CN104875199A - Power pipeline route inspection robot - Google Patents
Power pipeline route inspection robot Download PDFInfo
- Publication number
- CN104875199A CN104875199A CN201510180607.7A CN201510180607A CN104875199A CN 104875199 A CN104875199 A CN 104875199A CN 201510180607 A CN201510180607 A CN 201510180607A CN 104875199 A CN104875199 A CN 104875199A
- Authority
- CN
- China
- Prior art keywords
- snake
- snake body
- snakehead
- battery
- steering wheel
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a power pipeline route inspection robot and belongs to the field of power engineering. The power pipeline route inspection robot comprises a snake head (1), a snake body (2) and a snake tail (3); the snake head (1) and the snake body (2) are modular in design; the snake head (1) is connected with the snake body (2) through two pins arranged on two sides of the snake body, modules are also connected through pins, the modules and the snake tail (3) are also connected through pins, the snake tail (3) is mainly powered by a steering engine rocking up and down to move, each part is provided with a backup battery, and battery life is longer. The power pipeline route inspection robot is compact in structure, small in size, light in weight, highly controllable, convenient to demount and safe and reliable and has flexible joints.
Description
Technical field:
The present invention designs a kind of crusing robot, especially for a kind of power pipe route inspecting robot, belongs to power engineering field.
Background technology:
Research along with the development robot field of science and technology more and more receives the concern of scientist and various circles of society, also good achievement is achieved at present, along with being showing improvement or progress day by day of science and improving constantly of people's living standard, current power pipe crusing robot adopts wheeled mobile robot mostly, the motion smoothing of traditional wheeled mobile robot, efficiency is high, but need the ground of relative smooth, can not adapt to rugged environment uses crawler belt can improve the ability on travel mechanism's adaptation ground equally, but it fully cannot realize the flexibility of moving, problem main at present finds new motion mode.Snake-shaped robot simulating nature circle snake without limb structure in bionics synthesis, there is multi-joint, multivariant feature can have multi-motion modes to be with a wide range of applications in a lot of fields, as in the scouting had under radiation, the hazardous environment such as poisonous and search, detection and dredging pipeline etc. under narrow and small and unsafe conditions, Given this, a kind of imitative snakelike power pipe route inspecting robot is badly in need of in the industry.
Summary of the invention:
The invention provides a kind of power pipe route inspecting robot, overcome ordinary vehicle type electric inspection process robot actual effect poor performance, motion mode is fixed, and cannot complete the technological deficiency of operation in the environment of circumstance complication.
The technical solution used in the present invention is: a kind of power pipe route inspecting robot, comprise snakehead (1), snake body (2) and ophiruid (3), snakehead (1) and snake body (2) adopt modularized design, snakehead (1) and snake body (2), by two pinned connection of snake body both sides, are also adopted between each module, between module with ophiruid (3) and are connected in the same way.This power pipe route inspecting robot, in straightway power pipe, is advanced fast by motor driving wheel tire; In rugged power pipe, make snake body become S shape by the steering wheel swung of junction, each joint, the steering wheel swung by caudal articular process place is promoted and the auxiliary swing of snake body joint steering wheel makes snake body advance; When running into larger barrier in pipeline, the steering wheel swung up and down by snake body joint makes snakehead raise up to clear the jumps.
The invention has the advantages that: novel structure, volume are little, lightweight, joint flexible, convenient disassembly, safe and reliable.It also has robot and intends the feature of snake, namely range of movement large, keep away barrier ability strong, be widely used, operation consumption is low, patrol and examine the manual labor that can replace the mankind in operation at the power pipe in future, reduce the generation of peril, ensure the safety of the mankind.
Accompanying drawing illustrates:
Fig. 1 is the overall schematic of power pipe route inspecting robot;
Fig. 2, Fig. 3 are the schematic diagram of snakehead in Fig. 1;
Fig. 4 is the schematic diagram of snake body in Fig. 1;
Fig. 5 is the schematic diagram of ophiruid in Fig. 1.
Detailed description of the invention:
1. as shown in Figure 1, a kind of power pipe route inspecting robot, comprise snakehead (1), snake body (2) and ophiruid (3), snakehead (1) and snake body (2) adopt modularized design, snakehead (1) and snake body (2), by two pinned connection of snake body both sides, are also adopted between each module, between module with ophiruid (3) and are connected in the same way.
2. as shown in Figure 2 and Figure 3 snakehead (1) by Smoke Sensor (101), Radio infrared pinhole cameras (102), micromanipulator (103), high-pressure mini hydraulic giant (104), infrared distance sensor (105), temperature sensor (106), wireless transmitter (107), mercury gravity sensor (108) and central control chip (109) composition.Radio infrared pinhole cameras (102) is bolted on snakehead (1), respectively there are two little round projections on two sides, snakehead (1) below, and its inside is used for holding infrared distance sensor (105), temperature sensor (106), Smoke Sensor (101); Temperature sensor (106), Smoke Sensor (101), Radio infrared pinhole cameras (102) etc., by the temperature data collected, smog content data, video data is all dealt in the extraneous computer controlled by wireless transmitter (107); High-pressure mini hydraulic giant (104) is controlled by central control chip (109), condensate liquid is launched when temperature sensor (106) senses that temperature is too high or Smoke Sensor (101) senses that smokescope is too high, and the environmental information that mercury gravity sensor (108), infrared distance-sensor (105) are collected all passes to central control chip (109) by data mode, central control chip (109) judges road conditions by data thus sends control instruction to the control chip of steering wheel.
3. snake body (2) is made up of steering wheel (201), steering wheel frame (202), motor (203), battery carrier (204), battery (205), bearing (207), bearing block (208), tire (209) and axle (206) as shown in Figure 4.Steering wheel (201) is arranged on intra articular below; Articular portion is then be a joint module with two joints, provides power to enable joint above take junction as the rotation that the joint of axle relative rear makes+45 ° ~-45 ° by being fixed on IA steering wheel (201) below; Ophiruid (3) adopts identical motion mode and power resources.
4. ophiruid (3) is made up of motor (301), battery carrier (302), battery (303), bearing (304), bearing block (305) and tire (306) as shown in Figure 5.Ophiruid (3) provides power pipe route inspecting robot power up or down in pipeline.
Claims (4)
1. a power pipe crusing robot is characterized in that, comprise snakehead (1), snake body (2) and ophiruid (3), snakehead (1) and snake body (2) adopt modularized design, snakehead (1) and snake body (2), by two pinned connection of snake body both sides, are also adopted between each module, between module with ophiruid (3) and are connected in the same way.
2. power pipe route inspecting robot according to claim 1 is characterized in that, snakehead (1) comprises Smoke Sensor (101), Radio infrared pinhole cameras (102), micromanipulator (103), high-pressure mini hydraulic giant (104), infrared distance sensor (105), temperature sensor (106), wireless transmitter (107), mercury gravity sensor (108) and central control chip (109), there are sensor assembly and reserve battery in snakehead (1) inside, there are two micromanipulators (103) outside to tackle complicated power pipe, sensor has temperature sensor (106), high-pressure mini hydraulic giant (104) is controlled by central control chip (109).
3. power pipe route inspecting robot according to claim 1 is characterized in that, snake body (2) comprises steering wheel (201), steering wheel frame (202), motor (203), battery carrier (204), battery (205), bearing (207), bearing block (208), tire (209) and axle (206), steering wheel (201) be arranged on below intra articular; Articular portion is then be a joint module with two joints, power is provided to enable joint above take junction as the rotation that the joint of axle relative rear makes+45 ° ~-45 ° by being fixed on IA steering wheel (201) below, each intra articular steering wheel (201) provides power, also has independent control panel, for convenience detach and assembling, electric power energy is from the battery of intra articular and reserve battery.
4. power pipe route inspecting robot according to claim 1 is characterized in that, ophiruid (3) comprises motor (301), battery carrier (302), battery (303), bearing (304), bearing block (305) and tire (306), and snake body (2) and ophiruid (3) adopt pinned connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510180607.7A CN104875199A (en) | 2015-04-16 | 2015-04-16 | Power pipeline route inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510180607.7A CN104875199A (en) | 2015-04-16 | 2015-04-16 | Power pipeline route inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104875199A true CN104875199A (en) | 2015-09-02 |
Family
ID=53943003
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510180607.7A Pending CN104875199A (en) | 2015-04-16 | 2015-04-16 | Power pipeline route inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104875199A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN105171722A (en) * | 2015-10-26 | 2015-12-23 | 冯亿坤 | Eel-like underwater multi-freedom-degree robot |
| CN105588608A (en) * | 2015-12-14 | 2016-05-18 | 国网北京市电力公司 | Detection equipment for power pipelines |
| CN106926227A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of open-ended modularity mechanical arm |
| CN107116543A (en) * | 2017-05-24 | 2017-09-01 | 哈尔滨工业大学 | A kind of snake-shaped robot of modular reconfigurable |
| CN107433580A (en) * | 2017-09-15 | 2017-12-05 | 中山大学 | A kind of modularization orthohormbic structure snake-shaped robot |
| CN108113636A (en) * | 2017-12-04 | 2018-06-05 | 楚善斌 | A kind of snakelike arm Multifunction anal colonoscopy system |
| CN108161917A (en) * | 2018-03-19 | 2018-06-15 | 上海盾构设计试验研究中心有限公司 | A kind of Snakelike mechanical arm for shield cutter detection |
| CN108481317A (en) * | 2018-02-28 | 2018-09-04 | 成都明杰科技有限公司 | A kind of robot module's formula assembly mechanical arm |
| CN109038334A (en) * | 2018-09-19 | 2018-12-18 | 国网山东省电力公司五莲县供电公司 | Oil tank for transformers foreign matter removal device |
| CN109938003A (en) * | 2019-02-23 | 2019-06-28 | 佛山市神风航空科技有限公司 | A kind of bionical snake for preventing birds from nesting on shaft tower and its bird repellent method |
| CN110053033A (en) * | 2019-05-24 | 2019-07-26 | 北京深醒科技有限公司 | A kind of modularization snake-shaped robot and its working method for security protection patrol |
| CN110253530A (en) * | 2019-08-05 | 2019-09-20 | 陕西中建建乐智能机器人有限公司 | A kind of inspection intelligent robot and its method for inspecting with snakelike detecting head |
| CN114932540A (en) * | 2022-06-08 | 2022-08-23 | 北京科技大学 | Orthogonal joint module for reconfigurable snake-shaped robot and snake-shaped robot thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60219173A (en) * | 1984-04-14 | 1985-11-01 | Toshiba Corp | Active body |
| JP2000246675A (en) * | 1999-02-26 | 2000-09-12 | Hitachi Zosen Corp | Robot device |
| CN2482484Y (en) * | 2001-07-04 | 2002-03-20 | 中国科学院沈阳自动化研究所 | Single-freedom joint module for snake-shape robot |
| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| CN103273981A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Transformable search-and-rescue robot with multiple motion tread |
| CN204221787U (en) * | 2014-11-20 | 2015-03-25 | 常熟理工学院 | A kind of snakelike search and rescue robot |
-
2015
- 2015-04-16 CN CN201510180607.7A patent/CN104875199A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60219173A (en) * | 1984-04-14 | 1985-11-01 | Toshiba Corp | Active body |
| JP2000246675A (en) * | 1999-02-26 | 2000-09-12 | Hitachi Zosen Corp | Robot device |
| CN2482484Y (en) * | 2001-07-04 | 2002-03-20 | 中国科学院沈阳自动化研究所 | Single-freedom joint module for snake-shape robot |
| CN201597033U (en) * | 2010-02-22 | 2010-10-06 | 侯宇 | Wheeled model snake-shaped robot mechanism |
| CN103273981A (en) * | 2013-06-20 | 2013-09-04 | 北京信息科技大学 | Transformable search-and-rescue robot with multiple motion tread |
| CN204221787U (en) * | 2014-11-20 | 2015-03-25 | 常熟理工学院 | A kind of snakelike search and rescue robot |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150203A (en) * | 2015-09-22 | 2015-12-16 | 成都理工大学 | Method for detecting internal environment of nuclear equipment pipeline by snake-like robot |
| CN105171722A (en) * | 2015-10-26 | 2015-12-23 | 冯亿坤 | Eel-like underwater multi-freedom-degree robot |
| CN105171722B (en) * | 2015-10-26 | 2017-08-25 | 冯亿坤 | Imitative eel multi-freedom robot under water |
| CN105588608A (en) * | 2015-12-14 | 2016-05-18 | 国网北京市电力公司 | Detection equipment for power pipelines |
| CN105588608B (en) * | 2015-12-14 | 2018-06-01 | 国网北京市电力公司 | The detection device of power pipe |
| CN106926227A (en) * | 2015-12-31 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of open-ended modularity mechanical arm |
| CN107116543A (en) * | 2017-05-24 | 2017-09-01 | 哈尔滨工业大学 | A kind of snake-shaped robot of modular reconfigurable |
| CN107433580A (en) * | 2017-09-15 | 2017-12-05 | 中山大学 | A kind of modularization orthohormbic structure snake-shaped robot |
| CN108113636A (en) * | 2017-12-04 | 2018-06-05 | 楚善斌 | A kind of snakelike arm Multifunction anal colonoscopy system |
| CN108481317A (en) * | 2018-02-28 | 2018-09-04 | 成都明杰科技有限公司 | A kind of robot module's formula assembly mechanical arm |
| CN108161917A (en) * | 2018-03-19 | 2018-06-15 | 上海盾构设计试验研究中心有限公司 | A kind of Snakelike mechanical arm for shield cutter detection |
| CN109038334A (en) * | 2018-09-19 | 2018-12-18 | 国网山东省电力公司五莲县供电公司 | Oil tank for transformers foreign matter removal device |
| CN109038334B (en) * | 2018-09-19 | 2024-03-29 | 国网山东省电力公司五莲县供电公司 | Foreign matter taking-out device for oil tank of transformer |
| CN109938003A (en) * | 2019-02-23 | 2019-06-28 | 佛山市神风航空科技有限公司 | A kind of bionical snake for preventing birds from nesting on shaft tower and its bird repellent method |
| CN110053033A (en) * | 2019-05-24 | 2019-07-26 | 北京深醒科技有限公司 | A kind of modularization snake-shaped robot and its working method for security protection patrol |
| CN110253530A (en) * | 2019-08-05 | 2019-09-20 | 陕西中建建乐智能机器人有限公司 | A kind of inspection intelligent robot and its method for inspecting with snakelike detecting head |
| CN114932540A (en) * | 2022-06-08 | 2022-08-23 | 北京科技大学 | Orthogonal joint module for reconfigurable snake-shaped robot and snake-shaped robot thereof |
| CN114932540B (en) * | 2022-06-08 | 2023-02-03 | 北京科技大学 | Orthogonal joint module for reconfigurable snake-shaped robot and snake-shaped robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104875199A (en) | Power pipeline route inspection robot | |
| CN106585750B (en) | A kind of climbing robot being adsorbed on steel wall surface | |
| CN102689296B (en) | Novel differentially driven composite attraction type wall climbing robot | |
| CN105667622A (en) | Six-wheel-foot type moving robot with three robot bodies | |
| CN109649526A (en) | A kind of full landform helical detector | |
| CN107554630B (en) | A kind of wheel-track overturning unmanned mobile platform of combined type | |
| CN204184483U (en) | For the barrier-surpassing robot of narrow space | |
| CN109823427B (en) | Vehicle-snake combined variable-structure mobile robot | |
| CN207595086U (en) | A kind of deformable caterpillar robot chassis suspension | |
| CN101927488B (en) | Self-assembly multiple-mobile-robot system and self-assembly structure | |
| CN104986232A (en) | Wheel and track replacement deformation robot | |
| CN111907615A (en) | 7DOF two-wheeled multi-attitude robot | |
| CN204248880U (en) | A kind of multifunctional rescue robot | |
| CN104875798A (en) | Wheel-tracked switchable mobile robot of transformer substation | |
| CN105539619A (en) | Worm-drive active multi-wheel S-shaped robot with universal joint | |
| CN108189925B (en) | Multi-terrain multifunctional fighter robot | |
| CN204641937U (en) | A kind of gas pipe line intelligent inspection robot | |
| Ming-hui et al. | Design of moving system for mining searching robot | |
| CN209683857U (en) | A kind of full landform helical detector | |
| CN109649095B (en) | Bionic crocodile amphibious robot | |
| CN210444407U (en) | Novel wheel-leg hybrid unmanned inspection device | |
| CN208393509U (en) | A kind of intelligence walking robot | |
| CN204382264U (en) | A kind of explosive-removal robot | |
| CN212667547U (en) | 7DOF two-wheeled multi-attitude robot | |
| CN115042570A (en) | Amphibious tracked vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150902 |