CN111720661A - Pipeline detection deployment robot - Google Patents
Pipeline detection deployment robot Download PDFInfo
- Publication number
- CN111720661A CN111720661A CN202010750078.0A CN202010750078A CN111720661A CN 111720661 A CN111720661 A CN 111720661A CN 202010750078 A CN202010750078 A CN 202010750078A CN 111720661 A CN111720661 A CN 111720661A
- Authority
- CN
- China
- Prior art keywords
- robot
- pipeline
- chassis
- degree
- aviation plug
- 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
Images
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
-
- 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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline detection deployment robot, which structurally comprises a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly, an aviation plug I, an aviation plug II and a cable; the robot adopts a modular design, a robot chassis, a three-degree-of-freedom mechanical arm, a detection radar and a camera assembly are used as independent modules, and the modules can be quickly disassembled and assembled through a connecting screw, an aviation plug I and an aviation plug II; compared with the existing pipeline detection robot in the market, the developed pipeline detection deployment robot has stronger functions and can better meet the social requirements.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline detection deployment robot.
Background
The urban pipeline is an important part of urban infrastructure, plays important roles in gas delivery, heating power, water supply and drainage, electric power, communication, broadcast television, air conditioning/oil smoke ventilation and the like, plays a key role in the sustainable, stable and healthy development of urban economy, and is called as the nerve and the blood vessel of the city. With the long-term construction of pipelines, overload operation and long-term maintenance, faults such as sea sight in rainy days, air and water cut-off and the like often occur, and the pipelines need to be periodically detected and maintained to ensure the safe operation of the pipelines.
On one hand, the inner diameter of the urban pipeline is generally smaller, the operation space reserved for maintenance personnel is narrow, and the maintenance personnel are difficult to enter the pipeline or to operate after entering the pipeline. On the other hand, hazardous gas is poisonous in the urban pipeline or transported, or hazardous gas is poisonous during long-time working, when maintenance personnel work in a poisonous environment, great harm is caused to the body, and great risk exists. In order to solve the problems in pipeline detection and maintenance, a pipeline detection robot is produced. At present, a pipeline detection robot in the market is mainly a wheel type or crawler type chassis and carries a high-definition camera or a sonar to detect a pipeline.
Patent WO2016000443a1 discloses a pipeline trench detection robot system, comprising a robot, a control box and a cable for connecting the robot and the control box; the robot comprises a vehicle body (1), a traveling mechanism, a lifting mechanism (3) and a pan-tilt camera device (4), wherein each set of crawler type traveling mechanism comprises a driving wheel (22), a guide wheel (23), two supporting belt wheels (24), a plurality of supporting wheels (25) and a crawler (21) sleeved on the driving wheel, the guide wheel, the supporting belt wheels and the supporting wheels. The driving wheel and the guide wheel are arranged at two ends of the upper part of the vehicle body, the supporting wheel is arranged between the driving wheel and the guide wheel, and the thrust wheel is arranged at the lower end of the vehicle body to bear the vehicle body and elements on the vehicle body. The structure is relatively complicated, and the technical problem to be solved is to promote some on the function. And WO2019100507a1 discloses a pipeline inspection robot system, wherein a cable car, a remote robot and 1-N inspection devices are implanted with a power carrier communication system including a power carrier core board and a control board, so that power lines can be connected through power carrier transmission ends of respective power carrier core boards to form the pipeline inspection robot system.
In order to solve the incomplete detection caused by single detection mode, the technical personnel in the field should solve the problems in time.
Disclosure of Invention
The invention aims to solve a series of problems caused by incomplete detection in the prior art that a pipeline detection robot detects a pipeline only by a camera or a sonar. The pipeline detection deployment robot is driven by wheels, carries a high-definition camera and an illuminating lamp, and is provided with a three-degree-of-freedom mechanical arm, so that a detection radar can reach any position of the inner surface of a pipeline. Through the dual detection of high definition digtal camera and pipeline detection radar, can realize the omnidirectional detection of pipeline. The carried three-degree-of-freedom mechanical arm can carry 3kg of other loads, and when the mechanical arm needs to be deployed or other functions are needed, the load at the tail end of the mechanical arm can be quickly replaced, so that the function of the robot can be quickly changed.
The invention is realized by the following technical scheme: a pipeline detection deployment robot structurally comprises a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly, an aviation plug I, an aviation plug II and a cable; the robot comprises a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly and a control system, wherein the left lifting rod and the right lifting rod are arranged on two sides of the robot chassis upwards respectively; the robot adopts the modularized design, and robot chassis, three degree of freedom arms, detection radar, camera subassembly regard as solitary module, through connecting screw, aviation plug one, aviation plug two alright realize the quick assembly disassembly between each module.
Preferably, the pipeline detection deployment robot has the following dimensions: 1017mm × 246mm × 215mm (length × width × height, when the lifting mechanism is not lifted), 882mm × 246mm × 375mm (length × width × height, when the lifting mechanism is not lifted), and a weight of 24 kg.
Preferably, the pipeline detection deployment robot can detect a pipeline which is not less than DN300mm, and can rapidly deploy other equipment to a specified position of the pipeline. The walking speed of the pipeline detection deployment robot can reach 1m/s at most, and the speed can be adjusted in a stepless manner. Obstacles with obstacle-crossing capability up to 30mm in height can easily cross.
Preferably, the robot adopts the cable towing operation, and the cable provides electric energy and optical fiber communication for the robot, guarantees that the robot is not restricted by battery capacity and communication distance.
Preferably, the robot chassis is driven by wheels, and the foreign high-power high-torque driving motors are selected as the bilateral driving motors to drive the bevel gear transmission mechanism and the chain wheel and chain transmission mechanism to rotate so as to further drive the wheels at two sides to rotate and walk. Motors on two sides of a robot chassis are independently controlled and driven by differential speed, so that the robot can turn in situ.
Preferably, an inclination sensor is installed in the robot chassis to detect an inclination angle of the robot chassis and prevent the robot from overturning.
Preferably, the robot chassis is provided with an inflation joint, the interior of the robot chassis is filled with inert gas, and the robot chassis can achieve the good effect of IP67 by combining mechanical sealing. The robot chassis is internally provided with the air pressure detection device, so that the air pressure condition in the chassis can be detected in real time, and the good sealing effect in the chassis is kept.
Preferably, the three-degree-of-freedom mechanical arm mainly has movements in three directions of lifting, rotating and swinging, and the tail end load capacity is 3 kg. Wherein the lifting distance is 0-150 mm, the rotation angle is 0-350 degrees, the swing angle is +/-90 degrees, and the stepless speed regulation can be realized. In order to ensure the motion safety of the three-degree-of-freedom mechanical arm, on one hand, a motor with three degrees of freedom of lifting, rotating and swinging is selected from a mature motor with high power, high torque and high reliability in foreign countries, and on the other hand, a transmission mechanism of the motor adopts worm and worm gear transmission, and on the premise of self-locking safety, the worm and worm gear has the performance of transmitting the high torque. In the worm and worm gear transmission mechanism, an absolute value encoder is installed at one end of a worm, so that the position information of three degrees of freedom can be read in real time, and the detection radar and the camera assembly are guaranteed against collision.
Preferably, the three-degree-of-freedom mechanical arm tail end mounting kit can be quickly replaced according to the structural shapes of other tail end loads besides carrying the detection radar, and the tail end loads can be simply and quickly disassembled.
Preferably, the camera assembly consists of a high-definition network camera (20 times optical zoom) and a CREE high-brightness cold light shadowless lamp, and the position between the high-definition network camera and the CREE high-brightness cold light shadowless lamp is reasonably designed, so that the lamp light can provide enough illumination brightness for the camera, and the interior of the pipeline is listed. The camera, the light and the main control board are connected through the aviation plug, and different camera assemblies can be replaced according to different pipeline conditions.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: the technical scheme of the invention has the advantages of simple structure, reliable work and convenient maintenance, and meanwhile, the pipeline detection deployment robot can detect the pipeline which is not less than DN300mm through the high-definition camera, the carried three-degree-of-freedom mechanical arm and the detection radar can further detect the pipeline in detail, and the omnibearing detection of the pipeline can be realized. And the carried three-degree-of-freedom mechanical arm can also carry other detection or repair equipment to detect and repair the pipeline. Compared with the existing pipeline detection robot in the market, the developed pipeline detection deployment robot has stronger functions and can better meet the social requirements.
Drawings
FIG. 1 is an isometric view of a pipeline inspection deployment robot of the present invention;
FIG. 2 is a front view of the pipeline inspection deployment robot of the present invention;
FIG. 3 is a top view of the pipeline inspection deployment robot of the present invention;
FIG. 4 is a front view of the pipeline inspection deployment robot of the present invention;
reference numerals:
1-a robot chassis; 2-left lifting rod; 3-lifting the lifting rod rightwards; 4-three degree-of-freedom mechanical arm; 5-detecting radar; 6-a camera assembly; 7-aviation plug I; 8-aviation plug II; 9-cable.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In a specific implementation process, the pipeline detection deployment robot is shown in fig. 1 to 4, and comprises a robot chassis 1, a left lifting rod 2, a right lifting rod 3, a three-degree-of-freedom mechanical arm 4, a detection radar 5, a camera assembly 6, an aviation plug 7, an aviation plug 8 and a cable 9. The robot adopts the modularized design, and robot chassis 1, three degree of freedom arms 4, detection radar 5, camera subassembly 6 regard as solitary module, through connecting screw, aviation plug 7, aviation plug two 8 alright realize the quick assembly disassembly between each module.
In the specific implementation process, the size of the pipeline detection deployment robot is as follows: 1017mm × 246mm × 215mm (length × width × height, when the lifting mechanism is not lifted), 882mm × 246mm × 375mm (length × width × height, when the lifting mechanism is not lifted), and a weight of 24 kg.
In a specific implementation process, the pipeline detection deployment robot can detect a pipeline not smaller than DN300mm, and can rapidly deploy other equipment to a specified position of the pipeline. The walking speed of the pipeline detection deployment robot can reach 1m/s at most, and the speed can be adjusted in a stepless manner. Obstacles with obstacle-crossing capability up to 30mm in height can easily cross.
In the specific implementation process, the robot adopts the towing operation, the cable 9 provides electric energy and optical fiber communication for the robot, and the robot is not limited by the battery capacity and the communication distance.
In the specific implementation process, the robot chassis 1 is driven by wheels, and foreign high-power high-torque driving motors are selected as the bilateral driving motors to drive the bevel gear transmission mechanism and the chain wheel and chain transmission mechanism to rotate so as to further drive wheels at two sides to rotate and walk. Motors on two sides of the robot chassis 1 are independently controlled and driven by differential speed, so that the robot can turn in situ.
In the specific implementation process, the inclination angle sensor is arranged in the robot chassis 1, so that the inclination angle of the robot chassis can be detected, and the robot is prevented from overturning.
In the specific implementation process, the robot chassis 1 is provided with the inflation connector, the interior of the robot chassis is filled with inert gas, and the robot chassis can achieve the good effect of IP67 by combining mechanical sealing. The robot chassis 1 is internally provided with an air pressure detection device, so that the air pressure condition in the chassis can be detected in real time, and the good sealing effect in the chassis can be kept.
In the specific implementation process, the three-degree-of-freedom mechanical arm 4 mainly moves in three directions of lifting, rotating and swinging, and the tail end load capacity is 3 kg. Wherein the lifting distance is 0-150 mm, the rotation angle is 0-350 degrees, the swing angle is +/-90 degrees, and the stepless speed regulation can be realized. In order to ensure the motion safety of the three-degree-of-freedom mechanical arm, on one hand, a motor with three degrees of freedom of lifting, rotating and swinging is selected from a mature motor with high power, high torque and high reliability in foreign countries, and on the other hand, a transmission mechanism of the motor adopts worm and worm gear transmission, and on the premise of self-locking safety, the worm and worm gear has the performance of transmitting the high torque. In the worm and worm gear transmission mechanism, an absolute value encoder is installed at one end of a worm, so that the position information of three degrees of freedom can be read in real time, and the detection radar 5 and the camera assembly 6 are guaranteed not to collide.
In the specific implementation process, the mounting kit for the tail end of the three-degree-of-freedom mechanical arm 4 can be quickly replaced according to the structural shapes of other tail end loads besides carrying the detection radar 5, and the tail end loads can be simply and quickly dismounted.
In the specific implementation process, the camera assembly 6 consists of a high-definition network camera (20 times optical zoom) and a CREE high-brightness cold light shadowless lamp, and the position between the high-definition network camera and the CREE high-brightness cold light shadowless lamp is reasonably designed, so that the lamp light can provide enough illumination brightness for the camera, and the interior of the pipeline is listed. The camera, the light and the main control board are connected through the aviation plug, and different camera assemblies can be replaced according to different pipeline conditions.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A pipeline detection deployment robot is characterized by comprising a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly, an aviation plug I, an aviation plug II and a cable; the robot comprises a robot chassis, a left lifting rod, a right lifting rod, a three-degree-of-freedom mechanical arm, a detection radar, a camera assembly and a control system, wherein the left lifting rod and the right lifting rod are arranged on two sides of the robot chassis upwards respectively; the robot adopts the modularized design, and robot chassis, three degree of freedom arms, detection radar, camera subassembly regard as solitary module, through connecting screw, aviation plug one, aviation plug two alright realize the quick assembly disassembly between each module.
2. The pipeline inspection deployment robot of claim 1, wherein the pipeline inspection deployment robot has dimensions of:
when the lifting mechanism is not lifted, length × width × height: 1017mm × 246mm × 215 mm;
when the lifting mechanism is not lifted, length × width × height: 882mm × 246mm × 375 mm;
the weight was 24 kg.
3. The pipeline detecting and deploying robot as claimed in claim 1, wherein the walking speed of the pipeline detecting and deploying robot can reach up to 1m/s, and the speed can be adjusted in a stepless manner; the obstacle crossing capability reaches 30mm height at most.
4. The pipeline inspection deployment robot of claim 1, wherein the robot uses cable-towing operation, and the cable provides power and optical fiber communication to the robot, so as to ensure that the robot is not limited by battery capacity and communication distance.
5. The pipeline inspection deployment robot of claim 1, wherein the robot chassis is wheel-driven, and the bilateral driving motors are foreign high-power high-torque driving motors, and drive the bevel gear transmission mechanism and the chain wheel and chain transmission mechanism to rotate, so as to further drive wheels at two sides to rotate and walk; motors on two sides of a robot chassis are independently controlled and driven by differential speed, so that the robot can turn in situ.
6. The pipeline inspection deployment robot of claim 1, wherein the robot chassis is internally provided with an inclination sensor for detecting an inclination angle of the robot chassis to prevent the robot from overturning.
7. The pipeline inspection deployment robot of claim 1, wherein the robot chassis is equipped with an inflation joint, the interior of the robot chassis is filled with inert gas, and the robot chassis can achieve good effect of IP67 in combination with mechanical sealing; the robot chassis is internally provided with the air pressure detection device, so that the air pressure condition in the chassis can be detected in real time, and the good sealing effect in the chassis is kept.
8. The pipeline inspecting and deploying robot of claim 1, wherein the three-degree-of-freedom mechanical arm mainly moves in three directions of lifting, rotating and swinging, and the end load capacity is 3 kg; wherein the lifting distance is 0-150 mm, the rotation angle is 0-350 degrees, the swing angle is +/-90 degrees, and the stepless speed regulation can be realized;
in order to ensure the motion safety of the three-degree-of-freedom mechanical arm, on one hand, a motor with three degrees of freedom of lifting, rotating and swinging is selected from a mature motor with high power, high torque and high reliability in foreign countries, and on the other hand, a transmission mechanism of the motor adopts worm and worm gear transmission, and the worm and worm gear has the performance of transmitting high torque on the premise of self-locking safety;
in the worm and worm gear transmission mechanism, an absolute value encoder is installed at one end of a worm, and position information of three degrees of freedom is read in real time.
9. The pipeline inspecting and deploying robot of claim 1, wherein the three-degree-of-freedom mechanical arm end mounting kit can be quickly replaced according to the structural shape of other end loads besides carrying the detection radar, and the end loads can be simply and quickly disassembled and assembled.
10. The pipeline inspection deployment robot of claim 1, wherein the camera assembly comprises a 20-time optical zoom high-definition web camera and a CREE high-brightness cold light shadowless lamp, and the camera, the light and the main control board are connected quickly through an aviation plug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010750078.0A CN111720661A (en) | 2020-07-30 | 2020-07-30 | Pipeline detection deployment robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010750078.0A CN111720661A (en) | 2020-07-30 | 2020-07-30 | Pipeline detection deployment robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111720661A true CN111720661A (en) | 2020-09-29 |
Family
ID=72574061
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010750078.0A Pending CN111720661A (en) | 2020-07-30 | 2020-07-30 | Pipeline detection deployment robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111720661A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113873802A (en) * | 2021-09-18 | 2021-12-31 | 深圳供电局有限公司 | Maintenance equipment for replacing communication terminal antenna |
| CN114396529A (en) * | 2021-12-15 | 2022-04-26 | 合肥哈工特安智能科技有限公司 | Three-degree-of-freedom holder and pipeline detection device |
| CN114877165A (en) * | 2022-06-21 | 2022-08-09 | 中国十七冶集团有限公司 | Municipal engineering underground pipeline quadruped robot pipeline detection device and method |
| CN115013636A (en) * | 2022-06-21 | 2022-09-06 | 安徽建筑大学 | Dual-drive pipeline detection robot |
| CN116182001A (en) * | 2022-12-27 | 2023-05-30 | 安徽艾特巴机械制造有限公司 | Pipeline detection robot |
-
2020
- 2020-07-30 CN CN202010750078.0A patent/CN111720661A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113873802A (en) * | 2021-09-18 | 2021-12-31 | 深圳供电局有限公司 | Maintenance equipment for replacing communication terminal antenna |
| CN114396529A (en) * | 2021-12-15 | 2022-04-26 | 合肥哈工特安智能科技有限公司 | Three-degree-of-freedom holder and pipeline detection device |
| CN114877165A (en) * | 2022-06-21 | 2022-08-09 | 中国十七冶集团有限公司 | Municipal engineering underground pipeline quadruped robot pipeline detection device and method |
| CN115013636A (en) * | 2022-06-21 | 2022-09-06 | 安徽建筑大学 | Dual-drive pipeline detection robot |
| CN115013636B (en) * | 2022-06-21 | 2023-12-29 | 安徽建筑大学 | Dual-drive pipeline detection robot |
| CN116182001A (en) * | 2022-12-27 | 2023-05-30 | 安徽艾特巴机械制造有限公司 | Pipeline detection robot |
| CN116182001B (en) * | 2022-12-27 | 2023-10-20 | 安徽艾特巴机械制造有限公司 | Pipeline detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111720661A (en) | Pipeline detection deployment robot | |
| CN109303994B (en) | Fire-fighting reconnaissance fire-extinguishing robot and working method thereof | |
| CN110410152B (en) | Mining working face inspection robot and application thereof | |
| CN201516604U (en) | Modular track rocker-arm type colliery underground robotic explorer | |
| CN108583826B (en) | Extensible underwater operation platform | |
| CN104444418B (en) | Eighteen-degree-of-freedom robot with bucket | |
| CN210370799U (en) | Inspection robot for excavation working surface | |
| CN111390888A (en) | Double-drive type modular snake-shaped robot based on multi-sensor fusion and driving method | |
| CN105196283A (en) | Series-parallel two-foot iron-tower climbing robot | |
| CN212929182U (en) | Pipeline detection deployment robot | |
| CN111332386A (en) | Self-following dual-purpose fire-fighting robot | |
| CN208896085U (en) | A kind of indoor Gua Gui robot being easily installed | |
| CN208816963U (en) | A kind of robot | |
| CN215037663U (en) | A robot patrols and examines for utility tunnel | |
| US6546677B1 (en) | Telescoping mast assembly | |
| CN105690404A (en) | Manipulator device at tail end of double-foot robot for power transmission line | |
| CN201391760Y (en) | Emergency lighting vehicle | |
| KR20220069965A (en) | Self-powered drone flying car for public training | |
| CN101799148A (en) | Concealable LED illumination lamp | |
| CN216414408U (en) | Enhanced illumination type holder camera | |
| CN113274670A (en) | Electric four-wheel drive fire-fighting robot | |
| CN213141330U (en) | Supporting surface moving device | |
| CN113147940A (en) | Underwater ship wall crawling robot | |
| CN215721693U (en) | Pipeline endoscope robot with mixed crawler belt | |
| CN216969240U (en) | Post-disaster air-land dual-purpose rescue robot |
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 |