CN110877645A - Walking mechanism of power pipeline inspection robot and operation method - Google Patents
Walking mechanism of power pipeline inspection robot and operation method Download PDFInfo
- Publication number
- CN110877645A CN110877645A CN201911201880.8A CN201911201880A CN110877645A CN 110877645 A CN110877645 A CN 110877645A CN 201911201880 A CN201911201880 A CN 201911201880A CN 110877645 A CN110877645 A CN 110877645A
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- vertical shaft
- groove box
- bevel gear
- fixed
- driven
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- 238000007689 inspection Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a walking mechanism of an electric power pipeline inspection robot and an operation method, wherein a first groove box and a second groove box are respectively fixed on two sides of the bottom of a chassis, a first vertical shaft is installed at one end position of the first groove box through a bearing seat, a second vertical shaft is installed at the end position on the second groove box and on the same side as the first vertical shaft through the first bearing seat, a third vertical shaft is respectively installed at the other end position of the first groove box and the second groove box through a second bearing seat in a supporting manner, a first rubber wheel is fixed at the top of the first vertical shaft, a second rubber wheel is fixed at the top of the second vertical shaft, and a third rubber wheel is fixed at the top of the third vertical shaft; the first vertical shaft is connected with the power device through a bevel gear mechanism and drives the power device to rotate, and the first vertical shaft and the second vertical shaft are connected through a synchronous transmission mechanism and drive the second vertical shaft to rotate. The walking mechanism can carry power inspection equipment and walk inside the pipeline to realize automatic line inspection and overhaul of the pipeline.
Description
Technical Field
The invention belongs to the field of electric power inspection equipment, and particularly relates to a walking mechanism of an electric power pipeline inspection robot and an operation method.
Background
In order to ensure the safety of the operation of the power pipeline, the power cable inside the pipeline needs to be regularly inspected, along with the improvement of the automation degree, the inspection of the cable inside the pipeline begins to adopt an automatic inspection robot to overhaul the cable, the inspection robot is usually carried with various different detection devices at the top of a walking mechanism, and the walking mechanism is needed to be used for ensuring that the detection devices can normally convey and walk inside the pipeline.
Disclosure of Invention
In order to solve the technical problems, the invention provides a travelling mechanism of a power pipeline inspection robot and an operation method.
In order to achieve the technical features, the invention is realized as follows: the walking mechanism of the electric power pipeline inspection robot comprises a chassis, wherein a first groove box and a second groove box are respectively fixed on two sides of the bottom of the chassis, a first vertical shaft is installed at one end position of the first groove box through a bearing seat, a second vertical shaft is installed at the end position, on the same side as the first vertical shaft, of the second groove box through the first bearing seat, a third vertical shaft is installed at the other end position of the first groove box and the second groove box through a second bearing seat in a supporting mode, a first rubber wheel is fixed at the top of the first vertical shaft, a second rubber wheel is fixed at the top of the second vertical shaft, and a third rubber wheel is fixed at the top of the third vertical shaft; the first vertical shaft is connected with the power device through a bevel gear mechanism and drives the power device to rotate, and the first vertical shaft and the second vertical shaft are connected through a synchronous transmission mechanism and drive the second vertical shaft to rotate.
The first groove box is fixed at the bottom of the chassis through a plurality of first connecting bolts, and the second groove box is fixed at the bottom of the chassis through a plurality of second connecting bolts; gaps are reserved between the first groove box and the chassis and between the second groove box and the chassis.
The bevel gear mechanism comprises a driven bevel gear fixed on the first vertical shaft, the driven bevel gear is in meshing transmission with the driving bevel gear, and the driving bevel gear is installed at the power output end of the power device.
The power device comprises a motor, the motor is fixed on a motor mounting plate through a hoop, the motor mounting plate is fixed at the end of a side plate, the side plate is fixedly mounted on two outer side walls of a first groove box, and a driving bevel gear is mounted on an output shaft of the motor.
The synchronous transmission mechanism comprises a driving chain wheel fixed on a first vertical shaft, the driving chain wheel is in meshing transmission with a driven chain wheel through a chain, the driven chain wheel is installed on an intermediate shaft, the intermediate shaft is installed on a second groove box through a bearing seat, a first gear is installed on the intermediate shaft, and the first gear is in meshing transmission with a second gear installed on a second vertical shaft.
And a reinforcing frame body is fixed in the middle of the first groove box and the second groove box.
The operation method of the walking mechanism of the power pipeline inspection robot is characterized by comprising the following steps:
step 1: fixedly mounting maintenance equipment to be carried on a chassis;
step 2: placing the travelling mechanism inside a pipeline;
step 3: then starting the power device, driving a driving bevel gear through a motor, further driving a driven bevel gear through the driving bevel gear, and driving a first vertical shaft and a first rubber wheel through the driven bevel gear;
step 4: meanwhile, the driving chain wheel is driven by the rotation of the first vertical shaft, and then the driven chain wheel is driven by the driving chain wheel and the chain;
step 5: the driven chain wheel drives the first gear, and the first gear drives the second gear;
step 6: the second vertical shaft is driven by the second gear, and the second rubber wheel is driven by the second vertical shaft;
step 7: the first rubber wheel and the second rubber wheel are in contact with the inner wall of the pipeline, so that the whole walking mechanism walks.
The invention has the following beneficial effects:
1. through adopting the running gear of above-mentioned structure, can be used for carrying on electric power inspection equipment, be used for the automation of pipeline to patrol the line and overhaul, and then guaranteed that it can be at the inside smooth walking of pipeline, it is in the course of the work, through power device drive bevel gear mechanism, again by first vertical scroll of bevel gear mechanism simultaneous drive and first rubber wheel, again by first vertical scroll through synchronous drive mechanism drive second vertical scroll, finally through second vertical scroll drive second rubber wheel, and then drive whole chassis through two rubber wheels of head and walk along the pipeline inner wall.
2. Through the first groove box and the second operation, the corresponding vertical shaft can be fixed and installed, and then the whole chassis is supported.
3. Through foretell bevel gear mechanism, in the course of the work, through power device drive initiative bevel gear, again by initiative bevel gear drive driven bevel gear, and then through driven bevel gear drive first vertical scroll and first rubber tyer.
4. The power device is mainly used for providing power for walking.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a first perspective three-dimensional view of the present invention.
FIG. 2 is a second perspective three-dimensional view of the present invention.
FIG. 3 is a third perspective three-dimensional view of the present invention.
In the figure: the device comprises a motor 1, a side plate 2, a hoop 3, a driving bevel gear 4, a driven bevel gear 5, a first vertical shaft 6, a first rubber wheel 7, a chassis 8, a third rubber wheel 9, a third vertical shaft 10, a second bearing seat 11, a second connecting bolt 12, a second groove box 13, a first gear 14, a driven sprocket 15, a second rubber wheel 16, a second vertical shaft 17, a first bearing seat 18, a second gear 19, a first connecting bolt 20, a first groove box 21, a driving sprocket 22, a motor mounting plate 23, a reinforcing frame 24 and a middle shaft 25.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-3, the walking mechanism of the power pipeline inspection robot comprises a chassis 8, wherein a first groove box 21 and a second groove box 13 are respectively fixed on two sides of the bottom of the chassis 8, a first vertical shaft 6 is mounted at one end position of the first groove box 21 through a bearing seat, a second vertical shaft 17 is mounted at the end position on the second groove box 13 and on the same side as the first vertical shaft 6 through a first bearing seat 18, a third vertical shaft 10 is respectively supported and mounted at the other end position of the first groove box 21 and the second groove box 13 through a second bearing seat 11, a first rubber wheel 7 is fixed at the top of the first vertical shaft 6, a second rubber wheel 16 is fixed at the top of the second vertical shaft 17, and a third rubber wheel 9 is fixed at the top of the third vertical shaft 10; the first vertical shaft 6 is connected with a power device through a bevel gear mechanism and drives the power device to rotate, and the first vertical shaft 6 is connected with the second vertical shaft 17 through a synchronous transmission mechanism and drives the second vertical shaft 17 to rotate. Through adopting the running gear of above-mentioned structure, can be used for carrying on electric power inspection equipment, be used for the automation of pipeline to patrol the line and overhaul, and then guaranteed that it can be at the inside smooth walking of pipeline, it is in the course of the work, through power device drive bevel gear mechanism, again by first vertical scroll 6 of bevel gear mechanism simultaneous drive and first rubber pulley 7, again by first vertical scroll 6 through synchronous drive mechanism drive second vertical scroll 17, finally through second vertical scroll 17 drive second rubber pulley 16, and then drive whole chassis 8 through two rubber pulleys of head and walk along the pipeline inner wall.
Further, the first slot box 21 is fixed at the bottom of the chassis 8 through a plurality of first connecting bolts 20, and the second slot box 13 is fixed at the bottom of the chassis 8 through a plurality of second connecting bolts 12; a gap is left between the first slot box 21 and the second slot box 13 and the chassis 8. The first casing 21 and the second operation 13 described above allow for the fixing and mounting of the respective vertical shaft, thus achieving the support of the entire chassis.
Further, the bevel gear mechanism comprises a driven bevel gear 5 fixed on a first vertical shaft 6, the driven bevel gear 5 is in meshing transmission with a driving bevel gear 4, and the driving bevel gear 4 is installed at a power output end of the power device. Through the bevel gear mechanism, in the working process, the driving bevel gear 4 is driven by the power device, the driven bevel gear 5 is driven by the driving bevel gear 4, and the first vertical shaft 6 and the first rubber wheel 7 are driven by the driven bevel gear 5.
Further, power device includes motor 1, motor 1 passes through clamp 3 to be fixed on motor mounting panel 23, motor mounting panel 23 is fixed at the end of curb plate 2, 2 fixed mounting of curb plate are on two lateral walls of first groove box 21, the output shaft installation driving bevel gear 4 of motor 1. The power device is mainly used for providing walking power, and in the working process, the motor 1 drives the driving bevel gear 4, the driving bevel gear 4 drives the driven bevel gear 5, and the driven bevel gear 5 drives the first vertical shaft 6, so that the walking power is provided.
Further, the synchronous transmission mechanism comprises a driving chain wheel 22 fixed on the first vertical shaft 6, the driving chain wheel 22 is in meshing transmission with a driven chain wheel 15 through a chain, the driven chain wheel 15 is installed on an intermediate shaft 25, the intermediate shaft 25 is installed on the second groove box 13 through a bearing seat, a first gear 14 is installed on the intermediate shaft 25, and the first gear 14 is in meshing transmission with a second gear 19 installed on the second vertical shaft 17. Through the synchronous transmission mechanism, in the working process, the rotation of the first vertical shaft 6 drives the driving sprocket 22, the driving sprocket 22 and the chain drive the driven sprocket 15, the driven sprocket 15 drives the first gear 14, the first gear 14 drives the second gear 19, the second vertical shaft 17 is finally driven through the second gear 19, and the second rubber wheel 16 is finally driven through the second vertical shaft 17.
Further, a reinforcing frame 24 is fixed to a middle portion of the first tank box 21 and the second tank box 13. The structural strength of the entire traveling mechanism can be increased by the reinforcing frame 24.
Example 2:
the operation method of the walking mechanism of the power pipeline inspection robot comprises the following steps:
step 1: fixedly mounting maintenance equipment to be carried on the chassis 8;
step 2: placing the travelling mechanism inside a pipeline;
step 3: then starting the power device, driving the driving bevel gear 4 through the motor 1, further driving the driven bevel gear 5 through the driving bevel gear 4, and driving the first vertical shaft 6 and the first rubber wheel 7 through the driven bevel gear 5;
step 4: meanwhile, the rotation of the first vertical shaft 6 drives the driving sprocket 22, and then the driving sprocket 22 and the chain drive the driven sprocket 15;
step 5: further driving the first gear 14 via the driven sprocket 15 and the second gear 19 via the first gear 14;
step 6: the second vertical shaft 17 is driven through the second gear 19, and the second rubber wheel 16 is driven through the second vertical shaft 17;
step 7: the first rubber wheel 7 and the second rubber wheel 16 are in contact with the inner wall of the pipeline, so that the whole travelling mechanism travels.
Claims (7)
1. The running gear of robot is patrolled and examined to power pipeline, its characterized in that: the novel vertical shaft type hydraulic lifting device comprises a chassis (8), wherein a first groove box (21) and a second groove box (13) are respectively fixed on two sides of the bottom of the chassis (8), a first vertical shaft (6) is installed at one end position of the first groove box (21) through a bearing seat, a second vertical shaft (17) is installed at the end position, on the second groove box (13), on the same side as the first vertical shaft (6) through a first bearing seat (18), a third vertical shaft (10) is respectively installed at the other end position of the first groove box (21) and the second groove box (13) through a second bearing seat (11) in a supporting mode, a first rubber wheel (7) is fixed at the top of the first vertical shaft (6), a second rubber wheel (16) is fixed at the top of the second vertical shaft (17), and a third rubber wheel (9) is fixed at the top of the third vertical shaft (10); the first vertical shaft (6) is connected with the power device through a bevel gear mechanism and drives the power device to rotate, and the first vertical shaft (6) is connected with the second vertical shaft (17) through a synchronous transmission mechanism and drives the second vertical shaft (17) to rotate.
2. The walking mechanism of the electric power pipeline inspection robot according to claim 1, wherein: the first groove box (21) is fixed at the bottom of the chassis (8) through a plurality of first connecting bolts (20), and the second groove box (13) is fixed at the bottom of the chassis (8) through a plurality of second connecting bolts (12); gaps are reserved between the first groove box (21) and the second groove box (13) and the chassis (8).
3. The walking mechanism of the electric power pipeline inspection robot according to claim 1, wherein: the bevel gear mechanism comprises a driven bevel gear (5) fixed on a first vertical shaft (6), the driven bevel gear (5) is in meshed transmission with a driving bevel gear (4), and the driving bevel gear (4) is installed at the power output end of the power device.
4. The walking mechanism of the electric power pipeline inspection robot according to claim 1 or 3, wherein: the power device comprises a motor (1), the motor (1) is fixed on a motor mounting plate (23) through a hoop (3), the end of a side plate (2) is fixed on the motor mounting plate (23), the side plate (2) is fixedly mounted on two outer side walls of a first groove box (21), and a driving bevel gear (4) is mounted on an output shaft of the motor (1).
5. The walking mechanism of the electric power pipeline inspection robot according to claim 1, wherein: synchronous drive mechanism is including fixing drive sprocket (22) on first vertical scroll (6), drive sprocket (22) are through chain and driven sprocket (15) meshing transmission, driven sprocket (15) are installed on jackshaft (25), jackshaft (25) are installed on second groove box (13) through the bearing frame, install first gear (14) on jackshaft (25), first gear (14) and second gear (19) meshing transmission of installing on second vertical scroll (17).
6. The walking mechanism of the electric power pipeline inspection robot according to claim 1, wherein: and a reinforcing frame body (24) is fixed at the middle part of the first groove box (21) and the second groove box (13).
7. The method for operating the traveling mechanism of the electric power pipeline inspection robot according to any one of claims 1 to 6, comprising the steps of:
step 1: fixedly mounting maintenance equipment to be carried on a chassis (8);
step 2: placing the travelling mechanism inside a pipeline;
step 3: the power device is restarted, the motor (1) drives the driving bevel gear (4), the driving bevel gear (4) drives the driven bevel gear (5), and the driven bevel gear (5) drives the first vertical shaft (6) and the first rubber wheel (7);
step 4: meanwhile, the driving chain wheel (22) is driven by the rotation of the first vertical shaft (6), and then the driven chain wheel (15) is driven by the driving chain wheel (22) and the chain;
step 5: further, the driven sprocket (15) drives the first gear (14), and the first gear (14) drives the second gear (19);
step 6: a second vertical shaft (17) is driven through a second gear (19), and a second rubber wheel (16) is driven through the second vertical shaft (17);
step 7: the whole travelling mechanism travels through the contact between the first rubber wheel (7) and the second rubber wheel (16) and the inner wall of the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911201880.8A CN110877645B (en) | 2019-11-29 | 2019-11-29 | Walking mechanism of power pipeline inspection robot and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911201880.8A CN110877645B (en) | 2019-11-29 | 2019-11-29 | Walking mechanism of power pipeline inspection robot and operation method |
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| Publication Number | Publication Date |
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| CN110877645A true CN110877645A (en) | 2020-03-13 |
| CN110877645B CN110877645B (en) | 2021-04-06 |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1586942A (en) * | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| DE19626105B4 (en) * | 1995-07-05 | 2005-05-19 | Kanaltechnik Kunz Gmbh | Chassis for sewer rehabilitation robot |
| CN204577979U (en) * | 2015-03-16 | 2015-08-19 | 北京国网富达科技发展有限责任公司 | A kind of electric power line pole tower climbing inspecting robot |
| KR101546520B1 (en) * | 2015-03-13 | 2015-08-24 | (주)크린텍 | An apparatus and a method for regenerating superannuated pipes |
| CN106025908A (en) * | 2015-03-16 | 2016-10-12 | 北京国网富达科技发展有限责任公司 | Power transmission line pole climbing inspection robot |
| CN107965633A (en) * | 2017-11-21 | 2018-04-27 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
| US20190264856A1 (en) * | 2016-09-21 | 2019-08-29 | Hibot Corp. | In-Pipe Moving Device |
-
2019
- 2019-11-29 CN CN201911201880.8A patent/CN110877645B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19626105B4 (en) * | 1995-07-05 | 2005-05-19 | Kanaltechnik Kunz Gmbh | Chassis for sewer rehabilitation robot |
| CN1586942A (en) * | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| KR101546520B1 (en) * | 2015-03-13 | 2015-08-24 | (주)크린텍 | An apparatus and a method for regenerating superannuated pipes |
| CN204577979U (en) * | 2015-03-16 | 2015-08-19 | 北京国网富达科技发展有限责任公司 | A kind of electric power line pole tower climbing inspecting robot |
| CN106025908A (en) * | 2015-03-16 | 2016-10-12 | 北京国网富达科技发展有限责任公司 | Power transmission line pole climbing inspection robot |
| US20190264856A1 (en) * | 2016-09-21 | 2019-08-29 | Hibot Corp. | In-Pipe Moving Device |
| CN107965633A (en) * | 2017-11-21 | 2018-04-27 | 中广核检测技术有限公司 | Automatic testing system inside nuclear electric moment deformation cross section pipe |
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| CN110877645B (en) | 2021-04-06 |
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Effective date of registration: 20231016 Address after: No.18 Ziyang Road, Dianjun District, Yichang City, Hubei Province 443004 Patentee after: YICHANG ZHONGNAN PRECISION STEEL PIPE CO.,LTD. Address before: 443002 No. 8, University Road, Xiling District, Yichang, Hubei Patentee before: CHINA THREE GORGES University |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: The walking mechanism and operation method of power pipeline inspection robot Granted publication date: 20210406 Pledgee: Bank of China Limited by Share Ltd. Three Gorges Branch Pledgor: YICHANG ZHONGNAN PRECISION STEEL PIPE CO.,LTD. Registration number: Y2024980001664 |