An inspection robot for power pipe galleries

Abstract

The present invention relates to an inspection robot for a power pipe gallery, which comprises a plurality of hanging plates uniformly arranged along the direction of the power pipe gallery, ropes connected between adjacent hanging plates, and a walking mechanism arranged on the ropes. A robot body is arranged at the bottom of the walking mechanism in a liftable manner; the walking mechanism comprises a U-shaped mounting frame. Rollers are rotatably arranged on the upper parts of the side plates of the mounting frame. A square slot is axially formed in the inner end of the roller. A square inserting rod is inserted into the slot. A first tension spring is arranged between the inserting rod and the bottom of the slot. A supporting wheel is coaxially fixed on the inner side of the roller. An upper wire pressing wheel is fixed at the free end of the inserting rod; a hinge seat is fixedly arranged on the side plate of the mounting frame directly below the roller. A connecting rod that can only swing up and down is hinged on the hinge seat. A lower wire pressing wheel is rotatably arranged at the free end of the connecting rod. A second tension spring is connected between the middle part of the connecting rod and the side plate.

Description

Technical Field

[0001] The present invention relates to the technical field of power inspection, and particularly relates to a power cable gallery inspection robot. Background Art

[0002] The process of urbanization has promoted the development of power cable galleries, and a large number of lines and their supporting facilities are placed in the power cable galleries. Daily inspection work is an important measure to ensure the normal operation of the power system. However, due to the characteristics of long distance, complex terrain and various types of cables in the power cable gallery, and the low efficiency and poor operability of traditional manual inspection, it is an inevitable trend to use inspection robots to replace manual inspection.

[0003] Most of the existing robots for cable tunnels or urban utility tunnels are realized by using a hanging rail method. The specific scheme is to install a guide rail for the robot to walk on the top of the tunnel. The guide rail is generally of "I" shape and is usually made of steel or aluminum. The installation of the track and the track body requires a lot of manpower and material resources. The cost of the track exceeds the cost of the robot body running on the track, which greatly limits the application of robot inspection.

[0004] In view of the above problems, the present invention provides a power cable gallery inspection robot with a clever structure, stable operation, convenient laying, low construction cost and no falling during operation. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a power cable gallery inspection robot with a clever structure, stable operation, convenient laying, low construction cost and no falling during operation.

[0006] To solve the above problems, the technical solution adopted by the present invention is:

[0007] A power cable gallery inspection robot, which includes a plurality of hanging plates uniformly arranged along the direction of the power cable gallery, a rope connected between adjacent hanging plates, and a walking mechanism arranged on the rope. The robot body is arranged at the bottom of the walking mechanism in a liftable manner;

[0008] The walking mechanism includes a U-shaped mounting frame. The upper part of the side plate of the mounting frame is rotatably provided with a roller shaft. A square slot is opened in the inner end of the roller shaft along its axial direction. A square plug rod is inserted into the slot. A first tension spring is arranged between the plug rod and the bottom of the slot. A support wheel is coaxially fixed on the inner side of the roller shaft. The free end of the plug rod is fixedly provided with an upper wire pressing wheel;

[0009] A hinge seat is fixedly provided on the side plate of the mounting frame directly below the roller shaft. A connecting rod that can only swing up and down is hinged on the hinge seat. A lower wire pressing wheel is rotatably provided at the free end of the connecting rod. A second tension spring is connected between the middle part of the connecting rod and the side plate;

[0010] The roller shafts on the two side plates are arranged in a staggered manner, and the downward pressing wire wheels at the free ends of the two connecting rods are arranged corresponding to the ropes. A first gear is fixedly arranged at the outer end of the roller shaft after passing through the side plate. A motor is fixedly arranged in the middle of the bottom plate of the mounting frame. The two output shafts on both sides of the motor are respectively connected to a transmission shaft. A third gear is fixedly arranged at the free end of the transmission shaft after passing through the side plate. A second gear is rotatably arranged on the side plate through a rotating shaft. The second gear meshes with the first gear and the third gear respectively;

[0011] Guide rails corresponding to the support wheels are fixedly arranged on both sides of the top of the suspension plate, and guide blocking strips are symmetrically arranged at both ends of the top of the suspension plate.

[0012] As an implementation manner of the present invention, a plurality of sleeves are vertically fixedly arranged on the top of the side plate. A vertical rod is inserted into the sleeve. A spring is arranged between the vertical rod and the bottom of the sleeve. A universal wheel is arranged at the top of the vertical rod.

[0013] As an implementation manner of the present invention, the bottom of the bottom plate is connected to a mounting plate through a plurality of columns. A plurality of through holes are evenly distributed at the edge of the mounting plate. A speed reduction motor is arranged in the middle of the mounting plate. A winding wheel is fixedly arranged on the output shaft of the speed reduction motor. The axis of the winding wheel is vertically arranged. The winding wheel is connected to the robot body through a pulling rope passing through the through hole. A first guide wheel with a horizontal axis is arranged above the through hole on the mounting plate through a first bracket. A plurality of winding grooves corresponding to the pulling rope one by one are arranged on the winding wheel from top to bottom.

[0014] As an implementation manner of the present invention, a connecting plate is fixedly arranged at the center of the top of the suspension plate. The connecting plate is connected to the center of the top of the power pipe gallery through a fixing rod. Cameras are arranged on both sides of the robot body.

[0015] As an implementation manner of the present invention, an electronic tag is arranged on the side of the connecting plate, and a card reader corresponding to the electronic tag is arranged on the side plate.

[0016] As an implementation manner of the present invention, the distance between the two guide blocking strips symmetrically arranged at one end of the suspension plate gradually increases from outside to inside, and the minimum distance between the two guide blocking strips is greater than the width of the upper pressing wire wheel.

[0017] As an implementation manner of the present invention, a first annular groove is arranged on the cylindrical surface of the upper pressing wire wheel. The first annular groove is U-shaped and is composed of a rectangular part located outside and an arc part located inside; an annular pressing block is arranged in the middle of the cylindrical surface of the lower pressing wire wheel. The width of the annular pressing block is adapted to the width of the rectangular part.

[0018] As an embodiment of the present invention, a second annular groove is further provided at the top of the annular pressing block. The rope is located between the upper wire pressing wheel and the lower wire pressing wheel. Under the action of the second tension spring, both the upper wire pressing wheel and the lower wire pressing wheel are pressed tightly against the rope.

[0019] As an embodiment of the present invention, an annular groove three adapted to the guide rail is provided on the cylindrical surface of the supporting wheel, and slopes are provided at both ends of the guide rail.

[0020] As an embodiment of the present invention, a temperature sensor, an infrared thermal imager, and a gas detector are further provided on the robot body.

[0021] The beneficial effects produced by adopting the above technical solutions are as follows:

[0022] For the power pipe gallery inspection robot provided by the present invention, the traveling mechanism is arranged on the rope through two groups of upper wire pressing wheels and lower wire pressing wheels, and in cooperation with the sleeve, the vertical rod, the spring, and the universal wheel, when the traveling mechanism moves along the rope, it will not shake in the left-right and front-back directions, the operation is stable, and the camera captures clear and stable images.

[0023] By using a rope and a suspension plate instead of a traditional guide rail, the laying is simple and the laying cost is very low.

[0024] The two upper wire pressing wheels are respectively connected to the two side plates through roller shafts and inserting rods, and the two lower wire pressing wheels are respectively connected to the two side plates through connecting rods. During the operation of the traveling mechanism, the upper wire pressing wheel and the lower wire pressing wheel clamp the rope at the same time, and it is not easy to get out of the rope. Even if the upper wire pressing wheel and the lower wire pressing wheel are separated from the rope, due to the obstruction of the roller shaft and the inserting rod, the traveling mechanism will not fall to the ground, and the operation of the robot body is safer.

[0025] The structure of the traveling mechanism is ingeniously designed. In cooperation with the guide rail and the guiding strip on the suspension plate, when the upper wire pressing wheel passes through the suspension plate, the supporting wheel is supported by the guide rail, and the upper wire pressing wheel is in a suspended state. Under the action of the first tension spring, the inserting rod retracts into the slot, so that the upper wire pressing wheel avoids the connecting plate. When the upper wire pressing wheel passes through the connecting plate, under the action of the guiding strip, the inserting rod extends out of the slot, and the upper wire pressing wheel is aligned with the rope again. As the supporting wheel leaves the guide rail, the upper wire pressing wheel is pressed tightly against the rope again. It should be noted that the two ends of the guide rail are flush with the end of the suspension plate, and the outer end of the guiding strip extends beyond the end of the suspension plate, ensuring that after the supporting wheel leaves the guide rail, the upper wire pressing wheel can be pressed tightly against the rope. And when the lower wire pressing wheel passes through the suspension plate, it automatically slides under the suspension plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a front view structural schematic diagram of the present invention.

[0027] Figure 2 is Figure 1 a partially enlarged schematic diagram at position A in

[0028] Figure 3 is Figure 2 a disassembled structural schematic diagram of the upper wire pressing wheel and the lower wire pressing wheel in

[0029] Figure 4 is Figure 1 a partially enlarged schematic diagram at position B in

[0030] Figure 5 is Figure 1 a sectional structural schematic diagram at A - A in

[0031] Figure 6 It is a structural schematic diagram of the traveling mechanism and the suspension plate in the present invention.

[0032] Figure 7 It is a structural schematic diagram of the traveling mechanism and the suspension plate from another angle in the present invention.

[0033] Figure 8 It is an internal structural schematic diagram of the traveling mechanism and the suspension plate in the present invention.

[0034] Wherein: 1 mounting frame, 101 bottom plate, 102 side plate, 2 roller shaft, 201 slot, 3 plug rod, 4 first tension spring, 5 support wheel, 6 upper wire pressing wheel, 601 rectangular part, 602 arc part, 7 hinge seat, 8 connecting rod, 9 lower wire pressing wheel, 901 annular pressing block, 902 second annular groove, 10 second tension spring, 11 first gear, 12 rotating shaft, 13 second gear, 14 third gear, 15 transmission shaft, 16 motor, 17 card reader, 18 suspension plate, 19 guide rail, 1901 slope, 20 guiding stop bar, 21 connecting plate, 22 fixing rod, 23 sleeve, 24 vertical rod, 25 spring, 26 universal wheel, 27 column, 28 mounting plate, 29 through hole, 30 first guiding wheel, 31 first bracket, 32 second guiding wheel, 33 second bracket, 34 winding wheel, 3401 winding groove, 35 reduction motor, 36 pulling rope, 37 robot body, 38 camera, 39 rope. Detailed implementation manners

[0035] To make the objectives, technical solutions and advantages of the present invention clearer, the following describes the invention clearly and completely with reference to specific embodiments.

[0036] Such as Figure 1 、 Figures 6 - 8A power pipe gallery inspection robot as shown, which includes a plurality of suspension plates 18 uniformly arranged along the direction of the power pipe gallery, a rope 39 connected between adjacent suspension plates 18, and a walking mechanism arranged on the rope 39. The bottom of the walking mechanism is provided with a robot body 37 that can be lifted and lowered through a lifting mechanism;

[0037] The walking mechanism includes a U-shaped mounting frame 1. A roller shaft 2 is rotatably arranged on the upper part of the side plate 102 of the mounting frame 1. A square slot 201 is opened in the inner end of the roller shaft 2 along its axis direction. A square plug rod 3 is inserted into the slot 201. A first tension spring 4 is arranged between the plug rod 3 and the bottom of the slot 201. A support wheel 5 is coaxially fixed on the inner side of the roller shaft 2. The free end of the plug rod 3 is fixedly provided with an upper wire pressing wheel 6; As a further optimization, the inner end of the plug rod 3 is clamped in the slot 201 and cannot be pulled out from the slot 201.

[0038] A hinge seat 7 is fixedly arranged on the side plate 102 of the mounting frame 1 directly below the roller shaft 2. A connecting rod 8 that can only swing up and down is hinged on the hinge seat 7. A lower wire pressing wheel 9 is rotatably arranged at the free end of the connecting rod 8. A second tension spring 10 is connected between the middle of the connecting rod 8 and the side plate 102. The connection position of the tension spring 10 and the side plate 102 is directly above the hinge seat 7;

[0039] The roller shafts 2 on the two side plates 102 are arranged staggered with each other, and the lower wire pressing wheels 9 at the free ends of the two connecting rods 8 are both arranged corresponding to the rope 39. The outer end of the roller shaft 2 passes through the side plate 102 and is fixedly provided with a first gear 11. The middle part of the bottom plate 101 of the mounting frame 1 is fixedly provided with a motor 16. The motor 16 is a double-output shaft motor. The two output shafts are symmetrically arranged on both sides of the motor 16. The two output shafts on both sides of the motor 16 are respectively connected to a transmission shaft 15. The free end of the transmission shaft 15 passes through the side plate 102 and is fixedly provided with a third gear 14. A second gear 13 is also rotatably arranged on the side plate 102 through a rotating shaft 12. The second gear 13 meshes with the first gear 11 and the third gear 14 respectively; As a further optimization, the two roller shafts 2 are centrosymmetric about the bottom plate 101. Bearings or bushings are arranged between the roller shaft 2 and the transmission shaft 15 and the side plate 102. Bearings or bushings are arranged between the second gear 13 and the rotating shaft 12 or between the rotating shaft 12 and the side plate 102.

[0040] Guide rails 19 corresponding to the support wheels 5 are fixedly arranged along the length direction on both sides of the top of the suspension plate 18. Guide stop bars 20 are symmetrically arranged at both ends of the top of the suspension plate 18. The distance between the two guide stop bars 20 symmetrically arranged at one end of the suspension plate 18 gradually increases from the outside to the inside, and the minimum distance between the two guide stop bars 20 is greater than the width of the upper wire pressing wheel 6.

[0041] In this embodiment, a plurality of sleeves 23 are vertically fixed on the top of the side plate 102 , a vertical rod 24 is inserted into the sleeve 2 , a spring 25 is arranged between the vertical rod 24 and the bottom of the sleeve 23 , and a universal wheel 26 is arranged on the top of the vertical rod 24 .

[0042] The power pipe gallery inspection robot provided by the present invention has a walking mechanism arranged on a rope 39 through two sets of upper pressing wheels 6 and lower pressing wheels 9, and cooperates with the sleeve 23, the vertical rod 24, the spring 25 and the universal wheel 26, so that the walking mechanism does not shake left and right and front and back when moving along the rope 39, and runs smoothly, and the camera 38 takes clear and stable pictures. The rope 39 and the suspension plate 18 replace the traditional guide rail, and the laying is simple and the laying cost is very low.

[0043] The two upper pressing wheels 6 are connected to the two side plates 102 through the roller shaft 2 and the insertion rod 3 respectively, and the two lower pressing wheels 9 are connected to the two side plates 102 through the connecting rod 8 respectively. During the operation of the walking mechanism, the upper pressing wheel 6 and the lower pressing wheel 9 clamp the rope 39 at the same time, which can prevent slipping between the pressing wheels and the rope 39, and the rope is not easily derailed. Even if the upper pressing wheel 6 and the lower pressing wheel 9 are separated from the rope 39, the walking mechanism will not fall to the ground due to the obstruction of the roller shaft 2 and the insertion rod 3, and the operation of the robot body 37 is safer.

[0044] The walking mechanism is cleverly designed, and cooperates with the guide rail 19 and the guide bar 20 on the suspension plate 18, so that when the upper pressing wheel 6 passes through the suspension plate 18, the support wheel 5 is supported by the guide rail 19, and the upper pressing wheel 6 is in a suspended state. Under the action of the tension spring 4, the insertion rod 3 retracts into the slot 201, so that the upper pressing wheel 6 avoids the connecting plate 21. After the upper pressing wheel 6 passes through the connecting plate 21, under the action of the guide bar 20, the insertion rod 3 extends out of the slot 201, and the upper pressing wheel 6 is aligned with the rope 39 again. As the support wheel 5 leaves the guide rail 19, the upper pressing wheel 6 is pressed against the rope 39 again. It should be pointed out that the two ends of the guide rail 19 are flush with the end of the suspension plate 18, and the outer end of the guide bar 20 exceeds the end of the suspension plate 18, ensuring that after the support wheel 5 leaves the guide rail 19, the upper pressing wheel 6 can be pressed against the rope 39. When the lower pressing wheel 9 passes through the hanging plate 18 , it automatically slides over the bottom of the hanging plate 18 .

[0045] The whole walking mechanism is symmetrically arranged about the center of the bottom plate 101, and the overall center of gravity is located at the center. During operation, the overall center of gravity is directly below the rope 39. When designing the lifting mechanism and the robot body 37, the overall center of gravity is directly below the center of gravity of the walking mechanism, so as to ensure that the center of gravity of the inspection robot is directly below the rope 39, and it is not easy to shake during operation, and the operation is more stable.

[0046] As Figure 1 , Figure 4 and Figure 5 shown, the lifting mechanism includes a bottom plate 101. The bottom of the bottom plate 101 is connected to a mounting plate 28 through a plurality of vertically arranged columns 27. Four through holes 29 are distributed in the middle of the four edges or the four corners of the mounting plate 28. A reduction motor 35 is arranged in the middle of the mounting plate 28. A wire winding wheel 34 is fixed on the output shaft of the reduction motor 35. The axis of the wire winding wheel 34 is vertically arranged. The wire winding wheel 34 is connected to the robot body 37 through a pull rope 36 passing through the through hole 29. On the mounting plate 28, above the through hole 29, a guide wheel 30 with a horizontal axis is arranged through a bracket 31. A plurality of wire winding grooves 3401 corresponding to the pull rope 36 one by one are arranged on the wire winding wheel 34 from top to bottom, to prevent the four pull ropes 36 from being wound together during the pulling and releasing process. As a further optimization, a guide wheel 32 with a vertical axis is also arranged on the mounting plate 28 between the guide wheel 30 and the winding wheel 34 through a bracket 33 to guide the pull rope 36, so that the pull rope 36 can be directly opposite to the guide groove on the guide wheel 30. By setting the lifting mechanism, the height of the robot body 37 can be adjusted.

[0047] In this embodiment, a connecting plate 21 is fixedly arranged at the center of the top of the suspension plate 18. The connecting plate 21 is connected to the center of the top of the power pipe gallery through a fixing rod 22. The fixing rod 22 is arranged at intervals along the direction of the power pipe gallery, and a plurality of fixing rods 22 are arranged at the turning points, which are used to guide the walking mechanism smoothly. Cameras 38 are arranged on both sides of the robot body 37, which can monitor the lines on both sides of the power pipe gallery at the same time.

[0048] As a further optimization, an electronic tag is arranged on the side of the connecting plate 21, and a card reader 17 corresponding to the electronic tag is arranged on the side plate 102. The robot can be accurately positioned through the electronic tag and the card reader 17.

[0049] As Figures 1 - 3As shown, an annular groove I is provided on the cylindrical surface of the upper wire pressing wheel 6. The cross-section of the annular groove I is U-shaped, composed of a rectangular part 601 located outside and an arc part 602 located inside. An annular pressing block 901 is provided in the middle of the cylindrical surface of the lower wire pressing wheel 9. The width of the annular pressing block 901 is adapted to the width of the rectangular part 601. When the upper wire pressing wheel 6 and the lower wire pressing wheel 9 are pressed together, the annular pressing block 901 is stuck in the rectangular part 601, which can prevent the upper pressing wheel 6 and the lower pressing wheel 9 from separating from the rope 39.

[0050] An annular groove II 902 is further provided on the top of the annular pressing block 901. The rope 39 is located between the upper wire pressing wheel 6 and the lower wire pressing wheel 9. The radian of the annular groove II 902 and the arc part 602 and the diameter of the rope 39 are reasonably set so that under the action of the second tension spring 10, both the upper wire pressing wheel 6 and the lower wire pressing wheel 9 are pressed on the rope 39.

[0051] As a further optimization, an annular groove III adapted to the guide rail 19 is provided on the cylindrical surface of the support wheel 5 to prevent the support wheel 5 from derailing. Slopes 1901 are provided at both ends of the guide rail 19, enabling the support wheel 5 to smoothly move up and down the guide rail 19.

[0052] The rope 39 is a steel wire rope. A temperature sensor, an infrared thermal imager, and a gas detector are further provided on the robot body 37 to detect the environmental conditions in the power cable gallery. A storage battery is provided on the mounting bracket 1 or the mounting plate 28, and the storage battery can be wirelessly charged.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An inspection robot for a power pipe gallery, characterized in that: It includes a plurality of hanging plates uniformly arranged along the direction of the power pipe gallery, ropes connected between adjacent hanging plates, and a walking mechanism arranged on the ropes. A robot body is liftably arranged at the bottom of the walking mechanism; The walking mechanism includes a U-shaped mounting frame. A roller shaft is rotatably arranged at the upper part of the side plate of the mounting frame. A square slot is axially opened at the inner end of the roller shaft. A square plug rod is inserted into the slot. A first tension spring is arranged between the plug rod and the bottom of the slot. A support wheel is coaxially fixed inside the roller shaft. An upper wire pressing wheel is fixed at the free end of the plug rod; A hinge seat is fixed on the side plate of the mounting frame directly below the roller shaft. A connecting rod that can only swing up and down is hinged on the hinge seat. A lower wire pressing wheel is rotatably arranged at the free end of the connecting rod. A second tension spring is connected between the middle part of the connecting rod and the side plate; The walking mechanism is arranged on the rope through two groups of upper wire pressing wheels and lower wire pressing wheels; The roller shafts on the two side plates are arranged staggeredly, and the lower wire pressing wheels at the free ends of the two connecting rods are correspondingly arranged with the rope. A first gear is fixed at the outer end of the roller shaft after passing through the side plate. A motor is fixed in the middle of the bottom plate of the mounting frame. The two output shafts on both sides of the motor are respectively connected to a transmission shaft. A third gear is fixed at the free end of the transmission shaft after passing through the side plate. A second gear is also rotatably arranged on the side plate through a rotating shaft. The second gear meshes with the first gear and the third gear respectively; Guide rails corresponding to the support wheels are fixed on both sides of the top of the hanging plate. Guide stop strips are symmetrically arranged at both ends of the top of the hanging plate; When the upper wire pressing wheel passes through the hanging plate, the support wheel is supported by the guide rail, and the upper wire pressing wheel is in a suspended state. Under the action of the first tension spring, the plug rod retracts into the slot; Under the action of the guide stop strip, the plug rod extends out of the slot, and the upper wire pressing wheel is aligned with the rope again.

2. The inspection robot for a power pipe gallery according to claim 1, characterized in that: A plurality of sleeves are vertically fixed on the top of the side plate. A vertical rod is inserted into the sleeve. A spring is arranged between the vertical rod and the bottom of the sleeve. A universal wheel is arranged at the top of the vertical rod.

3. The inspection robot for power pipe gallery according to claim 1 or 2, characterized in that: The bottom of the bottom plate is connected with a mounting plate through a plurality of columns. A plurality of through holes are evenly distributed at the edge of the mounting plate. A reduction motor is arranged in the middle of the mounting plate. A winding wheel is fixed on the output shaft of the reduction motor. The axis of the winding wheel is vertically arranged. The winding wheel is connected with the robot body through a pulling rope passing through the through hole. A first guide wheel with a horizontal axis is arranged above the through hole on the mounting plate through a first bracket. A plurality of winding grooves corresponding to the pulling rope are arranged on the winding wheel from top to bottom.

4. The inspection robot for a power pipe gallery according to claim 3, wherein: A connecting plate is fixed at the center of the top of the hanging plate. The connecting plate is connected to the center of the top of the power pipe gallery through a fixing rod. Cameras are arranged on both sides of the robot body.

5. The inspection robot for a power pipe gallery according to claim 4, characterized in that: An electronic tag is arranged on the side of the connecting plate. A card reader corresponding to the electronic tag is arranged on the side plate.

6. The inspection robot for a power pipe gallery according to claim 3, characterized in that: The distance between the two guide stop strips symmetrically arranged at one end of the hanging plate gradually increases from outside to inside, and the minimum distance between the two guide stop strips is greater than the width of the upper wire pressing wheel.

7. The inspection robot for a power pipe gallery according to claim 1, wherein: An annular groove I is arranged on the cylindrical surface of the upper wire pressing wheel. The annular groove I is U-shaped and is composed of a rectangular part located outside and an arc part located inside. An annular pressing block is arranged in the middle of the cylindrical surface of the lower wire pressing wheel, and the width of the annular pressing block is adapted to the width of the rectangular part.

8. The inspection robot for power pipe gallery according to claim 7, characterized in that: An annular groove II is further arranged at the top of the annular pressing block. The rope is located between the upper wire pressing wheel and the lower wire pressing wheel, and under the action of the second tension spring, both the upper wire pressing wheel and the lower wire pressing wheel are pressed tightly on the rope.

9. The inspection robot for a power pipe gallery according to claim 7, wherein: An annular groove III adapted to the guide rail is arranged on the cylindrical surface of the support wheel, and slopes are arranged at both ends of the guide rail.

10. The inspection robot for a power pipe gallery according to claim 1, wherein: A temperature sensor, an infrared thermal imager and a gas detector are further arranged on the robot body.

Images