CN220934871U - Pipeline inspection robot driving device - Google Patents
Pipeline inspection robot driving device Download PDFInfo
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- CN220934871U CN220934871U CN202322269052.6U CN202322269052U CN220934871U CN 220934871 U CN220934871 U CN 220934871U CN 202322269052 U CN202322269052 U CN 202322269052U CN 220934871 U CN220934871 U CN 220934871U
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- inspection robot
- pipeline inspection
- splitter plate
- driving
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- 230000009467 reduction Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 22
- 230000016776 visual perception Effects 0.000 claims abstract description 4
- 229910052751 metal Inorganic materials 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 239000004020 conductor Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000012212 insulator Substances 0.000 description 3
- 210000000078 claw Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000027294 Fusi Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of pipeline inspection robots, in particular to a driving device of a pipeline inspection robot, which comprises a control system, a driving system, a visual perception system and a power supply system, wherein the control system is respectively and electrically connected with the driving system, a digital image transmission system and a lighting system; the battery is electrically connected with the splitter plate, the power switch is connected between the battery and the splitter plate in series, the splitter plate is electrically connected with the two-way voltage reduction module, the splitter plate is respectively electrically connected with the digital image transmission system and the driving system, and the two-way voltage reduction module is respectively electrically connected with the control system and the lighting system. According to the utility model, the power supply system can meet the power supply requirements of each control element by adding the splitter plate and the voltage reducing module, and the voltage regulating capability of the pipeline inspection robot is improved.
Description
Technical Field
The utility model relates to the technical field of pipeline inspection robots, in particular to a driving device of a pipeline inspection robot.
Background
Along with the increasing demand of people for electric power, the number and the installed capacity of hydropower stations in China are improved year by year, and the inspection demands for hydropower stations are also expanding continuously. In the daily inspection process of a hydropower station, maintenance and overhaul of the isolated phase enclosed bus pipeline of the generator set are always important points and difficulties in the inspection process. The isolated phase enclosed bus pipeline is used as a circular through pipeline, and has a unique double pipeline and pipe sleeve structure, so that workers cannot directly observe the internal environment of the pipeline visually, and the traditional manual disassembly overhaul mode has the defects of large equipment injury, long time consumption, high labor cost and the like.
In the prior art, the isolated phase enclosed bus pipeline has a complex double-pipeline structure with a large pipe sleeve and a small pipe. The outer tube is used as an insulating shell and plays a role in protecting and insulating the isolated phase enclosed bus. The insulating housing is an aluminium tube of diameter 1.45m, typically 6-10 mm thick. The diameter of the conductor was 0.9m. An insulator is present between the insulating housing and the conductor as a support for the inner conductor. Each group of insulators is spaced about 2.6m apart along the length of the tube, and is arranged in groups of three at 120 ° angles to each other.
The gap height of the pipeline gap (robot inspection space) of the phase separation closed bus pipeline is in the range of 22-28 cm, and the opening size of the insulator is a circular opening of 19 cm.
In addition, the pipeline of the isolated phase enclosed bus pipeline meanders, and has a straight channel section, a turning section and a climbing section, so that the pipeline is required to be rotated by a robot, not only is good movement in the straight channel section ensured, but also the robot can turn in the pipeline (enter the curve from the straight channel) and climb (self gravity is required to be overcome). Therefore, various driving devices and sensing devices are required to be additionally arranged on the robot body according to different requirements of robot control, and higher requirements are provided for acquisition of sensing signals of the robot and control instruction transmission of the driving devices. The existing pipeline inspection robot cannot adjust and stabilize the internal power supply voltage, so that the stability of sensing signal receiving and instruction transmission is poor.
Aiming at the problem of poor voltage regulation capability of a pipeline inspection robot in the related art, no effective solution is proposed at present.
Disclosure of utility model
The utility model aims to provide a driving device of a pipeline inspection robot, which is characterized in that a current is respectively supplied to a digital image transmission system, a driving system and a voltage reduction module through a current distribution plate by adding the current distribution plate and the voltage reduction module into a power supply system, the voltage reduction module is respectively used for supplying power to a lighting system and a control system after voltage reduction, so that the power supply requirement of the pipeline inspection robot can be met, and the voltage regulation capability of the pipeline inspection robot is improved.
The embodiment of the utility model is realized by the following technical scheme: the pipeline inspection robot driving device is suitable for a pipeline inspection robot, and comprises a control system, a driving system, a visual perception system and a power supply system, wherein the control system is respectively and electrically connected with the driving system, a digital image transmission system and a lighting system, the power supply system is respectively and electrically connected with the control system, the driving system, the digital image transmission system and the lighting system, and the power supply system comprises a battery, a power switch, a splitter plate and a two-way voltage reduction module;
The battery is electrically connected with the splitter plate, the power switch is connected between the battery and the splitter plate in series, the splitter plate is electrically connected with the two-way voltage reduction module, the splitter plate is electrically connected with the digital image transmission system and the driving system respectively, and the two-way voltage reduction module is electrically connected with the control system and the lighting system respectively.
According to a preferred embodiment, the control system comprises a handheld control terminal in communication with a receiver and a main controller, the receiver being electrically connected to the main controller.
According to a preferred embodiment, the main controller is electrically connected to the digital image transmission system and the lighting system respectively via relays.
According to a preferred embodiment, the digital image transmission system comprises a space terminal and a camera, wherein the splitter plate is electrically connected with the sky terminal, and the space terminal is electrically connected with the camera.
According to a preferred embodiment, the main controller is an Arduino UNO single-chip microcomputer.
According to a preferred embodiment, the power switch is a self-locking metal switch.
According to a preferred embodiment, the battery is a model airplane battery.
The technical scheme of the driving device of the pipeline inspection robot has at least the following advantages and beneficial effects: according to the utility model, the current is respectively supplied to the digital image transmission system, the driving system and the voltage reduction module through the current distribution plate by adding the current distribution plate and the voltage reduction module into the power supply system, and the voltage reduction module respectively supplies power to the lighting system and the control system after voltage reduction, so that the power supply requirement of the pipeline inspection robot can be met, and the voltage regulation capability of the pipeline inspection robot is improved.
Drawings
Fig. 1 is a block diagram of a driving device of a pipeline inspection robot according to embodiment 1 of the present utility model;
fig. 2 is a block diagram of a power supply system of a pipeline inspection robot according to embodiment 1 of the present utility model.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Example 1
The embodiment of the utility model provides a driving device of a pipeline inspection robot, which is suitable for the pipeline inspection robot. Referring to fig. 1, fig. 1 is a block diagram of a driving device of a pipeline inspection robot.
Specifically, the power supply system comprises a battery, a power switch, a splitter plate and a two-way voltage reduction module; in one implementation of this embodiment, the battery of the power supply system is a 3S model airplane battery with an output voltage of 11.1V and a battery capacity of 5000mAh, and the power switch is a self-locking small metal switch. Further, the battery is electrically connected with the splitter plate, the splitter plate is electrically connected with the two-way voltage reduction module, the splitter plate is respectively electrically connected with the digital image transmission system and the driving system, and 11.1V current is respectively fed into the digital image transmission system, the driving system and the voltage reduction module through the splitter plate; in one implementation of this example, the drive system consists of 4 KM2WAY5A brush-fed electric tones and 8 5882-50ZY brushless motors; in addition, the robot also comprises mechanical claws, wherein the mechanical claws are driven by 4 5882-50ZY miniature steering engines, and the miniature steering engines are powered by a two-way voltage reduction module and controlled by a main controller. Further, the self-locking small-sized metal switch is connected in series between the 3S model airplane battery and the splitter plate.
Further, the two-way voltage reduction module is electrically connected with the control system and the lighting system respectively. The 11.1V current which is shunted to the two-way voltage reducing module is subjected to voltage reduction by the two-way voltage reducing module and then is respectively supplied to the lighting system and the control system, wherein the current which is supplied to the lighting system is 3.7V current, and the current which is supplied to the control system is 5V current, so that the power supply requirement of the pipeline inspection robot is met, and the voltage regulation capability of the pipeline inspection robot is improved.
In one implementation of this embodiment, the pipeline inspection robot may support remote control; specifically, the control system comprises a handheld control terminal, a receiver and a main controller, wherein the handheld control terminal is in communication connection with the receiver, and the receiver is electrically connected with the main controller; the handheld control terminal adopts a Fusi FS-i6 remote controller, and the receiver adopts Fusi IA6B matched with the remote controller, and issues an operation instruction for the receiver through the remote controller. Further, after the signal received by the receiver is identified by the singlechip, the PWM signal is analyzed through a preset analysis algorithm, and further, the main controller is respectively electrically connected with the digital image transmission system and the lighting system through the relay, the digital image transmission system comprises a space end and a camera, the splitter plate is electrically connected with the space end, the space end is electrically connected with the camera, the digital image transmission system and the lighting system are respectively connected with a relay, the relay is controlled by the singlechip, and then the switch of the visual perception system and the lighting system is controlled, so that the robot is controlled in real time to realize the functions of walking, visual information collection and lighting.
In summary, the current is respectively supplied to the digital image transmission system, the driving system and the voltage reduction module through the current dividing plate by adding the current dividing plate and the voltage reduction module into the power supply system, the lighting system and the control system after the voltage reduction of the voltage reduction module, so that the power supply requirement of the pipeline inspection robot can be met, and the voltage regulation capability of the pipeline inspection robot is improved.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (7)
1. The pipeline inspection robot driving device is suitable for a pipeline inspection robot and comprises a control system, a driving system, a visual perception system and a power supply system, wherein the control system is respectively and electrically connected with the driving system, a digital image transmission system and a lighting system, and the power supply system is respectively and electrically connected with the control system, the driving system, the digital image transmission system and the lighting system;
The battery is electrically connected with the splitter plate, the power switch is connected between the battery and the splitter plate in series, the splitter plate is electrically connected with the two-way voltage reduction module, the splitter plate is electrically connected with the digital image transmission system and the driving system respectively, and the two-way voltage reduction module is electrically connected with the control system and the lighting system respectively.
2. The pipe inspection robot driving apparatus according to claim 1, wherein the control system comprises a handheld control terminal, a receiver, and a main controller, the handheld control terminal being in communication with the receiver, the receiver being electrically connected with the main controller.
3. The driving device of the pipeline inspection robot according to claim 2, wherein the main controller is electrically connected with the digital image transmission system and the lighting system through relays, respectively.
4. The drive unit of a pipeline inspection robot according to claim 3, wherein the digital image transmission system comprises a space terminal and a camera, the splitter plate is electrically connected with the sky terminal, and the space terminal is electrically connected with the camera.
5. The driving device of the pipeline inspection robot according to any one of claims 2 to 4, wherein the main controller adopts an Arduino UNO single-chip microcomputer.
6. The drive for a pipeline inspection robot according to claim 5, wherein said power switch is a self-locking metal switch.
7. The pipe inspection robot driving apparatus according to claim 5, wherein said battery is a model airplane battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322269052.6U CN220934871U (en) | 2023-08-22 | 2023-08-22 | Pipeline inspection robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322269052.6U CN220934871U (en) | 2023-08-22 | 2023-08-22 | Pipeline inspection robot driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220934871U true CN220934871U (en) | 2024-05-10 |
Family
ID=90937713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322269052.6U Active CN220934871U (en) | 2023-08-22 | 2023-08-22 | Pipeline inspection robot driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220934871U (en) |
-
2023
- 2023-08-22 CN CN202322269052.6U patent/CN220934871U/en active Active
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