CN212182959U - Self-propelled distribution network cable pipeline inspection device - Google Patents
Self-propelled distribution network cable pipeline inspection device Download PDFInfo
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- CN212182959U CN212182959U CN202021157801.6U CN202021157801U CN212182959U CN 212182959 U CN212182959 U CN 212182959U CN 202021157801 U CN202021157801 U CN 202021157801U CN 212182959 U CN212182959 U CN 212182959U
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Abstract
The utility model provides a self-propelled distribution network cable duct inspection device, including three-jaw chuck and four-jaw chuck that divide left and right sides to set up, a linking bridge for linking three-jaw chuck and four-jaw chuck fixedly, the driven wheel subassembly of 1 group of fixed setting respectively on 3 jack catchs that three-jaw chuck has, the drive wheel subassembly of 1 group of fixed setting respectively on 4 jack catchs that four-jaw chuck has, the industrial camera of fixed department of locating in the middle of the upper end face of three-jaw chuck, the LED lamp area on the fixed end face of three-jaw chuck of locating, the controller that is used for electric main control and the battery case that is used for providing the power between fixed three-jaw chuck, four-jaw chuck and the linking bridge; the drive wheel subassembly includes that 4 receive mu wheel and 4 drives and receive the motor that mu wheel was used, and industry camera, LED lamp area and 4 motors are connected with the controller electricity respectively, and the controller is connected with the battery case electricity. The utility model discloses can effectively be applicable to different cable duct inspection usefulness, current ability is strong and the operation is reliable and stable.
Description
Technical Field
The utility model relates to an electric power robot technical field, concretely relates to self-propelled distribution network cable pipeline inspection device.
Background
At present, a power cable used in an urban power distribution network is generally laid by embedding an MPP pipe (power cable protection pipe, cable pipe) underground, that is, the MPP pipe is embedded underground at a set line, and then the power cable is laid in the embedded MPP pipe in a penetrating manner. The pre-buried MPP pipe has the circumstances such as the foreign matter because of various reasons probably exist in shriveling, damaged, jam and the pipeline, if carry out new cable laying promptly under the unknown circumstances of the interior state of the MPP pipeline that has buried to the underground, then probably because of the MPP pipe shriveling, block up and cause the cable can't wear to move, MPP pipe damage or have the foreign matter fish tail cable to bring the potential safety hazard scheduling problem of operation in the pipeline. Therefore, the MPP pipeline which is held and embedded in palm before the cable is laid through the pipe and the condition of the interior of the MPP pipeline are very important. At present, the inspection of underground pre-buried MPP pipes before laying power cables is mainly carried out by devices similar to robots, for example, Chinese patent document with an authorization publication number of CN205341417U discloses a cable pipeline inspection and cleaning robot, which inspects the internal state of a pipeline by a camera detection assembly comprising a holder arranged on a vehicle body, a camera arranged on the holder and illumination types at two sides, and the motion of the robot in the pipeline is realized by a walking driving device arranged at two sides of the vehicle body and driven by a motor. It has the problems that: because the structure that its multiunit walking wheel was installed on the automobile body limits, it is relatively poor to make it actually pass through and the ability of surmounting obstacles in circular MPP pipeline, influences the result of use, and is not strong to the MPP pipeline inspection suitability of different pipe diameters simultaneously. Therefore, it is necessary to develop a more suitable cable duct inspection device.
SUMMERY OF THE UTILITY MODEL
The utility model aims at: to the problems existing in the prior art, the self-propelled distribution network cable pipeline inspection device is effectively suitable for the cable pipeline inspection of different inner diameters, and is high in traffic capacity and stable and reliable in operation.
The technical scheme of the utility model is that: the utility model discloses a self-propelled distribution network cable duct inspection device, its structural feature is: the three-jaw chuck and the four-jaw chuck are arranged left and right, a connecting support is used for fixedly connecting the three-jaw chuck and the four-jaw chuck, 1 group of driven wheel assemblies are respectively and fixedly arranged on 3 jaws of the three-jaw chuck, 1 group of driving wheel assemblies are respectively and fixedly arranged on 4 jaws of the four-jaw chuck, an industrial camera is fixedly arranged in the middle of the upper end face of the three-jaw chuck, an LED lamp strip is fixedly arranged on the upper end face of the three-jaw chuck, a controller for electric main control and a battery box for providing a power supply are fixedly arranged among the three-jaw chuck, the four-jaw chuck and the connecting support; the driving wheel assembly comprises 4 nahme wheels and 4 motors for driving the nahme wheels, the industrial camera, the LED lamp strip and the 4 motors are respectively electrically connected with the controller, and the controller is electrically connected with the battery box.
The further scheme is as follows: the driving wheel assembly further comprises 4 motor supports and 4 connecting flanges, wherein the 4 motor supports are respectively fixedly arranged on 4 second clamping jaws of the four-jaw chuck, 1 motor is respectively fixedly arranged on the 4 motor supports, and the 4 motors are respectively in transmission connection with 1 micrometer wheel through the 1 connecting flange.
The further scheme is as follows: the motor support comprises a chuck connecting plate, a middle connecting plate and a motor mounting plate, wherein the middle connecting plate is a trapezoidal plate body, the top edge and the bottom edge of the middle connecting plate are respectively and vertically integrated or fixedly connected with the lower ends of the chuck connecting plate and the motor mounting plate, and a U-shaped groove for abdicating is arranged on the motor mounting plate; the motor bracket is fixedly connected with the jaws of the four-jaw chuck through a chuck connecting plate, so that 4 motor brackets are fixedly arranged on 4 jaws of the four-jaw chuck; the motor is provided with a shell and a transmission shaft extending outwards from the shell; the transmission shaft is provided with a flange connecting pin hole; the motor is by its casing and motor support's motor mounting panel fixed connection, and the transmission shaft outwards stretches out from the U-shaped groove of motor support's motor mounting panel to with 4 motors fixed settings respectively in 4 motor support.
The further scheme is as follows: the connecting flange is formed by integrally or fixedly connecting a nanometer wheel connecting disc and a motor shaft connecting sleeve; the Nam wheel connecting disc is a flat cylindrical member, and the connecting flanges are connected with a transmission shaft of the motor through a motor shaft connecting sleeve and then are in pin joint, so that 4 motors are correspondingly in transmission connection with 4 connecting flanges; the nanometer wheel comprises a wheel hub, and the nanometer wheel is fixedly connected with a nanometer wheel connecting disc bolt of a connecting flange through the wheel hub, so that 4 nanometer wheels are correspondingly connected with 4 connecting flanges in a transmission manner.
The further scheme is as follows: the connecting bracket comprises a mounting connecting plate, a first connecting support plate and a second connecting support plate; the mounting connecting plate is a square plate, connecting holes for mounting are formed in the mounting connecting plate, and the mounting connecting plate is provided with 2 blocks with the same structure; the first connecting support plate and the second connecting support plate are strip-shaped plate members with the same length, and two ends of the first connecting support plate and the second connecting support plate are respectively and vertically and fixedly connected or integrally connected with 1 mounting connection plate; the first connecting support plate and the second connecting support plate are vertically and fixedly connected or integrally connected; the connecting support is provided with 4, and 4 connecting supports are respectively fixedly connected with the lower end faces of the first and second three-jaw chucks through the mounting connecting plates on two sides of the connecting support.
The further scheme is as follows: the driven wheel assembly comprises a guide frame, a roller support movably arranged on the guide frame, a roller rotatably arranged on the roller support, a spring plug fixedly arranged on the guide frame and a spring arranged in the guide frame, wherein two ends of the spring are respectively abutted against the roller support and the spring plug; the driven wheel assembly is fixedly connected with the jaws of the three-jaw chuck through a guide frame of the driven wheel assembly.
The further scheme is as follows: the guide frame is formed by integrally or fixedly connecting a body and 2 mounting ear plates arranged on two sides of the lower end of the body, the body is a structural member which is integrally rectangular, a through hole is formed in the middle of the body along the length direction of the body, the through hole is formed by connecting a round hole and a square hole, the round hole is provided with connecting threads on the inner wall close to the port, and the mounting ear plates are provided with screw mounting holes; the guide frame is fixedly connected with a claw screw of the three-jaw chuck through 2 mounting lug plates; the spring plug is a structural member which is integrally in a flat cylinder shape, the outer peripheral wall of the spring plug is provided with connecting threads, the middle of the outer end face of the spring plug is provided with a hexagonal counter bore, and the spring is arranged in a round hole of the body of the guide frame; the spring plug and the round hole are in threaded connection with each other and arranged on the guide frame.
The further scheme is as follows: the roller bracket is formed by integrating or fixedly connecting a spring abutting part and a roller mounting part, the spring abutting part is a flat cylindrical piece, and the outer diameter of the spring abutting part is smaller than the inner diameter of the round hole of the guide frame; the roller mounting part is a structural member which is integrally rectangular, the size of the roller mounting part is matched with that of the square hole of the guide frame, and the outer side of the roller mounting part is provided with a roller mounting groove and 2 wheel shaft mounting holes which are vertically communicated with the roller mounting groove; the spring abutting part of the roller bracket is arranged in the round hole of the guide frame, the roller mounting part of the roller bracket penetrates through the square hole of the guide frame and then extends outwards, and the spring abutting part of the roller bracket abuts against one end of the spring; the roller is matched with 2 wheel shaft mounting holes of the roller mounting part of the roller bracket through a rotating shaft arranged on the roller and is rotatably arranged in the roller mounting groove of the roller mounting part of the roller bracket.
The further scheme is as follows: the LED lamp strip is provided with 3, and 1 LED lamp strip is fixedly arranged between every 2 claws on the upper end surface of the three-claw chuck.
The further scheme is as follows: the battery box comprises a box body and a battery pack arranged in the box body and used for supplying power to the device; the controller comprises a shell and a circuit device arranged in the shell, wherein the circuit device comprises an image processing module, a single chip microcomputer module, a wireless communication module, a GPS (global positioning system) positioning module, a motor control module and a power supply conversion module, the image processing module, the wireless communication module, the GPS positioning module and the motor control module are respectively and electrically connected with the single chip microcomputer module, the input end of the image processing module is electrically connected with the signal output end of the industrial camera, and the power supply ends of 4 motors are electrically connected with the motor control module; when the intelligent controller is used, the single chip microcomputer module of the controller interacts with ground background information which is matched with the controller through the wireless communication module, the single chip microcomputer module controls power supplies of the 4 motors through the motor control module, and the power supply conversion module converts the voltage of the power supply output by the battery pack in the battery box and then provides a working power supply for the controller, the LED lamp strip and the motors.
The utility model discloses has positive effect: (1) the utility model discloses a self-propelled distribution network cable duct inspection device, it is through on 3 jack catchs that will locate three-jaw chuck including 3 groups of driven wheel subassemblies including the gyro wheel are fixed, will include 4 by motor drive receive the fixed 4 jack catchs of locating four-jaw chuck of drive assembly including the thumb wheel on, utilize the radial adjustable characteristic of the jack catch of three-jaw chuck and four-jaw chuck, according to the internal diameter of the cable duct that needs the inspection during use, corresponding radial adjustment three-jaw chuck's 3 jack catchs and four-jaw chuck's 4 jack catchs are for the position of chuck body separately, can make gyro wheel on each jack catch with receive the inner wall laminating of thumb wheel and cable duct, thereby make the inspection that this device can effectively adapt to the cable duct of different pipe diameters use, the suitability is strong. (2) The utility model discloses a self-propelled distribution network cable duct inspection device, its design through the structure makes it when the cable duct moves, and 3 gyro wheels on the three-jaw chuck are under the effect of the spring that corresponds, from 3 not equidirectional all the time keep with cable duct inner wall elastic contact, 4 receive the thumb wheel from not equidirectional all the time keep with cable duct inner wall in close contact with to make this device can be stable, the reliable operation in the cable duct, current ability is strong. (3) The utility model discloses a self-propelled distribution network cable duct inspection device, its whole body is columniform physique structural design, makes it be suitable for and moves in circular shape cable duct. (4) The utility model discloses a self-propelled distribution network cable duct inspection device, its controller are equipped with GPS orientation module, if can send the accurate location of intraductal obstacle position for ground backstage when meetting the obstacle in the inspection so that the staff handles fast. (5) The utility model discloses a self-propelled distribution network cable duct inspection device, it is through setting up the LED banks at front, still relative power saving when can provide enough illumination for the industry camera.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the present invention when viewed from the front;
fig. 3 is a schematic structural view of the present invention when viewed from the rear;
FIG. 4 is a schematic view of the three-jaw chuck of FIG. 1;
FIG. 5 is a schematic view of the four-jaw chuck of FIG. 1;
FIG. 6 is a schematic view of a construction of the linking bracket of FIG. 1;
FIG. 7 is a perspective view of the driven wheel assembly of FIG. 1 with the rollers removed;
FIG. 8 is a schematic plan view of the driven wheel assembly of FIG. 1 with the rollers removed;
3 FIG. 3 9 3 is 3 a 3 sectional 3 view 3 taken 3 along 3 line 3 A 3- 3 A 3 of 3 FIG. 3 8 3; 3
FIG. 10 is a schematic structural view of a guide frame of the driven wheel assembly of FIG. 7;
FIG. 11 is a schematic view of the roller bracket of the driven wheel assembly of FIG. 7;
FIG. 12 is a schematic diagram of a spring plug of the driven wheel assembly of FIG. 7;
FIG. 13 is a schematic view of the motor support of the drive wheel assembly of FIG. 1;
FIG. 14 is an external schematic view of the motor driving the wheel assembly of FIG. 1;
FIG. 15 is a schematic structural view of an attachment flange of the drive wheel assembly of FIG. 1;
FIG. 16 is a schematic view of a right-handed nanomer wheel of the drive wheel assembly of FIG. 1;
FIG. 17 is a schematic view of a left-handed nahme wheel of the drive wheel assembly of FIG. 1;
fig. 18 is a schematic block diagram of the circuit structure of the present invention;
fig. 19 is a schematic view of the present invention in use inside a cable duct.
The reference numbers in the above figures are as follows:
the clamping device comprises a three-jaw chuck 1, a first chuck body 11, a first jaw adjusting operation hole 11-1, a connecting support mounting hole 11-2, a first jaw 12 and a guide frame mounting hole 12-1;
the four-jaw chuck 2, the second chuck body 21, the second jaw adjusting operation hole 21-1, the second jaw 22 and the motor support mounting hole 22-1;
the connecting bracket 3, the mounting connecting plate 31, the connecting hole 31-1, the first connecting support plate 32 and the second connecting support plate 33;
the driven wheel assembly 4, the guide frame 41, the body 41-1, the round hole 41-1-1, the mounting lug plate 41-2, the screw mounting hole 41-2-1, the roller bracket 42, the spring abutting part 42-1, the roller mounting part 42-2, the roller mounting groove 42-2-1, the axle mounting hole 42-2-2, the roller 43, the spring 44, the spring plug 45 and the hexagonal counter bore 45-1;
the device comprises a driving wheel assembly 5, a motor bracket 51, a chuck connecting plate 51-1, a connecting and fixing hole 51-1-1, a middle connecting plate 51-2, a motor mounting plate 51-3, a U-shaped groove 51-3-1 and a motor fixing hole 51-3-2; the motor 52, the shell 52-1, the bracket connecting hole 52-1-1, the transmission shaft 52-2 and the flange connecting pin hole 52-2-1; the structure comprises a connecting flange 53, a nanometer wheel connecting disc 53-1, a connecting bolt hole 53-1-1, a motor shaft connecting sleeve 53-2 and a pin hole 53-2-1; a right-handed Name wheel 54, a hub 54-1, a bolt hole 54-1-1, a roller 54-2 and a left-handed Name wheel 55;
the system comprises an industrial camera 6, an LED lamp strip 7, a controller 8 and a battery box 9;
a cable duct 100.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
(example 1)
Referring to fig. 1 to 3, the self-propelled distribution network cable duct inspection device of the embodiment mainly comprises a three-jaw chuck 1, a four-jaw chuck 2, a connecting support 3, a driven wheel assembly 4, a driving wheel assembly 5, an industrial camera 6, an LED strip 7, a controller 8 and a battery box 9.
Referring to fig. 4, the three-jaw chuck 1 is commercially available. The three-jaw chuck 1 comprises a circular first chuck body 11, 3 first jaws 12 uniformly distributed on the upper end surface of the first chuck body 11 and a jaw adjusting and driving mechanism (not shown in the figure) arranged in the first chuck body 11, wherein the first chuck body 11 is provided with a first jaw adjusting operation hole 11-1 and a connecting bracket mounting hole 11-2; the first jaw 12 is provided with a guide frame mounting hole 12-1. The 3 first jaws 12 can be adjusted in radial position by driving the first jaw adjustment operation hole 11-1 on the first chuck body 11 through the jaw adjustment driving mechanism in the first chuck body 11 by a hexagon wrench. The structure and the working principle of the three-jaw chuck 1 are well known in the art and will not be described in detail. For convenience of description, the end face of the three-jaw chuck 1 provided with the jaws is defined as an upper end face, and the other end face of the three-jaw chuck 1 not provided with the jaws is defined as a lower end face.
Referring to fig. 5, the four-jaw chuck 2 is commercially available. The four-jaw chuck 2 comprises a circular second chuck body 21, 4 second jaws 22 uniformly distributed on the upper end surface of the second chuck body 21, and a jaw adjusting and driving mechanism (not shown in the figure) arranged in the second chuck body 21, wherein a second jaw adjusting operation hole 21-1 is formed in the second chuck body 21, and a motor support mounting hole 22-1 is formed in the second jaw 22. Likewise, the 4 second claws 22 can be made adjustable in position in the radial direction by driving the second claw adjustment operation hole 21-1 on the second chuck body 21 with a hexagonal wrench by a claw adjustment driving mechanism in the second chuck body 21. The structure and the working principle of the four-jaw chuck 2 are mature prior art and will not be described in detail. For convenience of description, the end surface of the four-jaw chuck 2 provided with the jaws is defined as an upper end surface, and the other end surface of the four-jaw chuck 2 not provided with the jaws is defined as a lower end surface.
Referring to fig. 6, as an embodiment, the connection bracket 3 is mainly composed of a mounting connection plate 31, a first connection support plate 32 and a second connection support plate 33; the mounting connecting plate 31 is a square plate, a connecting hole 31-1 for mounting is arranged on the mounting connecting plate 31, and 2 mounting connecting plates 31 with the same structure are arranged; the first connection support plate 32 and the second connection support plate 33 are both elongated plate members, and the first connection support plate 32 and the second connection support plate 33 have the same length. The two ends of the first connecting support plate 32 and the second connecting support plate 33 are respectively and vertically fixedly connected or integrally connected with 1 mounting connection plate 31; the first connection support plate 32 and the second connection support plate 33 are vertically fixedly connected or integrally connected. The number of the connecting brackets 3 is preferably 4 in this embodiment, and the 4 connecting brackets 3 are respectively fixedly connected with the lower end surfaces of the three-jaw chuck 1 and the four-jaw chuck 2 through the matching of the mounting connecting plates 31 on the two sides thereof by screws through corresponding mounting holes.
Driven wheel assembly 4 includes guide frame 41, roller bracket 42, roller 43, spring 44 and spring plug 45. The driven wheel assemblies 4 are provided with 3 same groups, and 1 group of the driven wheel assemblies 4 are fixedly arranged on 3 claws 12 of the three-claw chuck 1 respectively.
Referring to fig. 7 to 10, the guiding frame 41 is composed of a body 41-1 and 2 mounting ear plates 41-2 disposed at two sides of the lower end of the body 41-1, which are integrally or fixedly connected, the body 41-1 is a rectangular structural member, and preferably, two sides of the upper end of the body 41-1 are provided with inclined surfaces to facilitate passing when in use. The body 41-1 is provided with a through hole in the middle along the length direction, the through hole of the body 41-1 is formed by connecting a round hole 41-1-1 and a square hole, the diameter of the round hole 41-1-1 is larger than the maximum side length of the square hole, and the round hole 41-1-1 is provided with a thread for connection on the inner wall close to the port so as to install a spring plug 45; the mounting ear plate 41-2 is provided with a screw mounting hole 41-2-1.
Referring to fig. 11, the roller bracket 42 is formed by integrally or fixedly connecting a spring abutting portion 42-1 and a roller mounting portion 42-2, the spring abutting portion 42-1 is a flat cylindrical member, and the outer diameter of the spring abutting portion 42-1 is smaller than the inner diameter of the circular hole 41-1-1 of the through hole of the body 41-1; the roller mounting part 42-2 is a cuboid structural member, the size of the roller mounting part 42-2 is matched with the size of the square hole of the through hole of the body 41-1, and the outer side of the roller mounting part 42-2 is provided with a roller mounting groove 42-2-1 and 2 wheel shaft mounting holes 42-2-2 vertically communicated with the roller mounting groove 42-2-1.
Referring to fig. 12, the spring plug 45 is a structural member which is a flat cylinder as a whole, the outer peripheral wall of the spring plug 45 is provided with a thread for connection, and the middle of the outer end surface of the spring plug 45 is provided with a hexagonal counter bore 45-1 for mounting a force.
Referring to FIG. 9, the spring abutting portion 42-1 of the roller bracket 42 is disposed in the circular hole 41-1-1 of the through hole of the body 41-1 of the guide frame 41, the roller mounting portion 42-2 of the roller bracket 42 passes through the square hole of the through hole of the body 41-1 of the guide frame 41 and then extends outward, the spring plug 45 is screwed with the circular hole 41-1-1 of the through hole of the body 41-1 of the guide frame 41 and is connected with the body 41-1 of the guide frame 41, the spring 44 is disposed in the circular hole 41-1-1 of the through hole of the body 41-1 of the guide frame 41, one end of the spring 44 abuts against the spring plug 45, the other end of the spring 44 abuts against the spring abutting portion 42-1 of the roller bracket 42, the roller 43 is rotatably disposed on the roller mounting portion 42 of the roller bracket 42 by matching with 2 axle mounting holes 42-2-2-2 of the roller mounting portion 42-2 of the 42-2 is mounted in the roller mounting groove 42-2-1.
The driven wheel assembly 4 is matched with the guide frame mounting hole 12-1 on the first claw 12 of the three-claw chuck 1 through the screw mounting hole 41-2-1 of the 2 mounting lug plates 41-2 of the guide frame 41, and is fixedly connected through a screw, so that 1 group of driven wheel assemblies 4 are fixedly arranged on each first claw 12.
Still referring to fig. 1-3, the drive wheel assembly 5 includes 4 motor mounts 51, 4 motors 52, 4 attachment flanges 53, and 4 nam wheels (collectively, mecanum wheels). 4 motor supports 51 are respectively and fixedly arranged on 4 second clamping jaws 22 of the four-jaw chuck 2, 4 motors 52 are respectively and fixedly arranged on 1 motor support 51, and 4 motors 52 are respectively in transmission connection with 1 nahme wheel through 1 connecting flange 53. When in use, 4 nahme wheels are correspondingly driven by 4 motors 52 to move. 2 of the 4 nam wheels are right-handed nam wheels 54 and 2 are left-handed nam wheels 55.
Referring to fig. 13, the motor bracket 51 mainly comprises a chuck connecting plate 51-1, a middle connecting plate 51-2 and a motor mounting plate 51-3, the middle connecting plate 51-2 is a trapezoidal plate, the middle connecting plate 51-2 is vertically and integrally connected or fixedly connected with the lower ends of the chuck connecting plate 51-1 and the motor mounting plate 51-3 by the top edge and the bottom edge of the trapezoid of the middle connecting plate 51-2, and a connecting and fixing hole 51-1-1 is arranged on the chuck connecting plate 51-1; the motor mounting plate 51-3 is provided with a U-shaped groove 51-3-1 for abdicating and a motor fixing hole 51-3-2; the motor bracket 51 is matched with the motor bracket mounting holes 22-1 of the second jaws 22 of the four-jaw chuck 2 through the connecting and fixing holes 51-1-1 on the chuck connecting plate 51-1, and is fixedly connected by screws, so that 4 motor brackets 51 are fixedly arranged on the 4 second jaws 22 of the four-jaw chuck 2.
Referring to fig. 14, the motor 52 is a commercially available dc motor, the motor 52 having a housing 52-1 and a drive shaft 52-2 extending outwardly from the housing 52-1; the shell 52-1 is provided with a bracket connecting hole 52-1-1, and the transmission shaft 52-2 is provided with a flange connecting pin hole 52-2-1; the motor 52 is fixedly connected with the motor fixing hole 51-3-2 of the motor mounting plate 51-3 of the motor bracket 51 by a bolt through the bracket connecting hole 52-1-1 on the shell 52-1 of the motor 52, and the transmission shaft 52-2 extends outwards from the U-shaped groove 51-3-1 of the motor mounting plate 51-3 of the motor bracket 51, so that 4 motors 52 are respectively and fixedly arranged in 4 motor brackets 51.
Referring to fig. 15, the connecting flange 53 is formed by integrally or fixedly connecting a nahme wheel connecting disc 53-1 and a motor shaft connecting sleeve 53-2; the Nam wheel connecting disc 53-1 is a flat cylindrical member, a connecting bolt hole 53-1-1 is formed in the Nam wheel connecting disc 53-1, and a pin hole 53-2-1 is formed in a motor shaft connecting sleeve 53-2; after the connecting flange 53 is inserted into the transmission shaft 52-2 of the motor 52 through the motor shaft connecting sleeve 53-2, the motor 52 is connected with the connecting flange 53 through the pin hole 53-2-1 of the motor shaft connecting sleeve 53-2 and the flange connecting pin hole 52-2-1 of the transmission shaft 52-2 of the motor 52 by a pin joint by a matched bolt, so that 4 motors 52 are correspondingly connected with 4 connecting flanges 53 in a transmission way.
Referring to fig. 16 and 17, the right-handed nanomer wheel 54 comprises a hub 54-1 and a plurality of rollers 54-2 arranged on the hub 54-1, a bolt hole 54-1-1 for connection is formed in the hub 54-1, the right-handed nanomer wheel 54 is matched with a connection bolt hole 53-1-1 on a nanomer wheel connection plate 53-1 of the connection flange 53 through the bolt hole 54-1-1 on the hub 54-1 of the right-handed nanomer wheel 54, and is fixedly connected through bolts, so that the 2 right-handed nanomer wheels 54 are in transmission connection with the corresponding 2 connection flanges 53. The construction of the left-handed nam wheel 55 is substantially the same as the construction of the right-handed nam wheel 54 except that the rollers are arranged on the hub in opposite directions. The left-handed nam wheel 55 is connected to the connecting flange 53 in the same manner as the right-handed nam wheel 54, so that 2 left-handed nam wheels 55 are drivingly connected to the other 2 corresponding connecting flanges 53. Both the right-handed and left- handed nahme wheels 54, 55 are commercially available. The matching arrangement position and driving principle of the 2 right-handed nanomer wheels 54 and the 2 left-handed nanomer wheels 55 are mature prior art and are not described in detail.
Still referring to fig. 1 and 2, the industrial camera 6 is a commercially available industrial-grade video camera having an infrared photographing and waterproof function, and the industrial camera 6 is fixedly disposed at the center of the upper end surface of the first chuck body 11 of the three-jaw chuck 1.
LED lamp area 7 is fixed to be located on the preceding terminal surface of three-jaw chuck 1, and preferably, LED lamp area 7 is equipped with 3, and 3 LED lamp areas 7 are located respectively fixedly and are set up 1 between every 2 first jack catchs 11 on the up end of three-jaw chuck 1. The LED light strip 7 provides illumination for the industrial camera 6 when in use, so that video images taken by the industrial camera 6 are clearer.
Referring to fig. 1 and 18, the controller 8 and the battery case 9 are fixedly disposed in a space surrounded by the three-jaw chuck 1, the four-jaw chuck 2, and the 4 connecting brackets 3. The controller 8 and the battery box 9 can be fixedly connected with the three-jaw chuck 1 and the four-jaw chuck 2, the connecting bracket 3, the three-jaw chuck 1, the four-jaw chuck 2 and the connecting bracket 3. The battery compartment 9 includes a compartment body and a battery pack disposed within the compartment body for powering the device. The controller 8 is used for electrical main control of the device, the controller 8 comprises a shell and a circuit device arranged in the shell, the circuit device of the controller 8 comprises an image processing module, a single chip microcomputer module, a wireless communication module, a GPS positioning module, a motor control module and a power supply conversion module, the image processing module, the wireless communication module, the GPS positioning module and the motor control module are respectively and electrically connected with the single chip microcomputer module, and the input end of the image processing module is electrically connected with the signal output end of the industrial camera 6; the power supply ends of the 4 motors 52 are all electrically connected with the motor control module. The image processing module is used for processing video images sent by the industrial camera 6 and then sending the video images to the single chip microcomputer module, the GPS positioning module is used for providing positioning information, when the intelligent mobile phone is used, the single chip microcomputer module of the controller 8 is in information interaction with a ground background (such as a smart phone, a notebook computer and the like) which is arranged in a matched mode through the wireless communication module, the single chip microcomputer module controls power supplies of the 4 motors 52 through the motor control module, and the power supply conversion module is used for converting the voltage of the power supply output by the battery pack in the battery box 9 and then providing working power supplies for the controller 8, the LED lamp strip 7 and the motors 52. It should be noted that the structure, the electrical connection relationship between the functional blocks, and the functions of the functional blocks in the circuit device of the controller 8 are well-established prior art and will not be described in detail.
Referring to fig. 19, in the self-propelled distribution network cable pipeline inspection device of the embodiment, when in use, according to the inner diameter of the cable pipe 100 to be inspected, the positions of 3 first claws 12 of the three-claw chuck 1 and 4 second claws 22 of the four-claw chuck 2 relative to the first chuck body 11 and the second chuck body 21 are adjusted radially, so that 3 rollers 43 of the driven wheel assembly 4 and 4 nahme wheels of the driving wheel assembly 5 are both in contact with the inner wall of the cable pipe 101, then the power supply of the industrial camera 5 is turned on and the working power supply of the controller 8 is switched on, then the device is placed in the cable pipe 100 to be inspected, the 4 nahme wheels generate axial thrust under the driving of the positive rotation of the 4 motors 52, so that the device moves forwards slowly in the cable pipe 100, under the illumination of the LED strip 7, the picture shot by the industrial camera 6 is wirelessly transmitted to the ground background for real-time inspection by the worker through the controller 8, if the worker judges that an impassable obstacle exists in front according to the video image, the worker controls the motor 52 to rotate reversely through the ground background wireless control motor, the device automatically returns to the starting position, and the worker carries out accurate positioning on the position where the obstacle is located through a GPS positioning signal transmitted by the controller 8 so as to carry out corresponding obstacle removal processing; if the device runs in the cable pipe 100 in the whole course without an obstacle which can not be crossed, the device is driven out from the other port of the cable pipe 100 under the continuous pushing of 4 nahme wheels to complete the inspection, and a worker can judge whether the cable pipe 100 is damaged or not and whether foreign matters need to be processed or not by utilizing a video image received by a ground background and perform corresponding processing. This device moves in cable duct 100, 3 gyro wheels 43 on the three-jaw chuck 1 under the effect of the spring 44 that corresponds, from 3 not equidirectional all the time keep with cable duct 100 inner wall elastic contact, 4 rollers that receive the mu wheel keep all the time with cable duct 100 inner wall in close contact with from not equidirectional to make this device can be stable, the reliable operation in cable duct 100.
The above embodiments are illustrative of the specific embodiments of the present invention, but not limiting to the present invention, and those skilled in the relevant art can also make various changes and modifications to obtain the equivalent technical solutions without departing from the spirit and scope of the present invention, so that all equivalent technical solutions should fall under the protection scope of the present invention.
Claims (10)
1. The utility model provides a self-propelled distribution network cable duct inspection device which characterized in that: the three-jaw chuck and the four-jaw chuck are arranged left and right, a connecting support is used for fixedly connecting the three-jaw chuck and the four-jaw chuck, 1 group of driven wheel assemblies are respectively and fixedly arranged on 3 jaws of the three-jaw chuck, 1 group of driving wheel assemblies are respectively and fixedly arranged on 4 jaws of the four-jaw chuck, an industrial camera is fixedly arranged in the middle of the upper end face of the three-jaw chuck, an LED lamp strip is fixedly arranged on the upper end face of the three-jaw chuck, a controller for electric main control and a battery box for providing a power supply are fixedly arranged among the three-jaw chuck, the four-jaw chuck and the connecting support; the drive wheel subassembly includes that 4 receive mu wheel and 4 drives and receive the motor that mu wheel was used, industry camera, LED lamp area and 4 motors are connected with the controller electricity respectively, and the controller is connected with the battery case electricity.
2. The self-propelled distribution network cable duct inspection device of claim 1, wherein: the drive wheel subassembly still includes 4 motor support and 4 flange, 4 motor support respectively fixedly set up 1 on 4 second jack catchs of four-jaw chuck, 4 motors respectively fixed mounting 1 on 4 motor support, 4 motors are respectively connected with 1 through 1 flange and 1 and receive the mu wheel transmission.
3. The self-propelled distribution network cable duct inspection device of claim 2, wherein: the motor support comprises a chuck connecting plate, a middle connecting plate and a motor mounting plate, wherein the middle connecting plate is a trapezoidal plate body, the top edge and the bottom edge of the middle connecting plate are respectively and vertically integrated or fixedly connected with the lower ends of the chuck connecting plate and the motor mounting plate, and a U-shaped groove for abdicating is arranged on the motor mounting plate; the motor bracket is fixedly connected with the jaws of the four-jaw chuck through a chuck connecting plate, so that 4 motor brackets are fixedly arranged on 4 jaws of the four-jaw chuck; the motor has a housing and a drive shaft extending outwardly from the housing; the transmission shaft is provided with a flange connecting pin hole; the motor is by its casing and motor support's motor mounting panel fixed connection, and the transmission shaft outwards stretches out from the U-shaped groove of motor support's motor mounting panel to with 4 motors fixed settings respectively in 4 motor support.
4. The self-propelled distribution network cable duct inspection device of claim 3, wherein: the connecting flange is formed by integrally or fixedly connecting a nanometer wheel connecting disc and a motor shaft connecting sleeve; the Nam wheel connecting disc is a flat cylindrical member, and the connecting flanges are connected with a transmission shaft of the motor through a motor shaft connecting sleeve and then are in pin joint, so that 4 motors are correspondingly in transmission connection with 4 connecting flanges; the nanmu wheel comprises a wheel hub, and the nanmu wheel is fixedly connected with a nanmu wheel connecting disc bolt of a connecting flange through the wheel hub, so that 4 nanmu wheels are correspondingly in transmission connection with 4 connecting flanges.
5. The self-propelled distribution network cable duct inspection device of claim 1, wherein: the connecting bracket comprises a mounting connecting plate, a first connecting support plate and a second connecting support plate; the mounting connecting plate is a square plate member, a connecting hole for mounting is formed in the mounting connecting plate, and 2 mounting connecting plates with the same structure are arranged; the first connecting support plate and the second connecting support plate are strip-shaped plate members with the same length, and two ends of the first connecting support plate and the second connecting support plate are respectively and vertically and fixedly connected or integrally connected with 1 mounting connection plate; the first connecting support plate and the second connecting support plate are vertically and fixedly connected or integrally connected; the connecting support is provided with 4, and 4 connecting supports are respectively fixedly connected with the lower end faces of the first and second three-jaw chucks through the mounting connecting plates on two sides of the connecting support.
6. The self-propelled distribution network cable duct inspection device of claim 1, wherein: the driven wheel assembly comprises a guide frame, a roller support movably arranged on the guide frame, a roller rotatably arranged on the roller support, a spring plug fixedly arranged on the guide frame and a spring arranged in the guide frame, wherein two ends of the spring are respectively abutted against the roller support and the spring plug; the driven wheel assembly is fixedly connected with the jaws of the three-jaw chuck through a guide frame of the driven wheel assembly.
7. The self-propelled distribution network cable duct inspection device of claim 6, wherein: the guide frame is formed by integrally or fixedly connecting a body and 2 mounting ear plates arranged on two sides of the lower end of the body, the body is a structural member which is integrally rectangular, a through hole is formed in the middle of the body along the length direction of the body, the through hole is formed by connecting a round hole and a square hole, the round hole is provided with connecting threads on the inner wall close to the port, and the mounting ear plates are provided with screw mounting holes; the guide frame is fixedly connected with a claw screw of the three-jaw chuck through 2 mounting lug plates; the spring plug is a structural member which is integrally in a flat cylinder shape, threads for connection are arranged on the outer peripheral wall of the spring plug, a hexagonal counter bore is arranged in the middle of the outer end face of the spring plug, and the spring is arranged in a round hole of the body of the guide frame; the spring plug and the round hole are in threaded connection with each other and arranged on the guide frame.
8. The self-propelled distribution network cable duct inspection device of claim 7, wherein: the roller bracket is formed by integrally or fixedly connecting a spring abutting part and a roller mounting part, the spring abutting part is a flat cylindrical piece, and the outer diameter of the spring abutting part is smaller than the inner diameter of the round hole of the guide frame; the roller mounting part is a structural member which is integrally rectangular, the size of the roller mounting part is matched with that of the square hole of the guide frame, and the outer side of the roller mounting part is provided with a roller mounting groove and 2 wheel shaft mounting holes which are vertically communicated with the roller mounting groove; the spring abutting part of the roller bracket is arranged in the round hole of the guide frame, the roller mounting part of the roller bracket penetrates through the square hole of the guide frame and then extends outwards, and the spring abutting part of the roller bracket abuts against one end of the spring; the roller is matched with 2 wheel shaft mounting holes of the roller mounting part of the roller bracket through a rotating shaft arranged on the roller and is rotatably arranged in the roller mounting groove of the roller mounting part of the roller bracket.
9. A self-propelled distribution network cable duct inspection device of any of claims 1-8, wherein: the LED lamp area is equipped with 3, and 3 LED lamp areas are fixed respectively and are set up 1 between every 2 jack catchs on the up end of three-jaw chuck.
10. A self-propelled distribution network cable duct inspection device of any of claims 1-8, wherein: the battery box comprises a box body and a battery pack arranged in the box body and used for supplying power to the device; the controller comprises a shell and a circuit device arranged in the shell, wherein the circuit device comprises an image processing module, a single chip microcomputer module, a wireless communication module, a GPS (global positioning system) positioning module, a motor control module and a power supply conversion module, the image processing module, the wireless communication module, the GPS positioning module and the motor control module are respectively and electrically connected with the single chip microcomputer module, the input end of the image processing module is electrically connected with the signal output end of the industrial camera, and the power supply ends of 4 motors are electrically connected with the motor control module; when the intelligent controller is used, the single chip microcomputer module of the controller interacts with ground background information which is matched with the controller through the wireless communication module, the single chip microcomputer module controls power supplies of the 4 motors through the motor control module, and the power supply conversion module converts the voltage of the power supply output by the battery pack in the battery box and then provides a working power supply for the controller, the LED lamp strip and the motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021157801.6U CN212182959U (en) | 2020-06-19 | 2020-06-19 | Self-propelled distribution network cable pipeline inspection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021157801.6U CN212182959U (en) | 2020-06-19 | 2020-06-19 | Self-propelled distribution network cable pipeline inspection device |
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| Publication Number | Publication Date |
|---|---|
| CN212182959U true CN212182959U (en) | 2020-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021157801.6U Expired - Fee Related CN212182959U (en) | 2020-06-19 | 2020-06-19 | Self-propelled distribution network cable pipeline inspection device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111614014A (en) * | 2020-06-19 | 2020-09-01 | 国网江苏省电力有限公司常州供电分公司 | Self-propelled distribution network cable pipeline inspection device |
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2020
- 2020-06-19 CN CN202021157801.6U patent/CN212182959U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111614014A (en) * | 2020-06-19 | 2020-09-01 | 国网江苏省电力有限公司常州供电分公司 | Self-propelled distribution network cable pipeline inspection device |
| CN111614014B (en) * | 2020-06-19 | 2024-06-28 | 国网江苏省电力有限公司常州供电分公司 | Self-propelled distribution network cable duct inspection device |
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