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Cable pre-buried pipeline tour-inspecting and obstacle removing robot

A technology for pre-buried pipelines and robots, which is applied in the directions of manipulators, motor vehicles, cleaning hollow objects, etc., can solve problems such as pipeline deformation and block diameter, and achieve the effect of improving the scope of application and improving stability.

Pending Publication Date: 2018-12-21
STATE GRID CORP OF CHINA +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the diameter of optical cable pipes is generally in the range of 150-200 mm, with various specifications, and pipe deformation and blockage will affect the pipe diameter. The existing pipe robot walking device is far from being able to meet such complex pipe diameter requirements.

Method used

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  • Cable pre-buried pipeline tour-inspecting and obstacle removing robot
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  • Cable pre-buried pipeline tour-inspecting and obstacle removing robot

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Embodiment Construction

[0042] Such as figure 1 As shown, the present invention includes a pipeline running device, a cloud platform, a clamping manipulator and a central processing unit; the clamping manipulator is connected to the pipeline running device through the cloud platform; the clamping direction of the clamping manipulator can be adjusted by the cloud platform.

[0043] Such as figure 2 , image 3 and Figure 4 As shown, the pipeline running device includes a main shaft 1, a running mechanism and a variable diameter mechanism;

[0044] The traveling mechanism includes a traveling drive motor 5 and three sets of traveling wheel assemblies uniformly arranged along the circumference of the main shaft 1, and the traveling wheel assemblies include 3 groups of wheel legs 2, a first transmission mechanism and a support arm; the described The support arm 3 group comprises support arm 3 and support arm fixed block 4, and described support arm fixed block 4 is arranged on the main shaft 1, and d...

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Abstract

The invention discloses a cable pre-buried pipeline tour-inspecting and obstacle removing robot. The cable pre-buried pipeline tour-inspecting and obstacle removing robot comprises a cable pre-buriedpipeline walking device, a pan and tilt head, a clamping manipulator and a central processing unit; the cable pre-buried pipeline walking device comprises a walking driving motor and a plurality of walking wheel assemblies uniformly arranged in the circumferential direction of a main shaft, the walking wheel assemblies comprise wheel legs and supporting arms, the two ends of the supporting arms are hinged to the wheel legs and hinged to the main shaft correspondingly, and the driving motor drives the wheel legs; a variable-diameter mechanism comprises a variable-diameter driving motor, variable-diameter connecting rods and lead screw transmission mechanisms, the two ends of the variable-diameter connecting rods are hinged to sliding blocks and the supporting arms correspondingly, the variable-diameter driving motor pushes the inclination of the supporting arms to be changed through the lead screw transmission mechanisms and the variable-diameter connecting rods so as to achieve the extension state, clamping blocks and a clamping block driving motor are involved; and the central processing unit controls the walking driving motor, the variable-diameter driving motor and the clampingblock driving motor, so that the robot walks to a pipeline obstacle, and the clamping manipulator clamps the obstacle so as to clear the obstacle in a pipeline.

Description

technical field [0001] The invention relates to the technical field of pipeline robots, in particular to a cable pre-embedded pipeline inspection and obstacle removal robot. Background technique [0002] Underground cables and communication optical cables are important components of the power system and the basis for ensuring the reliability of power supply. Now more and more cities use underground cable transmission and distribution to replace overhead transmission lines. As a necessity for underground cable laying, cable ducts are rapidly increasing in use. [0003] During the use of the cable duct, various duct blockages will occur, resulting in the inability of the cable to pass through. If the obstacles in the cable duct are not cleaned in time, accidents may occur, which will affect the construction progress and cause unnecessary losses. However, the environment where the cable duct is located is often difficult to reach directly or does not allow personnel to direct...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B08B9/049B08B9/051B25J15/02B25J5/00B62D57/02
CPCB62D57/02B08B9/0492B08B9/051B25J5/00B25J15/0213
Inventor 赵新卫吴国松魏乐刘斌李鑫超
Owner STATE GRID CORP OF CHINA
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