CN113561197A - Hanging rail type inspection robot walking rail adaptive to complex environment of pipe gallery - Google Patents
Hanging rail type inspection robot walking rail adaptive to complex environment of pipe gallery Download PDFInfo
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- CN113561197A CN113561197A CN202110872229.4A CN202110872229A CN113561197A CN 113561197 A CN113561197 A CN 113561197A CN 202110872229 A CN202110872229 A CN 202110872229A CN 113561197 A CN113561197 A CN 113561197A
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- pipe gallery
- track
- inspection robot
- type inspection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
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- Manipulator (AREA)
Abstract
The invention discloses a hanging rail type inspection robot walking rail suitable for complex environment of a pipe gallery, which is characterized in that: comprises a fixed section track and a turnover track; the fixed section rail is disconnected below the opening at the top of the pipe gallery and the cover plate of the pipe gallery, the overturning rail is arranged on the side wall of the pipe gallery, the middle overturning rail is overturned to a connected state in a normal state when the cover plate is closed, the pipe gallery rail hanging type inspection robot can normally pass along the overturning rail for inspection, and multiple insurance is further arranged to ensure the safety of the trend; when the cover plate is opened and an object needs to pass through the upper side of the cover plate, the middle overturning track is overturned to an interrupted furling state, so that an operation space below the top opening of the pipe gallery is provided, and the interference of the shape walking track and other objects is avoided.
Description
Technical Field
The invention belongs to the field of pipe gallery inspection robots, and particularly relates to a rail hanging type inspection robot walking rail suitable for complex environments of pipe galleries.
Background
Utility tunnel refers to can hold the underground tunnel of multiple municipal pipeline such as electric power, communication, water supply, gas. In order to ensure the safety of the city 'lifeline', a large number of routing inspections of the utility tunnel are required. Due to the safety risks of toxicity, suffocation, explosion, electric shock and the like in the environment, particularly instantaneous natural disaster conditions such as pipeline flooding, earthquake and the like caused by short-time strong rainfall, great safety accidents are easy to occur in manual inspection; and the robot can work in abominable environment to can provide objective inspection, consequently, use the robotics to patrol and examine utility tunnel at present, with reduction personnel intensity of labour and safety risk, promote and patrol and examine the quality.
Because accommodate multiple municipal pipelines such as electric power, communication, water supply, gas in the piping lane, there is ponding piping lane ground, the components and parts and dust rubbish that drop, therefore the piping lane is patrolled and examined the robot and is generally adopted and hang the rail formula and patrol and examine the robot, and the robot operation carries out the comprehensive testing of piping lane along the track at the piping lane top.
Although hang rail formula and patrol and examine robot and operate along the piping lane top, avoided various obstacles such as the ponding on piping lane ground, the piping lane top is provided with positions such as access hole, feed inlet/discharge opening, can survey walking the rail of shape of walking of robot and take place to hanging rail formula and interfere, needs design a kind of adaptation piping lane complex environment hang rail formula and patrol and examine the robot and walk capable track.
Disclosure of Invention
Aiming at least one of the defects or improvement requirements in the prior art, the invention provides a rail hanging type inspection robot walking rail suitable for the complex environment of a pipe gallery, a fixed section rail is disconnected below an opening at the top of the pipe gallery and a cover plate of the pipe gallery, a turnover rail is arranged on the side wall of the pipe gallery, the turnover rail in the middle is turned over to a connection state under the normal state that the cover plate is closed, the pipe gallery rail hanging type inspection robot can normally pass along the turnover rail for inspection, and a plurality of insurance is further arranged to ensure the safety of the walking direction; when the cover plate is opened and an object needs to pass through the upper side of the cover plate, the middle overturning track is overturned to an interrupted furling state, so that an operation space below the top opening of the pipe gallery is provided, and the interference of the shape walking track and other objects is avoided.
In order to achieve the purpose, according to one aspect of the invention, a rail-mounted inspection robot walking rail adaptive to a complex environment of a pipe gallery is provided, and is characterized in that: comprises a fixed section track and a turnover track;
the overturning track is positioned below the top opening of the pipe gallery and the cover plate of the pipe gallery, and the overturning track is arranged on the side wall of the pipe gallery;
the canned paragraph track breaks off in piping lane open-top within range, and is middle when upset track upset to the link-up state, allow piping lane hanging rail formula to patrol and examine the robot and normally pass through along the upset track, when the upset was to the interrupt draw in state, provide the working space of piping lane open-top below.
Further preferably, the rail hanging type inspection robot walking rail further comprises a turning beam and a turning beam fixing part;
the turnover beam fixing piece is fixed on the side wall of the pipe gallery, one end of the turnover beam is hinged to the turnover beam fixing piece, and the other end of the turnover beam is provided with the turnover track.
Further preferably, the rail hanging type inspection robot walking rail further comprises a positioning lock;
the positioning lock is arranged between the overturning beam and the overturning beam fixing piece, and the overturning track is overturned in place and then locked in a connection state.
Further preferably, the rail hanging type inspection robot walking rail further comprises an electric rotating device;
one end of the electric rotating device is connected with the overturning beam, and the other end of the electric rotating device is connected with the overturning beam fixing piece, and the electric rotating device is an actuating component for overturning and furling the overturning track.
Further preferably, the rail hanging type inspection robot walking rail further comprises an electromagnetic locking device;
one part of the electromagnetic locking device is fixed on the fixed section track, the other part of the electromagnetic locking device is suspended towards the overturning track, and the electromagnetic locking device is in an electrified state and fixes the adapter connector in an electromagnetic adsorption mode in a connection state that the overturning track is overturned in place.
Further preferably, the rail hanging type inspection robot walking track further comprises a limiting device;
the limiting device is arranged at the disconnected end part of the two sections of fixed section tracks and has an opening state and a closing state;
in the opening state, the limiting device enters the limit of the pipe gallery rail hanging type inspection robot to prevent the pipe gallery rail hanging type inspection robot from continuously moving to the disconnected part;
under the closed condition, stop device does not invade the limit of piping lane hanging rail formula inspection robot, allow the piping lane hanging rail formula inspection robot to the track continuation of overturning moves.
Further preferably, the limiting device is provided with a fixed part and a movable part;
one end of the fixed part is fixed, and the other end of the fixed part is hinged with the movable part;
the fixed part does not invade the boundary limit of piping lane rail mounted robot all the time, the removal portion switches between the boundary limit of invading and not invading piping lane rail mounted robot.
Further preferably, the limiting device is also provided with a buffer part;
the buffer part is arranged between the fixed part and the movable part, tension between the fixed part and the movable part is formed, and the tension has the tendency that the movable part is rotated to invade the limit of the pipe gallery rail-mounted robot and is used as limiting resistance for preventing the pipe gallery rail-mounted robot from continuing to move to a disconnected part.
Further preferably, the pipe gallery top opening is a pipe gallery access hole.
Further preferably, the top opening of the pipe rack is a pipe rack feeding hole or a discharging hole.
The above-described preferred features may be combined with each other as long as they do not conflict with each other.
Generally, compared with the prior art, the above technical solution conceived by the present invention has the following beneficial effects:
1. according to the rail hanging type inspection robot walking rail suitable for the complex environment of the pipe gallery, the fixed section rail is disconnected below the opening at the top of the pipe gallery and the cover plate of the pipe gallery, the overturning rail is arranged on the side wall of the pipe gallery, the middle overturning rail is overturned to a connection state under the normal state that the cover plate is closed, the pipe gallery rail hanging type inspection robot can normally pass along the overturning rail for inspection, and multiple safety devices are further arranged to ensure the safety; when the cover plate is opened and an object needs to pass through the upper side of the cover plate, the middle overturning track is overturned to an interrupted furling state, so that an operation space below the top opening of the pipe gallery is provided, and the interference of the shape walking track and other objects is avoided.
2. According to the rail hanging type inspection robot walking rail suitable for the complex environment of the pipe gallery, the electric rotating device is adopted to actuate the overturning and folding actions of the overturning rail, the positioning lock is adopted to realize the linked positioning and physical locking, the electric rotating device is not required to be powered on all the time to support and keep the linked state, the problem that the walking rail is linked due to the fault or the power failure of the electric rotating device is avoided, and the expensive pipe gallery rail hanging type inspection robot collides or falls off.
3. According to the rail-mounted inspection robot walking rail suitable for the complex environment of the pipe gallery, the electromagnetic locking device is adopted at the joint of the walking rail, and the electromagnetic adsorption generated by electrification is used for fixing the joint in the joint state that the overturning rail is overturned in place, so that the passing safety of the joint is further ensured.
4. According to the hanging rail type inspection robot walking rail suitable for the complex environment of the pipe gallery, the limiting device is arranged at the disconnected end part of the fixed rail in advance, and the hanging rail type inspection robot walking rail has an opening state and a closing state; in the opening state, the limiting device enters the limit of the pipe gallery rail hanging type inspection robot to prevent the pipe gallery rail hanging type inspection robot from continuously moving to the disconnected part; under the closed condition, stop device does not invade the limit of piping lane rail mounted inspection robot, allows the piping lane rail mounted inspection robot to continue to move to the upset track, prevents to link up not in place at the upset track, under the condition such as inspection robot receiving command inefficacy, and the piping lane rail mounted inspection robot bumps or drops, has further ensured the security of passing through of joint department.
Drawings
Fig. 1 is a front view schematic diagram of a rail hanging type inspection robot walking rail adapting to a complex environment of a pipe gallery in a jointed state according to an embodiment of the invention;
FIG. 2 is a schematic side view of a rail-mounted inspection robot walking rail adapted to a complex environment of a pipe gallery in a joined state according to an embodiment of the invention;
fig. 3 is a front view schematic diagram of a rail hanging type inspection robot walking rail adapted to a complex environment of a pipe gallery in an off and folded state according to the embodiment of the invention;
FIG. 4 is a schematic diagram of an electromagnetic locking device of a rail hanging type inspection robot walking rail, which is suitable for a complex environment of a pipe gallery, according to an embodiment of the invention;
FIG. 5 is a schematic diagram of the embodiment of the invention, which is suitable for the complex environment of the pipe gallery, of the hanging rail type inspection robot in the state that the limiting device of the walking rail of the robot is opened;
fig. 6 is a schematic diagram of a hanging rail type inspection robot adapting to a complex environment of a pipe gallery in the embodiment of the invention, wherein a limiting device of a walking rail of the robot is in a closed state.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The present invention will be described in further detail with reference to specific embodiments.
As a preferred embodiment of the present invention, as shown in fig. 1 to 6, the present invention provides a rail-hanging type inspection robot running rail adapted to the complex environment of a pipe gallery, which comprises fixed section rails 20 at both sides and a turning rail 2 in the middle.
As shown in fig. 2, the turnover track 2 is located below a pipe gallery top opening 21 and a cover plate 22 thereof, and the pipe gallery top opening 21 is a pipe gallery access hole, or a pipe gallery feeding hole or a pipe gallery discharging hole; the overturning track 2 is arranged on the side wall of the pipe gallery.
As shown in fig. 2, the top at the piping lane is installed to canned paragraph track 20 and is broken off in 21 within range of piping lane open top, middle 2 upset tracks are when joining the state, allow the piping lane to hang the rail formula and patrol and examine the robot and normally pass through along 2 upset tracks, when the upset was to the interruption furled state, provide the workspace of piping lane open top 21 below.
Further preferably, the rail hanging type inspection robot walking rail further comprises a turning beam 1 and a turning beam fixing piece 3; the turnover beam fixing part 3 is fixed on the side wall of the pipe gallery, one end of the turnover beam 1 is hinged to the turnover beam fixing part 3 through a fixed pin shaft rotating shaft 5, and the other end of the turnover beam is provided with the turnover track 2 in an I shape or an inverted T shape through a turnover track fixing part 4.
As shown in fig. 1 and 3, it is further preferable that the rail-mounted inspection robot walking rail further comprises a positioning lock 6; the positioning lock 6 is arranged between the turning beam 1 and the turning beam fixing piece 3, and locks the turning track 2 in a connection state after turning in place.
As shown in fig. 1 and 3, it is further preferable that the rail hanging type inspection robot walking rail further comprises an electric rotating device 7; one end of the electric rotating device 7 is connected with the overturning beam 1, and the other end of the electric rotating device is connected with the overturning beam fixing part 3, and the electric rotating device is an actuating component for overturning and furling the overturning track 2.
As shown in fig. 2 and 4, it is further preferable that the rail hanging type inspection robot walking rail further comprises an electromagnetic locking device 8; one part of the electromagnetic locking device 8 is fixed on the fixed section track 20, the other part of the electromagnetic locking device is suspended towards the overturning track 2, and the electromagnetic locking device is in an electrified state and is used for fixing the joint in an electromagnetic adsorption mode in a connection state that the overturning track 2 is overturned in place.
As shown in fig. 2, it is further preferable that the rail-mounted inspection robot walking rail further includes a limiting device 9; the limiting device 9 is arranged at the disconnected end parts of the two sections of fixed section rails 20 and has an opening state and a closing state;
in the opening state, the limiting device 9 invades into the limit of the pipe gallery rail-mounted inspection robot to prevent the pipe gallery rail-mounted inspection robot from continuing to move to the disconnected part;
under the closed condition, stop device 9 does not invade the limit of piping lane rail mounted inspection robot, allow the piping lane rail mounted inspection robot to the upset track 2 continues the motion.
As shown in fig. 5-6, it is further preferred that the stop device 9 has a fixed part 91 and a movable part 92;
one end of the fixing portion 91 is fixed, and the other end is hinged to the moving portion 92;
the fixed portion 91 does not intrude into the limits of the pipe gallery rail-mounted robot at all times, and the moving portion 92 switches between intrusion and non-intrusion into the limits of the pipe gallery rail-mounted robot.
Further preferably, the limiting device 9 further has a buffer portion 93;
the buffer 93 is disposed between the fixed part 91 and the moving part 92, and forms a tension therebetween, which has a tendency to move the moving part 92 into the limit of the pipe rack rail-mounted robot and acts as a limit resistance to prevent the pipe rack rail-mounted robot from continuing to move to the disconnected position.
The method for walking or using the rail hanging type inspection robot walking track adapting to the complex environment of the pipe gallery comprises the following steps:
s1, detecting whether the cover plate 22 of the top opening 21 of the pipe gallery is opened;
s2, if the cover plate 22 is opened, automatically controlling or opening the limiting device 9 through a button arranged outside the cover plate 22, and releasing the locking of the positioning lock 6 and the electromagnetic locking device 8; preferably, the pipe gallery rail-mounted robot is blocked by the limiting device 9, or receives a command of a walking track or a master control to stop passing;
s3, starting the electric rotating device 7, and actuating the overturning beam 1 to drive the middle overturning track 2 to overturn and recover towards the overturning beam fixing piece 3; preferably, the electric rotating device 7 is self-locked after being powered off;
s4, after the operation at the opening 21 at the top of the pipe gallery is finished and the cover plate 22 is closed, automatically controlling or starting the electric rotating device 7 through a button arranged outside the cover plate 22, and actuating the overturning beam 1 to drive the middle overturning track 2 to overturn and butt joint towards the fixed section track 20;
s5, locking the positioning lock 6 and the electromagnetic locking device 8; preferably, the electric rotating device 7 is self-locked after being powered off;
s6, closing the limiting device 9; preferably, thereafter, the pipe gallery rail-mounted robot can pass by itself or receive the instruction of a walking track or a general control.
In summary, compared with the prior art, the scheme of the invention has the following significant advantages:
1. according to the rail hanging type inspection robot walking rail suitable for the complex environment of the pipe gallery, the fixed section rail is disconnected below the opening at the top of the pipe gallery and the cover plate of the pipe gallery, the overturning rail is arranged on the side wall of the pipe gallery, the middle overturning rail is overturned to a connection state under the normal state that the cover plate is closed, the pipe gallery rail hanging type inspection robot can normally pass along the overturning rail for inspection, and multiple safety devices are further arranged to ensure the safety; when the cover plate is opened and an object needs to pass through the upper side of the cover plate, the middle overturning track is overturned to an interrupted furling state, so that an operation space below the top opening of the pipe gallery is provided, and the interference of the shape walking track and other objects is avoided.
2. According to the rail hanging type inspection robot walking rail suitable for the complex environment of the pipe gallery, the electric rotating device is adopted to actuate the overturning and folding actions of the overturning rail, the positioning lock is adopted to realize the linked positioning and physical locking, the electric rotating device is not required to be powered on all the time to support and keep the linked state, the problem that the walking rail is linked due to the fault or the power failure of the electric rotating device is avoided, and the expensive pipe gallery rail hanging type inspection robot collides or falls off.
3. According to the rail-mounted inspection robot walking rail suitable for the complex environment of the pipe gallery, the electromagnetic locking device is adopted at the joint of the walking rail, and the electromagnetic adsorption generated by electrification is used for fixing the joint in the joint state that the overturning rail is overturned in place, so that the passing safety of the joint is further ensured.
4. According to the hanging rail type inspection robot walking rail suitable for the complex environment of the pipe gallery, the limiting device is arranged at the disconnected end part of the fixed rail in advance, and the hanging rail type inspection robot walking rail has an opening state and a closing state; in the opening state, the limiting device enters the limit of the pipe gallery rail hanging type inspection robot to prevent the pipe gallery rail hanging type inspection robot from continuously moving to the disconnected part; under the closed condition, stop device does not invade the limit of piping lane rail mounted inspection robot, allows the piping lane rail mounted inspection robot to continue to move to the upset track, prevents to link up not in place at the upset track, under the condition such as inspection robot receiving command inefficacy, and the piping lane rail mounted inspection robot bumps or drops, has further ensured the security of passing through of joint department.
It will be appreciated that the embodiments of the system described above are merely illustrative, in that elements illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over different network elements. Some or all of the modules can be selected according to actual needs to achieve the purpose of the scheme of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In addition, it should be understood by those skilled in the art that in the specification of the embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the embodiments of the invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description. Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the embodiments of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.
However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of an embodiment of this invention.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, and not to limit the same; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a adapt to piping lane complex environment hang rail formula and patrol and examine robot and walk capable track which characterized in that: comprises a fixed section track (20) and a turnover track (2);
the overturning track (2) is positioned below a top opening (21) of the pipe gallery and a cover plate (22) of the overturning track, and the overturning track (2) is arranged on the side wall of the pipe gallery;
the canned paragraph track (20) is at disconnection of piping lane open-top (21) within range, middle upset track (2) are upset when linking up the state, allow the piping lane to hang the rail formula and patrol and examine the robot and normally pass through along upset track (2), and when the upset was to the interrupt furled state, provide the working space of piping lane open-top (21) below.
2. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 1, characterized in that:
the rail hanging type inspection robot walking track further comprises a turning beam (1) and a turning beam fixing piece (3);
the turnover beam fixing piece (3) is fixed on the side wall of the pipe gallery, and one end of the turnover beam (1) is hinged to the turnover beam fixing piece (3) and the other end of the turnover beam is installed on the turnover track (2).
3. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 2, characterized in that:
the rail hanging type inspection robot walking track further comprises a positioning lock (6);
the positioning lock (6) is arranged between the turnover beam (1) and the turnover beam fixing piece (3) and locks the turnover track (2) in a connection state after being turned in place.
4. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 2, characterized in that:
the rail hanging type inspection robot walking track also comprises an electric rotating device (7);
one end of the electric rotating device (7) is connected with the overturning beam (1), and the other end of the electric rotating device is connected with the overturning beam fixing piece (3), and the electric rotating device is an actuating component for overturning and furling the overturning track (2).
5. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 1, characterized in that:
the rail hanging type inspection robot walking track also comprises an electromagnetic locking device (8);
one part of the electromagnetic locking device (8) is fixed on the fixed section track (20), the other part of the electromagnetic locking device is suspended towards the overturning track (2), and the electromagnetic locking device is in an electrified state and is used for fixing the joint in an electromagnetic adsorption manner under the joint state that the overturning track (2) is overturned in place.
6. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 1, characterized in that:
the rail hanging type inspection robot walking track further comprises a limiting device (9);
the limiting device (9) is arranged at the disconnected end part of the two sections of fixed section rails (20) and has an opening state and a closing state;
in the opening state, the limiting device (9) invades into the limit of the pipe gallery rail-hung inspection robot to prevent the pipe gallery rail-hung inspection robot from continuously moving to the disconnected position;
under the closed state, stop device (9) do not invade the limit of piping lane rail mounted inspection robot, allow the piping lane rail mounted inspection robot to upset track (2) continue the motion.
7. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 6, characterized in that:
the limiting device (9) is provided with a fixing part (91) and a moving part (92);
one end of the fixed part (91) is fixed, and the other end of the fixed part is hinged with the movable part (92);
the fixed part (91) does not invade the limit of the pipe gallery rail-mounted robot all the time, and the moving part (92) is converted between the limit of the pipe gallery rail-mounted robot.
8. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 7, characterized in that:
the limiting device (9) is also provided with a buffer part (93);
the buffer part (93) is arranged between the fixed part (91) and the moving part (92) to form tension between the fixed part and the moving part, and the tension has the tendency that the moving part (92) is rotated to invade the limit of the pipe gallery rail-mounted robot and is used as limiting resistance for preventing the pipe gallery rail-mounted robot from continuing to move to a disconnected position.
9. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 1, characterized in that:
the pipe rack top opening (21) is a pipe rack access hole.
10. The hanging rail type inspection robot walking rail adaptive to the complex environment of the pipe gallery according to claim 1, characterized in that:
the pipe rack top opening (21) is a pipe rack feeding hole or a discharging hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110872229.4A CN113561197B (en) | 2021-07-30 | 2021-07-30 | Hanging rail type inspection robot walking rail adapting to complex environment of pipe gallery |
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| CN202110872229.4A CN113561197B (en) | 2021-07-30 | 2021-07-30 | Hanging rail type inspection robot walking rail adapting to complex environment of pipe gallery |
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| DE10203729A1 (en) * | 2002-01-30 | 2003-08-14 | Kuka Roboter Gmbh | Driving device, in particular for amusement parks, fairs or the like |
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| CN105565156A (en) * | 2016-03-03 | 2016-05-11 | 上海振华重工(集团)股份有限公司 | Rail spanning device |
| CN109108992A (en) * | 2018-08-22 | 2019-01-01 | 浙江国自机器人技术有限公司 | A kind of crusing robot inspection track applied in piping lane and piping lane control system |
| CN111891145A (en) * | 2020-09-03 | 2020-11-06 | 山西科达自控股份有限公司 | Derailment protection inspection robot |
| CN112947456A (en) * | 2021-02-24 | 2021-06-11 | 中国矿业大学 | Reconfigurable inspection robot track system for coal face and working method |
-
2021
- 2021-07-30 CN CN202110872229.4A patent/CN113561197B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10203729A1 (en) * | 2002-01-30 | 2003-08-14 | Kuka Roboter Gmbh | Driving device, in particular for amusement parks, fairs or the like |
| CN201907529U (en) * | 2010-11-17 | 2011-07-27 | 上海美太医疗设备有限公司 | Rail turnover device |
| CN105565156A (en) * | 2016-03-03 | 2016-05-11 | 上海振华重工(集团)股份有限公司 | Rail spanning device |
| CN109108992A (en) * | 2018-08-22 | 2019-01-01 | 浙江国自机器人技术有限公司 | A kind of crusing robot inspection track applied in piping lane and piping lane control system |
| CN111891145A (en) * | 2020-09-03 | 2020-11-06 | 山西科达自控股份有限公司 | Derailment protection inspection robot |
| CN112947456A (en) * | 2021-02-24 | 2021-06-11 | 中国矿业大学 | Reconfigurable inspection robot track system for coal face and working method |
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|---|---|
| CN113561197B (en) | 2023-04-28 |
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