CN208670435U - A kind of tapered pipeline detection robot - Google Patents
A kind of tapered pipeline detection robot Download PDFInfo
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- CN208670435U CN208670435U CN201821141080.2U CN201821141080U CN208670435U CN 208670435 U CN208670435 U CN 208670435U CN 201821141080 U CN201821141080 U CN 201821141080U CN 208670435 U CN208670435 U CN 208670435U
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Abstract
The utility model provides a kind of tapered pipeline detection robot, it include: fixing seat, first variable diameter driving assembly, second variable diameter driving assembly, controller and detection device, first variable diameter driving assembly, second variable diameter driving assembly is respectively arranged at the first opposite side of fixing seat, second side, first variable diameter driving assembly and the second variable diameter driving assembly include tensioner driving mechanism, connecting rod and multiple walking mechanisms, tensioner driving mechanism includes tensioner driving portion, first tensioner guide rod and tensioner moving portion, each walking mechanism includes walking driver, mounting rack and traveling wheel, tensioner driving portion driving tensioner moving portion moves back and forth on the first tensioner guide rod, walking driver drives traveling wheel rotation, controller is electrically connected with walking driver, detection device is for detecting pipeline.It can solve the problems, such as that the countermeasures such as traditional artificial detection, random sampling and periodic replacement then have the disadvantages of project amount is big, at high cost, danger coefficient is high using the technical program.
Description
Technical field
The utility model belongs to robot device field more particularly to a kind of tapered pipeline detection robot.
Background technique
Pipeline is as a part essential in the modern life, due to rotten in environment for a long time in pipeline use process
In the usage scenarios such as erosion, external force, inevitable pipeline can have damage situation.Pipeline in use, can generate various each
The pipeline fault of sample, such as the problems such as blocking and damage, if being detected not in time to pipeline, repairing and will generate serious thing
Therefore.Therefore, in order to guarantee pipeline using safe, timing detection seems particularly significant with pipeline is repaired.But pipeline quilt mostly
It is embedded in underground, it is difficult to carry out artificial detection.Then there is work in the countermeasures such as traditional artificial detection, random sampling and periodic replacement
The disadvantages of journey amount is big, at high cost, danger coefficient is high.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of tapered pipelines to detect robot, it is intended to solve to pass
The countermeasures such as artificial detection, random sampling and the periodic replacement of system then have that project amount is big, at high cost, danger coefficient is high etc. and lack
The problem of point.
In order to solve the above technical problems, the utility model is realized in this way, a kind of tapered pipeline detection robot, packet
Include: fixing seat, the first variable diameter driving assembly and the second variable diameter driving assembly, the first variable diameter driving assembly are set to the of fixing seat
Side, the second variable diameter driving assembly are set to second side of fixing seat, the first variable diameter driving assembly and the second variable diameter driving assembly
It include tensioner driving mechanism, connecting rod and multiple walking mechanisms, wherein tensioner driving mechanism includes tensioner driving portion, first rises
Tight guide rod and tensioner moving portion, each walking mechanism include walking driver, mounting rack and traveling wheel, and the first tensioner guide rod is connected to
Fixing seat, tensioner moving portion are sheathed on the first tensioner guide rod, and tensioner driving portion drives tensioner moving portion in the first tensioner guide rod
Upper reciprocating movement, multiple walking mechanisms are circumferentially distributed and surround tensioner driving mechanism, and mounting rack is movably connected on fixing seat, walk
Wheel is mounted on mounting rack, and walking driver is mounted on mounting rack, and walking driver drives traveling wheel to rotate, and the first of connecting rod
End is movably connected on tensioner moving portion, and the second end of connecting rod is movably connected on mounting rack；Tapered pipeline detects robot
Controller and detection device, controller are mounted in fixing seat, and controller is electrically connected with detection device, controller and hoofing part
Device electrical connection, wherein detection device is in the process of walking detecting pipeline.
Further, tensioner driving portion is motor, and motor is mounted in fixing seat, and motor is electrically connected with the controller, first
Tensioner guide rod and tensioner moving portion are respectively lead screw screw rod and feed screw nut, the output end connection of lead screw screw rod and motor.
Further, tensioner driving portion is helical spring, and helical spring is sheathed on the first tensioner guide rod, helical spring
First end is abutted with fixing seat, and the second end of helical spring is abutted with tensioner moving portion.
Further, tensioner driving mechanism further includes baffle and the second tensioner guide rod, and the first end of the second tensioner guide rod is set
It is placed in fixing seat, the second end of the second tensioner guide rod is connect after passing through tensioner moving portion with baffle, and tensioner moving portion can be second
It is moved on tensioner guide rod along its axis direction, detection device is set to the first variable diameter driving assembly and/or the second variable diameter driving group
On the baffle of part.
Further, the second tensioner guide rod is multiple, and multiple second tensioner guide rods are circumferentially evenly arranged on the first tensioner guide rod
Around.
Further, walking driver tool is there are two output end, and traveling wheel is two, and two traveling wheels are set to mounting rack
Two sides, and two traveling wheels are connected to two output ends.
Further, tapered pipeline detection robot further includes pin shaft and locking member, and fixing seat is equipped with pedestal, sets on pedestal
There is first through hole, the end of mounting rack is equipped with the second through-hole, and the first end of pin shaft is equipped with limiting section, and the second end of pin shaft passes through
First through hole and the second through-hole, locking member are locked in the second end of pin shaft.
Further, fixing seat includes the first fixing seat and the second fixing seat, and the first variable diameter driving assembly is mounted on first
In fixing seat, the second variable diameter driving assembly is mounted in the second fixing seat, and the first fixing seat and the second fixing seat are connected by bolt
Connected components are fixedly connected.
Compared with prior art, beneficial effect is the utility model: in the prior art in order to avoid pipeline generation
Failure accident and can only be solved using the countermeasures such as artificial detection, random sampling and periodic replacement, can be for difference
Pipeline, only need to can carry out walking and detecting accordingly come adaptive corresponding pipeline using tapered pipeline detection robot
Work, greatly improves the convenience of pipe detection maintenance work, and applied reply pipeline makes compared with the existing technology
For method with the potential threat in the presence of process, project amount is greatly reduced, and reduce application cost.
Detailed description of the invention
Fig. 1 is the general assembly structural schematic diagram of the first embodiment of the tapered pipeline detection robot of the utility model；
Fig. 2 is that the tapered pipeline of the utility model detects the first variable diameter driving assembly in the first embodiment of robot and consolidates
Assembling structure schematic diagram between reservation；
Fig. 3 is the assembly knot of tensioner driving mechanism in the first embodiment of the tapered pipeline detection robot of the utility model
Structure schematic diagram；
Fig. 4 is that the decomposition texture of walking mechanism in the first embodiment of the tapered pipeline detection robot of the utility model shows
It is intended to；
Fig. 5 is the structural representation of the second fixing seat in the first embodiment of the tapered pipeline detection robot of the utility model
Figure；
Fig. 6 is point in the first embodiment of the tapered pipeline detection robot of the utility model between pin shaft and locking member
Solution structure schematic diagram；
Fig. 7 is the assembly knot of tensioner driving mechanism in the second embodiment of the tapered pipeline detection robot of the utility model
Structure schematic diagram.
In the accompanying drawings, each appended drawing reference indicates:
10, fixing seat；101, the first fixing seat；102, the second fixing seat；11, pedestal；111, first through hole；20, first
Variable diameter driving assembly；21, tensioner driving mechanism；22, connecting rod；23, walking mechanism；211, tensioner driving portion；212, the first tensioner
Guide rod；213, tensioner moving portion；214, baffle；215, the second tensioner guide rod；216, installation pedestal；231, walking driver；
232, mounting rack；233, traveling wheel；2311, output end；2312, traveling wheel assembles hub；2313, traveling wheel installs bolt group；
2321, the second through-hole；30, the second variable diameter driving assembly；40, pin shaft；41, limiting section；50, locking member；60, it is bolted group
Part.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System is merely for convenience of description the application and simplifies description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present application, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
As shown in Figures 1 to 6, the tapered pipeline detection robot of the first embodiment of the utility model includes: fixing seat
10, the first variable diameter driving assembly 20 and the second variable diameter driving assembly 30, the first variable diameter driving assembly 20 are set to fixing seat 10
First side, the second variable diameter driving assembly 30 are set to second side of fixing seat 10, the first variable diameter driving assembly 20 and the second variable diameter
Driving assembly 30 includes tensioner driving mechanism 21, connecting rod 22 and multiple walking mechanisms 23, wherein tensioner driving mechanism 21 includes
Tensioner driving portion 211, the first tensioner guide rod 212 and tensioner moving portion 213, each walking mechanism 23 include walking driver 231, peace
232 and traveling wheel 233 are shelved, the first tensioner guide rod 212 is connected to fixing seat 10, and tensioner moving portion 213 is sheathed on the first tensioner
On guide rod 212, tensioner driving portion 211 drives tensioner moving portion 213 to move back and forth on the first tensioner guide rod 212, multiple walkings
Mechanism 23 is circumferentially distributed and surrounds tensioner driving mechanism 21, and mounting rack 232 is movably connected on fixing seat 10, and traveling wheel 233 is installed
On mounting rack 232, walking driver 231 is mounted on mounting rack 232, and walking driver 231 drives traveling wheel 233 to rotate,
The first end of connecting rod 22 is movably connected on tensioner moving portion 213, and the second end of connecting rod 22 is movably connected on mounting rack 232；Variable diameter
Detecting robot of pipe further includes controller (not shown) and detection device (not shown), and controller is mounted in fixing seat 10,
Controller is electrically connected with detection device, and controller is electrically connected with walking driver 231, wherein detection device is passed by for being expert at
Pipeline is detected in journey, detection device includes detection camera, laser detection instrument, magnetic resonance detecting instrument etc..
In the first embodiment, controller can be using commonly used in the prior art industrial control unit (ICU) PLC or control
MCU processed etc., this will not be repeated here.
Enter in pipeline to be detected using tapered pipeline detection robot and walk, to carry out the process of detection work
In, while adjusting the tensioner driving mechanism 21 in the first variable diameter driving assembly 20 and the second variable diameter driving assembly 30 and passing through connecting rod 22
It drives walking mechanism 23 to carry out reduced radius operation and then puts robot into pipeline so that the radius of robot is reduced to minimum
In, it then controls tensioner driving mechanism 21 and drives walking mechanism 23 to carry out expansion radius by connecting rod 22, so that traveling wheel
233 are connected in inner wall of the pipe, then control walking driver 231 and start, to drive traveling wheel 233 to rotate, to realize machine
Device people walks along inner wall of the pipe, during robot ambulation, just controls detection device simultaneously and carries out to the pipeline passed through
Detection, thus obtain pipeline every detection parameters (every detection parameters for example: inner wall of the pipe be corroded degree, split in pipeline
Blocked degree of line stress parameters, pipeline etc.), then pipeline operate with targetedly maintenance.Due to not
Same pipeline model has different internal diameters, which detects robot and pass through tensioner driving mechanism 21, connecting rod 22
Cooperation between walking mechanism 23, so that the traveling wheel 233 of robot can adapt to different internal diameter of the pipeline sizes and be adjusted
Section, the pipeline realization for allowing the robot to adapt to different inner diameters walk in pipeline and carry out detection operation.In this way, for existing
Have in technology in order to avoid pipeline breaks down accident and can only answer other side using artificial detection, random sampling and periodic replacement etc.
Method is solved, and different pipelines can be directed to, and need to detect robot using the tapered pipeline only come adaptive corresponding pipeline
It can carry out being walked accordingly with detection work, greatly improve the convenience of pipe detection maintenance work, and relative to existing
For the method for having the potential threat in the presence of reply pipeline use process applied by technology, project amount is greatly reduced,
And reduce application cost.
In the first embodiment, as shown in Figure 1 to Figure 3, tensioner driving portion 211 is motor, and motor is mounted on fixing seat 10
On, motor is electrically connected with the controller, the first tensioner guide rod 212 and tensioner moving portion 213 respectively lead screw screw rod and feed screw nut,
Feed screw nut, which is threadedly attached on lead screw screw rod, (further, also can be set rolling between lead screw screw rod and feed screw nut
Pearl, so that forming ball screw arrangement between lead screw screw rod, feed screw nut and ball), the output of lead screw screw rod and motor
End connection.When tensioner driving mechanism 21 carries out tensioner to walking mechanism 23 by connecting rod 22, it is dynamic that controller controls motor output
Power, the output end of motor drives the rotation of lead screw screw rod, at this point, feed screw nut is on lead screw screw rod by the rotary motion of lead screw screw rod
It is changed into linear motion so that feed screw nut is moved along the axis of lead screw screw rod.
During assembling the motor, motor is covered by installation pedestal 216, to be more firmly assemblied in fixation
On seat 10.
In order to make feed screw nut more steady and smooth when moving back and forth on lead screw screw rod, therefore, as shown in figure 3, first
The tensioner driving mechanism 21 of embodiment further includes baffle 214 and the second tensioner guide rod 215, the first end of the second tensioner guide rod 215
It is set to fixing seat 10, in the first embodiment, the first end of the second tensioner guide rod 215 passes through fixed company after installation pedestal 216
It connects in fixing seat 10, the second end of the second tensioner guide rod 215 is connect after passing through tensioner moving portion 213 with baffle 214, and second rises
Tight guide rod 215 is smooth guide rod, and tensioner moving portion 213 can move on the second tensioner guide rod 215 along its axis direction.First
In embodiment, detection device is set on the baffle 214 of the first variable diameter driving assembly 20 and/or the second variable diameter driving assembly 30.
When carrying detection device simultaneously on the baffle 214 of the first variable diameter driving assembly 20 and the baffle 214 of the second variable diameter driving assembly 30
It, being capable of detection that is more comprehensive, quickly completing pipeline parameters when accordingly being detected to pipeline；When the first variable diameter drives
Detection device is carried on the baffle 214 of component 20 and maintenance and repair device is carried on the baffle 214 of the second variable diameter driving assembly 30
When, then may be implemented detection finish after, if it find that defect of pipeline then immediately by maintenance and repair device carry out maintenance and repair
(such as carry out cleaning blocking, weld crack etc.), realize synchronization job.
Specifically, the second tensioner guide rod 215 is multiple, and multiple second tensioner guide rods 215 are circumferentially evenly arranged on the first tensioner
Around guide rod 212.By the guiding role to tensioner moving portion 213 on multiple angle directions, so that tensioner moving portion 213
It can steadily move.
As shown in figure 4, there are two output end 2311, two output ends for the tool of walking driver 231 in first embodiment
2311 are all made of the design of hexagonal pivot structure.Traveling wheel 233 is two, and two traveling wheels 233 are set to the two sides of mounting rack 232,
And two traveling wheels 233 are connected to two output ends 2311, in the present embodiment, traveling wheel dress are connected in hexagonal shaft
With hub 2312, traveling wheel 233 is then installed into bolt group 2313 by traveling wheel and is fixedly connected on traveling wheel assembly hub 2312.
As shown in Figure 5 and Figure 6, in the first embodiment, tapered pipeline detection robot further includes pin shaft 40 and locking member
50, fixing seat 10 is equipped with pedestal 11, and pedestal 11 is equipped with first through hole 111, and the end of mounting rack 232 is equipped with the second through-hole
2321, the first end of pin shaft 40 is equipped with limiting section 41, and the second end of pin shaft 40 passes through first through hole 111 and the second through-hole 2321,
Locking member 50 is locked in the second end of pin shaft 40.
Robot is detected in order to facilitate the tapered pipeline is assembled, can be assembled in a modular fashion, therefore,
In the first embodiment, fixing seat 10 includes the first fixing seat 101 and the second fixing seat 102, the first variable diameter driving assembly 20 peace
In the first fixing seat 101, the second variable diameter driving assembly 30 is mounted in the second fixing seat 102, the first fixing seat 101 and
Two fixing seats 102 are bolted component 60 and are fixedly connected.In assembling process, the assembly of the first variable diameter driving assembly 20 is existed
The first load module is formed in first fixing seat 101, the assembly of the second variable diameter driving assembly 30 is formed in the second fixing seat 102
Second load module, the assembly working of the first load module is synchronous with the assembly work of the second load module to carry out, then by the
One load module and the second load module, which are attached, (is namely bolted component 60 for the first fixing seat 101 and the
Two fixing seats 102 are connected and fixed), the assembly work of tapered pipeline detection robot can be completed.
In the first embodiment, the first variable diameter driving assembly 20 is identical with the structure of the second variable diameter driving assembly 30,
I.e. in the tapered pipeline detection robot of first embodiment, the first variable diameter driving assembly 20 and the second variable diameter driving assembly 30 are opposite
It is symmetrical arranged in fixing seat 10.
As shown in fig. 7, it illustrates tensioners in the second embodiment of the tapered pipeline of the utility model detection robot to drive
The assembling structure schematic diagram of motivation structure 21.In a second embodiment, there is following difference compared with first embodiment.The
The tensioner driving portion 211 of tensioner driving mechanism 21 in the tapered pipeline detection robot of two embodiments is helical spring, spiral
Spring pocket be set to the first tensioner guide rod 212 on, the first end of helical spring is abutted with fixing seat 10, the second end of helical spring and
Tensioner moving portion 213 abuts.
Wherein, helical spring can (pressure spring generates back stretch when itself is compressed, and pressure spring cannot be by using pressure spring
Stretch) or tension spring (tension spring generates back stretch when itself is stretched, and tension spring cannot be compressed), certainly, helical spring
The normal spiral spring of back stretch can be generated using that can either be generated back stretch by compression or be stretched.Below with
Pressure spring and tension spring carry out narration explanation respectively.
When helical spring uses pressure spring, as shown in fig. 7, compression spring sleeve is in the first tensioner guide rod 212 in assembling process
On, the first end of pressure spring is fixedly connected with fixing seat 10, and the first tensioner guide rod 212 is smooth guide rod at this time, then moves tensioner
Dynamic 213 sets of portion across each second tensioner guide rod 215 and covers on the first tensioner guide rod 212, and makes tensioner moving portion 213
The second end of pressure spring is abutted, then each connecting rod 22 is connect with tensioner moving portion 213, each walking mechanism 23.When row is each
When the circle that the point of each traveling wheel 233 of walking mechanism 23 contacted with tube wall is formed is maximum gauge, pressure spring is at this time
Nature, and at this time between the length axes extending direction of connecting rod 22 and the central axial direction of the first tensioner guide rod 212
It is formed by 90 ° of 180 ° of < β < of angle.Circle is formed by when the internal diameter to be carried out detection pipeline is less than each traveling wheel 233
When the maximum gauge of circle, then need to squeeze each traveling wheel 233, so that pressure spring is compressed and generates back stretch,
When circle diameter is squeezed to minimum, β angle is maximum at this time.When tapered pipeline detection robot leaves the pipeline of the small diameter tube
Later, each traveling wheel 233 can return back to circle diameter maximum original state under the action of the back stretch of pressure spring.
Identical as using the assembling process of pressure spring using the assembling process of tension spring when helical spring uses tension spring, institute is not
With as shown in fig. 7, the circle of the point formation contacted with tube wall when each traveling wheel 233 of each walking mechanism 23 of row
When for maximum gauge, at this time tension spring in the raw, and the length axes extending direction and the first tensioner of connecting rod 22 at this time
0 ° of 90 ° of < β < of angle is formed by between the central axial direction of guide rod 212.When the internal diameter to be carried out detection pipeline is less than
When each traveling wheel 233 is formed by the maximum gauge of circle, then need to squeeze each traveling wheel 233, thus to tension spring
It is stretched and generates back stretch, when circle diameter is squeezed to minimum, β angle is minimum at this time.When the tapered pipeline detects
After robot leaves the small-caliber pipeline, each traveling wheel 233 can return back to circle under the action of the back stretch of tension spring
The maximum original state of diameter.
The tapered pipeline detection robot of second embodiment and the tapered pipeline robot of first embodiment compare,
In addition to the above structure is different, remaining structure is all the same, thus is no longer repeated herein.
In addition, the tapered pipeline of 3rd embodiment detects machine in the 3rd embodiment (not shown) of the utility model
The first variable diameter driving assembly 20 in people is designed using the structure of the first variable diameter driving assembly 20 in first embodiment, and third
The second variable diameter driving assembly 30 in the tapered pipeline detection robot of embodiment is then using the second variable diameter in second embodiment
The structure of driving assembly 30 designs.3rd embodiment is respectively compared with first embodiment, second embodiment, except the above structure is different
Except, remaining structure is all the same, is no longer repeated herein.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (8)
1. a kind of tapered pipeline detects robot characterized by comprising fixing seat (10), the first variable diameter driving assembly (20)
With the second variable diameter driving assembly (30), the first variable diameter driving assembly (20) is set to the first side of the fixing seat (10),
The second variable diameter driving assembly (30) is set to second side of the fixing seat (10), the first variable diameter driving assembly (20)
It include tensioner driving mechanism (21), connecting rod (22) and multiple walking mechanisms (23) with the second variable diameter driving assembly (30),
Wherein, tensioner driving mechanism (21) includes tensioner driving portion (211), the first tensioner guide rod (212) and tensioner moving portion (213),
Each walking mechanism (23) includes walking driver (231), mounting rack (232) and traveling wheel (233), and first tensioner is led
Bar (212) is connected to the fixing seat (10), and the tensioner moving portion (213) is sheathed on the first tensioner guide rod (212),
The tensioner driving portion (211) drives the tensioner moving portion (213) to move back and forth on the first tensioner guide rod (212),
Multiple walking mechanisms (23) are circumferentially distributed and surround the tensioner driving mechanism (21), and mounting rack (232) activity is even
It is connected to the fixing seat (10), the traveling wheel (233) is mounted on the mounting rack (232), the walking driver (231)
It is mounted on the mounting rack (232), the walking driver (231) drives traveling wheel (233) rotation, the connecting rod
(22) first end is movably connected on the tensioner moving portion (213), and the second end of the connecting rod (22) is movably connected on described
Mounting rack (232)；
Tapered pipeline detection robot further includes controller and detection device, and the controller is mounted on the fixing seat
(10) on, the controller is electrically connected with the detection device, and the controller is electrically connected with the walking driver (231),
Wherein, the detection device is in the process of walking detecting pipeline.
2. tapered pipeline as described in claim 1 detects robot, which is characterized in that the tensioner driving portion (211) is electricity
Machine, the motor are mounted on the fixing seat (10), and the motor is electrically connected with the controller, the first tensioner guide rod
(212) and the tensioner moving portion (213) is respectively lead screw screw rod and feed screw nut, and the lead screw screw rod is defeated with the motor
Outlet connection.
3. tapered pipeline as described in claim 1 detects robot, which is characterized in that the tensioner driving portion (211) is spiral shell
Revolve spring, the helical spring is sheathed on the first tensioner guide rod (212), the first end of the helical spring with it is described solid
Reservation (10) abuts, and the second end of the helical spring is abutted with the tensioner moving portion (213).
4. tapered pipeline as claimed in claim 2 or claim 3 detects robot, which is characterized in that the tensioner driving mechanism (21)
It further include baffle (214) and the second tensioner guide rod (215), the first end of the second tensioner guide rod (215) is set to described solid
Reservation (10), the second end of the second tensioner guide rod (215) pass through the tensioner moving portion (213) afterwards with the baffle
(214) it connects, the tensioner moving portion (213) can move on the second tensioner guide rod (215) along its axis direction, described
Detection device is set to the baffle of the first variable diameter driving assembly (20) and/or the second variable diameter driving assembly (30)
(214) on.
5. tapered pipeline as claimed in claim 4 detects robot, which is characterized in that the second tensioner guide rod (215) is
Multiple, multiple second tensioner guide rods (215) are circumferentially evenly arranged on around the first tensioner guide rod (212).
6. tapered pipeline as claimed in claim 4 detects robot, which is characterized in that the walking driver (231) has
Two output ends (2311), the traveling wheel (233) are two, and two traveling wheels (233) are set to the mounting rack (232)
Two sides, and two traveling wheels (233) are connected to two output ends (2311).
7. tapered pipeline as claimed in claim 6 detects robot, which is characterized in that tapered pipeline detection robot is also
Including pin shaft (40) and locking member (50), the fixing seat (10) is equipped with pedestal (11), and it is logical that the pedestal (11) is equipped with first
The end in hole (111), the mounting rack (232) is equipped with the second through-hole (2321), and the first end of the pin shaft (40) is equipped with limit
The second end in position portion (41), the pin shaft (40) passes through the first through hole (111) and second through-hole (2321), the lock
Tight part (50) is locked in the second end of the pin shaft (40).
8. tapered pipeline as described in claim 1 detects robot, which is characterized in that the fixing seat (10) includes first solid
Reservation (101) and the second fixing seat (102), the first variable diameter driving assembly (20) are mounted on first fixing seat (101)
On, the second variable diameter driving assembly (30) is mounted on second fixing seat (102), first fixing seat (101) with
Second fixing seat (102) is bolted component (60) and is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821141080.2U CN208670435U (en) | 2018-07-16 | 2018-07-16 | A kind of tapered pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821141080.2U CN208670435U (en) | 2018-07-16 | 2018-07-16 | A kind of tapered pipeline detection robot |
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| Publication Number | Publication Date |
|---|---|
| CN208670435U true CN208670435U (en) | 2019-03-29 |
Family
ID=65830449
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821141080.2U Active CN208670435U (en) | 2018-07-16 | 2018-07-16 | A kind of tapered pipeline detection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108662352A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline detection robot |
| CN111365563A (en) * | 2020-03-26 | 2020-07-03 | 湖北楚天卓越工程技术有限公司 | Running gear for detecting internal quality of concrete pipeline and operation method |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113447004A (en) * | 2021-06-25 | 2021-09-28 | 中国人民解放军63653部队 | Pipeline measuring device |
-
2018
- 2018-07-16 CN CN201821141080.2U patent/CN208670435U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108662352A (en) * | 2018-07-16 | 2018-10-16 | 香港中文大学（深圳） | A kind of tapered pipeline detection robot |
| CN108662352B (en) * | 2018-07-16 | 2023-09-01 | 香港中文大学（深圳） | Reducing pipeline detection robot |
| CN111365563A (en) * | 2020-03-26 | 2020-07-03 | 湖北楚天卓越工程技术有限公司 | Running gear for detecting internal quality of concrete pipeline and operation method |
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113447004A (en) * | 2021-06-25 | 2021-09-28 | 中国人民解放军63653部队 | Pipeline measuring device |
| CN113447004B (en) * | 2021-06-25 | 2023-03-14 | 中国人民解放军63653部队 | Pipeline measuring device |
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