and one end of driven rocking bar is hinged and connected with pawl head, the other end and fixed plate are hinged and connected;The Y-shaped drive rod is by one
Root vertical pole and two symmetrical branch bar compositions, the geosynclinal block are equipped with for accommodating vertical pole and for the sliding slot of vertical pole sliding;Institute
The output end for stating driving motor V is sequentially connected with vertical pole and vertical pole is driven to slide along the chute;After the vertical pole is pierced by from fixed plate
It is connected with two branch bars, the branch bar is equipped with slideway, and the bottom surface of the drive rocker is equipped with traveller, and the traveller is set to slideway
In, so that two drive rockers can be opened or be drawn close during the linear slide of two branch bars respectively.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811090814.3A CN109268618A (en) | 2018-09-19 | 2018-09-19 | Inner condition of pipeline detects robot |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811090814.3A CN109268618A (en) | 2018-09-19 | 2018-09-19 | Inner condition of pipeline detects robot |
Publications (1)
Publication Number | Publication Date |
---|---|
CN109268618A true CN109268618A (en) | 2019-01-25 |
Family
ID=65197079
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811090814.3A Pending CN109268618A (en) | 2018-09-19 | 2018-09-19 | Inner condition of pipeline detects robot |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN109268618A (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
CN109945014A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of pipe robot hoofing part mechanism |
CN110274122A (en) * | 2019-06-26 | 2019-09-24 | 深圳信息职业技术学院 | Detecting robot of pipe |
CN111720662A (en) * | 2020-05-14 | 2020-09-29 | 国网浙江宁波市鄞州区供电有限公司 | Rescue device for underground pipeline detection |
WO2023040104A1 (en) * | 2021-09-15 | 2023-03-23 | 中航华东光电(上海)有限公司 | Pipeline foreign matter detection device and detection method |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011132817A1 (en) * | 2010-04-20 | 2011-10-27 | 서울대학교 산학협력단 | Robot for removing impurities by moving in pipe |
DE102010022608A1 (en) * | 2010-06-02 | 2011-12-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for inspecting inner side of e.g. sewer pipe, by using robot system, involves creating model of object, correcting captured images based on detected position and orientation of object, and projecting images on model of object |
CN102554915A (en) * | 2012-01-06 | 2012-07-11 | 雷学军 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
CN103615663A (en) * | 2013-11-11 | 2014-03-05 | 江苏师范大学 | Robot for detecting inner condition of pipeline |
CN204604341U (en) * | 2015-05-18 | 2015-09-02 | 三峡大学 | A kind of cylinder clamping device |
CN105156835A (en) * | 2015-09-29 | 2015-12-16 | 衢州乐创节能科技有限公司 | Clutch type climbing construction unit |
CN106247083A (en) * | 2016-09-13 | 2016-12-21 | 广州特种承压设备检测研究院 | Wheeled detection robot |
CN207126935U (en) * | 2017-06-15 | 2018-03-23 | 刘建慧 | The visual cleaning plant of pipeline |
CN108532490A (en) * | 2018-04-24 | 2018-09-14 | 汤庆佳 | A kind of environment-friendly type intelligent transit equipment and its working method |
-
2018
- 2018-09-19 CN CN201811090814.3A patent/CN109268618A/en active Pending
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011132817A1 (en) * | 2010-04-20 | 2011-10-27 | 서울대학교 산학협력단 | Robot for removing impurities by moving in pipe |
DE102010022608A1 (en) * | 2010-06-02 | 2011-12-08 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Method for inspecting inner side of e.g. sewer pipe, by using robot system, involves creating model of object, correcting captured images based on detected position and orientation of object, and projecting images on model of object |
CN102554915A (en) * | 2012-01-06 | 2012-07-11 | 雷学军 | Robot for taking out foreign matters from ventilation duct of air conditioner of train |
CN103615663A (en) * | 2013-11-11 | 2014-03-05 | 江苏师范大学 | Robot for detecting inner condition of pipeline |
CN204604341U (en) * | 2015-05-18 | 2015-09-02 | 三峡大学 | A kind of cylinder clamping device |
CN105156835A (en) * | 2015-09-29 | 2015-12-16 | 衢州乐创节能科技有限公司 | Clutch type climbing construction unit |
CN106247083A (en) * | 2016-09-13 | 2016-12-21 | 广州特种承压设备检测研究院 | Wheeled detection robot |
CN207126935U (en) * | 2017-06-15 | 2018-03-23 | 刘建慧 | The visual cleaning plant of pipeline |
CN108532490A (en) * | 2018-04-24 | 2018-09-14 | 汤庆佳 | A kind of environment-friendly type intelligent transit equipment and its working method |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
CN109630806B (en) * | 2019-02-21 | 2024-02-27 | 中国人民解放军陆军工程大学 | Pipeline robot capable of being screwed, grabbed and detected |
CN109945014A (en) * | 2019-03-26 | 2019-06-28 | 焦作大学 | A kind of pipe robot hoofing part mechanism |
CN109945014B (en) * | 2019-03-26 | 2020-07-31 | 焦作大学 | Walking driving mechanism for pipeline robot |
CN110274122A (en) * | 2019-06-26 | 2019-09-24 | 深圳信息职业技术学院 | Detecting robot of pipe |
CN111720662A (en) * | 2020-05-14 | 2020-09-29 | 国网浙江宁波市鄞州区供电有限公司 | Rescue device for underground pipeline detection |
CN111720662B (en) * | 2020-05-14 | 2022-12-06 | 国网浙江宁波市鄞州区供电有限公司 | Rescue device for underground pipeline detection |
WO2023040104A1 (en) * | 2021-09-15 | 2023-03-23 | 中航华东光电(上海)有限公司 | Pipeline foreign matter detection device and detection method |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN109268618A (en) | Inner condition of pipeline detects robot | |
CN103615663B (en) | Inner condition of pipeline measuring robots | |
CN109849023A (en) | A kind of track suspension intelligent inspection robot system | |
CN107910806B (en) | Cable tunnel inspection robot and navigation method | |
CN209657151U (en) | A kind of intelligent track crusing robot | |
CN105857341B (en) | A kind of intelligent railway rail polling robot | |
CN107756375A (en) | A kind of tunnel cruising inspection system and its robot | |
CN104875179A (en) | Power system segmented automatic inspection robot | |
CN107175665A (en) | A kind of suspension bridge damage of steel cable crusing robot | |
CN109454617A (en) | Condition detection device in engineering pipeline | |
CN103895015A (en) | Split type automatic obstacle crossing inspection robot | |
CN107356211B (en) | A kind of tunnel intelligent detection vehicle and its detection method | |
CN2778492Y (en) | Robot capable of self-walking along 110KV transmission line | |
CN110470627A (en) | It is a kind of to detect soil nutrient and self-powered device and method with automatic | |
CN208750421U (en) | Inner condition of pipeline detection device | |
CN109270651A (en) | A kind of offline precision assembly system of optical elements of large caliber automation | |
CN203533218U (en) | Pipeline inner condition detection robot | |
CN107858882A (en) | A kind of rail smooth degree automatic detection machine people | |
CN106391493A (en) | Operating method for flexible production line based on visual inspection | |
CN109382833A (en) | Engineering crusing robot | |
CN206459622U (en) | Gardens town road traffic survey tool | |
CN207457835U (en) | A kind of two-wheeled wireless remote controlled intelligent trolley | |
CN106334678A (en) | Flexible production line based on visual inspection | |
CN205540266U (en) | Wheeled drive pipeline robot of spiral based on high strength spring presses wall to put | |
CN206115276U (en) | Robot system is patrolled and examined to underground foreign matter |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
RJ01 | Rejection of invention patent application after publication | ||
RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190125 |