CN208810758U - A kind of cable preheating embedding line inspection obstacle removing robot - Google Patents
A kind of cable preheating embedding line inspection obstacle removing robot Download PDFInfo
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- CN208810758U CN208810758U CN201821365590.8U CN201821365590U CN208810758U CN 208810758 U CN208810758 U CN 208810758U CN 201821365590 U CN201821365590 U CN 201821365590U CN 208810758 U CN208810758 U CN 208810758U
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Abstract
The utility model discloses a kind of cable preheating embedding line inspection obstacle removing robots, including cable preheating embedding line running gear, holder, clamping manipulator and central processing unit；Cable preheating embedding line running gear includes travel driving motor and along the circumferentially evenly arranged multiple walking wheel assemblies of main shaft, and wheel assembly of walking includes wheel leg and support arm, and support arm both ends and wheel leg are hingedly and main shaft is hinged；Driving motor drives wheel leg；Diameter changing mechanism includes variable diameter driving motor, variable diameter connecting rod and lead-screw drive mechanism, variable diameter connecting rod two end and sliding block and support arm are hinged, and variable diameter driving motor is pushed by lead-screw drive mechanism and the gradient change expanding mechanism of variable diameter connecting rod promotion support arm includes grip block and grip block driving motor；Central processing unit controls travel driving motor, variable diameter driving motor and grip block driving motor, so that clamping manipulator picks up barrier at robot ambulation to plumbing obstacles, clears up the barrier in pipeline.
Description
Technical field
It removes obstacles machine the utility model relates to pipeline robot technique field more particularly to a kind of cable preheating embedding line inspection
People.
Background technique
Buried cable, communications optical cable are the important components of electric system, are the bases for guaranteeing power supply reliability.Now
More and more cities replace overhead transmission line using buried cable power transmission and distribution mode, and cable channel is laid with as buried cable
Necessity, usage amount increasing fast.
Cable channel in use, can generate various line cloggings, cause cable that can not pass through.If no
The barrier in cable channel is cleared up in time, it is possible to cause an accident, influence construction speed, cause unnecessary damage
It loses.And environment locating for cable channel is often not easy directly to reach or personnel is not allowed to be directly entered, detection and cleaning are difficult
It spends very big.
Therefore, pipe robot is generallyd use at present to clear up cable channel.However, cable run caliber is generally
150-200 millimeters of ranges, multi-size, and pipe deforming, blocking can all have an impact to caliber, existing pipe robot walking
Device far from can satisfy the caliber demand of such complexity.
Utility model content
The purpose of the utility model is to provide a kind of pipeline robot walking devices, have variable diameter ability, can clear up not
With the barrier in the pipeline of caliber.
The technical solution adopted in the utility model are as follows:
A kind of cable preheating embedding line inspection obstacle removing robot includes pipeline travelling device, holder, clamping manipulator and center
Processor；The clamping manipulator is connected by holder with pipeline travelling device；
The pipeline travelling device includes main shaft, walking mechanism and diameter changing mechanism；
The walking mechanism includes travel driving motor and along the circumferentially evenly arranged multiple walking wheel assemblies of main shaft, institute
The walking wheel assembly stated includes wheel leg, the first transmission mechanism and support arm group；The support arm group includes support arm and support
Arm fixed block, the support arm fixed block are set on main shaft, and described support arm one end and wheel leg are hinged, the other end and branch
Brace fixed block is hinged；The driving motor drives wheel leg walking by the first transmission mechanism；
The diameter changing mechanism include variable diameter driving motor and with walking the one-to-one variable diameter component of wheel assembly, it is described
Variable diameter component includes variable diameter connecting rod, variable diameter variable diameter lead-screw drive mechanism and the third transmission mechanism for driving support arm rotation, described
Variable diameter variable diameter lead-screw drive mechanism include variable diameter lead screw and variable diameter sliding block, the output shaft of the variable diameter driving motor passes through the
Three transmission mechanisms connect the power intake of variable diameter lead screw, and variable diameter connecting rod one end and variable diameter sliding block are hinged, and the variable diameter connects
The bar other end and the support arm in corresponding wheel assembly are hinged；
The clamping manipulator include one group of grip block, the grip block driving mechanism for driving grip block mobile and
Grip block transmission mechanism；The grip block transmission mechanism includes intermeshing active elevating arc, driven elevating arc and active
Grip block connecting rod and driven grip block connecting rod, described active grip block connecting rod one end and a grip block are hinged, active grip block
The connecting rod other end and active elevating arc are hinged, and described driven grip block connecting rod one end and another grip block are hinged, driven clamping
The block connecting rod other end and driven elevating arc are hinged；The grip block driving mechanism includes grip block driving motor and actively fans tooth
Wheel drive mechanism, the grip block driving motor drive the rotation of active elevating arc by active elevating arc transmission mechanism；
First output end of the central processing unit connects travel driving motor, and the second output terminal of central processing unit connects
Variable diameter driving motor is connect, the third output end of central processing unit connects grip block driving motor.
The cable preheating embedding line inspection obstacle removing robot further includes inspection mechanism, and the inspection mechanism includes camera shooting
Head and image pick-up card；The camera 54 is fixedly installed on holder, and camera is electrically connected with image pick-up card, the figure
As the first input end of the output end connection central processing unit of capture card.
The wheel leg includes driving wheel, driven wheel, the second transmission mechanism and mounting groove, and the driving wheel and transmission rotate
It is dynamic to be installed in mounting groove；The output shaft of the travel driving motor drives driving wheel rotation by the first transmission mechanism, actively
Wheel drives driven wheel rotation by the second transmission mechanism.
The variable diameter connecting rod includes sliding sleeve, the litter and preloading spring that are set in sliding sleeve；The variable diameter of the sliding sleeve is sliding
Block connecting pin and variable diameter sliding block are hinged, and the end of being inserted in of sliding sleeve is provided with spring limiting board, and the arm connecting pin of litter is provided with arm company
Connector, the arm connector and support arm in the variable diameter component are hinged；Preloading spring is set on litter, and preloading spring
Between spring limiting board and arm connector.
First transmission mechanism includes belt, the first rotating shaft parallel with driving wheel shaft, is sheathed on first rotating shaft
On the first helical gear, be sheathed in first rotating shaft first gear, second shaft parallel with driving wheel shaft and be arranged with
Second gear in second shaft, the second gear and first gear engagement；On the output shaft of the travel driving motor
It is arranged with the second helical gear；Travel driving motor drives first rotating shaft to turn by the second helical gear and the first helical gear cooperation
Dynamic, the first rotation drives the rotation of the second shaft by the cooperation of second gear and first gear, and the second shaft is driven by belt
The rotation of driving wheel shaft.
Third transmission mechanism in the variable diameter component includes variable diameter screw gear and variable diameter lead screw transmission gear group, institute
The variable diameter screw gear stated is sheathed on the power intake of variable diameter lead screw in the variable diameter component；The variable diameter driving motor
Third gear is arranged on output shaft, variable diameter driving motor passes through third gear, variable diameter lead screw transmission gear group and variable diameter lead screw
The cooperation driving variable diameter lead screw rotation of gear.
The diameter changing mechanism further includes slip ring, and the slip ring is sheathed on main shaft, in the variable diameter component
Variable diameter sliding block be fixedly installed on slip ring.
The walking wheel assembly further includes one or more arm of stability groups, and the arm of stability group includes flat with support arm
The arm of stability and arm of stability fixed block of row setting, the arm of stability fixed block are set on main shaft, described arm of stability one end
Hinged with wheel leg, the other end and arm of stability fixed block are hinged.
The active elevating arc transmission mechanism includes that the elevating arc being fixedly installed on active elevating arc stirs column, active
Fan connecting rod and driving turntable, the turntable connecting column that is fixedly installed on driving turntable；The center of the driving turntable and clamping
Block driving motor is fixedly connected, described actively to fan connecting rod one end and elevating arc stirs column rotation connection, actively fans the another of connecting rod
End is rotatablely connected with turntable connecting column.
The holder includes mounting plate for assembling external devices and staggeredly shaft assembly；The staggeredly shaft assembly packet
Pitching shaft, horizontal rotating shaft and staggeredly shaft coupling piece are included, the horizontal rotating shaft is perpendicular to pitching shaft；The mounting plate
It is rotated up and down along pitching shaft, the mounting plate is rotated in a vertical plane along horizontal rotating shaft；
The holder further include for drive pitching shaft rotate pitching driving assembly and for driving horizontal rotating shaft
The horizontal drive component of rotation；The pitching driving assembly includes pitching motor and Worm and worm-wheel gearing, and described bows
It faces upward motor to be arranged along the vertical direction, and pitching motor output shaft, perpendicular to pitching shaft, pitching motor output shaft passes through worm gear snail
Bar transmission mechanism drives the rotation of pitching shaft；The horizontal drive component includes Horizontal offset motor and biased gear group；Institute
The biased gear group stated includes the biased gear and central gear of engagement, the biased gear face Horizontal offset motor output
Axis, the central gear face horizontal rotating shaft, the Horizontal offset motor output shaft are horizontal by the driving of biased gear group
Shaft rotation；The horizontal rotating shaft is fixedly connected with pipeline travelling device；
The holder further includes angle adjusting mechanism, and the angle adjusting mechanism includes angle acquisition unit, level
Encoder and pitching encoder, the angle acquisition unit include gyro sensor and sensor mounting rod, the biography
Gyro sensor is installed in one end of sensor mounting rod, and the other end of sensor mounting rod is fixedly connected with mounting plate, described
Level code device connects the shaft of Horizontal offset motor, the shaft of the pitching encoder connection pitching motor；
The second signal input terminal of the signal output end connection central processing unit of the gyro sensor, the water
The third signal input part of the signal output end connection central processing unit of flat encoder, the signal output of the pitching encoder
The fourth signal input terminal of end connection central processing unit；The fourth signal output end connection Horizontal offset electricity of the central processing unit
The control signal of machine, the control signal of the 5th signal output end connection pitching motor of the central processing unit.
The utility model has the pipeline travelling device of variable diameter ability by setting, on pipeline travelling device and clamping machine
Tool hand, to clear up the barrier in different tube diameters pipeline；Main shaft is set in pipeline travelling device, is circumferentially pacified convenient for wheel leg
Dress, wheel leg are close to pipeline along pipeline radial direction, are very suitable for along pipe walking；It is respectively articulated with by being arranged with wheel leg and main shaft
Support arm and push support arm tilt angle change diameter changing mechanism, realize wheel leg in a certain range extend out with it is interior
It receives, so that the pipeline robot walking device is suitable for the pipeline of different tube diameters, greatly improves the pipe robot row
The scope of application of walking apparatus；
Further, it is provided with polling module, is prestored in the image and central processing unit of the camera intake in polling module
Image compare, judge that whether there are obstacles in pipeline, realize preheating embedding line inspection, convenient in time discovery cable built-in pipe
The problems such as barrier and pipe deforming in line, so that reparation much sooner, cleaning pipeline, guarantee that cable is normal.Inspection mould
Block and clamping manipulator cooperate, and can more accurately clear up the barrier in cable preheating embedding line.
Further, by setting stretching with preloading spring for the variable diameter connecting in diameter changing mechanism with support arm connection
Contracting bar so that the pipeline robot walking device according to pipe condition in a certain range self adaptive control wheel leg extend out or
It inside contracts, further improves pipe robot there are the walking ability in the pipeline of obstacle, deformation；Preloading spring, which has, to be subtracted
Function is shaken, stability when pipeline robot walking device walking is improved；The thrust of preloading spring make wheel leg and tube wall it
Between and pressure and frictional force increase, improve the climbing ability of pipeline robot walking device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model
Fig. 2 is the pipeline travelling device structural schematic diagram；
Fig. 3 is the first drive mechanism schematic diagram；
Fig. 4 is the third drive mechanism schematic diagram；
Fig. 5 is the variable diameter link mechanism schematic diagram；
Fig. 6 is the clamping manipulator structural schematic diagram；
Fig. 7 is the grip block transmission mechanism structural representation；
Fig. 8 is the cradle head structure schematic diagram；
Fig. 9 is the holder alternating axis component structure diagram；
Figure 10 is the utility model circuit diagram；
Figure 11 is the encapsulation schematic diagram of the holder.
1, main shaft；2, wheel leg；2-1, driving wheel；2-2, driven wheel；2-3, mounting groove；3, support arm；4, support arm is fixed
Block；5, travel driving motor；6, variable diameter driving motor；7, variable diameter connecting rod；7-1, sliding sleeve；7-2, litter；7-3, preloading spring；7-
4, spring limiting board；7-5, arm connector；7-6, litter limited block；8, variable diameter lead screw；9, variable diameter sliding block；10, belt；11,
One shaft；12, the first helical gear；13, first gear；14, the second shaft；15, second gear；16, the second helical gear；17, become
Diameter screw gear；18, third gear；19, variable diameter lead screw transmission gear group；20, slip ring；
21, mounting plate；22, pitching shaft；23, horizontal rotating shaft；24, pitching motor；25, Horizontal offset motor；26, horizontal
Retarder；27, gyro sensor；28, sensor mounting rod；29, level code device；30, pitching encoder；31, worm screw；
32, worm gear；33, swivel becket；34, reduction gear box；35, deceleration hollow shaft；36, holder encapsulating shell；37, biased gear；38, in
Heart gear；39, shell is biased；40, grip block；41, active elevating arc；42, driven elevating arc；43, active grip block connecting rod；
44, driven grip block connecting rod；45, elevating arc stirs column；46, connecting rod is actively fanned；47, driving turntable；48, manipulator shell；
49, column limit hole is stirred；50, grip block reinforces connecting rod.
51, card slot is assembled；52, the arm of stability；53, arm of stability fixed block；54, camera.
Specific embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with attached drawing, it is clear that described
Embodiment is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work belongs to practical
Novel protected range.
As shown in Figure 1, the utility model includes pipeline travelling device, holder, clamping manipulator and central processing unit；It is described
Clamping manipulator be connected by holder with pipeline travelling device；The clamping direction of holder adjustable holding manipulator.
As shown in Figure 2, Figure 3 and Figure 4, the pipeline travelling device includes main shaft 1, walking mechanism and diameter changing mechanism；
The walking mechanism includes travel driving motor 5 and along the circumferential evenly arranged three groups of walking wheel assemblies of main shaft 1,
The walking wheel assembly includes wheel leg 2, the first transmission mechanism and 3 groups of support arm；Described 3 groups of support arm include support arm 3
With support arm fixed block 4, the support arm fixed block 4 is set on main shaft 1, and described 3 one end of support arm and wheel leg 2 are cut with scissors
It connects, the other end and support arm fixed block 4 are hinged；The driving motor drives wheel leg 2 to walk by the first transmission mechanism；
The diameter changing mechanism include variable diameter driving motor 6 and with walking the one-to-one variable diameter component of wheel assembly, it is described
Variable diameter component include drive support arm 3 rotate variable diameter connecting rod 7,8 transmission mechanism of variable diameter variable diameter lead screw and third transmission mechanism,
8 transmission mechanism of variable diameter variable diameter lead screw includes variable diameter lead screw 8 and variable diameter sliding block 9, the output of the variable diameter driving motor 6
Axis connects the power intake of variable diameter lead screw 8 by third transmission mechanism, and described 7 one end of variable diameter connecting rod and variable diameter sliding block 9 are hinged,
7 other end of variable diameter connecting rod and the support arm 3 in corresponding wheel assembly are hinged.
As shown in Figure 6 and Figure 7, the clamping manipulator includes one group of grip block 40, for driving grip block 40 mobile
40 transmission mechanism of 40 driving mechanism of grip block and grip block；40 transmission mechanism of grip block includes intermeshing master
Dynamic elevating arc 41, driven elevating arc 42 and active grip block connecting rod 43 and driven grip block connecting rod 44, the active grip block connect
43 one end of bar is hinged with a grip block 40, and 43 other end of active grip block connecting rod and active elevating arc 41 are hinged, described driven
44 one end of grip block connecting rod and another grip block 40 are hinged, and driven 44 other end of grip block connecting rod and driven elevating arc 42 are cut with scissors
It connects；40 driving mechanism of grip block includes 41 transmission mechanism of 40 driving motor of grip block and active elevating arc, the folder
It holds 40 driving motor of block and drives active elevating arc 41 to rotate by 41 transmission mechanism of active elevating arc.The folder of the grip block 40
It holds and is provided with anti-skid chequer or protective pad on face, prevent the barrier of clamping from sliding during transportation.40 driving motor of grip block
It is not shown in the figure.
41 transmission mechanism of active elevating arc includes that the elevating arc being fixedly installed on active elevating arc 41 stirs column
45, the turntable connecting column actively fanning connecting rod 46 and driving turntable 47, being fixedly installed on driving turntable 47；The driving turntable
47 center is fixedly connected with 40 driving motor of grip block, described actively to fan 46 one end of connecting rod and elevating arc is stirred the rotation of column 45 and connected
It connects, the other end and turntable connecting column for actively fanning connecting rod 46 are rotatablely connected.
The cable preheating embedding line inspection obstacle removing robot further includes inspection mechanism, and the inspection mechanism includes camera shooting
First 54 and image pick-up card.The camera 54 is fixedly installed on holder.
Camera 54 is electrically connected with image pick-up card, and the first of the output end connection central processing unit of described image capture card
Input terminal, the first output end of the central processing unit connect travel driving motor 5, and the second output terminal of central processing unit connects
Variable diameter driving motor 6 is connect, the third output end of central processing unit connects 40 driving motor of grip block.
Travel driving motor 5, variable diameter driving motor 6 and 40 driving motor of grip block are all made of servo motor.
The course of work of the utility model is as follows: central processing unit controls travel driving motor 5,6 and of variable diameter driving motor
40 driving motor of grip block.
After determining the caliber of cable preheating embedding line, central processing unit controls variable diameter driving motor 6, variable diameter driving motor 6
Output shaft drives the variable diameter lead screw 8 in 8 transmission mechanism of variable diameter variable diameter lead screw to rotate by third transmission mechanism, and variable diameter lead screw 8 passes
The variable diameter sliding block 9 in variable diameter lead screw 8 in motivation structure is walked along straight line, and variable diameter sliding block 9 pushes support arm 3 by variable diameter connecting rod 7
Pipe robot row is realized so that the distance between 1 axis of wheel leg 2 and main shaft changes with the variable angle of main shaft 1
Walking apparatus stepless variable radius enables the pipeline robot walking device to walk in the pipeline of different tube diameters.
Camera 54 acquires the image in cable preheating embedding line in real time, and passes through image pick-up card for image transmitting to center
Prestore normal pipeline image in processor, in central processing unit, central processing unit by the realtime graphic of pipeline carry out respectively, locate
Reason, compares with normal pipeline image, when realtime graphic is consistent with normal picture, then illustrates that there is no barriers in pipeline；
When realtime graphic and normal picture are inconsistent, then illustrate that there are barriers in pipeline.
When robot is close to barrier in cable preheating embedding line, central processing unit, which controls travel driving motor 5, to be stopped,
Robot stops walking, and central processing unit controls the rotation of 40 driving motor of grip block, and driving turntable 47 is driven to rotate, and transmission turns
Disk 47 drives active elevating arc 41 to rotate by actively fanning connecting rod 46, the driven elevating arc 42 engaged with active elevating arc 41 and master
Dynamic elevating arc 41 rotates synchronously, and drives two grip blocks 40 to open or be closed, so that barrier be picked up.
According to the position of barrier, the clamping direction of manipulator is adjusted by holder, guarantees that manipulator picks up barrier.
The utility model is by setting main shaft 1, convenient for multiple wheel legs 2 are circumferentially arranged and are fixed, so that multiple
Wheel leg 2 is walked along tube wall.
Preferably, the walking wheel assembly is three groups, guarantees that the pipeline robot walking device is put down in the duct
Steady walking.
Preferably, the main shaft 1 is hollow shaft, and the travel driving motor 5 and variable diameter driving motor 6 are respectively set
Inside main shaft 1, the convenience of travel driving motor 5 and the installation of variable diameter driving motor 6 is greatly improved, and saves sky
Between, so that entire pipeline robot walking device structure is extremely compact, it is more suitable for this narrow space of pipeline.The row
It walks driving motor 5 and variable diameter driving motor 6 is located at two ends of main shaft 1, with travel driving motor 5 and variable diameter driving electricity
Corresponding first transmission mechanism of machine 6 and third transmission mechanism are respectively arranged at the both ends of main shaft 1, realize the reasonable cloth in space
Office, the first transmission mechanism and each self-operating of third transmission mechanism are not interfere with each other.
Preferably, 3 groups of support arm of number in walking wheel assembly is two groups, respectively from two support wheel legs of wheel leg 2
2, the bonding strength of wheel leg 2 and main shaft 1 is promoted, stability when wheel leg 2 is walked is promoted.
The wheel leg 2 includes driving wheel 2-1, driven wheel 2-2, the second transmission mechanism and mounting groove 2-3, the driving wheel
2-1 and driving wheel rotational installation are in mounting groove 2-3；The output shaft of the travel driving motor 5 is driven by the first transmission mechanism
Dynamic driving wheel 2-1 rotation, driving wheel 2-1 drive driven wheel 2-2 rotation by the second transmission mechanism.It is described in the present embodiment
Driven wheel 2-2 be provided with it is multiple, thus the stability of the enhancing pipeline robot walking device.
Preferably, the clamping manipulator further includes manipulator shell 48, and the manipulator shell 48 is for encapsulating
40 driving motor of active elevating arc 41, driven elevating arc 42 and grip block is provided on the shell and stirs column limit hole 49,
The fluctuation column limit hole stirs the motion profile setting of column 45 along elevating arc, limits the movement model that elevating arc stirs column 45
It encloses, to limit the folding range of two grip blocks 40.
Preferably, the clamping manipulator further includes that two grip blocks reinforce connecting rod 50, and a grip block adds
Strong connecting rod 50 is arranged in parallel with active grip block connecting rod 43, and both ends are cut with scissors with active elevating arc 41 and manipulator shell 48 respectively
It connects；Another grip block reinforce connecting rod 50 be arranged in parallel with driven grip block connecting rod 44, and both ends respectively with driven elevating arc 42
It is hinged with manipulator shell 48, the bonding strength of grip block 40 is enhanced, to enhance the load-bearing of clamping manipulator.
As shown in figure 5, the variable diameter connecting rod 7 includes sliding sleeve 7-1, the litter 7-2 being set in sliding sleeve 7-1 and preload bullet
Spring 7-3；9 connecting pin of variable diameter sliding block of the sliding sleeve 7-1 and variable diameter sliding block 9 are hinged, and the end of being inserted in of sliding sleeve 7-1 is provided with spring limit
Position plate 7-4, the arm connecting pin that litter 7-2 insertion end is provided with the litter limited block 7-6, litter 7-2 that prevent litter 7-1 from skidding off is set
It is equipped with arm connector 7-5, the arm connector 7-5 is hinged with support arm 3 in the variable diameter component；Preloading spring 7-3 is arranged
On litter 7-2, and preloading spring 7-3 is located between spring limiting board 7-4 and arm connector 7-5.
There are errors for the diameter measurement of pipeline, and the position of barrier and deformation is frequently present of in pipeline, this results in pre-
The pipeline robot walking device first adjusted strict can not agree with pipeline, and wheel leg 2 can not all be bonded tube wall.
Therefore, preloading spring 7-3 is set in variable diameter connecting rod 7, the preloading spring 7-3 by spring limiting board 7-4 and
Arm connector 7-5 compression pushes wheel leg 2 to be tightly bonded tube wall to give wheel leg 2 certain thrust.Hinder when existing in pipeline
Hindering object or pipeline to be recessed inwardly makes, and wheel leg 2 compresses litter 7-2 into 1 direction of main shaft retraction sliding sleeve 7-1, when pipeline outward bulge
When out or caliber is bigger than normal, compressed spring elongation, the moved end of spring pushes litter 7-2 to stretch out to 2 direction of wheel leg, to push away
Driving wheel leg 2 expands outwardly, so that the self-adapting type for realizing distance between wheel leg 2 and main shaft 1 is adjusted, greatly strengthens pipe machine
Stability when device people running gear walking ability and walking in the duct, in the duct convenient for pipeline robot walking device
Simple obstacle and the pipeline by deformation smoothly are crossed, the frictional force between wheel leg 2 and tube wall is greatly improved, to be promoted
The climbing ability of pipe robot.
As shown in figure 3, first transmission mechanism includes belt 10, the first rotating shaft parallel with driving wheel 2-1 shaft
11, the first helical gear 12 for being sheathed in first rotating shaft 11, the first gear 13 being sheathed in first rotating shaft 11, with driving wheel 2-
It the second parallel shaft 14 of 1 shaft and is arranged and the second gear 15 in the second shaft 14, the second gear 15 and first
Gear 13 engages；The second helical gear 16 is arranged on the output shaft of the travel driving motor 5；Travel driving motor 5 passes through the
The cooperation driving rotation of first rotating shaft 11 of two helical gears 16 and the first helical gear 12, the second helical gear 16 and the first helical gear 12
Realize the transmission between staggered travel driving motor 5 and first rotating shaft 11；First rotation passes through second gear 15 and first
The cooperation of gear 13 drives the rotation of the second shaft 14, and the second shaft 14 drives the rotation of driving wheel 2-1 shaft by belt 10.
Second helical gear 16 in travel driving motor 5 and three the first helical gears 12 in three groups of walking wheel assemblies
Engagement reduces number of parts, and the driving wheel 2-1 in strict guarantee three wheel legs 2 of synchronous driving, and guarantees three groups of walkings
Each part in wheel assembly is circumferentially arranged, and guarantees that pipe robot Mass Distribution is uniform.
The third transmission mechanism in the variable diameter component includes that variable diameter screw gear 17 and variable diameter lead screw pass as shown in Figure 3
Moving gear group 19, the variable diameter screw gear 17 are sheathed on the power intake of variable diameter lead screw 8 in the variable diameter component；It is described
Variable diameter driving motor 6 output shaft on be arranged with third gear 18, variable diameter driving motor 6 passes through third gear 18, variable diameter silk
The cooperation driving variable diameter lead screw 8 of thick stick driving gear set 19 and variable diameter screw gear 17 rotates.
The pipeline robot walking device, the support arm 3 and the belt 10 constitute parallelogram sturcutre,
It is extended out or the interior time receiving when adjusting wheel leg 2 by diameter changing mechanism, the angle and belt between 1 axis direction of support arm 3 and main shaft
Angle synchronous change between 10 and 1 axis direction of main shaft, support arm 3 it is synchronous with belt 10 inclination, realize wheel leg 2 extend out or
The quick adjusting of interior receipts.
The diameter changing mechanism further includes slip ring 20, and the slip ring 20 is sheathed on main shaft 1, the variable diameter group
Variable diameter sliding block 9 in part is fixedly installed on slip ring 20.In the present embodiment, slip ring 20 and 9 integration of variable diameter sliding block are set
It sets.
The setting of the slip ring 20 substantially reduces 8 torque of variable diameter lead screw so that 8 torque of variable diameter lead screw is cancelled out each other.
The walking wheel assembly further includes 52 groups of one or more arms of stability, and described 52 groups of the arm of stability include and support
The arm of stability 52 disposed in parallel of arm 3 and arm of stability fixed block 53, the arm of stability fixed block 53 is set on main shaft 1, described
52 one end of the arm of stability and wheel leg 2 it is hinged, the other end and arm of stability fixed block 53 are hinged.Any one stabilization in walking wheel assembly
Arm 52 and support arm 3 constitute parallelogram sturcutre, convenient for wheel leg 2 extend out or interior receipts.The setting of the arm of stability 52 is so that wheel
Connection relationship between leg 2 and main shaft 1 is stronger, and more steady when the walking of wheel leg 2.
8 support arm fixed block 4 of variable diameter lead screw or the rotation of at least one arm of stability fixed block 53 in the walking wheel assembly
Connection.Variable diameter lead screw 8 passes through and rotationally connected from support arm fixed block 4 or arm of stability fixed block 53, defines change
The rotary motion trace of diameter lead screw 8 is not susceptible to deviate, and guarantees that variable diameter sliding block 9 is moved along 1 axis direction of main shaft.
The utility model is circumferentially installed by setting main shaft 1 convenient for wheel leg 2, and wheel leg 2 is radial tight with pipeline along pipeline
Patch, is very suitable for along pipe walking；By the way that the support arm 3 being respectively articulated with wheel leg 2 and main shaft 1 is arranged and pushes support arm
3 tilt angles change diameter changing mechanism, realize wheel leg 2 in a certain range extend out with interior receipts so that the pipe robot
Running gear is suitable for the pipeline of different tube diameters, greatly improves the scope of application of the pipeline robot walking device.
Further, by setting the variable diameter connecting in diameter changing mechanism with support arm 3 connection to preloading spring 7-3
Telescopic rod so that the pipeline robot walking device is according to outside pipe condition in a certain range self adaptive control wheel leg 2
Expand or inside contract, further improves pipe robot there are the walking ability in the pipeline of obstacle, deformation；Preloading spring
7-3 has shock-absorbing function, improves stability when pipeline robot walking device walking；The thrust of preloading spring 7-3 makes
Increase between wheel leg 2 and tube wall with pressure and frictional force, improves the climbing ability of pipeline robot walking device.
As shown in Fig. 8, Fig. 9 and Figure 11, the utility model includes for assembling the mounting plate 21 of clamping manipulator and interlocking
Shaft assembly；The described staggeredly shaft assembly includes pitching shaft 22, horizontal rotating shaft 23 and staggeredly shaft coupling piece, the horizontal rotating shaft
23 pass through shaft coupling piece and the rotation connection of horizontal rotating shaft 23 of interlocking perpendicular to pitching shaft 22, pitching shaft 22；The installation
Plate 21 is U-shaped mounting plate 21, installs clamping manipulator on U-shaped mounting plate 21；Clamping machine is arranged and U-shaped mounting plate 21 on hand
The assembly card slot 51 matched, assembly card slot 51 is connected on U-shaped mounting plate 21, and is bolted.The pitching shaft 22
Both ends be fixedly connected with the two sidewalls of mounting plate 21；
It further include pitching driving assembly for driving pitching shaft 22 to be rotated up and down and for driving level to transfer in water
The horizontal drive component of Plane Rotation；The pitching driving assembly includes 31 driver of pitching motor 24 and 32 worm screw of worm gear
Structure, the pitching motor 24 are arranged along the vertical direction, and 24 output shaft of pitching motor is perpendicular to pitching shaft 22, so that holder
Structure it is more compact, the width of holder can satisfy the caliber of pipeline, and 24 output shaft of pitching motor passes through 32 worm screw 31 of worm gear
Transmission mechanism drives pitching shaft 22 to rotate；32 worm screw of worm gear, 31 transmission mechanism realizes staggered 24 axis of pitching motor and pitching
The transmission of shaft 22 reduces the setting of 24 retarder of pitching motor, so that cradle head structure is compact, the height of holder can also expire
Sufficient caliber limitation.
The horizontal drive component includes Horizontal offset motor 25,37 groups of biased gear and horizontal retarder 26；It is described
37 groups of biased gear include engagement biased gear 37 and central gear 38,37 face Horizontal offset electricity of the biased gear
25 output shaft of machine, the 38 face horizontal rotating shaft 23 of central gear, the output axis connection water of the Horizontal offset motor 25
The output shaft of the input shaft of flat retarder 26, horizontal retarder 26 is rotated by 37 groups of driving horizontal rotating shafts 23 of biased gear.Water
The setting of flat retarder 26 is used to reduce by 23 revolving speed of horizontal rotating shaft, so that horizontal rotating shaft 23 is more stable.
37 groups of biased gear are packaged in biasing shell 39, and biasing shell 39 is fixedly connected with pipeline travelling device.
By the driving motor setting in horizontal drive component in biasing motor, after holder is installed on pipeline travelling device,
Horizontal offset motor 25 is just arranged to be folded in the space for holding composition with two walking wheel assemblies, so that cable preheating embedding line patrols
The mechanism for examining obstacle removing robot is more compact.
It as shown in Figure 10, further include angle adjusting mechanism, the angle adjusting mechanism includes angle acquisition unit, center
Processor, level code device 29 and pitching encoder 30, the angle acquisition unit include gyro sensor 27 and sensing
Gyro sensor 27 is installed in device mounting rod 28, one end of the sensor mounting rod 28, sensor mounting rod 28 it is another
End is fixedly connected with mounting plate 21, and the level code device 29 connects the shaft of Horizontal offset motor 25, and the pitching is compiled
Code device 30 connects the shaft of pitching motor 24；
The second signal input terminal of the signal output end connection central processing unit of the gyro sensor 27, it is described
The third signal input part of the signal output end connection central processing unit of level code device 29, the letter of the pitching encoder 30
The fourth signal input terminal of number output end connection central processing unit；The fourth signal output end of the central processing unit connects horizontal
Bias the control signal of motor 25, the control of the 5th signal output end connection pitching motor 24 of the central processing unit
Input terminal processed.
Under normal conditions, relay, relay are provided in the control circuit of pitching motor 24 and Horizontal offset motor 25
The 5th signal output end and fourth signal output end for being serially connected with central processing unit respectively pass through control and pitching motor 24 and water
The on-off of the flat biasing corresponding relay of motor 25, realizes the start-up and shut-down control of pitching motor 24 and Horizontal offset motor 25.
The course of work of the utility model is as follows: central processing unit controls pitching motor 24 and Horizontal offset motor 25, from
And the angle of holder is controlled, control the clamping direction of clamping manipulator.The deviation side of the detection mounting plate 21 of gyro sensor 27
To and angle, as mounting plate 21 has offset up 30 in the vertical directiono；The result that gyro sensor 27 will test is transmitted to
In central processing unit, central processing unit operation show that pitching motor 24 need to rotate by a certain angle, to pass through 22 band of pitching shaft
Dynamic mounting plate 21 offsets downward 30o, mounting plate 21 can return to horizontal position.
Central processing unit controls pitching motor 24 and rotates, and pitching encoder 30 reads the angle that pitching motor 24 rotates, and
It feeds back in central processing unit, after pitching motor 24 rotates by a certain angle, control pitching motor 24 is out of service, installs at this time
Plate 21 returns to initial position.
As mounting plate 21 has tilted 30 in perpendicularo；The result that gyro sensor 27 will test is transmitted to center
In processor, central processing unit operation show that Horizontal offset motor 25 need to rotate by a certain angle, to pass through 23 band of horizontal rotating shaft
Dynamic mounting plate 21 is to opposite rotation 30o, mounting plate 21 can return to initial position.Central processing unit controlled level biased electrical
Machine 25 rotates, and 30 read level of pitching encoder biases the angle that motor 25 rotates, and feeds back in central processing unit, works as pitching
After rotating horizontally certain angle, controlled level biasing motor 25 is out of service, and mounting plate 21 returns to horizontal position at this time.
The utility model detects whether mounting plate 21 shifts by gyro sensor 27, and passes through central processing unit
Control pitching motor 24 and Horizontal offset motor 25 drive pitching shaft 22, horizontal rotating shaft 23 to rotate by a certain angle, so that installation
Plate 21 returns to initial position, so that holder held stationary guarantees clamping machine to greatly improve the stability of holder
The clamping direction of tool hand is accurate, promotes the clamping quality of clamping manipulator；And staggeredly shaft assembly and pitching motor 24 are rationally arranged,
So that cradle head structure is extremely compact, the caliber that can easily meet pipeline is limited.
The pitching driving assembly further includes pitching reducer structure, and 32 worm screw of worm gear, 31 transmission mechanism includes snail
Wheel 32 and worm screw 31, the output axis connection of the worm screw 31 and pitching motor 24, the worm gear 32 pass through pitching reducer
Structure drives pitching shaft 22 to rotate.The pitching driving assembly further includes pitching reducer structure, the pitching reducer structure
Including deceleration hollow shaft 35 and train of reduction gears, the internal diameter of the deceleration hollow shaft 35 is greater than the diameter of pitching shaft 22；Institute
The deceleration hollow shaft 35 stated is sheathed in pitching shaft 22；The worm gear 32 is sheathed on deceleration hollow shaft 35；Described subtracts
The input gear of fast gear set is sheathed in deceleration hollow shaft 35, and the output gear of train of reduction gears is sheathed on pitching shaft 22
On.Since the caliber of pipeline is limited, the output shaft of the pitching motor 24 cannot be directly connected to retarder.Pitching reducer structure
With the ingenious cooperation of pitching shaft 22, space is taken full advantage of, so that auxiliary cradle head structure is compact, can satisfy the restriction of caliber.
The pipe robot assists holder, and the staggeredly shaft coupling piece includes swivel becket 33, the swivel becket
33 are sheathed in pitching shaft 22, and the swivel becket 33 is fixedly connected with horizontal rotating shaft 23.
The pitching shaft 22 is circumferentially arranged to be had and the matched rotation slot of swivel becket 33.Swivel becket 33 is matched with rotation slot
It puts the palms together before one point exquisite, rotation slot limits horizontal rotating shaft 23, prevents horizontal rotating shaft 23 from shifting；Swivel becket 33 is to pitching
Shaft 22 is limited, and prevents pitching shaft 22 from being deviated；To improve accurate control when erecting bed angle resets.
The pipe robot auxiliary holder further includes reduction gear box 34, and the train of reduction gears is packaged in deceleration
In gear-box 34, train of reduction gears is protected, convenient for assisting the assembling of holder.Swivel becket 33 on the horizontal rotating shaft 23 also seals
Loaded on reduction gear box 34, the end of horizontal rotating shaft 23 is protruded into gear-box.
The pipe robot auxiliary holder further includes holder encapsulating shell 36, holder encapsulating shell 36 and pipeline travelling device
It is fixedly connected.Staggeredly shaft assembly, 32 worm screw of worm gear, 31 transmission mechanism, deceleration hollow shaft are packaged in the holder encapsulating shell 36
35,37 groups of biased gear provide protection for part.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (10)
1. a kind of cable preheating embedding line inspection obstacle removing robot, it is characterised in that: including pipeline travelling device, holder, clamping machine
Tool hand and central processing unit；The clamping manipulator is connected by holder with pipeline travelling device；
The pipeline travelling device includes main shaft, walking mechanism and diameter changing mechanism；
The walking mechanism includes travel driving motor and along the circumferentially evenly arranged multiple walking wheel assemblies of main shaft, described
Wheel assembly of walking includes wheel leg, the first transmission mechanism and support arm group；The support arm group includes that support arm and support arm are solid
Determine block, the support arm fixed block is set on main shaft, and described support arm one end and wheel leg are hinged, the other end and support arm
Fixed block is hinged；The driving motor drives wheel leg walking by the first transmission mechanism；
The diameter changing mechanism include variable diameter driving motor and with walking the one-to-one variable diameter component of wheel assembly, the variable diameter
Component includes variable diameter connecting rod, variable diameter variable diameter lead-screw drive mechanism and the third transmission mechanism for driving support arm rotation, the change
Diameter variable diameter lead-screw drive mechanism includes variable diameter lead screw and variable diameter sliding block, and the output shaft of the variable diameter driving motor is passed by third
Motivation structure connects the power intake of variable diameter lead screw, and variable diameter connecting rod one end and variable diameter sliding block are hinged, and the variable diameter connecting rod is another
One end and the support arm in corresponding wheel assembly are hinged；
The clamping manipulator includes one group of grip block, grip block driving mechanism and clamping for driving grip block mobile
Block transmission mechanism；The grip block transmission mechanism includes intermeshing active elevating arc, driven elevating arc and actively clamps
Block connecting rod and driven grip block connecting rod, described active grip block connecting rod one end and a grip block are hinged, active grip block connecting rod
The other end and active elevating arc are hinged, and described driven grip block connecting rod one end and another grip block are hinged, and driven grip block connects
The bar other end and driven elevating arc are hinged；The grip block driving mechanism includes that grip block driving motor and active elevating arc pass
Motivation structure, the grip block driving motor drive the rotation of active elevating arc by active elevating arc transmission mechanism；
First output end of the central processing unit connects travel driving motor, and the second output terminal of central processing unit, which connects, to be become
The third output end of diameter driving motor, central processing unit connects grip block driving motor.
2. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: further include survey monitor
Structure, the inspection mechanism includes camera and image pick-up card；The camera 54 is fixedly installed on holder, camera
It is electrically connected with image pick-up card, the first input end of the output end connection central processing unit of described image capture card.
3. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: the wheel leg includes
Driving wheel, driven wheel, the second transmission mechanism and mounting groove, the driving wheel and driving wheel rotational installation are in mounting groove；It is described
The output shaft of travel driving motor drives driving wheel rotation by the first transmission mechanism, and driving wheel is driven by the second transmission mechanism
Driven wheel rotation.
4. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: the variable diameter connecting rod
Including sliding sleeve, the litter and preloading spring that are set in sliding sleeve；The variable diameter sliding block connecting pin of the sliding sleeve and variable diameter sliding block are hinged,
The end of being inserted in of sliding sleeve is provided with spring limiting board, and the arm connecting pin of litter is provided with arm connector, the arm connector and institute
It is hinged to state support arm in variable diameter component；Preloading spring is set on litter, and preloading spring is located at spring limiting board and connects with arm
Between head.
5. cable preheating embedding line inspection obstacle removing robot according to claim 3, it is characterised in that: first transmission
Mechanism includes belt, the first rotating shaft parallel with driving wheel shaft, the first helical gear being sheathed in first rotating shaft, is sheathed on
It first gear in one shaft, second shaft parallel with driving wheel shaft and is arranged and the second gear in the second shaft, institute
Second gear and the first gear engagement stated；The second helical gear is arranged on the output shaft of the travel driving motor；Walking is driven
Dynamic motor drives first rotating shaft rotation by the second helical gear and the first helical gear cooperation, the first rotation by second gear with
The cooperation of first gear drives the rotation of the second shaft, and the second shaft drives driving wheel shaft to rotate by belt.
6. cable preheating embedding line inspection obstacle removing robot according to claim 1 or 2, it is characterised in that: the variable diameter
Third transmission mechanism in component includes variable diameter screw gear and variable diameter lead screw transmission gear group, the variable diameter screw gear set
The power intake of variable diameter lead screw in the variable diameter component；Third is arranged on the output shaft of the variable diameter driving motor
Gear, variable diameter driving motor drive variable diameter by the cooperation of third gear, variable diameter lead screw transmission gear group and variable diameter screw gear
Lead screw rotation.
7. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: the diameter changing mechanism
It further include slip ring, the slip ring is sheathed on main shaft, and the variable diameter sliding block in the variable diameter component is fixedly installed on
On slip ring.
8. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: the traveling wheel group
Part further includes one or more arm of stability groups, and the arm of stability group includes and the support arm arm of stability disposed in parallel and the arm of stability
Fixed block, the arm of stability fixed block are set on main shaft, and described arm of stability one end and wheel leg are hinged, the other end and stabilization
Arm fixed block is hinged.
9. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: described actively fans tooth
Wheel drive mechanism includes that the elevating arc being fixedly installed on active elevating arc stirs column, actively fans connecting rod and driving turntable, fixation
The turntable connecting column being set on driving turntable；The center of the driving turntable is fixedly connected with grip block driving motor, institute
It states and actively fans connecting rod one end and elevating arc stirs column rotation connection, the other end and turntable connecting column for actively fan connecting rod rotate company
It connects.
10. cable preheating embedding line inspection obstacle removing robot according to claim 1, it is characterised in that: the holder packet
Include mounting plate for assembling external devices and staggeredly shaft assembly；The staggeredly shaft assembly includes pitching shaft, horizontal rotating shaft
Staggeredly shaft coupling piece, the horizontal rotating shaft is perpendicular to pitching shaft；The mounting plate is rotated up and down along pitching shaft,
The mounting plate is rotated in a vertical plane along horizontal rotating shaft；
The holder further include for drive pitching shaft rotate pitching driving assembly and for driving horizontal rotating shaft to rotate
Horizontal drive component；The pitching driving assembly includes pitching motor and Worm and worm-wheel gearing, the pitching electricity
Machine is arranged along the vertical direction, and pitching motor output shaft, perpendicular to pitching shaft, pitching motor output shaft is passed by worm and gear
Motivation structure drives the rotation of pitching shaft；The horizontal drive component includes Horizontal offset motor and biased gear group；Described
Biased gear group include engagement biased gear and central gear, the biased gear face Horizontal offset motor output shaft,
The central gear face horizontal rotating shaft, the Horizontal offset motor output shaft drive horizontal rotating shaft by biased gear group
Rotation；The horizontal rotating shaft is fixedly connected with pipeline travelling device；
The holder further includes angle adjusting mechanism, and the angle adjusting mechanism includes angle acquisition unit, level code
Device and pitching encoder, the angle acquisition unit include gyro sensor and sensor mounting rod, the sensor
Gyro sensor is installed in one end of mounting rod, and the other end of sensor mounting rod is fixedly connected with mounting plate, the level
Encoder connects the shaft of Horizontal offset motor, the shaft of the pitching encoder connection pitching motor；
The second signal input terminal of the signal output end connection central processing unit of the gyro sensor, the horizontal volume
The third signal input part of the signal output end connection central processing unit of code device, the signal output end of the pitching encoder connect
Connect the fourth signal input terminal of central processing unit；The fourth signal output end connection Horizontal offset motor of the central processing unit
Control signal, the control signal of the 5th signal output end connection pitching motor of the central processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821365590.8U CN208810758U (en) | 2018-08-23 | 2018-08-23 | A kind of cable preheating embedding line inspection obstacle removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821365590.8U CN208810758U (en) | 2018-08-23 | 2018-08-23 | A kind of cable preheating embedding line inspection obstacle removing robot |
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| Publication Number | Publication Date |
|---|---|
| CN208810758U true CN208810758U (en) | 2019-05-03 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821365590.8U Expired - Fee Related CN208810758U (en) | 2018-08-23 | 2018-08-23 | A kind of cable preheating embedding line inspection obstacle removing robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109047202A (en) * | 2018-08-23 | 2018-12-21 | 国家电网有限公司 | A kind of cable preheating embedding line inspection obstacle removing robot |
| CN110274122A (en) * | 2019-06-26 | 2019-09-24 | 深圳信息职业技术学院 | Detecting robot of pipe |
| CN110455808A (en) * | 2019-07-23 | 2019-11-15 | 上海航天精密机械研究所 | Intelligent quality inspection system and method suitable for inside pipe fitting quality testing |
| CN112049230A (en) * | 2020-09-14 | 2020-12-08 | 冯波 | Manipulator clamp for pipeline plugging robot |
| CN112563968A (en) * | 2020-11-19 | 2021-03-26 | 国网山东省电力公司惠民县供电公司 | High tension transmission line top layer dirt clearing device |
| CN117533245A (en) * | 2024-01-09 | 2024-02-09 | 绵阳师范学院 | Multidirectional vision covered inspection robot |
| CN117548447A (en) * | 2024-01-10 | 2024-02-13 | 山西三水能源股份有限公司 | Heating power pipeline inner wall impurity cleaning device |
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2018
- 2018-08-23 CN CN201821365590.8U patent/CN208810758U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109047202A (en) * | 2018-08-23 | 2018-12-21 | 国家电网有限公司 | A kind of cable preheating embedding line inspection obstacle removing robot |
| CN110274122A (en) * | 2019-06-26 | 2019-09-24 | 深圳信息职业技术学院 | Detecting robot of pipe |
| CN110455808A (en) * | 2019-07-23 | 2019-11-15 | 上海航天精密机械研究所 | Intelligent quality inspection system and method suitable for inside pipe fitting quality testing |
| CN112049230A (en) * | 2020-09-14 | 2020-12-08 | 冯波 | Manipulator clamp for pipeline plugging robot |
| CN112049230B (en) * | 2020-09-14 | 2021-07-13 | 昶旻(苏州)信息科技有限公司 | Manipulator clamp for pipeline plugging robot |
| CN112563968A (en) * | 2020-11-19 | 2021-03-26 | 国网山东省电力公司惠民县供电公司 | High tension transmission line top layer dirt clearing device |
| CN117533245A (en) * | 2024-01-09 | 2024-02-09 | 绵阳师范学院 | Multidirectional vision covered inspection robot |
| CN117533245B (en) * | 2024-01-09 | 2024-03-08 | 绵阳师范学院 | Multidirectional vision covered inspection robot |
| CN117548447A (en) * | 2024-01-10 | 2024-02-13 | 山西三水能源股份有限公司 | Heating power pipeline inner wall impurity cleaning device |
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Granted publication date: 20190503 Termination date: 20210823 |