Underground power cable pipeline inspection robot

Abstract

The utility model relates to the field of inspection robots, and particularly discloses an underground power cable pipeline inspection robot which comprises a cylindrical machine body and a pair of walking devices symmetrically arranged on the left side and the right side of the machine body. The walking device comprises three sets of omni-directional wheel assemblies evenly distributed in the circumferential direction and three sets of adjusting assemblies used for driving the corresponding omni-directional wheel assemblies to stretch or retract along the circumferential areas where the omni-directional wheel assemblies are located, and the circumferential areas where the omni-directional wheel assemblies are located are coaxial with the machine body. The adjusting structure meets the requirement for the compactness of the structure of the robot, and the situation of overall instability in the adjusting process is advantageously avoided.

Description

Technical Field

[0001] The utility model relates to the field of inspection robots, in particular to an underground power cable pipeline inspection robot. Background Art

[0002] Underground power cable pipeline inspection robots are automated devices used to detect and maintain underground cable pipelines. They can effectively improve the reliability of urban power supply by automatically detecting faults and obstacles in the pipelines, reducing the cost and risk of manual inspections.

[0003] In the prior art, the applicant / inventor of the present invention disclosed an intelligent inspection robot for underground power pipeline cable fault detection in the patent with announcement number CN115436754A, which includes a body and a walking device and an adjustment device arranged on the body. The walking device includes a crawler walking mechanism arranged on the top of the body and two wheeled walking mechanisms symmetrically arranged on the left and right sides of the body; the adjustment device can adjust the angle between the support rod I, the support rod II and the body, so that the crawler walking mechanism and the wheeled walking mechanism can rotate within a certain angle range, thereby changing the position of the crawler walking mechanism and the wheeled walking mechanism to adapt to pipelines of different diameters and improve the adaptability and versatility of the robot. However, this adjustment structure by adjusting the angle is not only large in size, but also difficult to meet the requirements of the compactness of the robot structure. Moreover, when the adjustment range is too large, the overall center of gravity of the robot is also greatly offset, which easily leads to the overall instability of the robot.

[0004] The above technical problems need to be solved. Utility Model Content

[0005] In view of this, an object of the present utility model is to provide an underground power cable pipeline inspection robot, whose adjustment structure meets the requirements of the robot's structural compactness and helps to avoid overall instability during adjustment.

[0006] To achieve the above-mentioned purpose, the utility model provides an underground power cable pipeline inspection robot, comprising a cylindrical body and a pair of walking devices symmetrically arranged on the left and right sides of the body; the walking device comprises three groups of omnidirectional wheel assemblies evenly distributed along the circumferential direction and three groups of adjustment assemblies respectively used to drive the corresponding omnidirectional wheel assemblies to extend or contract along the circumferential area where they are located, and the circumferential area where the omnidirectional wheel assembly is located is coaxial with the body.

[0007] As a further improvement to the technical solution of the utility model, the omnidirectional wheel assembly includes an omnidirectional wheel, a mounting frame and a first drive motor. The wheel axle of the omnidirectional wheel is drivingly connected to the output shaft of the first drive motor, and the first drive motor is fixed on the mounting frame.

[0008] As a further improvement to the technical solution of the utility model, each of the adjustment components includes an "L"-shaped telescopic connecting rod, each of the telescopic connecting rods is evenly distributed along the circumference, and one end of each telescopic connecting rod is rotatably connected to the corresponding mounting frame, and the other end is rotatably connected to a rotating cylinder, and the rotating cylinder is driven to rotate by a second drive motor and drives each telescopic connecting rod to rotate, and the second drive motor is fixed to the machine body.

[0009] As a further improvement to the technical solution of the utility model, the rotating cylinder is coaxially arranged with the machine body.

[0010] As a further improvement to the technical solution of the utility model, the bending angle of the telescopic connecting rod is 110°-130°.

[0011] As a further improvement to the technical solution of the utility model, each of the adjustment components also includes a plurality of "L"-shaped stabilizing links, which are symmetrically arranged on the left and right sides of the mounting frame, and the corresponding stabilizing links are evenly distributed along the circumferential direction, and one end of each stabilizing link is rotatably connected to the corresponding mounting frame, and the other end is rotatably connected to the corresponding positioning frame, and the positioning frame is fixed to the machine body.

[0012] As a further improvement to the technical solution of the utility model, each of the adjustment components includes four stabilizing links, two of which are rotatably connected to the left side of the mounting frame, and the other two are rotatably connected to the right side of the mounting frame.

[0013] As a further improvement to the technical solution of the utility model, the bending angle of the stabilizing link is 110°-130°.

[0014] As a further improvement to the technical solution of the utility model, each of the positioning frames is formed by two positioning plates arranged in parallel and fixedly connected, and the stabilizing link is rotatably connected between the two positioning plates.

[0015] As a further improvement to the technical solution of the utility model, the positioning plate is a disc structure and is coaxially arranged with the machine body.

[0016] Compared with the prior art, the utility model has the following beneficial technical effects:

[0017] The utility model provides an underground power cable pipeline inspection robot. Under the action of an adjustment component, the omnidirectional wheel component can extend or contract within a circumferential area where it is distributed, so as to adapt to pipelines of different diameters and improve the adaptability and versatility of the robot. Moreover, since the omnidirectional wheel component always moves within a circumferential area coaxial with the body, the requirements on the compactness of the robot structure can be met, and the overall center of gravity of the robot will not shift during adjustment, which is conducive to avoiding overall instability during adjustment and improving the stability of its movement.

[0018] Advantages of additional aspects of the present invention will be partially given in the following description, and partially become apparent from the following description, or be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A first three-dimensional structural schematic diagram of an underground power cable pipeline inspection robot provided by the utility model;

[0020] Figure 2 This is a first left view of an underground power cable pipeline inspection robot provided by the utility model;

[0021] Figure 3 A first top view of an underground power cable pipeline inspection robot provided by the utility model;

[0022] Figure 4 A second three-dimensional structural schematic diagram of an underground power cable pipeline inspection robot provided by the utility model;

[0023] Figure 5 This is a connection diagram of an omnidirectional wheel assembly and an adjustment assembly of an underground power cable pipeline inspection robot provided by the utility model. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings of the present invention.

[0025] Embodiment 1

[0026] like Figures 1 to 5 As shown: This embodiment provides an underground power cable pipeline inspection robot, including a cylindrical body 1 and a pair of walking devices 2 symmetrically arranged on the left and right sides of the body 1; the walking device 2 includes three groups of omnidirectional wheel assemblies 3 evenly distributed along the circumferential direction and three groups of adjustment assemblies 4 respectively used to drive the corresponding omnidirectional wheel assemblies 3 to extend or contract along the circumferential area where they are located, and the circumferential area where the omnidirectional wheel assemblies 3 are located is coaxial with the body 1.

[0027] The body 1 or the walking device 2 may be equipped with related electronic devices required for robot inspection, such as laser radar, camera, sensor, alarm, battery, etc., which are well known to those skilled in the art and will not be described in detail here; the walking device 2 is used to realize the movement of the robot in the pipeline; "left" and "right" are used as Figure 1 The directions shown shall prevail.

[0028] The three groups of omnidirectional wheel assemblies 3 are always evenly distributed in space, that is, the angle between the three axes is 120°; under the action of the adjustment assembly 4, the omnidirectional wheel assembly 3 can stretch or shrink in the circumferential area where it is distributed, so as to adapt to pipes of different diameters and improve the adaptability and versatility of the robot; and because the omnidirectional wheel assembly 3 always moves in a circumferential area coaxial with the body 1, the requirements for the compactness of the robot structure can be met, and the overall center of gravity of the robot will not shift during adjustment, which is conducive to avoiding overall instability during adjustment and improving the stability of its movement.

[0029] In this embodiment, the omnidirectional wheel assembly 3 includes an omnidirectional wheel 31 , a mounting frame 32 and a first drive motor. The wheel axle of the omnidirectional wheel 31 is drivingly connected to the output shaft of the first drive motor 33 , and the first drive motor 33 is fixed on the mounting frame 32 .

[0030] The main component of the omnidirectional wheel assembly 3 is the omnidirectional wheel 31, which can move 360 ​​degrees and can achieve lateral and longitudinal movement without changing the direction of the wheel itself. It is usually composed of a hub and a driven wheel. A number of hub teeth are evenly arranged on the outer circumference of the hub, and a driven wheel is installed between every two hub teeth. The radial direction of the driven wheel is perpendicular to the tangent direction of the outer circumference of the hub. In the prior art, the structure and principle of the omnidirectional wheel 31 are relatively mature, for example, the patent with announcement number CN205736639U can be seen.

[0031] The omnidirectional wheel 31 usually has an axle at the center, which is the center point of the wheel's rotation and is also the part connected to the drive mechanism; the first drive motor 33 provides power for the omnidirectional wheel 31, and its output shaft is connected to the axle of the omnidirectional wheel 31 through some transmission mechanism (such as gears, belts or direct connection); the mounting frame 32 is used to fix the first drive motor 33 and align it with the axle of the omnidirectional wheel 31 to ensure the stability and accuracy of the first drive motor 33 during operation.

[0032] In this embodiment, each adjustment component 4 includes an "L"-shaped telescopic link 41, and each telescopic link 41 is evenly distributed along the circumferential direction, and one end of each telescopic link 41 is rotatably connected to the corresponding mounting frame 32, and the other end is rotatably connected to a rotating cylinder 5. The rotating cylinder 5 is driven to rotate by a second drive motor (not shown in the figure) and drives each telescopic link 41 to rotate. The second drive motor is fixed to the body 1.

[0033] The telescopic link 41 is the core part of the adjustment assembly 4, allowing the omnidirectional wheel assembly 3 to expand or contract when needed to adapt to different spaces; the bending angle of the telescopic link 41 can be 110°-130°, preferably 120°; the three telescopic links 41 are evenly distributed along the circumference, and the circumferential area of ​​their distribution is also coaxial with the body 1, ensuring that the omnidirectional wheel assembly 3 maintains balance and symmetry when extending and retracting; the rotation connection can be achieved by a rotating pin; the telescopic link 41 can rotate freely at the connection point to adapt to different movement requirements; the rotating cylinder 5 is the telescopic action of the telescopic link 41 The driving component, whose rotation will cause the telescopic link 41 to extend or contract, the rotating cylinder 5 is also coaxially arranged with the body 1; the rotating cylinder 5 can be set to a cylindrical shape or a triangular cylinder shape as needed; the second driving motor controls the rotation of the rotating cylinder 5, thereby indirectly controlling the movement of the telescopic link 41; the second driving motor can be built into the body 1 to ensure the stability and control accuracy of the motor during the movement, and its output shaft is coaxially arranged with the body 1; the second driving motor drives the rotating cylinder 5, and the rotation and telescopic movement of the telescopic link 41 are realized through the connection between the rotating cylinder 5 and the telescopic link 41.

[0034] Embodiment 2

[0035] The underground power cable pipeline inspection robot provided in this embodiment is obtained by further improving the structure and principle shown in the first embodiment, so the same structure and principle between the two will not be repeated here.

[0036] The present embodiment provides an underground power cable pipeline inspection robot, each adjustment component 4 also includes a plurality of "L"-shaped stabilizing links 42, the stabilizing links 42 are symmetrically arranged on the left and right sides of the mounting frame 32, the corresponding stabilizing links 42 are evenly distributed along the circumferential direction, and one end of each stabilizing link 42 is rotatably connected to the corresponding mounting frame 32, and the other end is rotatably connected to the corresponding positioning frame 6, the positioning frame 6 is fixed to the body 1; the positioning frames 6 are arranged parallel to each other.

[0037] The function of the stabilizing link 42 is to provide additional support and stability for the mounting frame 32, ensure the stability of the omnidirectional wheel assembly 3, help maintain the balance of the omnidirectional wheel assembly 3 during movement, and prevent the omnidirectional wheel assembly 3 from tilting or becoming unstable during adjustment; the bending angle of the stabilizing link 42 can be 110°-130°, preferably 120°; the stabilizing links 42 located on the same side of the same mounting frame 32 are evenly distributed along the circumferential direction, and the circumferential area in which they are distributed is also coaxial with the body 1; when the telescopic link 41 drives the mounting frame 32 to rotate, the stabilizing link 42 rotates accordingly.

[0038] The number of stabilizing links 42 can be determined according to needs. For example, each adjustment component 4 includes four stabilizing links 42, two of which are rotatably connected to the left side of the mounting frame 32, and the other two stabilizing links 42 are rotatably connected to the right side of the mounting frame 32; the two stabilizing links 42 connected to the same mounting frame 32 and on the same side are parallel to each other, forming a double "L"-shaped polygonal bracket structure; the stabilizing links 42 connected to the same mounting frame 32 and located on both sides are also correspondingly arranged in parallel.

[0039] The stabilizing links 42 located on the same side of the same mounting frame 32 are all connected to the same positioning frame 6; the positioning frame 6 can be connected to the body 1 through a fixed axis; the design of the positioning frame 6 not only provides a stable support point for the stabilizing link 42, but also helps to maintain the stability of the omnidirectional wheel assembly 3 during the extension and retraction process, and prevents structural deformation or instability caused by movement; preferably, each positioning frame 6 is formed by two parallel positioning plates fixedly connected, and the stabilizing link 42 is rotatably connected between the two positioning plates; the stabilizing link 42 is rotatably connected between the two positioning plates, and this design allows the stabilizing link 42 to rotate freely between the positioning plates to adapt to the movement of the omnidirectional wheel assembly 3 and prevent the stabilizing link 42 from deflecting; the two positioning plates are fixedly connected to form the positioning frame 6, and this connection method can be welding, bolt connection or other forms of mechanical connection to ensure the stability and durability of the positioning plate; the positioning plate can be a circular disc structure and is coaxially arranged with the body 1, which helps to maintain the symmetry of the robot and the consistency of movement.

[0040] The above is only an embodiment of the utility model, and the common knowledge such as the known specific structure and characteristics in the scheme is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the utility model, several deformations and improvements can be made, which should also be regarded as the protection scope of the utility model, and these will not affect the effect of the implementation of the utility model and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An underground power cable pipeline inspection robot, characterized in that: The invention comprises a cylindrical body and a pair of walking devices symmetrically arranged on the left and right sides of the body; the walking device comprises three groups of omnidirectional wheel assemblies evenly distributed along the circumferential direction and three groups of adjustment assemblies respectively used to drive the corresponding omnidirectional wheel assemblies to extend or contract along the circumferential areas where they are located, and the circumferential areas where the omnidirectional wheel assemblies are located are coaxial with the body; The omnidirectional wheel assembly includes an omnidirectional wheel, a mounting frame and a first driving motor, the wheel axle of the omnidirectional wheel is drivingly connected to the output shaft of the first driving motor, and the first driving motor is fixed on the mounting frame; Each of the adjustment components includes an "L"-shaped telescopic connecting rod, each of the telescopic connecting rods is evenly distributed along the circumferential direction, and one end of each of the telescopic connecting rods is rotatably connected to the corresponding mounting frame, and the other end is rotatably connected to a rotating cylinder. The rotating cylinder is driven to rotate by a second driving motor and drives each of the telescopic connecting rods to rotate. The second driving motor is fixed to the machine body.

2. The underground power cable pipeline inspection robot according to claim 1, characterized in that: The rotating cylinder is coaxially arranged with the machine body.

3. The underground power cable pipeline inspection robot according to claim 1, characterized in that: The bending angle of the telescopic connecting rod is 110°-130°.

4. The underground power cable pipeline inspection robot according to claim 1, characterized in that: Each of the adjustment components also includes a plurality of "L"-shaped stabilizing links, which are symmetrically arranged on the left and right sides of the mounting frame, and the corresponding stabilizing links are evenly distributed along the circumferential direction, and one end of each stabilizing link is rotatably connected to the corresponding mounting frame, and the other end is rotatably connected to the corresponding positioning frame, and the positioning frame is fixed to the machine body.

5. The underground power cable pipeline inspection robot according to claim 4, characterized in that: Each of the adjustment components includes four stabilizing links, two of which are rotatably connected to the left side of the mounting frame, and the other two are rotatably connected to the right side of the mounting frame.

6. The underground power cable pipeline inspection robot according to claim 4, characterized in that: The bending angle of the stabilizing link is 110°-130°.

7. The underground power cable pipeline inspection robot according to claim 4, characterized in that: Each of the positioning frames is formed by fixedly connecting two positioning plates arranged in parallel, and the stabilizing connecting rod is rotatably connected between the two positioning plates.

8. The underground power cable pipeline inspection robot according to claim 7, characterized in that: The positioning plate is a disc structure and is coaxially arranged with the machine body.

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