CN211388803U - Power pipeline inspection robot - Google Patents
Power pipeline inspection robot Download PDFInfo
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- CN211388803U CN211388803U CN201921857185.2U CN201921857185U CN211388803U CN 211388803 U CN211388803 U CN 211388803U CN 201921857185 U CN201921857185 U CN 201921857185U CN 211388803 U CN211388803 U CN 211388803U
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- power pipeline
- bracing piece
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- inspection robot
- organism
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- 238000007689 inspection Methods 0.000 title claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The utility model relates to a power pipeline patrols and examines robot, including organism base (6), wheel (5), self-adaptation pole, the self-adaptation pole includes bracing piece (2) and the elastic connection spare that can stretch or compress, and bracing piece (2) one end is rotated with organism base (6) top and is connected, bracing piece (2) other end and power pipeline inner wall contact, elastic connection spare one end and bracing piece (2) middle part fixed connection, the other end and organism base (6) fixed connection. Compared with the prior art, the utility model discloses robot bracing piece, engine body base and elastic connection spare form the triangular structure that highly can change, guarantee that the robot patrols and examines the during operation in power pipeline, and the organism can hug closely all the time and realize the organism screens in the pipeline, can not make the organism slope because of factors such as the tire rotational speed difference or skid. Meanwhile, the number of sensors on the robot body is reduced, the control difficulty of the inspection work of the power pipeline robot is reduced, and the cost of products is further reduced.
Description
Technical Field
The utility model belongs to the technical field of electric power survey and specifically relates to an electric power pipeline patrols and examines robot is related to.
Background
Urban power pipeline is buried underground usually, when patrolling and examining the pipeline, adopts traditional excavation mode less and less, but adopts and patrols and examines the robot, and current power pipeline patrols and examines the robot and mostly is wheeled robot, for example, the utility model patent that the grant bulletin number is CN 205335757U discloses a cable duct patrols and examines the robot, and the running gear that this robot adopted is two sets of walking wheels, and it can meet different road conditions when patrolling and examining inside the power pipeline, like straight road and bend etc.. When the robot passes through a curve, the robot body is easy to incline and turn over, and cannot walk stably.
In this regard, most solutions are to install a tilt sensor (gyroscope) inside the body, but this solution has high control difficulty, low reliability, and high cost of required auxiliary devices.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a power pipeline inspection robot for overcoming the defects of instability and heavy weight existing in the prior art.
The purpose of the utility model can be realized through the following technical scheme:
a power pipeline inspection robot comprises a machine body base, wheels and a self-adaptive rod, wherein the self-adaptive rod comprises a support rod and a stretchable or compressible elastic connecting piece, one end of the support rod is rotatably connected with the top of the machine body base, the other end of the support rod is contacted with the inner wall of a power pipeline, one end of the elastic connecting piece is fixedly connected with the middle part of the support rod, the other end of the elastic connecting piece is fixedly connected with the machine body base, the support rod, the machine body base and the elastic connecting piece form a triangular structure,
when the robot patrols and examines in the pipeline of different internal diameters inside, the deformation through elastic connection spare realizes the in close contact with of bracing piece and pipeline inner wall.
The elastic connecting piece is a telescopic spring.
One end of the supporting rod is provided with a self-adaptive wheel, and the self-adaptive wheel is in rolling connection with the inner wall of the pipeline.
The maximum included angle between the supporting rod and the machine body base is 60 degrees.
The wheels are symmetrically arranged on two sides of the machine body base, and the bottoms of the wheels incline outwards.
The included angle of the axes of the wheels at the two sides is 130 degrees.
The rear wheel of the wheel is a driving wheel, the front wheel is a free wheel, and the rear wheel drives the front wheel to rotate under the driving of the speed reducing motor.
The front side of the machine body is provided with a camera and a searchlight.
Compared with the prior art, the utility model has the advantages of it is following:
(1) bracing piece, organism base and elastic connection spare form the triangle-shaped structure that the height can change, guarantee that the robot patrols and examines the during operation in power pipeline, and the organism can hug closely all the time and realize the organism screens in the pipeline, can not make the organism slope because of factors such as the tire rotational speed difference or skid. Meanwhile, the number of sensors on the robot body is reduced, the control difficulty of the inspection work of the power pipeline robot is reduced, and the cost of products is further reduced.
(2) Bracing piece one end is equipped with the self-adaptation wheel, and the self-adaptation wheel rolls along the electric power pipeline inner wall is level and smooth, guarantees that electric power pipeline patrols and examines the robot and steadily marchs in the pipeline.
(3) The top leanin of wheel, wheel contour plane and horizontal plane contained angle are 67.5, change the size and the direction of tire to pipeline inner wall pressure, can realize better automobile body screens effect, increase frictional force to a certain extent simultaneously, avoid the tire to skid.
Drawings
FIG. 1 is a schematic structural diagram of a robot according to the present embodiment;
FIG. 2 is a left side view of the robot of the present embodiment;
FIG. 3 is a schematic front view of the robot of the present embodiment;
fig. 4 is a schematic top view of the robot according to the embodiment.
Reference numerals:
1. self-adaptation wheel, 2, bracing piece, 3, camera, 4, searchlight, 5, wheel, 6, organism base, 7, expanding spring.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1
As shown in fig. 1, a power pipeline patrols and examines robot, including organism base 6, wheel 5, self-adaptation pole, the self-adaptation pole includes bracing piece 2 and the expanding spring 7 that can stretch or compress, and 2 one ends of bracing piece are rotated with 6 tops of organism base and are connected, and 2 other ends of bracing piece and the contact of power pipeline inner wall, expanding spring one end and 2 middle part fixed connection of bracing piece, the other end and 6 fixed connection of organism base, bracing piece 2, organism base 6 and expanding spring form the triangle-shaped structure. The front side of the machine body is provided with a camera 3 and a searchlight 4 which respectively play the functions of real-time monitoring and illumination in the pipeline. When the pipeline robot is used for carrying out inspection work, when the inner diameter of the pipeline is distorted due to physical factors, the supporting rods can freely adjust the height (shown in figure 2) in the range of 0-60 degrees to be matched with the wheels 5 to realize the machine body clamping under the action of the extension springs 7.
Self-adaptation wheel 1 is equipped with at 2 tops of bracing piece, and self-adaptation wheel 1 rolls along the electric power pipeline inner wall is level and smooth, guarantees that electric power pipeline patrols and examines robot and steadily march in the pipeline.
The top of the wheel 5 inclines inwards, the included angle between the wheel contour plane and the horizontal plane is 67.5 degrees, the size and the direction of the pressure of the tire on the inner wall of the pipeline are changed, and a better vehicle body clamping effect can be realized. Meanwhile, the friction force is increased to a certain degree, and the tire is prevented from slipping. The rear wheel of the pipeline robot is a driving wheel, the front wheel is a free wheel, and the rear wheel drives the front wheel to rotate under the driving of the speed reducing motor. The mechanical structure can meet the requirement that the vehicle body is tightly attached to the inner wall of the power pipeline to stably run, and can stably run in the power pipeline with the standard of 20 cm.
Example 2
Unlike embodiment 1, the extension spring 7 is replaced with another elastic connecting member, such as a gas spring, a leaf spring, or the like. As long as compression under pressure can be achieved and self-resetting without pressure is achieved. The rest is the same as in example 1.
Example 3
Different from the embodiment 1, the bottom of the wheel 5 is more open, the included angle of the axes of the wheels at two sides is less than 130 degrees, and the pipeline with larger size can be accommodated.
Claims (8)
1. The utility model provides a power pipeline inspection robot, includes organism base (6) and wheel (5), its characterized in that still includes the self-adaptation pole, the self-adaptation pole include bracing piece (2) and elastic connecting piece that can stretch or compress, bracing piece (2) one end be connected with organism base (6) top rotation, the bracing piece (2) other end and the contact of power pipeline inner wall, elastic connecting piece one end and bracing piece (2) middle part fixed connection, the other end and organism base (6) fixed connection, bracing piece (2), organism base (6) and elastic connecting piece form the triangle-shaped structure,
when the robot patrols and examines in the pipeline of different internal diameters inside, the deformation through elastic connection spare realizes the in close contact with of bracing piece (2) and pipeline inner wall.
2. The electric power pipeline inspection robot according to claim 1, wherein the elastic connecting piece is a telescopic spring (7).
3. The electric power pipeline inspection robot according to claim 1, wherein a self-adaptive wheel is arranged at one end of the supporting rod (2), and the self-adaptive wheel is connected with the inner wall of the pipeline in a rolling manner.
4. The electric power pipeline inspection robot according to claim 1, wherein an included angle between the support rod (2) and the machine body base (6) is 60 degrees at most.
5. The electric power pipeline inspection robot according to claim 1, wherein the wheels (5) are symmetrically arranged on two sides of the machine body base (6), and the bottoms of the wheels (5) are inclined outwards.
6. The power pipeline inspection robot according to claim 5, wherein the included angle between the axes of the wheels (5) on the two sides is 130 degrees.
7. The electric power pipeline inspection robot according to claim 1, wherein the rear wheels of the wheels (5) are driving wheels, the front wheels are free wheels, and the rear wheels drive the front wheels to rotate under the driving of a speed reduction motor.
8. The power pipeline inspection robot according to claim 1, wherein a camera (3) and a searchlight (4) are mounted on the front side of the machine body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921857185.2U CN211388803U (en) | 2019-10-31 | 2019-10-31 | Power pipeline inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921857185.2U CN211388803U (en) | 2019-10-31 | 2019-10-31 | Power pipeline inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN211388803U true CN211388803U (en) | 2020-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921857185.2U Active CN211388803U (en) | 2019-10-31 | 2019-10-31 | Power pipeline inspection robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN211388803U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696014A (en) * | 2019-10-31 | 2020-01-17 | 上海电力大学 | Power pipeline inspection robot |
| CN114770536A (en) * | 2022-04-22 | 2022-07-22 | 国网江苏省电力有限公司南通供电分公司 | Electric power pipeline inspection robot |
| CN114783190A (en) * | 2022-04-12 | 2022-07-22 | 北京无线电计量测试研究所 | Roadside parking management device |
| CN114776936A (en) * | 2022-04-24 | 2022-07-22 | 杭州赫恩数字技术有限公司 | Pipeline robot with support wheels |
-
2019
- 2019-10-31 CN CN201921857185.2U patent/CN211388803U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696014A (en) * | 2019-10-31 | 2020-01-17 | 上海电力大学 | Power pipeline inspection robot |
| CN114783190A (en) * | 2022-04-12 | 2022-07-22 | 北京无线电计量测试研究所 | Roadside parking management device |
| CN114770536A (en) * | 2022-04-22 | 2022-07-22 | 国网江苏省电力有限公司南通供电分公司 | Electric power pipeline inspection robot |
| CN114776936A (en) * | 2022-04-24 | 2022-07-22 | 杭州赫恩数字技术有限公司 | Pipeline robot with support wheels |
| CN114776936B (en) * | 2022-04-24 | 2023-11-24 | 杭州赫恩数字技术有限公司 | Pipeline robot with support wheels |
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