CN202927362U - Structure of pipeline inspection robot - Google Patents
Structure of pipeline inspection robot Download PDFInfo
- Publication number
- CN202927362U CN202927362U CN 201220332575 CN201220332575U CN202927362U CN 202927362 U CN202927362 U CN 202927362U CN 201220332575 CN201220332575 CN 201220332575 CN 201220332575 U CN201220332575 U CN 201220332575U CN 202927362 U CN202927362 U CN 202927362U
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- pipeline
- robot
- mobile carrier
- inspection robot
- pipeline inspection
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- Expired - Fee Related
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a structure of a pipeline inspection robot. The structure of the pipeline inspection robot has the functions of achieving the purposes of moving inside a pipeline and detecting the condition inside the pipeline through various sensors. The structure of the pipeline inspection robot is characterized in that a wheel-type structure is adopted, and the pipeline inspection robot is composed of a mobile carrier, a camera pan-tilt and a control part. The mobile carrier is composed of driving wheels driven wheels, transmission devices, and driving motors. Moreover, the mobile carrier is also provided with an angle sensor so that the mobile carrier can automatically adjust posture of the mobile carrier to keep balance. The structure of the pipeline inspection robot is characterized in that the camera pan-tilt (7) is arranged on the mobile carrier, and the mobile carrier is composed of the driving wheels (1and 4), the driven wheels (2 and 3), the transmission devices (5 and 6) and the driving motors (8 and 9).
Description
Technical field:
The research of pipeline robot has a wide range of applications and is worth, and the utility model is fully understood problem and the inherent requirement of the existence of present pipeline robot control and communication system, proposes a kind of General layout Plan of wheeled pipeline robot.
Background technique:
The research of pipeline robot has a wide range of applications and is worth.At oil, chemical industry, nuclear industry, in building, the use of pipeline robot will improve people greatly to the efficient of pipe detection and maintenance work, and at home and abroad pipeline robot has caused the broad interest of industry-by-industry in recent years.
Summary of the invention:
A kind of detecting robot of pipe of the utility model relates to a kind of a kind of specialized robot for the pipe interior detection.Its function is to realize reaching in the motion of pipe interior the situation that detects pipe interior by various sensors.Its feature is to adopt wheeled structure, and the attitude that can correct automatically oneself in service keeps balance.Detecting robot of pipe is comprised of moving carrier, camera The Cloud Terrace, control section.
The structure of detecting robot of pipe, it is characterized in that being formed by moving carrier, camera The Cloud Terrace, motor drive unit, communicator, human-machine interface control device, its moving carrier adopts wheeled construction, is comprised of driving wheel, follower, transmission device, drive motor.
The camera The Cloud Terrace is comprised of steering wheel, steering wheel support, camera, and the steering wheel support is the finished product mechanical parts and steering wheel is used in conjunction with, and man-machine interface adopts liquid crystal display panel, button, and be furnished with 12864 graphic lcd display speeds.
The utility model has the following advantages: driving mechanism adopts wheeled construction, and is furnished with angle transducer, and robot is operated steadily in pipeline, is difficult for occuring skew or rollover; Utilize camera to take in real time the interior situation of pipeline, realized the detection of pipeline and the monitoring of robot working condition; Power acquisition is with 3 joint 4.2V rechargeable type lithium celies series connection, the comparision of quantity of electricity foot of lithium cell, and can charging, and recycling is difficult for being short-circuited, open circuit fault.In a word, the utility model walking is stable, convenient, and reliability is high, and Applicable scope is wide, and controllability is strong, and intelligent degree is high.
The utility model feature is that its mobile platform adopts wheeled construction, wheeled motion has simple in structure, the motion continuous and stable, speed is fast, reliability is high, the motion plurality of advantages such as flexible in pipeline, in order to reduce the volume of robot, and motor must traverse, so one, two motor is in the front another is in the back in the design of robot carrier, wheel has been made the wedge shape wheel, the area of contact of increase and pipeline, and load onto O type circle with increasing friction force in wheel surface.In order to realize the visual feedback of pipeline robot in pipeline, designed and produced camera mechanism, its effect is to detect the different direction tube wall, the motion of camera can by angular divisions, realize 360 ° of rotations in pipeline.
The drive motor of pipeline robot utilizes DC speed-reducing, robot can complete and advance, fall back, stop, turning left, the a series of actions such as right-hand rotation, and can turn to flexibly, left and right wheels respectively adopts a motor to drive, and motor is selected band encoder drag cup reducing motor, the direct current generator reduction speed ratio is 64:1, and the top speed of pipeline robot can reach the requirement that V=2 π rv=2 * 3.14 * 0.04 * 120/60=0.502m/s can satisfy system preferably.
For the speed of control, adopt the PWM speed regulation method, adopt special-purpose driving chip LMD18200 to come drive motor.Robot walks in pipeline when climbing to the change that tube wall is accompanied by level angle, so will make operating steadily of robot as long as control angle is stable.Angle transducer is selected the WYH-1 magnetic sensitive angle sensor, adopts the magneto sensing unit, without the measurement of the electrical pickoff rotation by mechanical rotating shaft, by having realized the detection at angle of inclination with being connected of weight.For realizing the speed controlling function to motor, at first to know the speed of motor, use EE-SJ3 type correlation photoelectric sensor, adopt correlation to reduce reflection interval, detect effect stability, be arranged on reducing motor deceleration main shaft before, the resolution that tests the speed is high, is subjected to external light influence less.
It is the essential condition that is related to movable robot's performance that the digital signal processing chip of pipeline robot is selected, consider the movable robot from the interface purposes of main control locomotive function and singlechip chip, we select 8 single chip computer AT 89S52 single-chip microcomputers as movable robot's controller.Because most of pipelines are metallic conduit, shielding action to frequency electromagnetic waves is very strong, adopting between pipeline robot and upper-position unit has cable to be connected, control in order to realize speed, added the Speed Setting button in upper computer control system, set motor speed with this, also have robot ambulation direction and camera The Cloud Terrace moving direction controlling rod in upper computer control system, convenient manual control to robot.And be provided with the video recording of liquid crystal display panel demonstration camera feedback, and are furnished with 12864 graphic lcd display setting speed.
The utility model is described in further detail below in conjunction with accompanying drawing and concrete mode of execution.
Description of drawings:
Fig. 1 is the detecting robot of pipe structural representation;
In Fig. 1,1, driving wheel; 2, follower; 3, follower; 4, driving wheel; 5, transmission device; 6, transmission device;
7, camera The Cloud Terrace; 8, drive motor; 9, drive motor.
Embodiment:
The utility model is characterized in that by camera The Cloud Terrace (7) is installed on moving carrier, and moving carrier is by driving wheel (1,4), follower (2,3), and transmission device (5,6), drive motor (8,9) forms.The utility model is when implementing, it drives driving wheel (1,4) by the drive unit that direct current generator consists of, and driving follower (2,3) by transmission device (5,6), each wheel will make whole Robot conduit running with the frictional force that tube wall produces.Robot moves forward or backward when moving with uniform velocity when two-wheeled is, when driving wheel (4) speed during greater than driving wheel (1) speed robot turn left, when driving wheel (1) speed during greater than driving wheel (4) speed robot turn right, realize turning to of robot by differential.
Claims (1)
1. the structure of a detecting robot of pipe, it is characterized in that by camera The Cloud Terrace (7) is installed on moving carrier, moving carrier is by driving wheel (1,4), follower (2,3), transmission device (5,6), drive motor (8,9) forms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220332575 CN202927362U (en) | 2012-07-02 | 2012-07-02 | Structure of pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220332575 CN202927362U (en) | 2012-07-02 | 2012-07-02 | Structure of pipeline inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202927362U true CN202927362U (en) | 2013-05-08 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220332575 Expired - Fee Related CN202927362U (en) | 2012-07-02 | 2012-07-02 | Structure of pipeline inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202927362U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107631123A (en) * | 2017-09-05 | 2018-01-26 | 黑龙江龙唐电力投资有限公司 | A kind of heat distribution pipeline sniffing robot and its control system and control method |
| CN108932805A (en) * | 2017-05-26 | 2018-12-04 | 宝山钢铁股份有限公司 | Large-scale port machine cart induction alarm device |
| CN109869571A (en) * | 2017-12-04 | 2019-06-11 | 中国石油天然气集团公司 | Self-levelling systems for travelling bogie in pipeline |
| CN114110303A (en) * | 2020-08-27 | 2022-03-01 | 广州中国科学院先进技术研究所 | Control method of long-distance water supply pipeline detection robot |
| CN114770536A (en) * | 2022-04-22 | 2022-07-22 | 国网江苏省电力有限公司南通供电分公司 | Electric power pipeline inspection robot |
-
2012
- 2012-07-02 CN CN 201220332575 patent/CN202927362U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108932805A (en) * | 2017-05-26 | 2018-12-04 | 宝山钢铁股份有限公司 | Large-scale port machine cart induction alarm device |
| CN107631123A (en) * | 2017-09-05 | 2018-01-26 | 黑龙江龙唐电力投资有限公司 | A kind of heat distribution pipeline sniffing robot and its control system and control method |
| CN109869571A (en) * | 2017-12-04 | 2019-06-11 | 中国石油天然气集团公司 | Self-levelling systems for travelling bogie in pipeline |
| CN114110303A (en) * | 2020-08-27 | 2022-03-01 | 广州中国科学院先进技术研究所 | Control method of long-distance water supply pipeline detection robot |
| CN114110303B (en) * | 2020-08-27 | 2023-08-08 | 广州中国科学院先进技术研究所 | Control method for long-distance water supply pipeline detection robot |
| CN114770536A (en) * | 2022-04-22 | 2022-07-22 | 国网江苏省电力有限公司南通供电分公司 | Electric power pipeline inspection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130508 Termination date: 20150702 |
|
| EXPY | Termination of patent right or utility model |