CN111614014B - Self-propelled distribution network cable duct inspection device - Google Patents
Self-propelled distribution network cable duct inspection device Download PDFInfo
- Publication number
- CN111614014B CN111614014B CN202010563486.5A CN202010563486A CN111614014B CN 111614014 B CN111614014 B CN 111614014B CN 202010563486 A CN202010563486 A CN 202010563486A CN 111614014 B CN111614014 B CN 111614014B
- Authority
- CN
- China
- Prior art keywords
- motor
- jaw chuck
- roller
- plate
- chuck
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000007689 inspection Methods 0.000 title claims abstract description 28
- 230000000712 assembly Effects 0.000 claims abstract description 11
- 238000000429 assembly Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 23
- 210000000078 claw Anatomy 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000003993 interaction Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005286 illumination Methods 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8806—Specially adapted optical and illumination features
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G9/00—Installations of electric cables or lines in or on the ground or water
- H02G9/06—Installations of electric cables or lines in or on the ground or water in underground tubes or conduits; Tubes or conduits therefor
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8887—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges based on image processing techniques
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Immunology (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention provides a self-propelled distribution network cable duct inspection device which comprises a three-jaw chuck and a four-jaw chuck which are arranged left and right, a connecting bracket used for fixedly connecting the three-jaw chuck and the four-jaw chuck, 3 jaws arranged on the three-jaw chuck are respectively fixedly provided with 1 group of driven wheel assemblies, 4 jaws arranged on the four-jaw chuck are respectively fixedly provided with 1 group of driving wheel assemblies, an industrial camera fixedly arranged in the middle of the upper end surface of the three-jaw chuck, an LED lamp strip fixedly arranged on the upper end surface of the three-jaw chuck, a controller fixedly arranged among the three-jaw chuck, the four-jaw chuck and the connecting bracket and a battery box used for providing power supply; the driving wheel assembly comprises 4 Nam wheels and 4 motors for driving the Nam wheels, the industrial camera, the LED lamp strip and the 4 motors are respectively and electrically connected with the controller, and the controller is electrically connected with the battery box. The invention can be effectively applied to the inspection of cable pipelines with different inner diameters, and has strong traffic capacity and stable and reliable operation.
Description
Technical Field
The invention relates to the technical field of electric robots, in particular to a self-propelled distribution network cable duct inspection device.
Background
At present, a power cable for an urban power distribution network is generally laid in a mode of embedding an MPP (power cable protection pipe, cable pipe) underground, namely, the MPP pipe is embedded under the ground of a set line, and then the power cable is laid in the embedded MPP pipe in a penetrating manner. The embedded MPP pipe may have the conditions of collapse, breakage, blockage, foreign matters in the pipeline and the like due to various reasons, and if the novel cable is laid under the condition that the internal state of the underground embedded MPP pipe is unknown, the cable cannot be penetrated due to the collapse and blockage of the MPP pipe, the MPP pipe is broken, or the cable is scratched by the foreign matters in the pipeline, so that the problems of operation safety hidden danger and the like are solved. Therefore, it is important to grasp the embedded MPP pipe itself and the internal condition thereof before the cable threading. At present, the inspection of the underground embedded MPP pipe before the laying of the power cable is mainly performed by adopting a device similar to a robot, for example, chinese patent literature with an authorized bulletin number of CN205341417U discloses a cable pipeline inspection cleaning robot which is used for inspecting the internal state of a pipeline through an image pickup detection assembly comprising a cradle head arranged on a vehicle body, a camera arranged on the cradle head and illumination types at two sides, and the movement of the pipeline in the pipeline is realized by a walking driving device arranged at two sides of the vehicle body and driven by a motor. The problems that exist are: because the structures of the multiple groups of travelling wheels arranged on the vehicle body are limited, the device has poor actual passing and obstacle crossing capabilities in the round MPP pipeline, influences the using effect, and has low applicability to the inspection of MPP pipelines with different pipe diameters. Therefore, it is necessary to develop a more suitable cable duct inspection device.
Disclosure of Invention
The purpose of the invention is that: aiming at the problems in the prior art, the self-propelled distribution network cable duct inspection device is provided, which can be effectively applied to the inspection of cable ducts with different inner diameters, has strong traffic capacity and is stable and reliable in operation.
The technical scheme of the invention is as follows: the invention relates to a self-propelled distribution network cable duct inspection device, which is characterized in that: the three-jaw chuck comprises a three-jaw chuck and a four-jaw chuck which are arranged left and right, a connecting bracket used for fixedly connecting the three-jaw chuck and the four-jaw chuck, driven wheel assemblies of 1 group are respectively and fixedly arranged on 3 jaws of the three-jaw chuck, driving wheel assemblies of 1 group are respectively and fixedly arranged on 4 jaws of the four-jaw chuck, an industrial camera fixedly arranged in the middle of the upper end face of the three-jaw chuck, an LED lamp strip fixedly arranged on the upper end face of the three-jaw chuck, a controller fixedly arranged among the three-jaw chuck, the four-jaw chuck and the connecting bracket and a battery box used for providing power supply; the driving wheel assembly comprises 4 Nahm wheels and 4 motors for driving the Nahm wheels, the industrial camera, the LED lamp strip and the 4 motors are respectively and electrically connected with a controller, and the controller is electrically connected with a battery box.
The further scheme is as follows: the driving wheel assembly further comprises 4 motor supports and 4 connecting flanges, wherein 1 motor support is fixedly arranged on each of the 4 second clamping jaws of the four-jaw chuck, 1 motor is fixedly arranged on each of the 4 motor supports, and the 4 motors are in transmission connection with the 1 Nahm wheel through the 1 connecting flanges.
The further scheme is as follows: the motor bracket comprises a chuck connecting plate, a middle connecting plate and a motor mounting plate, wherein the middle connecting plate is a trapezoidal plate body part, the top edge and the bottom edge of the middle connecting plate are respectively and vertically integrated with or fixedly connected with the lower ends of the chuck connecting plate and the motor mounting plate, and a U-shaped groove for giving up is arranged on the motor mounting plate; the motor brackets are fixedly connected with the clamping jaws of the four-jaw chuck through the chuck connecting plate, so that 4 motor brackets are fixedly arranged on 4 clamping jaws of the four-jaw chuck; the motor is provided with a shell and a transmission shaft which extends outwards from the shell; the transmission shaft is provided with a flange connection pin hole; the motor is fixedly connected with the motor mounting plate of the motor bracket by the shell of the motor, and the transmission shaft extends outwards from the U-shaped groove of the motor mounting plate of the motor bracket, so that 4 motors are respectively and fixedly arranged in 4 motor brackets.
The further scheme is as follows: the connecting flange is formed by integrally or fixedly connecting a Nam wheel connecting disc and a motor shaft connecting sleeve; the Nam wheel connecting disc is a flat cylinder part, and the connecting flange is connected with the transmission shaft of the motor in a pin joint mode after the motor shaft connecting sleeve of the Nam wheel connecting disc is spliced with the transmission shafts of the motors, so that 4 motors are correspondingly connected with the 4 connecting flanges in a transmission mode; the Nam wheel comprises a hub, and the Nam wheel is fixedly connected with a Nam wheel connecting disc of the connecting flange through a Nam wheel connecting disc bolt, so that 4 Nam wheels are correspondingly in transmission connection with 4 connecting flanges.
The further scheme is as follows: the connecting bracket comprises a mounting connecting plate, a first connecting supporting plate and a second connecting supporting plate; the installation connecting plate is a square plate body piece, the installation connecting plate is provided with a connecting hole for installation, and the installation connecting plate is provided with 2 blocks with the same structure; the first connecting support plate and the second connecting support plate are strip-shaped plate body pieces with the same length, and two ends of the first connecting support plate and two ends of the second connecting support plate are respectively and vertically fixedly connected or integrally connected with the 1 mounting connecting plates; the first connecting support plate and the second connecting support plate are vertically and fixedly connected or integrally connected; the connecting brackets are provided with 4, and the 4 connecting brackets are fixedly connected with the lower end surfaces of the first and second three-jaw chucks respectively through mounting connecting plates at two sides of the connecting brackets.
The further scheme is as follows: the driven wheel assembly comprises a guide frame, a roller bracket movably arranged on the guide frame, a roller rotatably arranged on the roller bracket, a spring plug fixedly arranged on the guide frame and a spring arranged in the guide frame, wherein two ends of the spring are respectively abutted with the roller bracket and the spring plug; the driven wheel component is fixedly connected with the claw of the three-claw chuck through the guide frame.
The further scheme is as follows: the guide frame is formed by integrally or fixedly connecting a body and 2 mounting lug plates arranged on two sides of the lower end of the body, the body is a structural member which is integrally cuboid, a through hole is formed in the middle of the body along the length direction of the body, the through hole is formed by connecting a round hole and a square hole, threads for connection are arranged on the inner wall, close to a port, of the round hole, and a screw mounting hole is formed in the mounting lug plate; the guide frame is fixedly connected with the claw screws of the three-claw chuck through 2 mounting lug plates; the spring plug is a structural member which is integrally a flat cylinder, a connecting thread is arranged on the peripheral wall of the spring plug, a hexagonal counter bore is arranged in the middle of the outer end surface of the spring plug, and the spring is arranged in a round hole of the body of the guide frame; the spring plug is in threaded connection with the round hole and is arranged on the guide frame.
The further scheme is as follows: the roller support is formed by integrally or fixedly connecting a spring abutting part and a roller mounting part, wherein the spring abutting part is a flat cylinder part, and the outer diameter of the spring abutting part is smaller than the inner diameter of a round hole of the guide frame; the roller mounting part is a structural part which is integrally in a cuboid shape, the size of the roller mounting part is matched with the size of the square hole of the guide frame, and a roller mounting groove and 2 wheel shaft mounting holes which are vertically communicated with the roller mounting groove are formed in the outer side of the roller mounting part; the spring abutting part of the roller bracket is arranged in the round hole of the guide frame, the roller mounting part of the roller bracket penetrates through the square hole of the guide frame and then extends outwards, and the roller bracket is abutted with one end of the spring through the spring abutting part; the roller is rotatably arranged in the roller mounting groove of the roller mounting part of the roller bracket by matching the rotating shaft arranged on the roller with the 2 wheel shaft mounting holes of the roller mounting part of the roller bracket.
The further scheme is as follows: the LED lamp strip is provided with 3 strips, and 1 strip of LED lamp strip is fixedly arranged between every 2 clamping jaws on the upper end face of the three-jaw chuck.
The further scheme is as follows: the battery box comprises a box body and a battery pack arranged in the box body and used for supplying power to the device; the controller comprises a shell and a circuit device arranged in the shell, wherein the circuit device comprises an image processing module, a singlechip module, a wireless communication module, a GPS positioning module, a motor control module and a power supply conversion module, the image processing module, the wireless communication module, the GPS positioning module and the motor control module are respectively and electrically connected with the singlechip module, the input end of the image processing module is electrically connected with a signal output end of an industrial camera, and the power supply ends of the 4 motors are all electrically connected with the motor control module; when the power supply control device is used, the singlechip module of the controller is in information interaction with the ground background which is matched with the singlechip module through the wireless communication module, the singlechip module controls the power supply of 4 motors through the motor control module, and the power supply conversion module converts the voltage of the power supply output by the battery pack in the battery box and then provides working power for the controller, the LED lamp strip and the motor.
The invention has the positive effects that: (1) According to the self-propelled distribution network cable duct inspection device, 3 groups of driven wheel assemblies including the idler wheels are fixedly arranged on 3 claws of the three-claw chuck, and the driving assemblies including 4 Nam wheels driven by the motor are fixedly arranged on 4 claws of the four-claw chuck, so that the inspection device can be effectively suitable for inspection of cable ducts with different pipe diameters by utilizing the radial adjustable characteristics of the claws of the three-claw chuck and the four-claw chuck and correspondingly radially adjusting the positions of the 3 claws of the three-claw chuck and the 4 claws of the four-claw chuck relative to respective chuck bodies according to the inner diameter of the cable duct to be inspected, and therefore, the device is high in applicability. (2) According to the self-propelled distribution network cable duct inspection device, through the structural design, 3 rollers on the three-jaw chuck always keep elastic contact with the inner wall of a cable duct from 3 different directions under the action of corresponding springs, and 4 Nam wheels always keep close contact with the inner wall of the cable duct from different directions, so that the device can stably and reliably operate in the cable duct and has strong passing capacity. (3) The inspection device for the self-propelled distribution network cable duct has a cylindrical overall structural design, so that the inspection device can be suitable for running in a circular cable duct. (4) The controller of the self-propelled distribution network cable duct inspection device is provided with the GPS positioning module, and can send the accurate positioning of the obstacle position in the pipe to the ground background when the obstacle is encountered in the inspection process so as to facilitate the rapid processing of staff. (5) According to the self-propelled distribution network cable duct inspection device, the LED lamp group is arranged at the front part, so that enough illumination can be provided for an industrial camera, and meanwhile, the power is relatively saved.
Drawings
FIG.1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the structure of the present invention as seen from the front;
FIG. 3 is a schematic view of the structure of the present invention when viewed from the rear;
FIG. 4 is a schematic view of the three-jaw chuck of FIG. 1;
FIG. 5 is a schematic view of the four-jaw chuck of FIG. 1;
FIG. 6 is a schematic view of a structure of the connecting bracket in FIG. 1;
FIG. 7 is a schematic perspective view of the driven wheel assembly of FIG. 1 with the rollers removed;
FIG. 8 is a schematic plan view of the driven wheel assembly of FIG. 1 with the rollers removed;
FIG. 9 is a cross-sectional view taken along A-A of FIG. 8;
FIG. 10 is a schematic view of the guide frame of the driven wheel assembly of FIG. 7;
FIG. 11 is a schematic view of the roller bracket of the driven wheel assembly of FIG. 7;
FIG. 12 is a schematic view of the spring plug of the driven wheel assembly of FIG. 7;
FIG. 13 is a schematic view of the motor mount of the drive wheel assembly of FIG. 1;
FIG. 14 is a schematic view of the exterior configuration of the motor of the drive wheel assembly of FIG. 1;
FIG. 15 is a schematic view of the coupling flange of the drive wheel assembly of FIG. 1;
FIG. 16 is a schematic illustration of the construction of the D-Name wheel of the drive wheel assembly of FIG. 1;
FIG. 17 is a schematic illustration of the construction of the left hand Nahm wheel of the drive wheel assembly of FIG. 1;
FIG. 18 is a schematic block diagram of the circuit configuration of the present invention;
fig. 19 is a schematic view of the present invention in use within a cable tube.
The reference numerals in the above figures are as follows:
The three-jaw chuck comprises a three-jaw chuck 1, a first chuck body 11, a first jaw adjusting operation hole 11-1, a connecting bracket mounting hole 11-2, a first jaw 12 and a guide bracket mounting hole 12-1;
A four-jaw chuck 2, a second chuck body 21, a second jaw adjustment operation hole 21-1, a second jaw 22, and a motor bracket mounting hole 22-1;
A connection bracket 3, a mounting connection plate 31, a connection hole 31-1, a first connection support plate 32, a second connection support plate 33;
Driven wheel assembly 4, guide frame 41, body 41-1, round hole 41-1-1, mounting ear plate 41-2, screw mounting hole 41-2-1, roller bracket 42, spring abutment 42-1, roller mounting 42-2, roller mounting groove 42-2-1, axle mounting hole 42-2-2, roller 43, spring 44, spring plug 45, hexagonal counterbore 45-1;
The driving wheel assembly 5, the motor bracket 51, the chuck connecting plate 51-1, the connecting fixing hole 51-1, the middle connecting plate 51-2, the motor mounting plate 51-3, the U-shaped groove 51-3-1 and the motor fixing hole 51-3-2; the motor 52, the shell 52-1, the bracket connecting hole 52-1-1, the transmission shaft 52-2 and the flange connecting pin hole 52-2-1; the connecting flange 53, the Nam wheel connecting disc 53-1, the connecting bolt hole 53-1-1, the motor shaft connecting sleeve 53-2 and the pin hole 53-2-1; the dextrorotatory wheel 54, the hub 54-1, the bolt hole 54-1-1, the roller 54-2 and the levorotatory wheel 55;
an industrial camera 6, an LED lamp strip 7, a controller 8 and a battery box 9;
cable tube 100.
Detailed Description
The invention will be described in further detail with reference to the drawings and the detailed description.
Example 1
Referring to fig. 1 to 3, the inspection device for a self-propelled distribution network cable duct of the present embodiment mainly comprises a three-jaw chuck 1, a four-jaw chuck 2, a connecting bracket 3, a driven wheel assembly 4, a driving wheel assembly 5, an industrial camera 6, an LED lamp strip 7, a controller 8 and a battery box 9.
Referring to fig. 4, the three-jaw chuck 1 is a commercially available piece. The three-jaw chuck 1 comprises a circular first chuck body 11, 3 first jaws 12 uniformly distributed on the upper end surface of the first chuck body 11 and a jaw adjusting driving mechanism (not shown in the figure) arranged in the first chuck body 11, wherein a first jaw adjusting operation hole 11-1 is formed in the first chuck body 11 and a connecting bracket mounting hole 11-2 is formed in the first chuck body 11; the first jaw 12 is provided with a guide frame mounting hole 12-1. By driving the first jaw adjustment operation hole 11-1 on the first chuck body 11 by a hexagonal wrench through the jaw adjustment driving mechanism in the first chuck body 11, 3 first jaws 12 can be made adjustable in radial position. The structure and operation of the three-jaw chuck 1 are well known in the art and will not be described in detail. For convenience of description, the end face of the three-jaw chuck 1 provided with the jaws is defined as an upper end face, and the other end face of the three-jaw chuck 1 not provided with the jaws is defined as a lower end face.
Referring to fig. 5, the four-jaw chuck 2 is a commercially available piece. The four-jaw chuck 2 comprises a circular second chuck body 21, 4 second jaws 22 uniformly distributed on the upper end surface of the second chuck body 21, and a jaw adjusting driving mechanism (not shown in the figure) arranged in the second chuck body 21, wherein a second jaw adjusting operation hole 21-1 is formed in the second chuck body 21, and a motor bracket mounting hole 22-1 is formed in the second jaw 22. Likewise, 4 second jaws 22 are made adjustable in radial position by the second jaw adjustment operating hole 21-1 in the second chuck body 21 being driven by a jaw adjustment driving mechanism in the second chuck body 21 by a hexagonal wrench. The structure and operation of the four-jaw chuck 2 is well known in the art and will not be described in detail. For convenience of description, the end face of the four-jaw chuck 2 provided with the jaws is defined as an upper end face, and the other end face of the four-jaw chuck 2 not provided with the jaws is defined as a lower end face.
Referring to fig. 6, as an embodiment, the connection bracket 3 is mainly composed of a mounting connection plate 31, a first connection support plate 32, and a second connection support plate 33; the installation connecting plate 31 is a square plate body piece, the installation connecting plate 31 is provided with a connecting hole 31-1 for installation, and the installation connecting plate 31 is provided with 2 blocks with the same structure; the first connection supporting plate 32 and the second connection supporting plate 33 are elongated plate body members, and the lengths of the first connection supporting plate 32 and the second connection supporting plate 33 are the same. The two ends of the first connecting support plate 32 and the second connecting support plate 33 are respectively and vertically fixedly connected or integrally connected with the 1 mounting connection plate 31; the first connection support plate 32 is vertically fixedly connected or integrally connected with the second connection support plate 33. In this embodiment, 4 connecting brackets 3 are preferably provided, and the 4 connecting brackets 3 are respectively fixedly connected with the lower end surfaces of the three-jaw chuck 1 and the four-jaw chuck 2 through the corresponding mounting holes by using screws through the mounting connection plates 31 on two sides of the connecting brackets.
The driven wheel assembly 4 includes a guide frame 41, a roller bracket 42, a roller 43, a spring 44, and a spring stopper 45. The driven wheel assemblies 4 are provided with the same 3 groups, and the 3 groups of driven wheel assemblies 4 are fixedly provided with 1 group on 3 clamping jaws 12 of the three-jaw chuck 1 respectively.
Referring to fig. 7 to 10, the guide frame 41 is integrally or fixedly connected by a body 41-1 and 2 mounting lugs 41-2 provided at both sides of the lower end of the body 41-1, and the body 41-1 is a structural member having a rectangular parallelepiped shape as a whole, and preferably both sides of the upper end of the body 41-1 are provided with inclined surfaces to facilitate passage in use. The body 41-1 is provided with a through hole along the length direction thereof in the middle, the through hole of the body 41-1 is formed by connecting a round hole 41-1-1 and a square hole, the diameter of the round hole 41-1-1 is larger than the maximum side length of the square hole, and the round hole 41-1-1 is provided with a connecting thread on the inner wall close to the port so as to install a spring plug 45; the mounting ear plate 41-2 is provided with screw mounting holes 41-2-1.
Referring to fig. 11, the roller bracket 42 is integrally or fixedly connected by a spring abutment 42-1 and a roller mounting 42-2, the spring abutment 42-1 is a flat cylindrical member, and the outer diameter of the spring abutment 42-1 is smaller than the inner diameter of the circular hole 41-1-1 of the through hole of the body 41-1; the roller mounting portion 42-2 is a structure with a rectangular parallelepiped shape, the size of the roller mounting portion 42-2 is matched with the size of the square hole of the through hole of the body 41-1, and a roller mounting groove 42-2-1 and 2 axle mounting holes 42-2-2 vertically communicated with the roller mounting groove 42-2-1 are arranged on the outer side of the roller mounting portion 42-2.
Referring to fig. 12, the spring plug 45 is a structural member which is a flat cylinder as a whole, a connecting thread is arranged on the peripheral wall of the spring plug 45, and a hexagonal counter bore 45-1 for mounting force is arranged in the middle of the outer end surface of the spring plug 45.
Referring to fig. 9, the spring abutting portion 42-1 of the roller bracket 42 is disposed in the circular hole 41-1 of the through hole of the body 41-1 of the guide frame 41, the roller mounting portion 42-2 of the roller bracket 42 extends out through the square hole of the through hole of the body 41-1 of the guide frame 41, the spring stopper 45 is screwed with the circular hole 41-1-1 of the through hole of the body 41-1 of the guide frame 41 to be connected with the body 41-1 of the guide frame 41, the spring 44 is disposed in the circular hole 41-1-1 of the through hole of the body 41-1 of the guide frame 41, one end of the spring 44 abuts against the spring stopper 45, the other end of the spring 44 abuts against the spring abutting portion 42-1 of the roller bracket 42, and the rotating shaft of the roller 43 disposed by the rotating shaft thereof is rotatably disposed in the roller mounting groove 42-2-1 of the roller mounting portion 42-2 of the roller bracket 42 in cooperation with the 2-2 of the roller mounting groove 42-1 of the roller bracket 42.
The driven wheel assembly 4 is matched with the guide frame mounting holes 12-1 on the first clamping jaws 12 of the three-jaw chuck 1 through the screw mounting holes 41-2-1 of the 2 mounting lug plates 41-2 of the guide frame 41, and is fixedly connected through screws, so that 1 group of driven wheel assemblies 4 are fixedly arranged on each first clamping jaw 12.
Still referring to fig. 1-3, drive wheel assembly 5 includes 4 motor brackets 51, 4 motors 52, 4 connecting flanges 53, and 4 Mecanum wheels (collectively referred to as Mecanum wheels). The 4 motor brackets 51 are fixedly arranged on the 4 second clamping jaws 22 of the four-jaw chuck 2 respectively, 1 motor 52 is fixedly arranged on the 4 motor brackets 51 respectively, and the 4 motors 52 are in transmission connection with the 1 Nam wheels through 1 connecting flange 53 respectively. In use, 4 motors 52 correspondingly drive the movement of the 4 Name wheels. 2 of the 4 Nahm wheels are right-handed Nahm wheels 54,2 are left-handed Nahm wheels 55.
Referring to fig. 13, the motor bracket 51 mainly comprises a chuck connecting plate 51-1, a middle connecting plate 51-2 and a motor mounting plate 51-3, wherein the middle connecting plate 51-2 is a trapezoidal plate body member, the middle connecting plate 51-2 is vertically and integrally connected or fixedly connected with the chuck connecting plate 51-1 and the lower end of the motor mounting plate 51-3 respectively by the top edge and the bottom edge of the trapezoid, and a connecting and fixing hole 51-1-1 is formed in the chuck connecting plate 51-1; the motor mounting plate 51-3 is provided with a U-shaped groove 51-3-1 for giving way and a motor fixing hole 51-3-2; the motor brackets 51 are fixedly connected by screws by matching the connection fixing holes 51-1-1 on the chuck connecting plate 51-1 with the motor bracket mounting holes 22-1 of the second claws 22 of the four-claw chuck 2, so that 4 motor brackets 51 are fixedly arranged on 4 second claws 22 of the four-claw chuck 2.
Referring to fig. 14, the motor 52 is a commercially available direct current motor, and the motor 52 has a housing 52-1 and a drive shaft 52-2 extending outwardly from the housing 52-1; the shell 52-1 is provided with a bracket connecting hole 52-1-1, and the transmission shaft 52-2 is provided with a flange connecting pin hole 52-2-1; the motor 52 is fixedly connected by bolts through the matching of the bracket connecting holes 52-1-1 on the shell 52-1 and the motor fixing holes 51-3-2 of the motor mounting plate 51-3 of the motor bracket 51, and the transmission shaft 52-2 extends outwards from the U-shaped groove 51-3-1 of the motor mounting plate 51-3 of the motor bracket 51, so that 4 motors 52 are respectively fixedly arranged in 4 motor brackets 51.
Referring to fig. 15, the connection flange 53 is formed by integrally or fixedly connecting a nano wheel connection disc 53-1 and a motor shaft connection sleeve 53-2; the Namu wheel connecting disc 53-1 is a flat cylinder piece, the Namu wheel connecting disc 53-1 is provided with a connecting bolt hole 53-1-1, and the motor shaft connecting sleeve 53-2 is provided with a pin hole 53-2-1; after the connecting flange 53 is spliced with the transmission shaft 52-2 of the motor 52 through the motor shaft connecting sleeve 53-2, the motor 52 and the connecting flanges 53 are in pin joint through the pin holes 53-2-1 of the motor shaft connecting sleeve 53-2 and the flange connecting pin holes 52-2-1 of the transmission shaft 52-2 of the motor 52, so that 4 motors 52 and 4 connecting flanges 53 are correspondingly in transmission connection.
Referring to fig. 16 and 17, the dextral-Name wheel 54 includes a hub 54-1 and a plurality of rollers 54-2 provided on the hub 54-1, the hub 54-1 is provided with a connecting bolt hole 54-1, the dextral-Name wheel 54 is matched with the connecting bolt hole 53-1 on the Name wheel connecting disc 53-1 of the connecting flange 53 through the bolt hole 54-1-1 on the hub 54-1, and the two dextral-Name wheels 54 are fixedly connected through bolts, so that the 2 dextral-Name wheels 54 are in transmission connection with the corresponding 2 connecting flanges 53. The structure of the left-hand Name wheel 55 is substantially the same as that of the right-hand Name wheel 54, except that the rollers are arranged in opposite directions on the hub. The left-hand Name wheel 55 is connected to the connecting flange 53 in the same manner as the right-hand Name wheel 54, so that 2 left-hand Name wheels 55 are connected to the corresponding 2 further connecting flanges 53 in a driven manner. The dextral and levo-Name wheels 54 and 55 are commercially available parts. The position and driving principle of the 2 dextral-Name wheels 54 and the 2 levo-Name wheels 55 are all mature prior art, and are not described in detail.
Still referring to fig. 1 and 2, the industrial camera 6 is a commercially available industrial-grade camera with infrared photographing and waterproof functions, and the industrial camera 6 is fixedly arranged at the center of the upper end face of the first chuck body 11 of the three-jaw chuck 1.
The LED lamp strip 7 is fixedly arranged on the front end face of the three-jaw chuck 1, preferably, the LED lamp strip 7 is provided with 3 LED lamp strips, and each of the 3 LED lamp strips 7 is fixedly arranged between every 2 first jaws 11 on the upper end face of the three-jaw chuck 1. The LED strip 7 is used to provide illumination for the industrial camera 6 when in use, so that the video image captured by the industrial camera 6 is clearer.
Referring to fig. 1 and 18, the controller 8 and the battery case 9 are fixedly disposed in a space surrounded by the three-jaw chuck 1, the four-jaw chuck 2, and the 4 connection brackets 3. The controller 8 and the battery box 9 can be fixedly connected with the three-jaw chuck 1 and the four-jaw chuck 2, can be fixedly connected with the connecting support 3, and can be simultaneously and fixedly connected with the three-jaw chuck 1, the four-jaw chuck 2 and the connecting support 3. The battery case 9 includes a case body and a battery pack provided in the case body for supplying power to the device. The controller 8 is used for the electric main control of the device, the controller 8 comprises a shell and a circuit device arranged in the shell, the circuit device of the controller 8 comprises an image processing module, a singlechip module, a wireless communication module, a GPS positioning module, a motor control module and a power conversion module, the image processing module, the wireless communication module, the GPS positioning module and the motor control module are respectively and electrically connected with the singlechip module, and the input end of the image processing module is electrically connected with the signal output end of the industrial camera 6; the power ends of the 4 motors 52 are electrically connected with the motor control module. The image processing module is used for processing video images sent by the industrial camera 6 and then sending the processed video images to the singlechip module, the GPS positioning module is used for providing positioning information, when the image processing module is used, the singlechip module of the controller 8 is in information interaction with a ground background (such as a smart phone, a notebook computer and the like) which is matched with the singlechip module through the wireless communication module, the singlechip module is used for controlling the power supply of the 4 motors 52 through the motor control module, and the power supply conversion module is used for converting the power supply output by the battery pack in the battery box 9 into a working power supply through the voltage and then providing the working power supply for the controller 8, the LED lamp strip 7 and the motors 52. The structure of each functional module, the electrical connection relationship between each other, and the functions of each functional module in the circuit device of the controller 8 are all mature prior art, and are not described in detail.
Referring to fig. 19, in the inspection device for a self-propelled distribution network cable duct of the present embodiment, when in use, according to the inner diameter of a cable duct 100 to be inspected, the positions of 3 first claws 12 of a three-claw chuck 1 relative to a first chuck body 11 and the positions of 4 second claws 22 of a four-claw chuck 2 relative to a second chuck body 21 are correspondingly adjusted radially, so that 3 rollers 43 of a driven wheel assembly 4 and 4 namo wheels of a driving wheel assembly 5 are in contact with the inner wall of the cable duct 101, then a power supply of the industrial camera 5 is turned on and a working power supply of a controller 8 is turned on, then the device is placed into the cable duct 100 to be inspected, the 4 namo wheels generate axial thrust under the driving of a 4-stage motor 52 so that the device slowly moves forward in the cable duct 100, under the illumination of an LED lamp belt 7, a picture shot by the industrial camera 6 is transmitted to a ground background in real time by the controller 8 for real-time inspection, if a worker judges that an unvented obstacle is present in front, the worker automatically controls the ground background by the wireless motor to turn back the controller 52 to the position of the controller 8 to accurately position the worker to remove the obstacle by positioning the position; if the device has no obstacle which can not be overcome in the whole running process in the cable tube 100, the device can be driven out from the other port of the cable tube 100 under the continuous pushing of 4 Nahm wheels to finish the inspection, and a worker can judge whether the cable tube 100 is damaged or not and whether foreign matters to be processed exist or not by utilizing video images received by a ground background and perform corresponding processing. When the device runs in the cable tube 100, the 3 rollers 43 on the three-jaw chuck 1 always keep elastic contact with the inner wall of the cable tube 100 from 3 different directions under the action of the corresponding springs 44, and the rollers of the 4 Nam wheels always keep close contact with the inner wall of the cable tube 100 from different directions, so that the device can run stably and reliably in the cable tube 100.
The above embodiments are illustrative of the specific embodiments of the present invention, and not restrictive, and various changes and modifications may be made by those skilled in the relevant art without departing from the spirit and scope of the invention, and all such equivalent technical solutions are intended to be included in the scope of the invention.
Claims (3)
1. A self-propelled distribution network cable duct inspection device is characterized in that: the three-jaw chuck comprises a three-jaw chuck and a four-jaw chuck which are arranged left and right, a connecting bracket used for fixedly connecting the three-jaw chuck and the four-jaw chuck, driven wheel assemblies of 1 group are respectively and fixedly arranged on 3 jaws of the three-jaw chuck, driving wheel assemblies of 1 group are respectively and fixedly arranged on 4 jaws of the four-jaw chuck, an industrial camera fixedly arranged in the middle of the upper end face of the three-jaw chuck, an LED lamp strip fixedly arranged on the upper end face of the three-jaw chuck, a controller fixedly arranged among the three-jaw chuck, the four-jaw chuck and the connecting bracket and a battery box used for providing power supply; the driving wheel assembly comprises 4 Nahm wheels and 4 motors for driving the Nahm wheels, the industrial camera,
The LED lamp strip and the 4 motors are respectively and electrically connected with the controller, and the controller is electrically connected with the battery box;
The driving wheel assembly further comprises 4 motor brackets and 4 connecting flanges, wherein 1 motor bracket is fixedly arranged on each of the 4 second clamping jaws of the four-jaw chuck, 1 motor is fixedly arranged on each of the 4 motor brackets, and each of the 4 motors is in transmission connection with the 1 Nahm wheel through the 1 connecting flange;
The motor bracket comprises a chuck connecting plate, a middle connecting plate and a motor mounting plate, wherein the middle connecting plate is a trapezoidal plate body part, the top edge and the bottom edge of the middle connecting plate are respectively and vertically integrated with or fixedly connected with the lower ends of the chuck connecting plate and the motor mounting plate, and a U-shaped groove for giving up is arranged on the motor mounting plate; the motor bracket is fixedly connected with the claw of the four-claw chuck through the chuck connecting plate,
Thereby fixedly arranging 4 motor brackets on 4 clamping jaws of the four-jaw chuck; the motor has a housing and a drive shaft extending outwardly from the housing; the transmission shaft is provided with a flange connection pin hole; the motor is fixedly connected with a motor mounting plate of the motor bracket by a shell of the motor, and the transmission shaft extends outwards from a U-shaped groove of the motor mounting plate of the motor bracket, so that 4 motors are respectively and fixedly arranged in the 4 motor brackets;
the connecting flange is formed by integrally or fixedly connecting a Nahm wheel connecting disc and a motor shaft connecting sleeve; the Nam wheel connecting disc is a flat cylinder part, and the connecting flange is connected with the transmission shaft of the motor in a pin joint mode after the motor shaft connecting sleeve of the Nam wheel connecting disc is spliced with the transmission shafts of the motors, so that 4 motors are correspondingly connected with the 4 connecting flanges in a transmission mode; the Nam wheels comprise hubs, and the Nam wheels are fixedly connected with Nam wheel connecting discs of the connecting flanges through bolts of the hubs, so that 4 Nam wheels are correspondingly in transmission connection with 4 connecting flanges;
The connecting bracket comprises a mounting connecting plate, a first connecting supporting plate and a second connecting supporting plate; the installation connecting plate is a square plate body piece, the installation connecting plate is provided with a connecting hole for installation, and the installation connecting plate is provided with 2 blocks with the same structure; the first connecting support plate and the second connecting support plate are strip-shaped plate body pieces with the same length, and two ends of the first connecting support plate and two ends of the second connecting support plate are respectively and vertically fixedly connected or integrally connected with the 1 mounting connecting plates; the first connecting support plate and the second connecting support plate are vertically and fixedly connected or integrally connected; the number of the connecting brackets is 4, and the 4 connecting brackets are fixedly connected with the lower end surfaces of the first and second three-jaw chucks through mounting connecting plates at two sides of the connecting brackets respectively;
The driven wheel assembly comprises a guide frame, a roller bracket movably arranged on the guide frame, a roller rotatably arranged on the roller bracket, a spring plug fixedly arranged on the guide frame and a spring arranged in the guide frame, wherein two ends of the spring are respectively abutted with the roller bracket and the spring plug; the driven wheel component is fixedly connected with the claw of the three-claw chuck through the guide frame; the guide frame is formed by integrally or fixedly connecting a body and 2 mounting lug plates arranged on two sides of the lower end of the body, the body is a structural member which is integrally cuboid, a through hole is formed in the middle of the body along the length direction of the body, the through hole is formed by connecting a round hole and a square hole, threads for connection are arranged on the inner wall, close to a port, of the round hole, and a screw mounting hole is formed in the mounting lug plate; the guide frame is fixedly connected with the claw screws of the three-claw chuck through 2 mounting lug plates; the spring plug is a structural member which is integrally a flat cylinder, a connecting thread is arranged on the peripheral wall of the spring plug, a hexagonal counter bore is arranged in the middle of the outer end face of the spring plug, and the spring is arranged in a round hole of the body of the guide frame; the spring plug is in threaded connection with the round hole and is arranged on the guide frame;
The roller support is formed by integrally or fixedly connecting a spring abutting part and a roller mounting part, the spring abutting part is a flat cylinder part, and the outer diameter of the spring abutting part is smaller than the inner diameter of a round hole of the guide frame; the roller mounting part is a structural part which is integrally in a cuboid shape, the size of the roller mounting part is matched with the size of the square hole of the guide frame, and a roller mounting groove and 2 wheel shaft mounting holes which are vertically communicated with the roller mounting groove are formed in the outer side of the roller mounting part; the spring abutting part of the roller bracket is arranged in the round hole of the guide frame, the roller mounting part of the roller bracket penetrates through the square hole of the guide frame and then extends outwards, and the roller bracket is abutted with one end of the spring through the spring abutting part; the roller is rotatably arranged in the roller mounting groove of the roller mounting part of the roller bracket by matching the rotating shaft arranged on the roller with the 2 wheel shaft mounting holes of the roller mounting part of the roller bracket.
2. The self-propelled distribution network cable duct inspection apparatus of claim 1, wherein: the LED lamp strip is provided with 3, and every 2 clamping claws on the up end of three-jaw chuck are located each fixed setting 1 in 3 LED lamp strips.
3. A self-propelled distribution network cable duct inspection apparatus according to claim 1 or 2, wherein: the battery box comprises a box body and a battery pack arranged in the box body and used for supplying power to the device; the controller comprises a shell and a circuit device arranged in the shell, the circuit device comprises an image processing module, a singlechip module, a wireless communication module, a GPS positioning module, a motor control module and a power supply conversion module, the image processing module, the wireless communication module, the GPS positioning module and the motor control module are respectively and electrically connected with the singlechip module, the input end of the image processing module is electrically connected with the signal output end of the industrial camera,
The power ends of the 4 motors are electrically connected with the motor control module; when the power supply control device is used, the singlechip module of the controller is in information interaction with the ground background which is matched with the singlechip module through the wireless communication module, the singlechip module controls the power supply of 4 motors through the motor control module, and the power supply conversion module converts the voltage of the power supply output by the battery pack in the battery box and then provides working power for the controller, the LED lamp strip and the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010563486.5A CN111614014B (en) | 2020-06-19 | 2020-06-19 | Self-propelled distribution network cable duct inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010563486.5A CN111614014B (en) | 2020-06-19 | 2020-06-19 | Self-propelled distribution network cable duct inspection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111614014A CN111614014A (en) | 2020-09-01 |
| CN111614014B true CN111614014B (en) | 2024-06-28 |
Family
ID=72202672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010563486.5A Active CN111614014B (en) | 2020-06-19 | 2020-06-19 | Self-propelled distribution network cable duct inspection device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111614014B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112909847B (en) * | 2021-01-18 | 2022-08-09 | 国网上海市电力公司 | Electric power protective sleeve pipe weld scar clearing device |
| CN113533335A (en) * | 2021-08-26 | 2021-10-22 | 中国通信建设第一工程局有限公司 | Communication pipeline inspection equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111614015A (en) * | 2020-06-19 | 2020-09-01 | 国网江苏省电力有限公司常州供电分公司 | Cable pipeline inspection device |
| CN212182959U (en) * | 2020-06-19 | 2020-12-18 | 国网江苏省电力有限公司常州供电分公司 | Self-propelled distribution network cable pipeline inspection device |
| CN112382971A (en) * | 2020-11-27 | 2021-02-19 | 国网江苏省电力有限公司常州供电分公司 | Cable pipeline inspection device capable of turning |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202639882U (en) * | 2012-05-10 | 2013-01-02 | 湖南利欧泵业有限公司 | Pipeline turning clamp |
| CN102785109B (en) * | 2012-08-14 | 2015-05-20 | 资阳晨风电气有限公司 | Clamp for turning inner hole of cable clamp |
| KR101384268B1 (en) * | 2013-09-02 | 2014-04-11 | 한국가스공사 | Pipe inspection robot launching and receiving device |
| CN107591739B (en) * | 2017-10-13 | 2020-11-17 | 宝应帆洋船舶电器配件制造有限公司 | Cable duct threading draw gear |
-
2020
- 2020-06-19 CN CN202010563486.5A patent/CN111614014B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111614015A (en) * | 2020-06-19 | 2020-09-01 | 国网江苏省电力有限公司常州供电分公司 | Cable pipeline inspection device |
| CN212182959U (en) * | 2020-06-19 | 2020-12-18 | 国网江苏省电力有限公司常州供电分公司 | Self-propelled distribution network cable pipeline inspection device |
| CN112382971A (en) * | 2020-11-27 | 2021-02-19 | 国网江苏省电力有限公司常州供电分公司 | Cable pipeline inspection device capable of turning |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111614014A (en) | 2020-09-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111614014B (en) | Self-propelled distribution network cable duct inspection device | |
| CN111614015A (en) | Cable pipeline inspection device | |
| CN105058032A (en) | Overhead high-voltage power transmission line strain clamp drainage plate bolt tightening robot | |
| AU2018309216A1 (en) | Robot and system for pipeline rehabilitation with ultraviolet curing | |
| CN103241519B (en) | A kind of Automatic inspection system for underground belt conveyer | |
| CN212182959U (en) | Self-propelled distribution network cable pipeline inspection device | |
| CN109611641A (en) | A kind of pipe detection radio equipment people | |
| CN109616944B (en) | High-voltage transmission line inspection robot | |
| CN207120238U (en) | Confined space sniffing robot | |
| CN211206369U (en) | Oil gas pipeline detection equipment | |
| CN108263505B (en) | Wall climbing trolley and method for grabbing foreign matters between secondary side tube plates of steam generator | |
| CN105344672A (en) | Pipeline inspection sweeping robot | |
| CN107364502B (en) | Crawler-type mobile robot | |
| CN212182958U (en) | Cable duct inspection device | |
| CN110539817A (en) | creeping type pipeline external detection robot | |
| CN218783595U (en) | Mobile charging device matched with inspection robot | |
| CN111221339B (en) | Underground pipe gallery inspection robot | |
| CN112382971A (en) | Cable pipeline inspection device capable of turning | |
| CN214379727U (en) | Cable pipeline inspection device that can turn | |
| CN203184297U (en) | Cable conduit barrier removing tool assembly | |
| CN203294725U (en) | Automatic underground belt conveyor inspection system | |
| WO2023121627A2 (en) | In-pipe panoramic inspection system | |
| CN103567946A (en) | Special nut screwing-up sleeve capable of hole-aligning with the penetrating pin | |
| CN204758498U (en) | Pipeline inspection and wash integrative subassembly and system | |
| CN113437702A (en) | Working condition detection device for pipe jacking method cable laying |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20230710 Address after: No.27, junqian street, Changzhou City, Jiangsu Province, 213000 Applicant after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. CHANGZHOU POWER SUPPLY BRANCH Applicant after: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Applicant after: STATE GRID CORPORATION OF CHINA Applicant after: Changzhou Changgong Electric Power Design Institute Co.,Ltd. Address before: 213003, No. 27, front street, Tianning District, Jiangsu, Changzhou Applicant before: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. CHANGZHOU POWER SUPPLY BRANCH Applicant before: STATE GRID JIANGSU ELECTRIC POWER Co.,Ltd. Applicant before: STATE GRID CORPORATION OF CHINA |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant |