CN210806572U

CN210806572U - GIL pipeline inspection robot

Info

Publication number: CN210806572U
Application number: CN201921395449.7U
Authority: CN
Inventors: 张长虹; 杨旭; 黎卫国; 黄忠康
Original assignee: Maintenance and Test Center of Extra High Voltage Power Transmission Co
Current assignee: Maintenance and Test Center of Extra High Voltage Power Transmission Co
Priority date: 2019-08-26
Filing date: 2019-08-26
Publication date: 2020-06-19
Anticipated expiration: 2029-08-26

Abstract

The utility model discloses a GIL pipeline inspection robot, including fuselage, moving system, cleaning system and power module, moving system is including setting up the track in the fuselage bottom, the track is provided with two with the axis symmetry of fuselage to be parallel to each other, the track inclines to the outside of fuselage, cleaning system sets up and is used for cleaning and collecting the interior piece debris of GIL pipeline in the fuselage below, power module sets up inside the fuselage for provide electric power for the robot. The utility model discloses a track to the fuselage extroversion of two parallels can walk steadily in the GIL pipeline to be equipped with cleaning system on the fuselage, can clean the inside piece of GIL pipeline and debris, get rid of the various internal fault that debris aroused, also need not to disintegrate the GIL pipeline simultaneously and overhaul, effectively reduce staff's work load, improve holistic work efficiency.

Description

GIL pipeline inspection robot

Technical Field

The utility model relates to a tracking robot technical field, concretely relates to GIL pipeline inspection robot.

Background

In recent years, with the accelerated progress of 'one-way' construction and 'clean energy' construction in China, the 'atmospheric pollution prevention plan' is implemented completely, and ultra-high voltage alternating current and direct current projects are spread comprehensively, in the projects, construction and operation and maintenance management have more difficulties, and particularly in river-crossing, nuclear power and hydroelectric projects, the problems of large vertical drop, high altitude icing, electromagnetic interference, ecological environment protection and the like of a power transmission line are faced, so that the adoption of a gas insulated rigid closed line (GIL) is the most effective method for solving the problem of a power transmission corridor and is key equipment for development of the ultra-high voltage alternating current and direct current projects in the future.

However, since the device has the characteristics of long pipeline and all-metal sealing, there are many technical bottlenecks in the operation and maintenance process, which reduces the operation reliability and power transmission efficiency of the GIL device, such as:

1. the device is difficult to pass through external tests, and meanwhile, the defects of dust impurities, loosening of fasteners, falling of foreign matters and the like cannot be found in advance by means of obtaining image information inside the device and the like, so that the defects are often caused to develop into short-circuit faults under long-term electrification.

2. When impurities such as dust and foreign matters appear at the bottom of the GIL pipeline, the distortion can be caused to an electric field and an insulation fault is caused in the operation, and the target section of the GIL pipeline is disassembled and maintained at present without a better means, so that a large amount of manpower, materials and time are wasted.

3. Because the length of the air chamber of the GIL can reach about 1000m, the GIL of the tunnel can even reach more than dozens of km, after an internal fault occurs, the fault position is difficult to be accurately positioned, and the workload of on-site disassembly inspection is greatly increased.

It is seen that there is a need for a tracking robot for GIL pipe that replaces the previous work to improve the work efficiency.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a GIL pipeline patrols and examines robot.

In order to achieve the above purpose, the technical scheme of the utility model is that:

the utility model provides a GIL pipeline inspection robot, includes fuselage, moving system, cleaning system and power module, the moving system is including setting up the track in the fuselage bottom, the track is provided with two with the axis symmetry of fuselage to be parallel to each other, the track inclines to the outside of fuselage, cleaning system sets up and is used for cleaning and collecting the interior debris of GIL pipeline in the fuselage below, power module sets up inside the fuselage for provide electric power for the robot.

Further, the cleaning system is including setting up the brush and the piece collection storehouse of cleaning in the fuselage bottom, clean the brush and include the pivot and fixed a plurality of brush hairs that set up at the pivot end, the pivot is rotated with the fuselage bottom and is connected to make the pivot rotate around its axle center, the piece collection storehouse sets up in the rear of cleaning the brush to collect the piece debris in the GIL pipeline.

Furthermore, the device also comprises a camera module, wherein the camera module is used for collecting the internal condition of the GIL pipeline. By the arrangement, field workers can better know the current situation inside the GIL pipeline.

Further, camera module is including setting up the high definition camera at both ends around the fuselage, the LED banks is installed to the below of high definition camera.

Further, camera module is still including setting up the posture camera in the fuselage, the posture camera includes branch and rotates the support of connecting in the one end of branch, it has the camera to articulate on the support, the other end and the fuselage of branch are articulated for whole posture camera has 3 degrees of freedom. In this way, because the internal structure of the GIL pipeline is complex, when the robot runs in the GIL, the image on the upper side of the GIL cannot be checked due to the existence of the bus, and therefore the camera is arranged to shoot the image.

Further, the system also comprises a wireless transmission module, wherein the wireless transmission module is used for exchanging data with the working personnel outside the GIL pipeline.

Furthermore, the robot further comprises an induction module, the induction module comprises an ultrasonic sensor arranged on the outer side of the robot body and a gyroscope arranged in the robot body, and the induction module is used for assisting the robot to achieve the functions of steering, obstacle avoidance and the like.

Further, a charging port is arranged behind the machine body and connected with the power supply module.

Compared with the prior art, the utility model, have following advantage:

the utility model discloses a track to the fuselage extroversion of two parallels can walk steadily in the GIL pipeline to be equipped with cleaning system on the fuselage, can clean the inside piece of GIL pipeline and debris, get rid of the various internal fault that debris aroused, also need not to disintegrate the GIL pipeline simultaneously and overhaul, effectively reduce staff's work load, improve holistic work efficiency.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the GIL pipeline inspection robot;

FIG. 2 is a schematic diagram of the internal structure of the GIL pipeline inspection robot;

FIG. 3 is an enlarged schematic view of portion A of FIG. 2;

description of reference numerals: 1. a body; 2. a crawler belt; 31. cleaning a brush; 311. brushing; 32. a debris collection bin; 41. a high-definition camera; 42. an LED lamp group; 43. a bracket type camera; 431. a strut; 432. a support; 433. a camera; 5. a charging port.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

As shown in figures 1 and 2, the GIL pipeline inspection robot comprises a robot body 1, a moving system, a cleaning system, a camera module, a wireless transmission module, an induction module and a power module, wherein the moving system comprises a crawler 2 arranged at the bottom of the robot body 1, the crawler 2 is symmetrically arranged with the central axis of the robot body 1, and the crawler 2 is arranged in parallel with the central axis of the robot body 1 and inclines towards the outer side of the robot body 1, and the aim of the robot is to adapt to the inner diameter of the GIL pipeline so as to better walk in the circular pipeline.

Cleaning system sets up and is used for cleaning and collecting the interior piece debris of GIL pipeline in fuselage 1 below, cleaning system is including setting up cleaning brush 31 and the piece collection storehouse 32 in fuselage 1 bottom, there are two, the axis symmetry setting along fuselage 1 in fuselage 1 bottom, cleaning brush 31 includes the pivot and fixed 3 brush hairs 311 that set up at the pivot end, the pivot is connected with 1 bottom of fuselage rotation, so that the pivot rotates around its axle center, piece collection storehouse 32 sets up the rear at cleaning brush 31, when two cleaning brush 31 rotate, opposite direction, sweep the piece debris collection storehouse 32 in the rear into with piece debris simultaneously, in order to collect the piece debris in the GIL pipeline.

As shown in fig. 2 and 3, the camera module is used for collecting the internal condition of the GIL pipe. Specifically, the camera module comprises high-definition cameras 41 arranged at the front end and the rear end of the body 1, the high-definition cameras 41 support starlight night vision, a Sony MCCD-S image processing chip is mounted, and an LED lamp group 42 is mounted below the high-definition cameras 41 and used for improving illumination for the high-definition cameras 41. The camera module is still including setting up posture camera 43 in fuselage 1, the purpose of setting up posture camera 43 is, because GIL pipeline inner structure is complicated, when the robot went in the GIL, because of the generating line exists, can't look over the image of GIL upside, consequently set up this camera 433 and carry out the shooting to it, posture camera 43 includes branch 431 and rotates the support 432 of connecting in the one end of branch 431, it has camera 433 to articulate on the support 432, the other end and the fuselage 1 of branch 431 are articulated, make whole posture camera 43 have 3 degrees of freedom. The bracket type camera 43 is driven by a motor driving module arranged inside the body 1 to rotate and rise or fall, the motor driving module is a module consisting of a motor, a rotating shaft and a gear, and the motor driving module is conventional in the field and is not described in an excessive way.

And the wireless transmission module is used for exchanging data with the working personnel outside the GIL pipeline. Because GIL equipment is all metallic shield, consequently, the robot of current patent all need to exhaust GIS or GIL equipment on using at present, and the lid processing is torn open, just can ensure control signal's transport, consequently the wireless transmission module of this application transmits data through the repeater. Specifically, a repeater may be disposed at one end of the GIL pipe to accomplish data transmission and control directly with the robot.

The induction module comprises sensors (not shown in the attached drawings) such as a built-in ultrasonic sensor and a gyroscope of the system, the main function is used for assisting the robot to run in a complicated GIL pipeline, and the induction module is used for assisting the robot to realize the functions of steering, obstacle avoidance and the like, such as: the two tracks 2 can be adjusted in real time according to data of a built-in gyroscope of the robot to carry out speed correction on the direction of the robot, the robot is guaranteed to be in a linear horizontal form in a GIL pipeline, the robot is subjected to operation such as turning and turning around through a remote control platform according to the condition of the pipeline, and intelligent obstacle avoidance driving is carried out according to feedback data of the built-in ultrasonic sensor. Specifically, how to control the differential operation of the robot track 2 and achieve the functions of obstacle avoidance, and the like belongs to a conventional method in the technical field, is not a main body of the application, and is not described herein.

The power module is arranged inside the body 1 and used for providing power for the robot. Specifically, the power module can be a 12AH loose 18650 high-capacity lithium battery, has the characteristics of high energy density, high safety performance, high replaceable performance and the like, and can safely and stably provide power for the robot. And a charging port 5 is further arranged at the rear part of the robot body 1, and the charging port 5 is connected with a power supply module to charge the robot.

The utility model discloses a track 2 to the 1 outer slope of fuselage of two parallels, adaptation pipeline internal diameter can walk steadily in the GIL pipeline to being equipped with cleaning system on the fuselage 1, can cleaning the inside piece of GIL pipeline and debris, getting rid of the various internal fault that debris arouse, also need not to disintegrate the GIL pipeline simultaneously and overhauls. The robot is provided with the camera module and the wireless transmission module, so that a worker can be better helped to know the condition inside the GIL pipeline, and meanwhile, the induction module of the robot can well improve the assistance for the running of the robot. The utility model provides a pipeline inspection robot effectively reduces staff's work load, improves holistic work efficiency.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. The utility model provides a robot is patrolled and examined to GIL pipeline which characterized in that: including fuselage (1), moving system, cleaning system and power module, moving system is including setting up track (2) in fuselage (1) bottom, track (2) are provided with two with the axis symmetry of fuselage (1) to be parallel to each other, track (2) are to the outside slope of fuselage (1), cleaning system sets up and is used for cleaning and collecting debris in the GIL pipeline in fuselage (1) below, power module sets up inside fuselage (1) for provide electric power for the robot.

2. The GIL pipeline inspection robot according to claim 1, wherein: cleaning system collects storehouse (32) including setting up cleaning brush (31) and the piece in fuselage (1) bottom, cleaning brush (31) including pivot and fixed a plurality of brush hairs (311) that set up at the pivot end, the pivot is rotated with fuselage (1) bottom and is connected to make the pivot rotate around its axle center, piece collection storehouse (32) set up in the rear of cleaning brush (31) to collect the piece debris in the GIL pipeline.

3. The GIL pipeline inspection robot according to claim 1, wherein: the device is characterized by further comprising a camera module, wherein the camera module is used for collecting the internal condition of the GIL pipeline.

4. The GIL pipeline inspection robot according to claim 3, wherein: the camera module comprises high-definition cameras (41) arranged at the front end and the rear end of the body (1), and an LED lamp bank (42) is installed below the high-definition cameras (41).

5. The GIL pipeline inspection robot according to claim 4, wherein: camera module is still including setting up posture camera (43) in fuselage (1), posture camera (43) include branch (431) and rotate support (432) of connecting in the one end of branch (431), it has camera (433) to articulate on support (432), the other end and fuselage (1) of branch (431) are articulated for whole posture camera (43) have 3 degrees of freedom.

6. The GIL pipeline inspection robot according to claim 1, wherein: the system also comprises a wireless transmission module, wherein the wireless transmission module is used for exchanging data with the working personnel outside the GIL pipeline.

7. The GIL pipeline inspection robot according to claim 1, wherein: the robot is characterized by further comprising a sensing module, wherein the sensing module comprises an ultrasonic sensor arranged on the outer side of the robot body (1) and a gyroscope arranged in the robot body (1), and the sensing module is used for assisting the robot to achieve the functions of steering and obstacle avoidance.

8. The GIL pipeline inspection robot according to claim 1, wherein: the rear of the machine body (1) is provided with a charging port (5), and the charging port (5) is connected with a power module.