CN109268618A

CN109268618A - Inner condition of pipeline detects robot

Info

Publication number: CN109268618A
Application number: CN201811090814.3A
Authority: CN
Inventors: 陈东
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-09-19
Filing date: 2018-09-19
Publication date: 2019-01-25

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

Inner condition of pipeline detects robot

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

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.