CN112659094B - Intelligent inspection robot for new energy pipelines - Google Patents
Intelligent inspection robot for new energy pipelines Download PDFInfo
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- CN112659094B CN112659094B CN202011630738.8A CN202011630738A CN112659094B CN 112659094 B CN112659094 B CN 112659094B CN 202011630738 A CN202011630738 A CN 202011630738A CN 112659094 B CN112659094 B CN 112659094B
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Abstract
The invention discloses a new energy pipeline intelligent inspection robot which at least comprises a left shell and a right shell which are separated; the wheel grooves for installing the travelling wheels are also formed in the butt joint surfaces of the left shell and the right shell, wheel shafts are correspondingly installed in the wheel grooves, the travelling wheels are correspondingly installed on the wheel shafts, driven gears are correspondingly installed on two sides of the wheel shafts, and driving devices are also installed in the left shell and the right shell. The adjusting and locking device is arranged as an electric push rod device, the distance between the two shells can be fixed by correspondingly controlling the length of the adjusting rod, the arrangement can be adjusted adaptively according to the sizes of different pipelines, the rod end of the adjusting rod is correspondingly provided with a hook and a hanging ring, the two shells can be correspondingly detached and separated, the pipelines can be sleeved inside after being detached, the electric push rod device is locked after being tensioned, the travelling wheels at the middle part are clamped and installed on the pipelines, and the stepless adjustment clamping of the pipelines can be realized.
Description
Technical Field
The invention relates to the technical field of underwater pollution monitoring and treatment environment protection, in particular to an intelligent inspection robot for a new energy pipeline.
Background
In the prior art, along with the loss of resources such as petroleum, the development of new energy is a primary goal of people, in the prior art, most of new energy is solar energy, natural gas, hydrogen energy and the like, for example, natural gas energy, hydrogen energy and the like are limited by regions, so pipelines for transporting such energy are usually arranged, and in order to ensure the safe transportation of the energy and the like, the pipelines of the new energy also need to be inspected, in the prior art, various sensors and special persons are arranged on the pipelines to inspect, but the efficiency is lower, and the pipelines at a higher height or arranged in rivers cannot inspect normally by manpower, so that a certain trouble is brought to the use of the new energy; in addition, the cable used for the underwater inspection robot in the prior art needs to have good waterproof performance when working underwater, the waterproof performance of the cable in the prior art is achieved by arranging a waterproof layer to place external water, the cable is usually composed of a plurality of cable cores, the cable cores are filled with filling materials, heat is generated when the conductors in the cable cores work, temperature difference and pressure difference are generated, air can enter a gap between the cable cores, and if moisture in the air is gradually gathered in the inspection robot, so that the inspection robot is greatly influenced.
Disclosure of Invention
The invention aims to provide an intelligent inspection robot for a new energy pipeline, aiming at the defects in the prior art; the technical scheme is as follows:
the intelligent inspection robot for the new energy pipeline at least comprises a left shell and a right shell which are separated; wheel grooves for installing travelling wheels are formed in the abutting surfaces of the left shell and the right shell, wheel shafts are correspondingly arranged in the wheel grooves, travelling wheels are correspondingly arranged on the wheel shafts, driven gears are correspondingly arranged on two sides of the wheel shafts, driving gears meshed with the driven gears are correspondingly arranged in the driving rods of the driving devices, transverse adjusting and locking devices are also arranged at the upper end and the lower end of the abutting surfaces of the left shell and the right shell, adjusting rods of the adjusting and locking devices are correspondingly transversely arranged in the shells and extend out of the shells, hooks are correspondingly arranged at the rod ends of the adjusting rods, hanging rings are correspondingly arranged at the abutting positions of the shells on the other sides, and the hooks of the adjusting rods can be correspondingly abutted to the hanging rings and lock and fix the shells on the two sides under the action of the adjusting and locking devices; the upper end and the lower end of the left shell and the right shell are also provided with detachable mounting plates, and a plurality of uniformly-spaced mounting holes are formed in the upper end and the lower end of the left shell and the right shell; the mounting plate is provided with a plurality of uniformly-spaced adjusting holes matched with the mounting holes, fixing rods are correspondingly arranged in the adjusting holes and the mounting holes, mounting blocks protruding inwards are correspondingly arranged in the middle positions of the inner side ends of the mounting plate, spring grooves protruding inwards are correspondingly arranged on the mounting blocks, spring pieces and spring rods are correspondingly arranged in the spring grooves, arc-shaped ball mounting seats are correspondingly arranged at the end parts of the spring rods, and embedded balls are correspondingly arranged on the inner cambered surfaces of the ball mounting seats; and the two shells are externally connected with waterproof communication cables.
Preferably, the travelling wheel is of a strip-shaped wheel body structure, the wheel surface of the travelling wheel is of a concave arc-shaped wheel surface structure, and the cambered surfaces of the ball mounting seats on the upper side and the lower side correspond to the cambered surfaces of the travelling wheel.
Preferably, the adjusting and locking device is correspondingly arranged as an electric push rod, the pushing directions of the electric push rods on the left shell and the right shell are reversed, and the electric push rods on the left shell and the right shell are respectively provided with a front group and a rear group; the ball mounting seat is correspondingly arranged between the two groups of electric push rods; and the balls are uniformly distributed on the ball mounting seat at matrix intervals.
Preferably, the waterproof communication cable is further provided with a stripping structure, and the whole filler layer inside the cable is cut off smoothly from two sides at the stripping structure, so that each cable core inside is left; and a circular annular ring plate is respectively placed at two ends of the stripping structure, gaps are respectively formed in the ring plates at two sides, each cable core is sleeved into the ring plates from the gaps, jacking springs are correspondingly arranged between the ring plates at two sides, the ring plates at two sides are jacked and fixed at two sides of the stripping structure through the jacking springs, so that each cable core at the inner side is jacked and straightened, the outer side of the stripping structure is also sleeved with a packaging sheath, the length of the packaging sheath is greater than that of the stripping part, the inner diameter of the packaging sheath is matched with the outer diameter of the cable outer sheath, the packaging sheath can be correspondingly sleeved outside the outer sheath, two ends of the packaging sheath are fixedly adhered to the outer sheaths at two sides of the stripping structure through sealing glue, sealing glue is poured into the stripping part inside the packaging sheath, and the whole space between the cable cores at the inner side of the stripping structure is blocked through the sealing glue, and circulation of water and air inside the cable at two sides of the stripping structure is blocked.
Preferably, a layer of bending-resistant steel wire woven mesh is further arranged in the packaging sheath, a glue injection hole is formed in the middle of the packaging sheath, and a glue injection plug body is arranged on the glue injection hole in a matched mode.
Preferably, the left shell and the right shell are further provided with fixing frames, the driving devices are correspondingly arranged on the fixing frames, the driving devices are arranged to be double-headed motors, driving gears meshed with the driven gears are correspondingly arranged on motor rods on two sides of the double-headed motors, and the left shell and the right shell are further internally provided with power supply devices and control modules correspondingly.
The beneficial effects are that: the invention has the following beneficial effects:
(1) The whole structure is formed by the left shell and the right shell, the left shell and the right shell are connected and installed through the adjusting locking devices at the upper end and the lower end, the adjusting locking devices are arranged into electric push rod devices, the distance between the two shells can be fixed by correspondingly controlling the length of an adjusting rod, the arrangement can be adjusted according to the sizes of different pipelines, the rod ends of the adjusting rod are correspondingly provided with hooks and hanging rings on the shells, the two shells can be correspondingly detached and separated, the pipelines can be sleeved inside after being detached, the electric push rod devices are locked after being tensioned, and the travelling wheels at the middle part are clamped and installed on the pipelines, so that stepless adjustment and clamping of the pipelines can be realized;
(2) The left shell and the right shell are correspondingly provided with the travelling wheels, the travelling wheels on the two sides are driven by the driving device arranged in the shell, the driving device is correspondingly arranged as a double-headed motor, and the travelling wheels can be driven by the driven gears on the two sides to move correspondingly through the driving gears on the two sides; the travelling wheels are correspondingly arranged into strip-shaped wheel body structures, and the surfaces of the travelling wheels are arranged into arc-shaped concave structures, so that the travelling wheels can be more attached to the pipeline, and the travelling wheels can be ensured to smoothly travel on the pipeline;
(3) The walking wheels at two sides are clamped on the outer surface of the pipeline and driven by the driving device to walk, and the inside of the left shell and the inside of the right shell are correspondingly provided with detection devices, such as a camera device, vortex detection outside the pipeline, ion concentration detection, gas concentration detection and the like, so that when the inspection robot walks from the pipeline, the data are correspondingly detected, and the inspection effect is achieved; in addition, in order to stabilize the whole structure, a detachable mounting plate is further arranged at the upper side and the lower side, adjusting holes are formed in the mounting plate, mounting holes are formed in the upper end and the lower end of the shell, and the mounting plate is respectively arranged on the two shells no matter how the distance between the two shells is adjusted, the mounting plate is respectively provided with an arc-shaped ball mounting seat through a spring groove, a spring rod and a spring piece, balls are respectively embedded in the ball mounting seat, after the left travelling wheel and the right travelling wheel are clamped on a tube line after the mounting plate are arranged, the balls in the ball mounting seats are correspondingly clamped on the tube line from the front side and the rear side, so that the ball mounting seat is fixed from four sides, and the structure is more stable and reliable;
(4) In the invention, because the robot needs to operate in water, in order to thoroughly block the circulation of water and air in the cable, a stripping structure is stripped on the cable correspondingly, a sheath, a shielding layer, a framework and the like in the stripping structure are cut off, and only a cable core at the part is left; firstly, bonding and fixing one end of a packaging sheath at one end of an outer sheath through sealing glue, standing the position, enabling the bonded and fixed end to be arranged below, extending into a gap between the upper sealing sheath and the outer sheath through a glue injection needle to perform glue injection until the glue overflows from the gap at the upper end after being filled, and then compacting the upper end until the glue is air-dried;
(5) According to the waterproof communication cable, the two annular plates arranged at the stripping structure are supported by the jack-up springs, so that each cable core inside the waterproof communication cable is straightened and cannot be knotted or bent, the positions at the two sides of the stripping structure are fixed, the outer packaging sheath is easy to install, the waterproof communication cable is convenient to inject glue, additional fixing is not needed, and the waterproof communication cable can be easily fixed no matter how long the distance between the stripping positions is; in addition, the outer sheath, the shielding layer and the framework are correspondingly cut off, so that the bending resistance of the outer sheath, the shielding layer and the framework is greatly reduced, the part is easy to bend in the continuous extension process of the robot launching, the bending resistance of the part can be correspondingly increased under the fixing effect of the jacking springs by arranging the annular plates and the jacking springs between the two annular plates, and the bending resistance of the part can be increased by embedding a layer of steel wire woven mesh in the packaging sheath of the external installation, so that the structure is more reasonable.
Drawings
FIG. 1 is a block diagram of the present invention;
FIG. 2 is a view in the direction A of FIG. 1;
FIG. 3 is an enlarged view of FIG. 1 from B;
FIG. 4 is a schematic diagram of a stripped structure of a waterproof communication cable according to the present invention;
fig. 5 is a cross-sectional view of C-C in fig. 4.
Detailed Description
The invention will be further illustrated by the following drawings and specific examples, which are carried out on the basis of the technical solutions of the invention, it being understood that these examples are only intended to illustrate the invention and are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, the intelligent inspection robot for the new energy pipeline at least comprises a left shell 1 and a right shell 2 which are separated; wheel grooves 4 for installing travelling wheels 3 are formed in the abutting surfaces of the left shell 1 and the right shell 2, wheel shafts 5 are correspondingly installed in the wheel grooves 4, travelling wheels 3 are correspondingly installed on the wheel shafts 5, driven gears 6 are correspondingly installed on two sides of the wheel shafts 5, driving devices 7 are also installed in the left shell 1 and the right shell 2, driving gears 8 meshed with the driven gears 6 are correspondingly installed on driving rods of the driving devices 7, adjusting locking devices 9 are transversely installed at the upper end positions and the lower end positions of the abutting surfaces of the left shell 1 and the right shell 2, the adjusting locking devices 9 are correspondingly transversely installed in the shells, adjusting rods 10 of the adjusting locking devices correspondingly extend out of the shells, hanging hooks 11 are correspondingly installed at the abutting positions of the other side shells, hanging hooks 11 of the adjusting rods 10 can be correspondingly abutted on the hanging rings 12, and the two side shells are locked and fixed under the action of the adjusting locking devices 9; the upper and lower end positions of the left shell 1 and the right shell 2 are also provided with detachable mounting plates 13, and the upper and lower end positions of the left shell 1 and the right shell 2 are provided with a plurality of uniformly-spaced mounting holes 14; the mounting plate 13 is provided with a plurality of uniformly-spaced adjusting holes 15 which are matched with the mounting holes 14, the adjusting holes 15 and the mounting holes 14 are correspondingly provided with fixing rods 16, the middle position of the inner side end of the mounting plate 13 is correspondingly provided with an inwardly protruding mounting block 17, the mounting block 17 is correspondingly provided with an inwardly protruding spring groove 19, the corresponding spring groove 19 is internally provided with a spring piece 20 and a spring rod 21, the end part of the spring rod 21 is correspondingly provided with an arc-shaped ball mounting seat 22, and the inner arc surface of the ball mounting seat 22 is correspondingly provided with an embedded ball 23; and both housings are externally connected with a waterproof communication cable 18.
The travelling wheel 3 is of a strip-shaped wheel body structure, the wheel surface of the travelling wheel 3 is of a concave arc wheel surface structure, and the cambered surfaces of the ball mounting seats 22 on the upper side and the lower side correspond to the cambered surfaces of the travelling wheel 3; the adjusting and locking device 9 is correspondingly arranged as an electric push rod, the pushing directions of the electric push rods on the left shell 1 and the right shell 2 are reversed, and the electric push rods on the left shell 1 and the right shell 2 are respectively provided with a front group and a rear group; the ball mounting seat 22 is correspondingly arranged between the two groups of electric push rods; and the balls 23 are uniformly arranged at intervals in a matrix on the ball mount 22.
The waterproof communication cable 18 is also provided with a stripping structure 30, and the whole filler layer inside the cable is cut off smoothly from two sides at the stripping structure 30, so that each cable core inside is left; and a circular ring plate 31 is respectively arranged at two ends of the stripping structure 30, notches 32 are respectively arranged on the ring plates 31 at two sides, each cable core is sleeved into the ring plate 31 from the notches 32, a jacking spring 33 is correspondingly arranged between the ring plates 31 at two sides, the ring plates 31 at two sides are jacked and fixed at two sides of the stripping structure 30 through the jacking springs 33, so that each cable core at the inner side is jacked and straightened, the outer side of the stripping structure 30 is also sleeved with a packaging sheath 34, the length of the packaging sheath 34 is larger than the length of the stripping part, the inner diameter of the packaging sheath 34 is matched with the outer diameter of the cable outer sheath, the packaging sheath can be correspondingly sleeved outside the outer sheath, two ends of the packaging sheath 34 are adhered and fixed on the outer sheaths at two sides of the stripping structure 30 through sealing glue 26, and the stripping part inside the packaging sheath 34 is also filled with sealing glue 26, so that the cable cores inside the stripping structure 30 are integrally sealed, and the cable at two sides of the stripping structure 30 are blocked from water and air circulation.
A layer of bending-resistant steel wire woven mesh 35 is further arranged in the packaging sheath 34, a glue injection hole 36 is formed in the middle of the packaging sheath 34, and a glue injection plug 37 is arranged on the glue injection hole 36 in a matched mode; the left shell 1 and the right shell 2 are internally provided with a fixing frame 24, the driving device 7 is correspondingly arranged on the fixing frame 24, the driving device 7 is arranged as a double-head motor, driving gears 8 meshed with driven gears 6 are respectively arranged on motor rods on two sides of the double-head motor, and the left shell 1 and the right shell 2 are internally provided with a power supply device and a control module correspondingly.
The whole structure of the invention is formed by the left shell and the right shell, the left shell and the right shell are connected and installed through the adjusting locking device at the upper end and the lower end, the adjusting locking device is arranged into an electric push rod device, the distance between the two shells can be fixed by correspondingly controlling the length of the adjusting rod, the arrangement can be adjusted according to the sizes of different pipelines, the rod end of the adjusting rod is correspondingly provided with a hook and a hanging ring, the two shells can be correspondingly detached and separated, the pipelines can be sleeved inside after being detached, the two shells are locked after being tensioned through the electric push rod, and the travelling wheels at the middle part are clamped and installed on the pipelines, so that the stepless adjustment of the clamped pipelines can be realized.
The left shell and the right shell are correspondingly provided with the travelling wheels, the travelling wheels on the two sides are driven by the driving device arranged in the shell, the driving device is correspondingly arranged as a double-headed motor, and the travelling wheels can be driven by the driven gears on the two sides to move correspondingly through the driving gears on the two sides; the travelling wheel is correspondingly arranged to be of a strip-shaped wheel body structure, and the surface of the travelling wheel is arranged to be of an arc-shaped concave surface structure, so that the travelling wheel can be attached to a pipeline more closely, and the travelling wheel can be ensured to walk on the pipeline smoothly.
The walking wheels at two sides are clamped on the outer surface of the pipeline and driven by the driving device to walk, and the inside of the left shell and the inside of the right shell are correspondingly provided with detection devices, such as a camera device, vortex detection outside the pipeline, ion concentration detection, gas concentration detection and the like, so that when the inspection robot walks from the pipeline, the data are correspondingly detected, and the inspection effect is achieved; in addition, in order to stabilize the overall structure, still be provided with detachable mounting panel in the position department of upper and lower side, set up the regulation hole on the mounting panel, the casing upper and lower end then is provided with the mounting hole, and all be provided with a plurality of, no matter how the distance between two casings is adjusted like this, the mounting panel all can be correspondingly installed on two casings, and be correspondingly through spring groove, spring rod and spring piece installation curved ball mount pad on the mounting panel again, the ball is equipped with to the corresponding embedding of ball mount pad, after the walking wheel card tube line of controlling the side after setting up like this, the mounting panel installation back of both sides, the ball in the ball mount pad is also correspondingly from front and back side chucking pipeline, fix from the four sides like this, the structure is firm reliable more.
In the invention, because the robot needs to operate in water, in order to thoroughly block the circulation of water and air in the cable, a stripping structure is stripped on the cable correspondingly, a sheath, a shielding layer, a framework and the like in the stripping structure are cut off, and only a cable core at the part is left; and secondly, a glue injection port is not arranged, one end of the packaging sheath is firstly adhered and fixed at one end of the outer sheath through sealing glue, then the part is erected, the adhered and fixed end is arranged below, glue is injected from the gap between the upper sealing sheath and the outer sheath through a glue injection needle head until the glue is fully injected and overflows from the gap at the upper end, and then the upper end is pressed tightly to wait for the glue to air-dry.
According to the waterproof communication cable, the two annular plates arranged at the stripping structure are supported by the jack-up springs, so that each cable core inside the waterproof communication cable is straightened and cannot be knotted or bent, the positions at the two sides of the stripping structure are fixed, the outer packaging sheath is easy to install, the waterproof communication cable is convenient to inject glue, additional fixing is not needed, and the waterproof communication cable can be easily fixed no matter how long the distance between the stripping positions is; in addition, the outer sheath, the shielding layer and the framework are correspondingly cut off, so that the bending resistance of the outer sheath, the shielding layer and the framework is greatly reduced, the part is easy to bend in the continuous extension process of the robot launching, the bending resistance of the part can be correspondingly increased under the fixing effect of the jacking springs by arranging the annular plates and the jacking springs between the two annular plates, and the bending resistance of the part can be increased by embedding a layer of steel wire woven mesh in the packaging sheath of the external installation, so that the structure is more reasonable.
The above detailed description is only a preferred embodiment of the present invention and is not intended to limit the scope of the claims, but all equivalent changes and modifications that can be made according to the protection scope of the claims are included in the scope of the claims.
Claims (6)
1. The utility model provides a new forms of energy pipeline intelligence inspection robot which characterized in that: at least comprises a left shell (1) and a right shell (2) which are separated; wheel grooves (4) for installing travelling wheels (3) are formed in the abutting surfaces of the left shell (1) and the right shell (2), wheel shafts (5) are correspondingly installed in the wheel grooves (4), travelling wheels (3) are correspondingly installed on the wheel shafts (5), driven gears (6) are correspondingly installed on two sides of the wheel shafts (5), driving devices (7) are also installed in the left shell (1) and the right shell (2), driving gears (8) meshed with the driven gears (6) are correspondingly installed on driving rods of the driving devices (7), adjusting locking devices (9) are transversely installed at the upper end position and the lower end position of the abutting surfaces of the left shell (1) and the right shell (2), adjusting rods (10) are correspondingly transversely installed in the shells, hooks (11) are correspondingly installed on rod ends of the adjusting rods (10), hanging rings (12) are correspondingly installed on abutting positions of the other side shells, the hooks (11) of the adjusting rods (10) can be correspondingly installed on the hanging rings (12) of the abutting surfaces of the left shell and the right shell and the hanging rings (9) can be fixedly locked on the two sides of the adjusting shells; the detachable mounting plates (13) are further arranged at the upper end and the lower end of the left shell (1) and the right shell (2), and a plurality of uniformly-spaced mounting holes (14) are formed at the upper end and the lower end of the left shell (1) and the right shell (2); the mounting plate (13) is provided with a plurality of adjusting holes (15) which are uniformly spaced and matched with the mounting holes (14), the adjusting holes (15) and the mounting holes (14) are correspondingly provided with fixing rods (16), the middle position of the inner side end of the mounting plate (13) is correspondingly provided with a mounting block (17) protruding inwards, the mounting block (17) is correspondingly provided with a spring groove (19) protruding inwards, the spring groove (19) is internally provided with a spring piece (20) and a spring rod (21), the end part of the spring rod (21) is correspondingly provided with an arc-shaped ball mounting seat (22), and the inner arc surface of the ball mounting seat (22) is correspondingly provided with an embedded ball (23); and the two shells are externally connected with waterproof communication cables (18).
2. The intelligent inspection robot for new energy pipelines according to claim 1, wherein: the travelling wheel (3) is of a strip-shaped wheel body structure, the wheel surface of the travelling wheel (3) is of a concave arc wheel surface structure, and the cambered surfaces of the ball mounting seats (22) on the upper side and the lower side are corresponding to the cambered surfaces of the travelling wheel (3).
3. The intelligent inspection robot for new energy pipelines according to claim 1, wherein: the adjusting and locking device (9) is correspondingly arranged as an electric push rod, the pushing directions of the electric push rods on the left shell (1) and the right shell (2) are reversed, and the electric push rods on the left shell (1) and the right shell (2) are respectively provided with a front group and a rear group; the ball mounting seat (22) is correspondingly arranged between the two groups of electric push rods; and the balls (23) are uniformly distributed on the ball mounting seat (22) at matrix intervals.
4. The intelligent inspection robot for new energy pipelines according to claim 1, wherein: the waterproof communication cable (18) is also provided with a stripping structure (30), and the stripping structure (30) is used for flatly cutting off the whole packing layer inside the cable from two sides, so that only each cable core inside is left; and respectively placed a ring-shaped annular plate (31) at the both ends of this stripping structure (30), all be provided with breach (32) on annular plate (31) of both sides, embolia each cable core in annular plate (31) from breach (32) department, and still correspondingly install jack-up spring (33) between annular plate (31) of both sides, fix the both sides annular plate (31) jack-up on the both sides of stripping structure (30) through jack-up spring (33), thereby jack-up each cable core of inboard straight, and the outside of this stripping structure (30) still is equipped with a encapsulation sheath (34) in the cover, the length of this encapsulation sheath (34) is greater than the length of stripping department, and the internal diameter of this encapsulation sheath (34) matches with the external diameter of cable oversheath, make encapsulation sheath can corresponding cover in the outside of oversheath, the both ends of encapsulation sheath (34) are fixed on the oversheath of stripping structure (30) through sealing glue (26) bonding, and the inside stripping structure (30) is equipped with sealing glue (26) in the inside stripping structure of encapsulation sheath (34), seal the inside is with sealing wire (26) and the inside of this stripping structure is blocked off the inside of this stripping structure (30).
5. The intelligent inspection robot for new energy pipelines according to claim 4, wherein: the packaging sheath (34) is internally provided with a layer of bending-resistant steel wire woven mesh (35), the middle position of the packaging sheath (34) is provided with a glue injection hole (36), and the glue injection hole (36) is provided with a glue injection plug body (37) in a matching way.
6. The intelligent inspection robot for new energy pipelines according to claim 4, wherein: the left shell (1) and the right shell (2) in the utility model are also provided with a fixing frame (24), the driving device (7) is correspondingly arranged on the fixing frame (24), the driving device (7) is arranged as a double-head motor, the motor rods on the two sides of the double-head motor are respectively provided with a driving gear (8) meshed with a driven gear (6), and the left shell (1) and the right shell (2) in the utility model are respectively provided with a power supply device and a control module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011630738.8A CN112659094B (en) | 2020-12-31 | 2020-12-31 | Intelligent inspection robot for new energy pipelines |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011630738.8A CN112659094B (en) | 2020-12-31 | 2020-12-31 | Intelligent inspection robot for new energy pipelines |
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| CN112659094A CN112659094A (en) | 2021-04-16 |
| CN112659094B true CN112659094B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011630738.8A Active CN112659094B (en) | 2020-12-31 | 2020-12-31 | Intelligent inspection robot for new energy pipelines |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114673482B (en) * | 2022-03-29 | 2022-10-11 | 无锡工艺职业技术学院 | Portable system of patrolling and examining in 5G wisdom colliery |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6371696B1 (en) * | 1997-08-21 | 2002-04-16 | Russell James Eathorne | Pylon servicing apparatus |
| KR20190136416A (en) * | 2018-05-30 | 2019-12-10 | 대우조선해양 주식회사 | Drive apparatus for pipe nondestructive inspection appparatus |
| CN112045690A (en) * | 2020-09-08 | 2020-12-08 | 无锡工艺职业技术学院 | Intelligent inspection robot for rail transit |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BR102015026049B1 (en) * | 2015-10-14 | 2021-09-08 | Petróleo Brasileiro S.A. - Petrobras | ROBOTIC INSPECTION EQUIPMENT |
| US10690281B2 (en) * | 2016-07-07 | 2020-06-23 | Chengdu Uneversity Of Technology | Pipeline robot capable of steering actively |
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2020
- 2020-12-31 CN CN202011630738.8A patent/CN112659094B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6371696B1 (en) * | 1997-08-21 | 2002-04-16 | Russell James Eathorne | Pylon servicing apparatus |
| KR20190136416A (en) * | 2018-05-30 | 2019-12-10 | 대우조선해양 주식회사 | Drive apparatus for pipe nondestructive inspection appparatus |
| CN112045690A (en) * | 2020-09-08 | 2020-12-08 | 无锡工艺职业技术学院 | Intelligent inspection robot for rail transit |
Non-Patent Citations (1)
| Title |
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| 适应管径变化的管道机器人;陆麒;章亚男;沈林勇;钱晋武;;机械设计(第01期);全文 * |
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