CN204477709U - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
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- CN204477709U CN204477709U CN201520026591.XU CN201520026591U CN204477709U CN 204477709 U CN204477709 U CN 204477709U CN 201520026591 U CN201520026591 U CN 201520026591U CN 204477709 U CN204477709 U CN 204477709U
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- pipeline
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- pipe
- robot
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Abstract
The utility model discloses a kind of detecting robot of pipe, comprise robot body, the bilateral symmetry of described robot body is provided with multiple leg, the head of described robot body is provided with camera, described camera is connected to controller, it is characterized in that: one end of described leg is connected with described robot body, the other end is then free end, and the free end end of described leg is provided with the sucker be made up of electromagnetic material.Structure is simple, can adapt to the pipeline of all size, the adsorption force provided by the electromagnet in vola, can not only in the pipeline detection of level, vertical pipeline can also be detected, and if be the pipeline of metal magnetic conducting material, detection of arbitrarily can also creeping in pipeline inside and outside; Also be configured with camera and current vortex sensor, can more accurate testing pipes corrosion and damage situation.
Description
Technical field
The utility model relates to a kind of pipe testing apparatus, especially a kind of robot for pipe detection.
Background technique
Pipeline is conveying dangerous liquid and gas mode the most safely and effectively.Along with the prolongation of pipeline service time, the problem of conduit deteriorates becomes increasingly conspicuous, and pipe safety operation problem more and more receives the attention of people.According to domestic and international pipeline accident analysis of statistical data, early stage and the later stage that pipeline puts into operation is high-incidence season of accident, the particularly later stage, the perforation leakage accident that pipeline causes because of corrosion failure happens occasionally, and the possibility that pipeline accident occurs sharply increases along with the increase of conduit running time.For this reason, need to detect pipeline.
Constantly open up extensively along with micro electro mechanical system (MEMS) technology development and microminiature movable robot application field, occur replacing manually carrying out various limit operation, the detection and maintenance of carrying out tube wall between space-constrained pipeline group as entered with microminiature climbing robot.Existing detection robot, as control system and the method for application number a kind of detecting robot of pipe disclosed in the Chinese patent application of 201210581820.5, this detecting robot of pipe comprises Main Control Tank, crawl device and cam device; And for example application number is the disclosed a kind of six sufficient unmanned probing robots of Chinese patent of 201220329242.1, and comprise car body, control panel, camera, infrared senor etc., lower car body fixes lithium polymerization cell and six flexible glue tires.
But these above-mentioned detection robots, move by means of only tire, other pipeline various types of cannot be adapted to thus, not there is good any material wall from adsorption performance and the travelling performance adapting to various shape wall flexibly; And only carrying camera, Detection results is not obvious, and application area is wideless.
Model utility content
Technical problem to be solved in the utility model is for above-mentioned prior art Problems existing, provides a kind of detecting robot of pipe improving pipeline conformability.
The utility model solves the problems of the technologies described above adopted technological scheme: a kind of detecting robot of pipe, comprise robot body, the bilateral symmetry of described robot body is provided with multiple leg, the head of described robot body is provided with camera, described camera is connected to controller, it is characterized in that: one end of described leg is connected with described robot body, the other end is then free end, and the free end end of described leg is provided with the sucker be made up of electromagnetic material.
Described robot body is also provided with the steering wheel controlling the motion of described leg, thus leg can be controlled is deployed in different angles to adapt to different pipelines.
For detecting the wall erosion situation of the pipeline that permeability magnetic material is made, the afterbody of described robot body is provided with current vortex sensor, and described current vortex sensor is connected to described controller.
For ease of by detected data transmission to controller, and from controller receive control command, the afterbody of described robot body is provided with data cube computation mouth, and described camera is connected with described controller by described data cube computation mouth with current vortex sensor.
Compared with prior art, the utility model has the advantage of: structure is simple, the pipeline of all size can be adapted to, by the adsorption force that the electromagnet in vola provides, can not only in the pipeline detection of level, vertical pipeline can also be detected, and if be the pipeline of metal magnetic conducting material, detection of arbitrarily can also creeping in pipeline inside and outside; Also be configured with camera and current vortex sensor, can more accurate testing pipes corrosion and damage situation.
Accompanying drawing explanation
Fig. 1 is detecting robot of pipe detected state schematic diagram of the present utility model;
Fig. 2 is the structural representation of detecting robot of pipe of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, embodiment is described in further detail the utility model.
See Fig. 1 and Fig. 2, a kind of detecting robot of pipe, comprises robot body 1, is symmetricly set on multiple legs 2 of robot body 1 both sides, and in the utility model preferred embodiment, leg 2 is six, and every side of robot body 1 is respectively equipped with three.
Each leg 2 has the degrees of freedom of four bendings, and each degrees of freedom can by steering wheel (not shown) control angle, and steering wheel is arranged on robot body 1, for controlling the motion of leg 2.One end of leg 2 is connected with robot body 1, the other end is then free end, the free end end of leg 2 is provided with sucker 21, and in the utility model, sucker 21 adopts electromagnetic material to make, be energized by giving sucker 21, leg 2 end can be made to be adsorbed on the wall of permeability magnetic material pipeline 3, to ensure that robot can steady motion, and can vertical pipe be climbed, also by controlling the sequence of motion of leg 2, robot is made can to advance in pipeline 3 flexibly, retreat and turn round.For not entering into inner pipeline, as the pipeline of boats and ships, robot then can carry out data capture in pipeline 3 outside, as shown in Figure 1.
The head of robot body 1 is provided with camera 4, camera 4 can be connected to a controller (not shown), ensure that robot can gather the image data of pipeline 3, and operator are by above-mentioned image data, controller manual tune can be passed through, control the angle of leg 2 end sucker 21, make the tube wall of its pipeline 3 of fitting.
The afterbody of robot body 1 is provided with current vortex sensor 5, can detect the wall erosion situation of the pipeline 3 that permeability magnetic material is made.Current vortex sensor 5 is connected to controller too, and operator can be transferred to the data of controller by current vortex sensor 5, judges whether pipeline 3 damages.
Above-mentioned camera 4 and current vortex sensor 5 can by being arranged on the data cube computation mouth of robot body 1 afterbody and to-controller communication, transmit the control command that the data that detect and controller send.
Claims (4)
1. a detecting robot of pipe, comprise robot body (1), the bilateral symmetry of described robot body (1) is provided with multiple leg (2), the head of described robot body (1) is provided with camera (4), described camera (4) is connected to controller, it is characterized in that: one end of described leg (2) is connected with described robot body (1), the other end is then free end, and the free end end of described leg (2) is provided with the sucker (21) be made up of electromagnetic material.
2. detecting robot of pipe as claimed in claim 1, is characterized in that: described robot body (1) is also provided with the steering wheel controlling described leg (2) and move.
3. detecting robot of pipe as claimed in claim 1 or 2, is characterized in that: the afterbody of described robot body (1) is provided with current vortex sensor (5), and described current vortex sensor (5) is connected to described controller.
4. detecting robot of pipe as claimed in claim 3, it is characterized in that: the afterbody of described robot body (1) is provided with data cube computation mouth, described camera (4) is connected with described controller by described data cube computation mouth with current vortex sensor (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520026591.XU CN204477709U (en) | 2015-01-14 | 2015-01-14 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520026591.XU CN204477709U (en) | 2015-01-14 | 2015-01-14 | A kind of detecting robot of pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204477709U true CN204477709U (en) | 2015-07-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520026591.XU Expired - Fee Related CN204477709U (en) | 2015-01-14 | 2015-01-14 | A kind of detecting robot of pipe |
Country Status (1)
| Country | Link |
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| CN (1) | CN204477709U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105437239A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port crane maintenance robot |
| CN105437237A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Large storage tank inner wall detection robot |
| CN105435994A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port suspension arm surface maintenance system |
| CN105459122A (en) * | 2015-10-30 | 2016-04-06 | 上海交通大学 | Container detecting robot system and control method thereof |
| CN105526439A (en) * | 2016-02-29 | 2016-04-27 | 苏州市永通不锈钢有限公司 | Installation-convenient stainless steel pipe connecting piece |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN105973978A (en) * | 2016-07-07 | 2016-09-28 | 江苏方天电力技术有限公司 | Device and method for automatically detecting annular cracks of fire facing side of water-cooling wall of boiler |
| CN107091903A (en) * | 2017-05-28 | 2017-08-25 | 南昌理工学院 | A kind of automatic checkout equipment |
| CN107591739A (en) * | 2017-10-13 | 2018-01-16 | 上海米益实业有限公司 | A kind of cable channel threads draw-gear |
| CN108917822A (en) * | 2018-04-03 | 2018-11-30 | 浙江海洋大学 | A kind of Technique of Subsea Pipeline Inspection device |
| CN111038669A (en) * | 2019-12-11 | 2020-04-21 | 东北石油大学 | Submarine pipeline detection type underwater robot |
| CN111442195A (en) * | 2020-05-18 | 2020-07-24 | 杭州屹升科技有限公司 | Robot technology for industrial detection |
| CN111641161A (en) * | 2020-04-24 | 2020-09-08 | 武汉船用机械有限责任公司 | Apparatus and method for cabling |
-
2015
- 2015-01-14 CN CN201520026591.XU patent/CN204477709U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459122A (en) * | 2015-10-30 | 2016-04-06 | 上海交通大学 | Container detecting robot system and control method thereof |
| CN105437239A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port crane maintenance robot |
| CN105437237A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Large storage tank inner wall detection robot |
| CN105435994A (en) * | 2015-11-28 | 2016-03-30 | 江苏风雷文化传媒有限公司 | Port suspension arm surface maintenance system |
| CN105526439A (en) * | 2016-02-29 | 2016-04-27 | 苏州市永通不锈钢有限公司 | Installation-convenient stainless steel pipe connecting piece |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN105619392B (en) * | 2016-03-29 | 2017-06-23 | 刘子骞 | The robot and its control method of a kind of balance quality stabilization |
| CN105973978A (en) * | 2016-07-07 | 2016-09-28 | 江苏方天电力技术有限公司 | Device and method for automatically detecting annular cracks of fire facing side of water-cooling wall of boiler |
| CN107091903A (en) * | 2017-05-28 | 2017-08-25 | 南昌理工学院 | A kind of automatic checkout equipment |
| CN107091903B (en) * | 2017-05-28 | 2020-11-24 | 南昌理工学院 | Automatic detection equipment |
| CN107591739A (en) * | 2017-10-13 | 2018-01-16 | 上海米益实业有限公司 | A kind of cable channel threads draw-gear |
| CN108917822A (en) * | 2018-04-03 | 2018-11-30 | 浙江海洋大学 | A kind of Technique of Subsea Pipeline Inspection device |
| CN108917822B (en) * | 2018-04-03 | 2021-07-23 | 浙江海洋大学 | Submarine pipeline detection device |
| CN111038669A (en) * | 2019-12-11 | 2020-04-21 | 东北石油大学 | Submarine pipeline detection type underwater robot |
| CN111641161A (en) * | 2020-04-24 | 2020-09-08 | 武汉船用机械有限责任公司 | Apparatus and method for cabling |
| CN111641161B (en) * | 2020-04-24 | 2022-04-15 | 武汉船用机械有限责任公司 | Apparatus and method for cabling |
| CN111442195A (en) * | 2020-05-18 | 2020-07-24 | 杭州屹升科技有限公司 | Robot technology for industrial detection |
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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: 20150715 Termination date: 20160114 |