CN207316352U - A kind of pipeline climbing robot for being used to detect dredging - Google Patents
A kind of pipeline climbing robot for being used to detect dredging Download PDFInfo
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- CN207316352U CN207316352U CN201721223082.1U CN201721223082U CN207316352U CN 207316352 U CN207316352 U CN 207316352U CN 201721223082 U CN201721223082 U CN 201721223082U CN 207316352 U CN207316352 U CN 207316352U
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- dredging
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- pipeline
- car
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Abstract
The utility model discloses a kind of pipeline climbing robot for being used to detect dredging, it includes pipe robot（1）, take-up car（2）And controller（3）, pipe robot（1）With take-up car（2）Between pass through cable（17）Connection, controller（3）With take-up car（2）Between by wireless connection, by controller（3）To pipe robot（1）Issue action command, control pipeline robot（1）Detected in into pipeline and dredging operation, while by pipe robot（1）Body gesture, pipeline inner case, detection and dredging operation situation etc. feed back to controller（3）.The utility model is not only realized to be detected and dredging operation in the pipeline that can not manually arrive at, and can also be facilitated failure pipe robot（1）Pull out pipeline.
Description
Technical field
A kind of pipeline climbing robot for being used to detect dredging is the utility model is related to, belongs to robotic technology field.
Background technology
The underground pipings such as city planting ductwork, by-wash are the important components of infrastructure, it holds in the process of running
Blocking, spontaneous corrosion perforation, leakage and damage easily occurs.In order to ensure the normal operation of pipeline, in order to improve the service life of pipeline,
Need often to understand the internal state of pipeline, it is necessary to often carry out the dredging and reparation of pipeline, but since pipeline inner space is narrow
Narrow, environment is complicated and dangerous source, so manually can not directly arrive at, artificial detection and dredging can not be realized.In above-mentioned feelings
Under condition, there is provided it is a kind of can creep inside pipeline and carry out detection, the implement of dredging just seems particularly necessary.
The content of the invention
The technical problems to be solved in the utility model is to provide a kind of pipeline climbing robot for being used to detect dredging, uses
It, which is crawled into inside pipeline, replaces being accomplished manually detection and dredging operation, with overcome the deficiencies in the prior art.
In order to solve the above technical problems, the technical solution of the utility model is：A kind of pipeline for being used to detect dredging is creeped
Robot, it includes pipe robot, take-up car and controller, and the pipe robot includes vehicle body, vehicle frame and installed in car
The wheel of body both sides, vehicle frame are arranged on above vehicle body, system control panel, attitude transducer are equipped with vehicle body and for driving car
The driving motor of wheel, is equipped with rotating basis in the front of vehicle frame, dredging drill bit is provided with rotating basis, in vehicle body or vehicle frame
It is equipped with sensor；The take-up car includes take-up case and the wheel installed in take-up bottom portion, and it is wireless that I is equipped with take-up case
Signal receiving/transmission device and the wire spool for folding and unfolding cable, the electricity for driving wire spool to rotate is respectively equipped with the two side ends of wire spool
Machine and handle, one end of the cable are connected with pipe robot, the other end and power supply and I wireless signal transceiver point
Do not connect；The controller is equipped with II wireless signal transceiver, I wireless communication of II wireless signal transceiver and take-up car
Number R-T unit is connected.
The above-mentioned pipeline climbing robot for being used to detect dredging is equipped with and can be stretched to the back lower place in the rearward end of vehicle frame
Car body supporting rack, so can prevent pipe robot from shaking and retreating in dredging operation.
The above-mentioned pipeline climbing robot for being used to detect dredging is that crane is provided with vehicle frame, on crane
Equipped with camera device.
The above-mentioned pipeline climbing robot for being used to detect dredging is that the camera device includes front camera, postposition
Camera and secondary light source.
The above-mentioned pipeline climbing robot for being used to detect dredging is to be equipped with vehicle body or vehicle frame and be used to install sensor
General-purpose interface.
The above-mentioned pipeline climbing robot for being used to detect dredging is that two are equipped with the take-up case immediately ahead of wire spool
The shaft being arranged side by side, the axis of the shaft is parallel with coiling disk axis, between two shafts indwelling there is cable to walk sky
Gap.
The above-mentioned pipeline climbing robot for being used to detect dredging is to be filled in the end of the shaft equipped with cable metering
Put.
Compared with the prior art, the beneficial effects of the utility model are：
The utility model provides power simultaneously by the cable connection between pipe robot and take-up car to pipe robot
Bidirectional transfer of information is carried out, then passes through the wireless connection between controller and take-up car, you can from controller to pipe robot
Issue action command, control pipeline robot, which enters in pipeline, to be detected and dredging operation, while can be by pipe robot
Body gesture, pipeline inner case, detection and dredging operation situation etc. feed back to controller, it is achieved thereby that can not manually support
Detected in the pipeline reached and dredging operation；By the cable between pipe robot and take-up car, can also facilitate failure
Pipe robot pulls out pipeline；In addition, also adaptable strong, the intelligence degree height of the utility model and manipulation are flexible excellent
Point.
Brief description of the drawings
Fig. 1 is the structure diagram of the pipe robot of the utility model.
Fig. 2 is the structure diagram of the take-up car of the utility model.
Fig. 3 is the structure diagram of the controller of the utility model.
Embodiment
Embodiment 1, as shown in Figure 1, a kind of pipeline climbing robot for being used to detect dredging that the utility model is related to,
It includes pipe robot 1, take-up car 2 and controller 3, and the pipe robot 1 includes vehicle body 5, vehicle frame 6 and installed in vehicle body
The wheel 4 of 5 both sides, vehicle frame 6 are arranged on the top of vehicle body 5, system control panel, attitude transducer are equipped with vehicle body 5 and for driving
The driving motor of motor car wheel 4, is equipped with rotating basis 7 in the front of vehicle frame 6, dredging drill bit 8 is provided with rotating basis 7,
Vehicle body 5 or vehicle frame 6 are equipped with sensor 9；The take-up car 2 includes take-up case 13 and the wheel installed in 13 bottom of take-up case
14, the wire spool 15 in take-up case 13 equipped with I wireless signal transceiver and for folding and unfolding cable 17, the two of wire spool 15
Side is respectively equipped with the motor and handle 16 for driving wire spool 15 to rotate, and one end of the cable 17 is connected with pipe robot 1,
The other end is connected respectively with power supply and I wireless signal transceiver；The controller 3 is equipped with II wireless signal transmitting-receiving dress
Put, I wireless signal transceiver of II wireless signal transceiver and take-up car 2 is connected.
Pipe robot 1 shakes and retreats in dredging operation in order to prevent, is equipped with the rearward end of the vehicle frame 6
The car body supporting rack 10 that can be stretched to the back lower place, the afterbody of the car body supporting rack 10 is in toed-out shape, in car body supporting rack 10
Outside is enclosed with anti-slip rubber.
In order to facilitate pipeline inner case is understood, crane 11 is installed on vehicle frame 6, shooting is equipped with crane 11
Device 12, the camera device 12 include front camera, rear camera and secondary light source.
In order to facilitate the expansion of follow-up function, for the ease of the installation of different sensors, it is equipped with vehicle body 5 or vehicle frame 6
For installing the general-purpose interface of sensor 9.
Further, it is equipped with two shafts 18 being arranged side by side on the take-up case 13 in the front of wire spool 15, described turn
The axis of axis 18 is parallel with 15 axis of wire spool, between two shafts 18 indwelling there is cable to walk gap.In order to real-time
Understand the stroke of pipe robot, meter-counting device for cable 19 is equipped with the end of the shaft 18.
Further, the rotating basis can arrange in pairs or groups polytype dredging drill bit.
In order to ensure pipe robot 1 possesses enough obstacle climbing abilities, 3 wheels are separately installed with 5 both sides of vehicle body, and
An axletree is operated alone with a driving motor.
It is that pipe robot is positioned over to the entrance for needing detection and dredging operation first during concrete application, second
It is that action command is issued to pipe robot by controller, control pipeline robot enters in pipeline, and the 3rd is to utilize pipeline
The sensor and camera device of robot detect pipeline（The vehicle body appearance of the pipe robot of attitude transducer detection at this time
State）, result of detection is then fed back into controller, is finally according to feedback result, is issued by controller to pipe robot
Instruction, control pipeline robot is detected and dredging operation.
Claims (7)
1. a kind of pipeline climbing robot for being used to detect dredging, it includes pipe robot（1）, take-up car（2）And controller
（3）, it is characterised in that：The pipe robot（1）Including vehicle body（5）, vehicle frame（6）And installed in vehicle body（5）The wheel of both sides
（4）, vehicle frame（6）It is arranged on vehicle body（5）Top, in vehicle body（5）It is interior to be equipped with system control panel, attitude transducer and for driving car
Wheel（4）Driving motor, in vehicle frame（6）Front be equipped with rotating basis（7）, in rotating basis（7）On dredging drill bit is installed
（8）, in vehicle body（5）Or vehicle frame（6）It is equipped with sensor（9）；The take-up car（2）Including take-up case（13）And installed in take-up
Case（13）The wheel of bottom（14）, in take-up case（13）Inside it is equipped with I wireless signal transceiver and for folding and unfolding cable（17）'s
Wire spool（15）, in wire spool（15）Two side ends be respectively equipped with drive wire spool（15）The motor and handle of rotation（16）, institute
State cable（17）One end and pipe robot（1）Connection, the other end connect respectively with power supply and I wireless signal transceiver
Connect；The controller（3）It is equipped with II wireless signal transceiver, II wireless signal transceiver and take-up car（2）It is I wireless
Signal receiving/transmission device is connected.
2. the pipeline climbing robot according to claim 1 for being used to detect dredging, it is characterised in that：In vehicle frame（6）'s
Rearward end is equipped with the car body supporting rack that can be stretched to the back lower place（10）.
3. the pipeline climbing robot according to claim 1 for being used to detect dredging, it is characterised in that：In vehicle frame（6）On
Crane is installed（11）, in crane（11）It is equipped with camera device（12）.
4. the pipeline climbing robot according to claim 3 for being used to detect dredging, it is characterised in that：The camera device
（12）Including front camera, rear camera and secondary light source.
5. the pipeline climbing robot according to claim 1 for being used to detect dredging, it is characterised in that：In vehicle body（5）Or
Vehicle frame（6）It is equipped with and is used to sensor be installed（9）General-purpose interface.
6. the pipeline climbing robot according to claim 1 for being used to detect dredging, it is characterised in that：In wire spool（15）
The take-up case in front（13）It is equipped with two shafts being arranged side by side（18）, the shaft（18）Axis and wire spool（15）
Axis is parallel, in two shafts（18）Between indwelling there is cable to walk gap.
7. the pipeline climbing robot according to claim 6 for being used to detect dredging, it is characterised in that：In the shaft
（18）End be equipped with meter-counting device for cable（19）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721223082.1U CN207316352U (en) | 2017-09-22 | 2017-09-22 | A kind of pipeline climbing robot for being used to detect dredging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721223082.1U CN207316352U (en) | 2017-09-22 | 2017-09-22 | A kind of pipeline climbing robot for being used to detect dredging |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207316352U true CN207316352U (en) | 2018-05-04 |
Family
ID=62383558
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721223082.1U Active CN207316352U (en) | 2017-09-22 | 2017-09-22 | A kind of pipeline climbing robot for being used to detect dredging |
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| CN (1) | CN207316352U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533881A (en) * | 2018-06-20 | 2018-09-14 | 深圳供电局有限公司 | Underground pipeline surveying and mapping robot |
| CN109176450A (en) * | 2018-10-12 | 2019-01-11 | 清华四川能源互联网研究院 | Master-slave robotic system |
| CN110703034A (en) * | 2019-09-20 | 2020-01-17 | 国网山东省电力公司微山县供电公司 | Power pipeline inspection device |
| CN110805784A (en) * | 2019-10-11 | 2020-02-18 | 南京博阳科技有限公司 | Pipeline robot based on vision sensor |
| CN111853423A (en) * | 2020-07-21 | 2020-10-30 | 武汉巴弗智能科技有限公司 | Pipeline branch pipe detection system |
| CN113404976A (en) * | 2021-06-25 | 2021-09-17 | 华能秦煤瑞金发电有限责任公司 | Be applied to pipeline inspection robot's automatic pull throughs |
| CN113625638A (en) * | 2021-08-13 | 2021-11-09 | 深圳潜水侠创新动力科技有限公司 | Intelligent pipe network robot system |
| CN113634561A (en) * | 2021-08-17 | 2021-11-12 | 广州城市理工学院 | Underground pipeline detection and cleaning device and using method thereof |
| CN114544668A (en) * | 2022-02-22 | 2022-05-27 | 盐城笃诚建设有限公司 | CCTV pipeline on-line measuring system |
-
2017
- 2017-09-22 CN CN201721223082.1U patent/CN207316352U/en active Active
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533881A (en) * | 2018-06-20 | 2018-09-14 | 深圳供电局有限公司 | Underground pipeline surveying and mapping robot |
| CN109176450A (en) * | 2018-10-12 | 2019-01-11 | 清华四川能源互联网研究院 | Master-slave robotic system |
| CN109176450B (en) * | 2018-10-12 | 2020-04-28 | 清华四川能源互联网研究院 | Master-slave robot system |
| CN110703034A (en) * | 2019-09-20 | 2020-01-17 | 国网山东省电力公司微山县供电公司 | Power pipeline inspection device |
| CN110805784A (en) * | 2019-10-11 | 2020-02-18 | 南京博阳科技有限公司 | Pipeline robot based on vision sensor |
| CN111853423A (en) * | 2020-07-21 | 2020-10-30 | 武汉巴弗智能科技有限公司 | Pipeline branch pipe detection system |
| CN113404976A (en) * | 2021-06-25 | 2021-09-17 | 华能秦煤瑞金发电有限责任公司 | Be applied to pipeline inspection robot's automatic pull throughs |
| CN113404976B (en) * | 2021-06-25 | 2022-12-27 | 华能秦煤瑞金发电有限责任公司 | Be applied to pipeline inspection robot's automatic pull throughs |
| CN113625638A (en) * | 2021-08-13 | 2021-11-09 | 深圳潜水侠创新动力科技有限公司 | Intelligent pipe network robot system |
| CN113634561A (en) * | 2021-08-17 | 2021-11-12 | 广州城市理工学院 | Underground pipeline detection and cleaning device and using method thereof |
| CN114544668A (en) * | 2022-02-22 | 2022-05-27 | 盐城笃诚建设有限公司 | CCTV pipeline on-line measuring system |
| WO2023160188A1 (en) * | 2022-02-22 | 2023-08-31 | 盐城笃诚建设有限公司 | Cctv pipeline online detection system |
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