CN113696164B - Stay-free charging rotatable pipe gallery inspection robot and inspection system - Google Patents
Stay-free charging rotatable pipe gallery inspection robot and inspection system Download PDFInfo
- Publication number
- CN113696164B CN113696164B CN202110958431.9A CN202110958431A CN113696164B CN 113696164 B CN113696164 B CN 113696164B CN 202110958431 A CN202110958431 A CN 202110958431A CN 113696164 B CN113696164 B CN 113696164B
- Authority
- CN
- China
- Prior art keywords
- track
- ring
- inner ring
- outer ring
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0045—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction concerning the insertion or the connection of the batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a stay-free charging rotatable pipe gallery inspection robot and inspection system, which comprise a moving part and a detection part, and are characterized in that: the moving part comprises an inner ring and an outer ring, and the outer ring can be connected with the inner ring in a relatively rotating way; the inner ring is supported on the track in an encircling way and is provided with a current collector, and the current collector obtains electric energy from the electrified track; the outer ring is connected with a power device and a detection part, the power device acts on the track and can actuate the outer ring to drive the inner ring to integrally travel along the track for inspection, and/or actuate the outer ring to drive the detection part to rotate around the inner ring for detection. The power is received by sliding contact on the track, the power does not need to return to the end part of the track to stay for charging, and the robot can work efficiently for a long time; the robot is rotatory round the track for detection device of the below of robot can the rotation in a flexible way select detection area, improves the pipeline and patrols and examines the detection coverage rate and the detection validity of robot, reduces and sets up a plurality of same sensors on the robot and monitors different regions.
Description
Technical Field
The invention belongs to the field of pipe gallery inspection robots, and particularly relates to a stay-free charging rotatable pipe gallery inspection robot.
Background
At present, the pipe gallery inspection robot is the important detection means of utility tunnel, because the particularity of pipe gallery, the pipe gallery inspection robot need carry out real-time supervision to the pipe gallery internal conditions, plays trouble early warning's effect to whole pipe gallery to guarantee utility tunnel's normal operating.
However, the current inspection robot has the following defects:
1. the power supply system is mainly in a charging type, can be charged only by returning to the end part of the track and then starts to patrol, and is inconvenient for the robot to work efficiently for a long time;
2. the robot is fixed in structural form, mostly adopts a rail hanging type, and has a monitoring blind area or an angle blind area;
3. in order to overcome the problem of blind areas, a plurality of mechanical simply-superposed sensors cannot realize multi-area detection of a simple detection device;
4. the structural form of the track is single, and the strip-shaped track is adopted, so that the development of the motion mode of the robot is restricted.
Disclosure of Invention
Aiming at least one of the defects or the improvement requirements of the prior art, the invention provides a stay-free charging rotatable pipe rack inspection robot and an inspection system. The motion part of robot is two inside and outside rings, is slide bearing formula connection structure between inner ring collection electricity sliding ring and the outer loop rotation circle, and the robot of being convenient for is rotatory round the track for detection device of the below of robot can nimble rotation select detection area, improves the pipeline and patrols and examines the detection coverage rate and the detection validity of robot, sets up a plurality of same sensors on the reduction robot and monitors different regions.
To achieve the above object, according to one aspect of the present invention, there is provided a stay-free charging rotatable pipe rack inspection robot, including a moving part and a detecting part, characterized in that:
the moving part comprises an inner ring and an outer ring, and the outer ring is connected with the inner ring in a relatively rotatable manner;
the inner ring is supported around a track and is provided with a current collector which obtains electric energy from the track which is electrified;
the outer loop is connected with power device with the detection part, power device acts on the track can actuate the outer loop drives the inner ring is whole to be followed the track is walked to patrol and examine, and/or actuates the outer loop drives the detection part winds the inner ring rotates and detects.
Further preferably, the motion portion comprises a front double loop and a rear double loop;
the front double ring and the rear double ring both comprise the inner ring and the outer ring, and a plurality of supports are connected between the outer ring of the front double ring and the outer ring of the rear double ring.
Further preferably, the power unit and the detection portion are mounted on the bracket.
Further preferably, the inner and outer rings have corresponding ring opening means;
when the annular unlocking device is locked, the inner ring and the outer ring are both a whole ring;
when the ring-like unlocking means is unlocked, the entire rings of the inner and outer rings are broken to be removed from the rail.
Further preferably, the power device is a power wheel, and the power wheel has a zero-angle state for running operation along the axial direction of the rail and a right-angle state for rotating operation perpendicular to the axial direction of the rail.
Further preferably, the power device is a power wheel, and the power wheel has a zero-angle state for running operation along the axial direction of the rail, and an acute-angle state for spiral operation at an acute angle with the axial advancing direction of the rail.
Further preferably, a rotation locking portion is provided between the inner ring and the outer ring;
when the rotation locking portion is locked, relative rotation between the inner ring and the outer ring is locked;
when the rotation lock portion is unlocked, relative rotation between the inner ring and the outer ring is permitted.
Further preferably, the current collector is a trolley wheel, and the trolley wheel is installed on the inner side of the inner ring and is in sliding contact with the charged part of the track.
In order to achieve the above object, according to another aspect of the present invention, there is also provided a non-stop charging rotatable pipe rack inspection system, which is characterized by comprising the non-stop charging rotatable pipe rack inspection robot as described above, and a track;
the track is provided with a trolley line groove, and the current collector takes electricity from the trolley line in the trolley line groove.
Further preferably, the rail has a full-diameter portion and an insufficient-diameter portion;
the inner ring is self-locked and supported on the full-scale diameter part, and the insufficient-scale diameter part is used for rotating the broken part of the whole ring to the position where the whole ring is broken by external force, so that the pipe gallery inspection robot is taken down from the track.
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 stay-free charging rotatable pipe gallery inspection robot and the inspection system, the sliding contact line and the rail are combined into a whole, the pipe gallery inspection robot slides on the rail and is in contact with the sliding contact line to receive power for self use, and in addition, the battery can be charged while walking, the end part of the rail does not need to be returned for charging, the stay-free charging is also not needed to be stopped and static for charging, and the robot can work efficiently for a long time.
2. According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the moving part of the robot is the inner ring and the outer ring, the sliding bearing type connecting structure is arranged between the inner ring current collection sliding ring and the outer ring rotating ring, so that the robot can conveniently rotate around a track, a detection device below the robot can flexibly rotate to select a detection area, the detection coverage rate and the detection effectiveness of the pipeline inspection robot are improved, and the number of the same sensors arranged on the robot for monitoring different areas is reduced.
3. According to the stay-free charging rotatable pipe rack inspection robot and the inspection system, the pressure sensors and the adjustable spring devices are arranged on the current collection sliding contact wheels on the left side and the right side of the pipe rack inspection robot, the contact pressure between the current collection sliding contact wheels and the rail is ensured by adjusting the compression degree of the springs, and the power supply reliability of the pipe rack inspection robot is improved.
4. According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the plurality of driven pulleys in the inner ring provide clamping and stability functions, and the driven pulleys, the current collection sliding contact wheel and the power wheel are all of telescopic and rotatable structures, so that the driven pulleys, the current collection sliding contact wheel and the power wheel can be retracted away from the contact surface of a track, and interference in the rotating process is avoided.
5. According to the stop-free charging rotatable pipe rack inspection robot and the inspection system, the movement switching of the pipe rack inspection robot is mainly controlled by the power wheel, and the first movement mode is to switch between a zero-angle state of walking operation and a right-angle state of rotating operation, and the pipe rack inspection robot can move straight or stop to rotate to a position and then move straight. The second motion mode is to switch between a zero-angle state of running operation and an acute angle-included and acute angle state of spiral operation, and to perform either straight running or spiral running by combining the forward friction component of the power wheel with the acute angle and the vertical rotation component, and the spiral running combines the straight running and the rotation.
6. According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the telescopic structure is arranged between the power wheel and the outer ring or the support, when the power wheel and the outer ring or the support are switched, the power wheel can rotate 90 degrees or an acute angle along the vertical direction after being stretched downwards to avoid interference between the power wheel and the track, and the telescopic structure contracts to enable the power wheel to contact the track again to rotate or spiral.
7. According to the stay-free charging rotatable pipe rack inspection robot and the inspection system, the annular structure of the pipe rack inspection robot is provided with the annular unfastening device, so that the annular structure can be conveniently opened to enable the pipe rack inspection robot to be installed and taken down or detached from the track for maintenance.
8. According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, in the first movement mode, after the pipe gallery inspection robot is rotated to the position, the relative rotation is locked by the rotation locking part between the inner ring and the outer ring, the pipe gallery inspection robot can be fixed at a specific angle to overcome unbalance loading, and the straight line has the characteristics of multiple angles and multiple visual angles.
9. According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the rail is of a pipeline structure, so that the robot can conveniently realize a rotating function, and the middle of the rail is hollow, so that materials are saved, and the weight is reduced; the groove of the left side and the groove of the right side of the track are internally provided with sliding contact line structures, and the outside of the groove is provided with a safety protection device of a baffle.
10. According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the upper surface and the lower surface of the track are cut flat to form the full-diameter part and the insufficient-diameter part, the full-diameter part forms self-locking support for the inner ring, when the robot needs to be taken down from the track, the whole ring breaking part of the inner ring and the outer ring is manually rotated to the insufficient-diameter part by external force, and the robot is withdrawn from the track from the breaking part, so that the normal working self-locking state is ensured, and the robot is convenient to separate from the track.
Drawings
Fig. 1 is a schematic structural diagram of a stay-free charging rotatable pipe gallery inspection robot and an inspection system in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a stay-free charging rotatable pipe gallery inspection robot according to an embodiment of the invention;
fig. 3 is a schematic diagram of a track structure of the stay-free charging rotatable pipe gallery inspection system according to the embodiment of the invention.
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 3, the present invention provides a non-stop charging rotatable pipe rack inspection system, which comprises a non-stop charging rotatable pipe rack inspection robot and a track 3.
As shown in fig. 1-2, the stay-free charging rotatable pipe gallery inspection robot comprises a moving part and a detection part.
The moving part comprises an inner ring 1 and an outer ring 2, and the outer ring 2 is connected with the inner ring 1 in a relatively rotatable manner.
The inner ring 1 is supported on the track 3 in an encircling mode and provided with a current collector, the current collector obtains electric energy from the track 3 which is electrified so as to be used by the robot, the current collector can be charged into a battery while walking, the battery does not need to return to the end portion of the track for charging, the static charging does not need to stay, and the robot can work efficiently for a long time.
The outer ring 2 is directly or indirectly connected with a power device and the detection part, the power device acts on the track 3 can actuate the outer ring 2 drives the inner ring 1 to integrally follow the track 3 to walk and patrol, and/or actuate the outer ring 2 drives the detection part to rotate around the inner ring 1 for detection. The motion part of robot is two inside and outside rings, is slide bearing formula connection structure between inner ring collection electricity sliding ring and the outer loop rotating ring, if contain a plurality of balls 19, the robot of being convenient for is rotatory round the track for detection device of the below of robot can nimble rotation select detection area, improves the pipeline and patrols and examines the detection coverage rate and the detection validity of robot, sets up a plurality of same sensors on the reduction robot and monitors different regions.
Further preferably, the motion portion comprises a front double loop and a rear double loop; the front double ring and the rear double ring both comprise the inner ring 1 and the outer ring 2, and a plurality of supports 4 are connected between the outer ring of the front double ring and the outer ring of the rear double ring. Further preferably, the power unit and the detecting portion are mounted on the bracket 4. The moving part is not limited to the front and rear double rings shown in fig. 2, such as a single set of inner and outer rings having a certain axial length, and the power unit and the sensing part are directly mounted on the outer ring.
Further preferably, power device is power wheel 12, and the motion of piping lane inspection robot switches and mainly is accomplished by power wheel control, power wheel 12 has the edge the zero degree angle state of 3 axial walking operations on the track, and perpendicular to the right angle state of 3 axial rotation operations on the track. This is the first mode of motion, switching between the zero angle mode for travel and the right angle mode for rotation, either straight or stopped for rotation to the right angle and then straight. One way of acting in the state of rotation at right angles is that the power wheel 12 has a power shaft in the shape of an L, and the telescopic device 14 at the upper end of the L rotates directly relative to the bracket 4, which is not listed any more.
Further preferably, a rotation locking portion is provided between the inner ring 1 and the outer ring 2; when the rotation locking portion is locked, relative rotation between the inner ring 1 and the outer ring 2 is locked; when the rotation lock portion is unlocked, relative rotation between the inner ring 1 and the outer ring 2 is permitted.
In the first movement mode, after the inner ring and the outer ring rotate to the proper position, the relative rotation is locked by the rotation locking part between the inner ring and the outer ring, and the inner ring and the outer ring can be fixed at a specific angle to overcome the unbalance loading, so that the straight line has the characteristics of multiple angles and multiple visual angles.
Or, the power device is a power wheel 12, and the power wheel 12 has a zero-degree angle state of running operation along the axial direction of the track 3 and an acute angle state of forming an acute angle with the axial advancing direction of the track 3 and performing spiral operation. The second motion mode is to switch between a zero-angle state of the walking operation and an acute angle-included and acute angle state of the spiral operation, and the walking operation is either straight or spiral advancing is combined by using an advancing friction component and a vertical rotation component of a power wheel with an acute angle included, and the spiral advancing combines the straight advancing and the rotation. As shown in fig. 2, one operation mode of the screw switching is that a telescopic device 14 and a sliding device 141 are provided between the stand 4 and the power shaft of the power wheel 12, and the angle of the power wheel 12 can be rotated by moving the sliding device 141 along the stand 4. It is also possible that the power wheel 12 has a power shaft in the shape of an L, the telescopic device 14 at the upper end of which rotates directly relative to the support 4, in other ways not illustrated. In the second mode of motion, relative rotation between the inner and outer rings must be maintained without a locking portion.
For the interference problem, a telescopic structure 14 is arranged between the power wheel and the outer ring or the support, when switching is carried out, the power wheel is stretched downwards to avoid the interference between the power wheel and the track, the power wheel can rotate 90 degrees or acute angles along the vertical direction, and the telescopic structure is contracted to enable the power wheel to contact the track again to rotate or spiral.
Further preferably, the current collector is a trolley wheel 11, and the trolley wheel 11 is installed on the inner side of the inner ring 1 and is in sliding contact with the charged part of the track 3. Set up pressure sensor and adjustable spring device on the left and right sides collection current wiping wheel of robot is patrolled and examined to the piping lane, ensure collection current wiping wheel and orbital contact pressure through regulating spring compression degree, improve the piping lane and patrol and examine the power supply reliability of robot.
As shown in fig. 2, it is further preferable that a plurality of, for example, 4 driven pulleys 13 are distributed inside the inner ring 1 to provide clamping and stability functions, and the driven pulleys, the current collecting trolley wheels and the power wheels are all retractable and rotatable structures, so as to retract away from the contact surface of the rail and avoid interference during rotation.
As shown in fig. 2, it is further preferable that the detection portion includes a smoke alarm device 16, an image recognition device 17, a harmful gas alarm device 18, and the like, which are not limited herein.
As shown in fig. 3, the rail 3 has a trolley line groove 31, and a current collector takes electricity from a trolley line in the trolley line groove 31. The track is of a pipeline type structure, so that the robot can conveniently realize a rotating function, and the middle of the track is hollow, so that materials are saved, and the weight is reduced; the groove of the left side and the groove of the right side of the track are internally provided with sliding contact line structures, and the outside of the groove is provided with a safety protection device of a baffle.
Further preferably, said inner ring 1 and outer ring 2 have corresponding ring opening means 15; when the ring-shaped unlocking device 15 is locked, the inner ring 1 and the outer ring 2 are both a whole ring; when the loop opener 15 is unlocked, the whole loop of the inner and outer loops 1, 2 is broken, separated from the hinge 151, to be removed from the track 3.
For the way down, three examples are given. First, if the broken dimension of the ring-like unwinding means 15 is slightly larger than the outer diameter of the rail, it can be unwound and removed at any position of the rail.
Secondly, if the break dimension of the loop unwinding device 15 is much smaller than the outer diameter of the track, it moves to both ends of the track and exits the track from the track support.
Thirdly, the opening dimension of the annular unwinding device 15 is configured between the maximum and minimum external diameter of the track, as shown in fig. 3, said track 3 having a full-diameter portion 32 and an insufficient-diameter portion 33; the inner ring 1 is supported in a self-locking way on the full-scale diameter part 32, and the insufficient diameter part 33 is used for rotating the broken part of the whole ring of the inner ring 1 and the outer ring 2 by external force to take the pipe gallery inspection robot off the track 3. The upper surface and the lower surface of the track are cut flat to form a full-diameter part and a non-full-diameter part, the full-diameter part forms self-locking support for the inner ring, when the robot needs to be taken down from the track, the whole ring breaking part of the inner ring and the outer ring is rotated to the non-full-diameter part by external force such as manual operation, and the robot exits from the track from the breaking part, so that the normal working self-locking state is ensured, and the robot is convenient to separate from the track.
In summary, compared with the prior art, the scheme of the invention has the following significant advantages:
according to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the sliding contact line and the rail are combined into a whole, the pipe gallery inspection robot slides on the rail and is in contact with the sliding contact line to receive power for self use, and in addition, the battery can be charged while walking, the end part of the rail does not need to be returned for charging, the stay-free charging is also not needed to be stopped and static for charging, and the robot can work efficiently for a long time.
According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the moving part of the robot is the inner ring and the outer ring, the sliding bearing type connecting structure is arranged between the inner ring current collection sliding ring and the outer ring rotating ring, so that the robot can conveniently rotate around a track, a detection device below the robot can flexibly rotate to select a detection area, the detection coverage rate and the detection effectiveness of the pipeline inspection robot are improved, and the number of the same sensors arranged on the robot for monitoring different areas is reduced.
According to the stay-free charging rotatable pipe rack inspection robot and the inspection system, the pressure sensors and the adjustable spring devices are arranged on the current collection sliding contact wheels on the left side and the right side of the pipe rack inspection robot, the contact pressure between the current collection sliding contact wheels and the track is ensured by adjusting the compression degree of the springs, and the power supply reliability of the pipe rack inspection robot is improved.
According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the driven pulleys in the inner ring provide clamping and stability effects, and the driven pulleys, the current collection sliding contact wheel and the power wheel are all of a telescopic and rotatable structure, so that the driven pulleys, the current collection sliding contact wheel and the power wheel can be retracted away from the contact surface of a track, and interference in the rotating process is avoided.
According to the stop-free charging rotatable pipe rack inspection robot and the inspection system, the movement switching of the pipe rack inspection robot is mainly controlled by the power wheel, and the first movement mode is to switch between a zero-angle state of walking operation and a right-angle state of rotating operation, and the pipe rack inspection robot can move straight or stop to rotate to a position and then move straight. The second motion mode is to switch between a zero-angle state of running operation and an acute angle-included and acute angle state of spiral operation, and to perform either straight running or spiral running by combining the forward friction component of the power wheel with the acute angle and the vertical rotation component, and the spiral running combines the straight running and the rotation.
According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the telescopic structure is arranged between the power wheel and the outer ring or the support, when switching is carried out, the power wheel can rotate by 90 degrees or an acute angle along the vertical direction after the power wheel is stretched downwards to avoid interference between the power wheel and the track, and the telescopic structure is contracted to enable the power wheel to contact the track again to rotate or spiral.
According to the stay-free charging rotatable pipe rack inspection robot and the inspection system, the annular structure of the pipe rack inspection robot is provided with the annular unfastening device, so that the pipe rack inspection robot can be conveniently installed and detached or detached from the rail for maintenance by opening the annular structure.
According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, in the first movement mode, after the pipe gallery inspection robot is rotated to the position, the relative rotation is locked by the rotation locking part between the inner ring and the outer ring, the pipe gallery inspection robot can be fixed at a specific angle to overcome unbalance loading, and the straight line has the characteristics of multiple angles and multiple visual angles.
According to the stay-free charging rotatable pipe gallery inspection robot and the inspection system, the rail is of a pipeline structure, so that the robot can conveniently realize a rotating function, and the middle of the rail is hollow, so that materials are saved, and the weight is reduced; the groove of the left side and the groove of the right side of the track are internally provided with sliding contact line structures, and the outside of the groove is provided with a safety protection device of a baffle.
According to the non-stop charging rotatable pipe gallery inspection robot and the inspection system, the upper surface and the lower surface of the track are cut flat to form the full-diameter part and the insufficient-diameter part, the full-diameter part forms self-locking support for the inner ring, when the robot needs to be taken down from the track, the broken part of the whole inner ring and the whole outer ring is manually rotated to the insufficient-diameter part by external force, and the robot exits from the track from the broken part, so that the normal working self-locking state is ensured, and the robot is convenient to separate from the track.
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 may be selected according to actual needs to achieve the purpose of the solution of this 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 a … …" does not exclude the presence of another identical element 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 construed to reflect the intent: 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, those skilled in the art will understand 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 (8)
1. The utility model provides a rotatable formula piping lane that charges of exempting from to stop patrols and examines robot, includes motion part and detection segment, its characterized in that:
the moving part comprises an inner ring (1) and an outer ring (2), and the outer ring (2) is connected to the inner ring (1) in a relatively rotatable manner;
the inner ring (1) is supported around a track (3) and is provided with a current collector which obtains electric energy from the track (3) which is electrified;
the outer ring (2) is connected with a power device and the detection part, the power device acts on the track (3) and can actuate the outer ring (2) to drive the inner ring (1) to integrally travel along the track (3) for inspection and/or actuate the outer ring (2) to drive the detection part to rotate around the inner ring (1) for detection; and is
The power device is a power wheel (12), and the power wheel (12) has a zero-angle state for running along the axial direction of the track (3) and a right-angle state for rotating in the axial direction perpendicular to the track (3);
or
The power device is a power wheel (12), and the power wheel (12) has a zero-angle state along the axial running operation of the track (3) and an acute-angle state which forms an acute angle with the axial advancing direction of the track (3) and performs spiral operation.
2. The non-stop charging rotatable pipe gallery inspection robot according to claim 1, characterized in that:
the motion portion comprises a front bicyclic ring and a rear bicyclic ring;
the front double ring and the rear double ring both comprise the inner ring (1) and the outer ring (2), and a plurality of supports (4) are connected between the outer ring of the front double ring and the outer ring of the rear double ring.
3. The non-stop charging rotatable pipe gallery inspection robot according to claim 2, characterized in that:
the power device and the detection part are arranged on the bracket (4).
4. The non-stop charging rotatable pipe gallery inspection robot according to claim 1, characterized in that:
the inner ring (1) and the outer ring (2) have corresponding annular unwinding devices (15);
when the annular unlocking device (15) is locked, the inner ring (1) and the outer ring (2) are both a whole ring;
when the ring unlocking device (15) is unlocked, the whole ring of the inner ring (1) and the outer ring (2) is disconnected to be removed from the rail (3).
5. The non-stop charging rotatable pipe gallery inspection robot according to claim 1, characterized in that:
the power wheel (12) has a zero-angle state and a right-angle state; a rotation locking part is arranged between the inner ring (1) and the outer ring (2);
when the rotation locking portion is locked, relative rotation between the inner ring (1) and the outer ring (2) is locked;
when the rotation lock portion is unlocked, relative rotation between the inner ring (1) and the outer ring (2) is permitted.
6. The non-stop charging rotatable pipe gallery inspection robot according to claim 1, characterized in that:
the current collector is a sliding contact wheel (11), the sliding contact wheel (11) is arranged on the inner side of the inner ring (1) and is in sliding contact with the electrified part of the track (3).
7. A stop-free charging rotatable pipe gallery inspection system, characterized by comprising a stop-free charging rotatable pipe gallery inspection robot according to any one of claims 1-6, and a rail (3);
the track (3) is provided with a trolley line groove (31), and a current collector takes electricity from a trolley line in the trolley line groove (31).
8. The non-stop charging rotatable pipe gallery inspection system according to claim 7, wherein:
the rail (3) having a full-diameter portion (32) and an insufficient-diameter portion (33);
the inner ring (1) is supported on the full-scale diameter part (32) in a self-locking mode, and the insufficient-scale diameter part (33) is used for enabling the whole ring to be rotated to the position where the inner ring (1) and the outer ring (2) are disconnected by external force, and the pipe gallery inspection robot is taken down from the track (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110958431.9A CN113696164B (en) | 2021-08-20 | 2021-08-20 | Stay-free charging rotatable pipe gallery inspection robot and inspection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110958431.9A CN113696164B (en) | 2021-08-20 | 2021-08-20 | Stay-free charging rotatable pipe gallery inspection robot and inspection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113696164A CN113696164A (en) | 2021-11-26 |
| CN113696164B true CN113696164B (en) | 2023-03-24 |
Family
ID=78653926
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110958431.9A Active CN113696164B (en) | 2021-08-20 | 2021-08-20 | Stay-free charging rotatable pipe gallery inspection robot and inspection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113696164B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108468862B (en) * | 2018-05-25 | 2019-08-23 | 东北石油大学 | A kind of underwater robot for submarine pipeline Magnetic memory testing |
| WO2020142034A1 (en) * | 2018-12-31 | 2020-07-09 | Istanbul Sehir University | Wireless inspection robot for natural gas pipe |
| CN110328478B (en) * | 2019-08-02 | 2020-03-31 | 佳木斯大学 | Computer pipeline detects automatic welding robot |
| CN111001106B (en) * | 2019-12-05 | 2024-03-12 | 青岛职业技术学院 | Urban comprehensive pipe rack intelligent fire-fighting robot |
| CN112757316A (en) * | 2020-12-29 | 2021-05-07 | 苏州森合知库机器人科技有限公司 | Hanging rail fire-fighting inspection robot |
-
2021
- 2021-08-20 CN CN202110958431.9A patent/CN113696164B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113696164A (en) | 2021-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103158154B (en) | Insulator string intelligent detection robot system and control method thereof | |
| CN102751669B (en) | Travelling mechanism of inspection robot for realizing obstacle crossing | |
| CN103895015B (en) | A kind of split type active obstacle travelling robot | |
| CN209224073U (en) | A kind of automatic charging and the crusing robot for sweeping obstacle | |
| CN207134725U (en) | A kind of power transmission line unmanned self-checking unit | |
| CN108539359B (en) | Intelligent communication iron tower that has safeguard function based on thing networking | |
| CN113915451B (en) | Pipeline inspection robot | |
| CN207340060U (en) | Battery type moves inspection device and system | |
| CN214930218U (en) | All-terrain mechanical dog of transformer substation | |
| CN108556948B (en) | Safe and reliable intelligent security robot suitable for severe weather | |
| CN113696164B (en) | Stay-free charging rotatable pipe gallery inspection robot and inspection system | |
| CN111827108A (en) | Be applied to dual-purpose intelligent robot in land and air that bridge crack detected | |
| CN110000132A (en) | A kind of Portable photovoltaic sweeping robot | |
| CN111917987A (en) | Monitoring system based on computer control | |
| CN115347644A (en) | Automatic charging device of rail-mounted inspection robot for outdoor large-gradient operation | |
| CN205453613U (en) | Solar energy base with adjustable | |
| CN106284069A (en) | Wireless remote control stayed-cable bridge cable wire automatic detection device | |
| CN205685324U (en) | A kind of gantry truss-like indoor substation crusing robot | |
| CN108532998A (en) | A kind of sunshade and the strong intelligent platform of standing guard of ability that keeps off the rain based on Internet of Things | |
| CN116026857B (en) | Distribution line abnormality detection device | |
| CN111212266B (en) | Intelligent monitoring system and method for power distribution room | |
| CN210115910U (en) | Double-cantilever hanger rail type tunnel inspection robot | |
| CN105904472B (en) | Control method and device for quickly attaching mechanical arm to solar cell panel | |
| CN211543512U (en) | Suspension type air-rail evacuation platform | |
| CN113883358B (en) | Pipeline robot suitable for different pipe diameters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |