CN110605727A - Crawling robot for pipeline maintenance - Google Patents
Crawling robot for pipeline maintenance Download PDFInfo
- Publication number
- CN110605727A CN110605727A CN201910924219.3A CN201910924219A CN110605727A CN 110605727 A CN110605727 A CN 110605727A CN 201910924219 A CN201910924219 A CN 201910924219A CN 110605727 A CN110605727 A CN 110605727A
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- China
- Prior art keywords
- robot
- crawling
- sensor
- pipeline
- maintenance according
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- Pending
Links
- 230000009193 crawling Effects 0.000 title claims abstract description 29
- 238000012423 maintenance Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims description 8
- 238000004519 manufacturing process Methods 0.000 abstract 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000005260 corrosion Methods 0.000 description 2
- 230000007797 corrosion Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a crawling robot for pipeline maintenance, which comprises a distance measuring sensor (1), an ultrasonic sensor (2), a camera sensor (3) and a temperature sensor (4), and is characterized by further comprising a robot body (9) and a plurality of tensioning force arms (5) arranged on the outer wall of the robot body, wherein one ends of the tensioning force arms (5) are fixed on the outer wall of the robot body through a rotating shaft mechanism, a driving wheel (7) is fixed at the other end of the tensioning force arms, and the middle sections of the tensioning force arms are connected with the outer wall of the crawling robot through springs (6). Compared with the prior art, the invention has the advantages of convenient carrying, low maintenance cost, low manufacturing cost, suitability for any pipeline and the like.
Description
Technical Field
The invention relates to the field of pipeline maintenance, in particular to a crawling robot for pipeline maintenance.
Background
In our daily lives, various pipes for water supply, power supply, etc. are always buried under the ground surface, and these main pipes provide great convenience to our cities. However, if the pipeline is internally leaked, the damage to the pipeline wall often causes great damage and unnecessary troubles to the inside, if the inner wall of the pipeline is broken, a great amount of water resources are often leaked out, and great inconvenience is caused to our life.
Many pipeline inspection systems are available on the market, and most of the inspection means are designed for large-sized pipelines and are not suitable for small-sized pipelines. And winter in the north because the ubiquitous heating problem, consequently buried a large amount of water supply pipe in the underground, because big with outside difference in temperature, the pressure differential is big, and the pipeline often can take place to leak, leads to landfill hole ponding, need stop supplying water when the maintenance pipeline, need reduce the maintenance time as far as possible this moment, accomplish the maintenance and the change of pipeline as early as possible. The robot provided by the invention can be used for carrying various sensors, can also be used for measuring the thickness of the inner wall of the pipeline and detecting the abrasion and corrosion conditions of the pipeline wall, is suitable for pipelines with various sizes, greatly shortens the maintenance time and can finish the maintenance work as early as possible.
Disclosure of Invention
The present invention has been made to overcome the above-mentioned drawbacks of the prior art, and an object of the present invention is to provide a crawling robot for pipeline maintenance.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a robot of crawling for pipeline maintenance, includes range finding sensor, ultrasonic sensor, camera sensor and temperature sensor, still includes the robot and locates a plurality of tensioning force arms on the robot outer wall, and on the one end of tensioning force arm was fixed in the outer wall of robot through pivot mechanism, the other end was fixed with the drive wheel, and the interlude of the force arm passes through the spring and the outer wall connection of robot of crawling, the spring plays the pressure spring effect.
The robot body comprises a front part and a rear part which are connected through a universal joint structure, the cross sections of the front part and the rear part are circular, and tensioning force arms are arranged on the front part and the rear part.
Distance measuring sensor, ultrasonic sensor, camera sensor and temperature sensor locate the anterior top of robot body, the junction on ultrasonic sensor and top is the slip table, scalable business turn over robot body.
The outer walls of the front part and the rear part are respectively provided with 3 tensioning force arms, and the included angle between every two adjacent tensioning force arms is 120 degrees.
The tension force arms on the outer walls of the front part and the rear part are reversely arranged.
The control structure of the robot body comprises a single chip microcomputer, a motor driving plate and a battery.
The driving wheel is internally provided with a hub motor, analog quantity is output to the motor driving plate, the motor driving plate is in wired connection with an external operating panel, and the operating panel is provided with a forward key and a backward key.
And the driving wheel outputs corresponding unequal speed values according to the key force with different sizes.
The robot body reads the current detection values of the ultrasonic sensor, the temperature sensor and the distance measuring sensor in a serial port output mode, and the refreshing frequency of the detection data of the ultrasonic sensor is once per second.
Compared with the prior art, the invention has the following beneficial effects:
1. the tension arm is arranged on the outer wall through the spring, can be adjusted at any time according to the pipe diameter, is suitable for pipelines with any pipe diameter, and cannot influence other parts of the crawling robot when being compressed inwards due to the fact that the tension arm is located at the outermost periphery.
2. The front part and the rear part of the crawling robot are connected through a universal joint structure, so that the flexibility of the crawling robot in the process of bending a pipeline or turning the pipeline is increased, the crawling robot can rotate around the axis of the pipeline and can also rotate around the axis of the pipeline in the normal direction and the tangential direction, the obstacle crossing capability of the crawling robot is guaranteed to the maximum degree, and the advancing distance is increased.
3. The crawling robot is provided with 6 driving wheels, the crawling robot can be firmly fixed in the pipeline by means of 120-degree distribution, the side turning of the crawling robot in the pipeline is prevented, meanwhile, due to the arrangement of the springs, vibration caused by attachments and sediments possibly existing on the inner wall of the pipeline can be relieved, and the crawling robot plays a role in buffering and protecting.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Description of the drawings:
1-a distance measuring sensor; 2-an ultrasonic sensor; 3-a camera sensor; 4-a temperature sensor; 5-tensioning force arm; 6-a spring; 7-driving wheels; 8-gimbal structure; 9-robot body.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1, a robot of crawling for pipeline maintenance, including range finding sensor 1, ultrasonic sensor 2, camera sensor 3 and temperature sensor 4, still include robot 9 and locate a plurality of tensioning arm of force 5 on the robot outer wall, on the one end of tensioning arm of force 5 was fixed in the outer wall of robot through pivot mechanism, the other end was fixed with drive wheel 7, and the interlude of the arm of force passes through spring 6 and the wall connection of robot of crawling, and the spring plays the pressure spring effect.
The robot body 9 comprises a front part and a rear part which are connected through a universal joint structure 8, the cross sections of the front part and the rear part are circular, and tensioning force arms 5 are arranged on the front part and the rear part.
Distance measuring sensor 1, ultrasonic sensor 2, camera sensor 3 and temperature sensor 4 locate the anterior top of robot body 9, and the junction on ultrasonic sensor 2 and top is the slip table, and scalable business turn over robot body 9 avoids ultrasonic sensor 2 to take place to damage at the non-operating time.
The outer walls of the front part and the rear part are respectively provided with 3 tensioning force arms 5, the included angle between every two adjacent tensioning force arms 5 is 120 degrees, the tension force of the spring is changed by controlling bolts inside the spring, the distance from the driving wheel to the main shaft center of the robot can be changed to adapt to the sizes of different pipe diameters, after the robot body enters a pipeline, the length of the bolts is automatically adjusted to control the tension force of the spring, the positive pressure of the six driving wheels is ensured to be the same, and the main shaft of the robot is coaxial with the axis of the pipeline.
The tension arm 5 on the outer wall of the front part and the rear part is arranged reversely, so that the robot body 9 can run in two directions.
The control structure of the robot body 9 comprises a single chip microcomputer, a motor drive board and a battery, the single chip microcomputer is a mega2560 single chip microcomputer, the operation of the drive wheel 7, the acquisition of sensor signals and the output of serial ports are controlled by an Arduino electronic platform, and the control board of the robot body 9 adopts an Arduino mega2560 control board and a sensor expansion board which are matched as main bodies of the robot body 9.
The driving wheel 7 is internally provided with a hub motor which is a direct current motor and outputs analog quantity to a motor driving board, the motor driving board is in wired connection with an external operating panel, the operating panel is provided with a forward key and a backward key, the model of the motor driving board is L298N, and a power supply is a 24V direct current power supply.
The driving wheel 7 outputs corresponding unequal speed values according to the key force with different sizes.
The robot body 9 reads the current detection values of the ultrasonic sensor 2, the temperature sensor 4 and the distance measuring sensor 1 in a serial port output mode, and the refreshing frequency of the data detected by the ultrasonic sensor 2 is once per second.
The robot body 9 reads the current detection values of the ultrasonic sensor 2, the temperature sensor 4 and the distance measuring sensor 1 in a serial port output mode.
When the ultrasonic sensor 2 stretches out for work, the thickness information of the metal pipe wall can be sent to the single chip microcomputer for processing, serial port output is carried out at the frequency of refreshing once per second, and detection personnel are helped to detect the corrosion condition of the inner wall of the pipeline or the tolerance and the residual service life of the vulnerable section of the pipeline.
The camera sensor 3 is used for detecting the conditions inside the pipeline and in front of the robot, and because the real-time image information can transmit larger information quantity, a detector can well observe the obstacle condition in front of the robot, if the pipeline is blocked, the obstacle condition can be found by the camera sensor 3 in time, or the pipeline can be fed back by the camera in real time when the pipeline has a fork, so that a correct traveling route can be selected.
The distance measuring sensor 1 is used as an auxiliary detection sensor of the camera sensor 3, if an obstacle condition which cannot be detected by the camera exists, the distance measuring sensor 1 can provide auxiliary information, and the robot can be powered off emergently in an emergency so as to avoid damaging other sensors. Temperature sensor 4 is mainly used for detecting the inside temperature of pipeline, avoids high temperature environment to damage robot parts.
Claims (9)
1. The utility model provides a robot of crawling for pipeline maintenance, including range finding sensor (1), ultrasonic sensor (2), camera sensor (3) and temperature sensor (4), its characterized in that still includes robot (9) and locates a plurality of tensioning arm of force (5) on the robot outer wall, the one end of tensioning arm of force (5) is fixed in the outer wall of robot through pivot mechanism on, the other end is fixed with drive wheel (7), and the interlude of the arm of force passes through spring (6) and the outer wall connection of robot of crawling.
2. The crawling robot for pipe maintenance according to claim 1, characterized in that said robot body (9) comprises a front and a rear connected by a gimbal structure (8), said front and rear being circular in cross section, each provided with a tension arm (5).
3. The crawling robot for pipeline maintenance according to claim 2, characterized in that said ranging sensor (1), ultrasonic sensor (2), camera sensor (3) and temperature sensor (4) are provided on the top of the front part of the robot body (9).
4. The crawling robot for pipeline maintenance according to claim 2, characterized in that the outer walls of the front and rear parts are provided with 3 tension arms (5), and the included angle between adjacent tension arms (5) is 120 degrees.
5. The crawling robot for pipe maintenance according to claim 4, characterized in that the tension arms (5) on the outer walls of the front and rear are reversed.
6. The crawling robot for pipeline maintenance according to claim 1, characterized in that the control structure of the robot body (9) comprises a single chip, a motor driving board and a battery.
7. The crawling robot for pipeline maintenance according to claim 6, wherein a hub motor is arranged in the driving wheel (7), an analog quantity is output to the motor driving board, the motor driving board is connected with an external operation panel in a wired mode, and a forward key and a backward key are arranged on the operation panel.
8. The crawling robot for pipeline maintenance according to claim 7, characterized in that said driving wheels (7) output corresponding unequal speed values according to different key force magnitudes.
9. The crawling robot for pipeline maintenance according to claim 1, characterized in that the robot body (9) reads the current detection values of the ultrasonic sensor (2), the temperature sensor (4) and the distance measuring sensor (1) by means of serial port output, and the refresh frequency of the detection data of the ultrasonic sensor (2) is once per second.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924219.3A CN110605727A (en) | 2019-09-27 | 2019-09-27 | Crawling robot for pipeline maintenance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910924219.3A CN110605727A (en) | 2019-09-27 | 2019-09-27 | Crawling robot for pipeline maintenance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110605727A true CN110605727A (en) | 2019-12-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910924219.3A Pending CN110605727A (en) | 2019-09-27 | 2019-09-27 | Crawling robot for pipeline maintenance |
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| CN (1) | CN110605727A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111395466A (en) * | 2020-03-11 | 2020-07-10 | 广东新拓计算机科技有限公司 | Tap water pipeline cleaning robot |
| CN111505120A (en) * | 2020-05-09 | 2020-08-07 | 温州市推木科技有限公司 | Metal pipeline inner wall robot of detecting a flaw |
| CN111578040A (en) * | 2020-05-28 | 2020-08-25 | 合肥奕聚信息科技有限公司 | Crawling robot structure device for pipeline flaw detection |
| CN111673656A (en) * | 2020-06-29 | 2020-09-18 | 中国空气动力研究与发展中心超高速空气动力研究所 | Adjustable pipe section installation and connection device |
| CN112356038A (en) * | 2020-09-27 | 2021-02-12 | 深圳供电局有限公司 | Cable trench inspection robot |
| CN112429110A (en) * | 2020-12-12 | 2021-03-02 | 佳木斯大学 | Robot structure based on computer control |
| CN113374988A (en) * | 2021-06-29 | 2021-09-10 | 西北大学 | Detection robot in industrial pipeline of self-adaptation pipe diameter |
| CN114280162A (en) * | 2021-12-29 | 2022-04-05 | 长沙航空职业技术学院 | A robot for tap water pipeline detects a flaw |
| CN114709747A (en) * | 2022-04-13 | 2022-07-05 | 华北电力大学（保定） | Self-adaptive special-shaped space cable pipeline inspection robot |
| CN116539727A (en) * | 2023-06-30 | 2023-08-04 | 天津市首通工程检测技术有限公司 | Pipeline defect ultrasonic detection device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111395466A (en) * | 2020-03-11 | 2020-07-10 | 广东新拓计算机科技有限公司 | Tap water pipeline cleaning robot |
| CN111505120A (en) * | 2020-05-09 | 2020-08-07 | 温州市推木科技有限公司 | Metal pipeline inner wall robot of detecting a flaw |
| CN111505120B (en) * | 2020-05-09 | 2021-01-05 | 温州同岸机电配件股份有限公司 | Metal pipeline inner wall robot of detecting a flaw |
| CN111578040A (en) * | 2020-05-28 | 2020-08-25 | 合肥奕聚信息科技有限公司 | Crawling robot structure device for pipeline flaw detection |
| CN111673656A (en) * | 2020-06-29 | 2020-09-18 | 中国空气动力研究与发展中心超高速空气动力研究所 | Adjustable pipe section installation and connection device |
| CN111673656B (en) * | 2020-06-29 | 2021-07-16 | 中国空气动力研究与发展中心超高速空气动力研究所 | Adjustable pipe section installation and connection device |
| CN112356038B (en) * | 2020-09-27 | 2022-07-22 | 深圳供电局有限公司 | Cable trench inspection robot |
| CN112356038A (en) * | 2020-09-27 | 2021-02-12 | 深圳供电局有限公司 | Cable trench inspection robot |
| CN112429110A (en) * | 2020-12-12 | 2021-03-02 | 佳木斯大学 | Robot structure based on computer control |
| CN113374988A (en) * | 2021-06-29 | 2021-09-10 | 西北大学 | Detection robot in industrial pipeline of self-adaptation pipe diameter |
| CN114280162A (en) * | 2021-12-29 | 2022-04-05 | 长沙航空职业技术学院 | A robot for tap water pipeline detects a flaw |
| CN114709747A (en) * | 2022-04-13 | 2022-07-05 | 华北电力大学（保定） | Self-adaptive special-shaped space cable pipeline inspection robot |
| CN116539727A (en) * | 2023-06-30 | 2023-08-04 | 天津市首通工程检测技术有限公司 | Pipeline defect ultrasonic detection device |
| CN116539727B (en) * | 2023-06-30 | 2023-09-08 | 天津市首通工程检测技术有限公司 | Pipeline defect ultrasonic detection device |
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