CN214293091U - Pipeline detection device and detection robot - Google Patents

Abstract

The utility model provides a pipeline detection device and detection robot. The pipeline detection device comprises a main body structure, walking wheels and lateral driving wheels, wherein end mechanisms are symmetrically constructed at two ends of the main body structure respectively, a pair of walking wheels is mounted at the bottom of each end mechanism respectively, and the lateral driving wheels are mounted on the end faces of each end mechanism. This pipeline detection device can utilize walking wheel drive major structure to march inside the pipeline to the side direction drive wheel rolls along the lateral wall of pipeline, thereby when this pipeline detection device marchs the position of turning round of pipeline, the side direction drive wheel can play the effect of side direction to major structure, thereby make this pipeline detection device realize automatic posture adjustment, in order to improve the flexibility that this pipeline detection device marched inside the pipeline, and then more high-efficient and more accurate realization is to the detection achievement of pipeline internal state.

Description

Pipeline detection device and detection robot

Technical Field

The utility model relates to a pipeline cloth prevents construction equipment technical field, especially relates to a pipeline detection device and detection robot.

Background

At present, the existing pipelines in cities mostly belong to hidden projects, once construction is completed, the current situation of the pipelines is difficult to detect, the connectivity and the quality of the pipelines cannot be obtained, and great difficulty is brought to the work of construction, maintenance, acceptance, design and the like. In particular, the inner pipe of the communication pipeline is mostly made of silicon core pipes or PVC pipes as the lining, so that the communication pipeline is easy to damage, cause pipeline blockage and cannot be used continuously. Maintenance and constructors lack necessary means to acquire the quality of the pipeline, so that the communication optical cable cannot be normally constructed when the defense is laid along the pipeline in the later period, and construction cost of each party is increased.

SUMMERY OF THE UTILITY MODEL

The utility model provides a pipeline detection device for solve and be difficult to carry out the accurate detection to the inside current situation of pipeline among the prior art, thereby can't learn the connectivity of pipeline and the defect of quality.

The utility model also provides a detection robot.

The utility model provides a pipeline detection device, including major structure, walking wheel and side direction drive wheel, the structure of major structure's both ends difference symmetry has tip mechanism, every a pair of walking wheel, every are installed respectively to tip mechanism's bottom side-mounting has the side direction drive wheel.

According to the utility model provides a pair of pipeline detection device still includes drive assembly, drive assembly install in the major structure, and it is a pair of the walking wheel is connected.

According to the utility model provides a pair of pipeline detection device, drive assembly includes driving motor, reduction gears and a pair of bevel gear pair, and is a pair of walking wheel connection is in the both ends of same main shaft, the main shaft passes through bevel gear pair with reduction gears connects, reduction gears connect in driving motor.

According to the utility model provides a pair of pipeline detection device, reduction gears includes first reduction gear group and second reduction gear group, first reduction gear group with second reduction gear group connect in driving motor with bevel gear is to between to.

According to the utility model provides a pair of pipeline detection device, bevel gear is to first bevel gear and second bevel gear including intermeshing, first bevel gear suit in outside the main shaft, second bevel gear connect in reduction gears.

According to the utility model provides a pair of pipeline detection device, the terminal surface interval connection of tip mechanism has a pair ofly the side direction drive wheel, it is a pair of the roll direction of side direction drive wheel is the same.

According to the utility model provides a pair of pipeline detection device still includes image acquisition mechanism, image acquisition mechanism install in on the terminal surface of tip mechanism.

According to the utility model provides a pipeline detection device, the image acquisition mechanism includes camera, light source and memory, the camera is installed in the terminal surface of tip mechanism, the light source is installed between camera and tip mechanism; the memory is arranged in the main body structure and is connected with the camera.

According to the utility model, the pipeline detection device also comprises a control mechanism and a drop-proof sensor, wherein the control mechanism is arranged in the main body structure and is in signal connection with the drop-proof sensor; the anti-falling sensor is arranged on the end face of the end mechanism.

The utility model also provides a detection robot, include as above pipeline detection device.

The utility model provides a pipeline detection device possesses following beneficial effect at least:

the utility model provides a pipeline detection device includes major structure, walking wheel and side direction drive wheel, and the both ends of major structure are the structure of symmetry respectively has tip mechanism, and a pair of walking wheel is installed respectively to the bottom of every tip mechanism, and side direction drive wheel is installed to the terminal surface of every tip mechanism. This pipeline detection device can utilize walking wheel drive major structure to march inside the pipeline to the side direction drive wheel rolls along the lateral wall of pipeline, thereby when this pipeline detection device marchs the position of turning round of pipeline, the side direction drive wheel can play the effect of side direction to major structure, thereby make this pipeline detection device realize automatic posture adjustment, in order to improve the flexibility that this pipeline detection device marched inside the pipeline, and then more high-efficient and more accurate realization is to the detection achievement of pipeline internal state.

The utility model provides a detection robot, including foretell pipeline detecting device. Through setting up foretell pipeline detecting device for this detection robot can have foretell pipeline detecting device's whole advantage, and it is not repeated here specifically.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of a pipeline detecting device provided by the present invention;

fig. 2 is a schematic structural diagram of a driving assembly provided by the present invention;

fig. 3 is a side view of the pipeline detecting device provided by the present invention.

Reference numerals:

100: a body structure; 101: end mechanism 200: a traveling wheel;

201: a drive motor; 202: a first reduction gear set; 203: a second reduction gear set;

204: a bevel gear pair; 205: a power supply mechanism; 300: a lateral drive wheel;

400: an image acquisition mechanism;

500: a fall arrest sensor;

600: and a control mechanism.

Detailed Description

To make the objects, technical solutions and advantages of the present invention clearer, the drawings of the present invention are combined to clearly and completely describe the technical solutions of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The pipeline detecting device (in the embodiment of the present invention, referred to as "detecting device" for short) of the present invention is described below with reference to fig. 1 to 3. The detection device can be applied to communication optical cables and laid under the construction environment along the pipeline, automatically explore the inside of the pipeline to find the way and detect the inside condition of the pipeline, thereby really recording the data inside the pipe well, and can record the internal data in a video image mode, and return the internal visual structure of the pipeline to the control mechanism 600 in real time, thereby confirming the internal structure of the pipeline, distinguishing the connectivity of the pipeline, timely and accurate identifying the type of foreign matters blocking the pipeline, greatly improving the efficiency and accuracy of pipeline construction maintenance, and also transmitting the acquired images to a remote-end master control console or a network management in real time.

As shown in fig. 1, the detection device of the embodiment of the present invention includes a main body structure 100, a walking wheel 200 and a side driving wheel 300. Wherein, the two ends of the main structure 100 are respectively and symmetrically constructed with the end mechanisms 101, and the symmetrically arranged end mechanisms 101 can help the main structure 100 to reach the purpose of front-back balance in the process of advancing inside the pipeline. A pair of road wheels 200 are respectively mounted on the bottom of each end mechanism 101, and the road wheels 200 can drive the detection device to move forwards or backwards in the pipeline. Side direction drive wheel 300 is installed to the terminal surface of every tip mechanism 101, in the in-process that walking wheel 200 drove this detection device and marchd or backed up, if the inside wall contact of detection device and pipeline, then side direction drive wheel 300 can contact the inside wall of pipeline in advance and roll along the lateral wall of pipeline, thereby when this detection device marchd to the position of turning round of pipeline, side direction drive wheel 300 can play the effect of side direction to major structure 100, make this detection device realize automatic posture adjustment, in order to improve the flexibility that this pipeline detection device marchd inside the pipeline, and then more high-efficient and more accurate realization is to the detection achievement of pipeline internal state, reach the effect that automatic way was sought and is sought way.

Understandably, the detection device can be applied to the complicated hidden engineering of the pipeline environment. The operating environment of the detecting device is preferably a closed pipeline made of silicon cores with the diameter of 2.5cm to 10cm, PVC, steel and the like.

It will be appreciated that a pair of lateral drive wheels 300 are spaced apart from the end face of the end mechanism 101, and the rolling direction of the pair of lateral drive wheels 300 is the same, so as to enhance the ability of the detector to resist pressure and automatically adjust its attitude to the side wall of the duct when the detector encounters a corner or bend in the duct.

Understandably, the detection device has the function of automatic posture adjustment, and the flexible adjustment of the states of the main structure 100 such as the angle and the posture and the like is achieved mainly by the combined action of the lateral driving wheel 300 and the traveling wheel, so that the detection device can crawl in a complex micro pipeline environment, can adapt to pipeline sections with certain gradient and side-tipping angle, reduces false alarm and false alarm, and completes the detection task.

In some embodiments, as shown in fig. 2, the detection device further comprises a drive assembly mounted within the body structure 100 and coupled to a pair of road wheels 200. The driving assembly is used for driving the road wheels 200 to roll, so as to drive the advancing motion and the reversing motion of the detection device. In order to realize a structurally reliable power transmission process, it is preferable that the drive assembly includes a drive motor 201, a reduction mechanism, and a pair of bevel gear pairs 204. The pair of traveling wheels 200 are connected to both ends of the same main shaft, and the main shaft is connected to a reduction mechanism connected to a driving motor 201 through a bevel gear pair 204. Further preferably, in order to facilitate speed regulation, the speed reduction mechanism includes a first speed reduction gear set 202 and a second speed reduction gear set 203, and the first speed reduction gear set 202 and the second speed reduction gear set 203 are connected between the driving motor 201 and the bevel gear pair 204. In order to save the internal space of the main body structure 100 and reasonably change the power transmission direction, it is preferable that the bevel gear pair 204 includes a first bevel gear and a second bevel gear which are engaged with each other, the first bevel gear is sleeved outside the main shaft, and the second bevel gear is connected to the speed reduction mechanism.

It will be appreciated that the body structure 100 is preferably an elongated structure and the edges may be configured in irregular shapes, so long as the end mechanisms 101 of the body structure 100 are provided with end surfaces capable of receiving the lateral drive wheels 300. The main structure 100 is internally provided with an engine, and the end mechanisms 101 at two ends are provided with a driving assembly and a power supply mechanism 205. The preferred material of major structure 100 is aluminum alloy or stainless steel material, forms through machine tooling to guarantee that its service strength meets the requirements. Preferably, the main body structure 100 is formed by a fully-sealed waterproof structure inside and outside the body, and can be fully adapted to the severe environment in the pipeline.

It is understood that the power supply mechanism 205 is a storage battery, and more preferably a rechargeable lithium battery, and the battery operating state can be monitored at any time by monitoring the power supply of the storage battery. The detection device can be guaranteed to continuously crawl for 1km by charging the storage battery once, and the detection device is fully guaranteed not to be detained in a pipeline due to power failure. The 1km crawling time is estimated not to exceed 15min, so that the working efficiency of pipeline detection is guaranteed, and the time is saved. Preferably, the main body structure 100 is provided with a dragging auxiliary line to prevent the detection device from getting lost in the pipeline, and the length of the dragging auxiliary line is at least 1km to save cost and facilitate recycling.

Understandably, in order to improve the posture of the detection device in the pipeline, so that the detection device is safer and prevents the overturning, the walking wheels 200 arranged in front and at the back are preferably connected through a crawler.

Understandably, the engine is driven by the control mechanism 600 by adopting an H-bridge circuit, so that the forward and reverse rotation and the rotation speed control can be realized.

It can be understood that each gear in the above-mentioned driving assembly preferably realizes reliable power output of the output shaft of the driving motor 201 through a reasonable reduction ratio.

In some embodiments, the detection device further comprises a control mechanism 600. The control mechanism 600 is installed in the main body structure 100 and is used for driving and monitoring the working states of the mechanisms such as the posture of the detection device, the driving power output state, the data signal acquisition state and the battery voltage. In order to control the detection device more finely, the signal acquisition content needs to include data such as the current of the driving motor 201, the voltage of the battery, and the body attitude signal.

In some embodiments, as shown in fig. 3, the detection device further includes a fall arrest sensor 500. The fall arrest sensor 500 is in signal communication with the control mechanism 600 and the fall arrest sensor 500 is mounted on the end face of the end mechanism 101. The anti-falling sensor 500 can collect signals of environmental states faced by the end face mechanism in the process of advancing or backing the detection device, such as body attitude signals of the detection device, whether the wall surface of a pipeline is damaged or not, and the like, so that the safety of the detection device in the working process is improved. Correspondingly, a gravity sensor is designed in the control mechanism 600, and if the robot runs through the micro pipeline, the control mechanism 600 can automatically send a signal to the driving assembly after falling so as to stop the advancing of the detection device, thereby preventing falling damage.

In some embodiments, as shown in fig. 3, the detection device further comprises an image acquisition mechanism 400. The image acquisition mechanism 400 is installed on the end face of the end mechanism 101, and is used for acquiring and monitoring the condition inside the pipeline in real time in the advancing process of the detection device, and can acquire video image data of a blocked part in time when the detection device is blocked in the pipeline so as to identify the type of the blocked foreign matter.

Understandably, the image acquisition mechanism 400 includes a camera, a light source, and a memory. The camera is mounted on the end face of the end mechanism 101 and is used for shooting and collecting video image data. The light source is installed between the camera and the end mechanism 101 so as to supplement light during shooting of the camera. The memory is mounted in the main body structure 100 and connected to the camera.

Compared with the existing pipeline detection technology, the detection device improves the detection efficiency, and can continuously and automatically detect the interior of the pipeline through the automatic posture adjustment function, so that the mode that the original technology depends on manual section-by-section examination is replaced. The time for passing through a pipeline with the length of one kilometer is not more than 10 minutes, and a power supply mechanism can be flexibly replaced, so that manual charging and discharging are facilitated, and the detection efficiency is greatly increased. Moreover, the personal safety of the detection personnel can be effectively ensured, the risk that the detection personnel operate in a complex pipeline environment is avoided, and the personal safety of the detection personnel is guaranteed. And the accuracy of the detection result is greatly improved, the detection device can transmit the acquired image to a remote master control station or a network manager in real time, the possibility of misjudgment of detection personnel is avoided, and the accuracy of the detection result is improved.

Based on foretell pipeline detecting device's structure, the embodiment of the utility model provides a detection robot is further provided. The pipeline detection robot comprises the pipeline detection device. Through setting up foretell pipeline detecting device for this detection robot can have foretell pipeline detecting device's whole advantage, and it is not repeated here specifically.

This intelligent detection robot mainly uses the scene for miniature pipeline investigation, specifically is: the inspection image data is collected through a camera carried on the upper portion of the front end of the detection device of the intelligent detection robot, then image recording of the internal condition of the pipeline is carried out, and finally the video data is transmitted back to a remote control console of a control end or a mobile phone terminal in real time. Moreover, the video image data of the pipeline survey has real-time performance, and is convenient to adjust in time.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (10)

1. The utility model provides a pipeline detection device, its characterized in that includes major structure, walking wheel and side direction drive wheel, the structure of major structure's both ends difference symmetry has tip mechanism, every a pair of walking wheel is installed respectively to the bottom of tip mechanism, every side direction drive wheel is installed to the terminal surface of tip mechanism.

2. The pipeline sonde of claim 1, further comprising a drive assembly mounted within the body structure and coupled to the pair of road wheels.

3. The pipeline detecting device of claim 2, wherein the driving assembly comprises a driving motor, a speed reducing mechanism and a pair of bevel gear pairs, the pair of walking wheels are connected to two ends of the same main shaft, the main shaft is connected with the speed reducing mechanism through the bevel gear pairs, and the speed reducing mechanism is connected to the driving motor.

4. The pipe detecting apparatus of claim 3, wherein the reduction mechanism includes a first reduction gear set and a second reduction gear set connected between the drive motor and the bevel gear pair.

5. The pipeline detecting device according to claim 3, wherein the bevel gear pair comprises a first bevel gear and a second bevel gear which are meshed with each other, the first bevel gear is sleeved outside the main shaft, and the second bevel gear is connected to the speed reducing mechanism.

6. A pipeline detecting device according to any one of claims 1 to 5, wherein a pair of the side drive wheels are connected to the end face of the end mechanism at intervals, and the rolling directions of the pair of side drive wheels are the same.

7. The pipeline inspection device of any one of claims 1 to 5, further comprising an image capture mechanism mounted on an end face of the end mechanism.

8. The pipeline detecting device of claim 7, wherein the image acquisition mechanism comprises a camera, a light source and a memory, the camera is mounted on the end face of the end mechanism, and the light source is mounted between the camera and the end mechanism; the memory is arranged in the main body structure and is connected with the camera.

9. The pipeline detecting device according to any one of claims 1 to 5, further comprising a control mechanism and a fall protection sensor, wherein the control mechanism is mounted in the main body structure and is in signal connection with the fall protection sensor; the anti-falling sensor is arranged on the end face of the end mechanism.

10. A detection robot comprising a pipeline detection apparatus as claimed in any one of claims 1 to 9.

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