Simple 10kV cable trench intelligent inspection robot
By designing a simple 10kV cable trench intelligent inspection robot, combined with a serpentine joint module and a multi-dimensional detection module, the problems of low efficiency of manual inspection and insufficient robot mobility in existing technologies have been solved, realizing efficient, safe and multi-dimensional inspection in cable trenches.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- 尹志贵
- Filing Date
- 2025-05-26
- Publication Date
- 2026-05-01
AI Technical Summary
The current 10kV cable trench inspection mainly relies on manual labor, which is inefficient, poses significant safety hazards, makes it difficult to identify hidden faults, and the existing robots lack the flexibility to meet the needs of multi-dimensional inspection.
A simple 10kV cable trench intelligent inspection robot was designed, which includes an inspection module and a serpentine joint module. It is equipped with an ultrasonic partial discharge thermal imaging module, a camera module, and a serpentine joint module. The robot can move in three dimensions in the cable trench through the displacement and steering mechanism of the serpentine joint module. It can perform multi-dimensional inspection by combining ultrasonic partial discharge thermal imaging and camera modules.
It enables efficient and safe inspection within cable trenches, allowing for real-time environmental monitoring and identification of hidden faults such as abnormal cable joint temperatures and partial discharge. It also features infrared thermometry, partial discharge detection, and visual imaging capabilities, making it adaptable to complex terrains.
Smart Images
Figure CN224191534U_ABST
Abstract
Description
A simple intelligent inspection robot for 10kV cable trenches Technical Field
[0001] This utility model belongs to the field of robotics technology, specifically relating to a simple 10kV cable trench intelligent inspection robot. Background Technology
[0002] In the field of power infrastructure, 10kV cable trenches serve as a key carrier for power transmission in urban power grids, and the reliability of their operation directly affects the stability of regional power supply.
[0003] Currently, traditional 10kV cable trench inspections mainly rely on manual labor, a method that has revealed significant shortcomings in practical applications. Firstly, the internal environment of cable trenches is typically characterized by narrow spaces, dampness, darkness, and the potential presence of harmful gases. Manual inspections are not only inefficient but also pose significant safety hazards, with inspectors facing risks such as electric shock and gas poisoning. Secondly, manual inspections are heavily influenced by subjective experience, making it difficult to accurately identify hidden faults such as abnormal cable joint temperatures and partial discharges, and they cannot achieve real-time dynamic monitoring of the cable trench environment. While some robotic products have been applied to power inspection scenarios, existing equipment generally suffers from insufficient mobility, making it difficult to navigate complex cable trench terrain and climb obstacles. Furthermore, the integrated detection modules are limited in function and cannot simultaneously meet the multi-dimensional inspection requirements of infrared thermography, partial discharge detection, and visual imaging. Summary of the Invention
[0004] This utility model addresses the shortcomings of existing technologies by providing a simple intelligent inspection robot for 10kV cable trenches. The specific technical solution is as follows:
[0005] A simple 10kV cable trench intelligent inspection robot, including an inspection module and a snake-shaped joint module;
[0006] The inspection module includes an end cap, and an ultrasonic partial heat emission imaging module for distance measurement in the cable trench and a camera module for taking pictures in the cable trench, which are fixed on the end cap. A bracket is fixed on the inner surface of the end cap. A main control board electrically connected to the ultrasonic partial heat emission imaging module and the camera module is installed on the side surface of the bracket. A motor control board electrically connected to the main control board is installed on the side surface of the bracket away from the main control board. The motor control board is electrically connected to the serpentine joint module. The output end of the serpentine joint module is fixed to the bracket. A transparent protective plate for protecting the ultrasonic partial heat emission imaging module and the camera module is installed at the end of the end cap.
[0007] The serpentine joint module includes a displacement mechanism and a steering mechanism.
[0008] Preferably, the displacement mechanism includes a head rubber tube, a first corrugated hose, a second rubber tube, a third rubber tube, a fourth rubber tube, and a third corrugated hose, which are rotatably connected in sequence via bearings. A first drive motor for driving is installed at the end of the head rubber tube, a third drive motor for driving is installed at the end of the second rubber tube, a fifth drive motor for driving is installed at the end of the third rubber tube, and a seventh drive motor for driving is installed at the end of the fourth rubber tube. The outer surfaces of the head rubber tube, the second rubber tube, the third rubber tube, and the fourth rubber tube are all integrally formed with spiral strips. The head rubber tube is fixed to the outside of the bracket, and the second rubber tube and the third rubber tube are each equipped with a supporting inner tube that is fixed to the outer ring of the bearings at both ends.
[0009] Preferably, the steering mechanism includes a second steering motor, a fourth steering motor, and a sixth steering motor. Support frames are fixed to the outer surfaces of each of the second, fourth, and sixth steering motors. Bogies are fixed to the outer surfaces of each of the second, third, and fifth drive motors. The output shaft of the second steering motor is fixed to the bogie fixed to the outer surface of the first drive motor, and the output shaft of the second steering motor is perpendicular to the output shaft of the first drive motor. The support frame fixed to the outer surface of the second steering motor is fixed to the inner ring of the bearing at the end of the second rubber tube. The output shaft of the fourth steering motor is fixed to the bogie fixed to the outer surface of the third drive motor, and the output shaft of the fourth steering motor is perpendicular to the output shaft of the third drive motor. The support frame fixed to the outer surface of the fourth steering motor... The bogie is fixed to the inner ring of the bearing at the end of the third rubber tube. The output shaft of the sixth steering motor is fixed to the bogie fixed to the outer surface of the fifth drive motor, and the output shaft of the sixth steering motor is perpendicular to the output shaft of the fifth drive motor. The support frame fixed to the outer surface of the sixth steering motor is fixed to the inner ring of the bearing at the end of the fourth rubber tube. The bogie fixed to the outer surface of the first drive motor is fixed to the inner ring of the bearing at the end of the head rubber tube. The output shaft of the first drive motor is fixed to the head rubber tube. The bogie fixed to the outer surface of the third drive motor is fixed to the inner ring of the bearing at the end of the second rubber tube. The output shaft of the third drive motor is fixed to the second rubber tube. The bogie fixed to the outer surface of the fifth drive motor is fixed to the inner ring of the bearing at the end of the third rubber tube. The output shaft of the fifth drive motor is fixed to the third rubber tube.
[0010] Preferably, a tail plate is installed at the tail end of the fourth rubber tube, and a power connector is installed in the middle of the tail plate, and the power connector is electrically connected to the main control board.
[0011] Compared with the prior art, the beneficial effects of this utility model are:
[0012] 1. An inspection robot consisting of an inspection module and a serpentine joint module. The inspection module comprises an end cap, an ultrasonic partial thermal imaging module, a camera module, a transparent protective plate, a bracket, a main control board, and a motor control board. This facilitates the main control board's electrical connection with the ultrasonic partial thermal imaging module for infrared ranging, and the main control board's electrical connection with the camera module for capturing images of the cable trench. The main control board controls the serpentine joint module via the motor control board, enabling the serpentine joint module to control the robot's movement within the cable trench. The ultrasonic partial thermal imaging module and the camera module work together for the robot's inspection within the cable trench. The serpentine joint module consists of a displacement mechanism and a steering mechanism, enabling the serpentine joint module to drive the robot to perform three-dimensional movements such as meandering, climbing, and rolling within the cable trench.
[0013] 2. A displacement mechanism consisting of a head rubber tube, a first corrugated hose, a second rubber tube, a third rubber tube, a fourth rubber tube, a spiral strip, a tailplate, a first drive motor, a third drive motor, a fifth drive motor, a seventh drive motor, and a supporting inner tube is used. When the displacement mechanism is powered on via a motor control board, the first drive motor rotates the head rubber tube, the third drive motor rotates the second rubber tube, the fifth drive motor rotates the third rubber tube, and the seventh drive motor rotates the fourth rubber tube, thereby achieving robot displacement when the head rubber tube, the second rubber tube, the third rubber tube, and the fourth rubber tube rotate. The outer surfaces of the head rubber tube, the second rubber tube, the third rubber tube, and the fourth rubber tube are all integrally formed with spiral strips, which facilitates the increase of the roughness of the outer surfaces of the head rubber tube, the second rubber tube, the third rubber tube, and the fourth rubber tube.
[0014] 3. A steering mechanism consisting of a second steering motor, a fourth steering motor, and a sixth steering motor is used. The bogie with the output shaft of the second steering motor is fixed to the outer surface of the first drive motor, which facilitates the rotation of the bogie on the outer surface of the first drive motor by the output shaft of the second steering motor after it is energized. This allows the output shaft of the second steering motor to rotate the head rubber tube, which then rotates around the output shaft of the second steering motor at the end of the second rubber tube. The bogie with the output shaft of the fourth steering motor is fixed to the outer surface of the third drive motor, which facilitates the rotation of the bogie on the outer surface of the third drive motor by the output shaft of the fourth steering motor after it is energized. This allows the output shaft of the fourth steering motor to rotate the second rubber tube, which then rotates around the output shaft of the fourth steering motor at the end of the third rubber tube. The bogie with the output shaft of the sixth steering motor is fixed to the outer surface of the fifth drive motor, which facilitates the rotation of the bogie on the outer surface of the fifth drive motor by the output shaft of the sixth steering motor. This allows the output shaft of the sixth steering motor to rotate the third rubber tube, which then rotates around the output shaft of the sixth steering motor at the end of the fourth rubber tube.
[0015] 4. The tail plate is installed at the tail end of the fourth rubber tube, and the power connector installed in the middle of the tail plate is electrically connected to the main control board, so that the external power supply can supply power to the main control board through the power connector, thereby achieving the purpose of powering the robot. Attached Figure Description
[0016] Figure 1 is a three-dimensional structural diagram of this utility model;
[0017] Figure 2 is a schematic diagram of the half-section structure of this utility model;
[0018] Figure 3 is a schematic diagram of the structure of the first drive motor, the second steering motor, the bogie, and the support frame in this utility model.
[0019] Reference numerals: 1. End cap; 2. Ultrasonic partial thermal imaging module; 3. Camera module; 4. Transparent protective plate; 5. Bracket; 6. Main control board; 7. Motor control board; 8. Head rubber tube; 9. First corrugated hose; 10. Second rubber tube; 11. Second corrugated hose; 12. Third rubber tube; 13. Third corrugated hose; 14. Fourth rubber tube; 15. Spiral strip; 16. Tail plate; 17. First drive motor; 18. Second steering motor; 19. Third drive motor; 20. Fourth steering motor; 21. Fifth drive motor; 22. Sixth steering motor; 23. Seventh drive motor; 24. Power connector; 25. Support inner tube; 26. Bogie; 27. Support frame. Detailed Implementation
[0020] The technical solution of this utility model will now be described with reference to the accompanying drawings and embodiments.
[0021] Please refer to Figures 1-3. This embodiment provides the following technical solution: a simple 10kV cable trench intelligent inspection robot, including an inspection module and a snake-shaped joint module;
[0022] The inspection module includes an end cap 1, an ultrasonic partial heat emission imaging module 2 for measuring distances in the cable trench and a camera module 3 for taking pictures in the cable trench, which are fixed on the end cap 1. A bracket 5 is fixed on the inner surface of the end cap 1. A main control board 6 electrically connected to the ultrasonic partial heat emission imaging module 2 and the camera module 3 is installed on the side surface of the bracket 5. A motor control board 7 electrically connected to the main control board 6 is installed on the side surface of the bracket 5 away from the main control board 6. The motor control board 7 is electrically connected to the serpentine joint module. The output end of the serpentine joint module is fixed to the bracket 5. A transparent protective plate 4 for protecting the ultrasonic partial heat emission imaging module 2 and the camera module 3 is installed at the end of the end cap 1.
[0023] The serpentine joint module includes a displacement mechanism and a steering mechanism.
[0024] In this embodiment, an inspection robot is constructed using an inspection module and a serpentine joint module. The inspection module consists of an end cap 1, an ultrasonic partial thermal imaging module 2, a camera module 3, a transparent protective plate 4, a bracket 5, a main control board 6, and a motor control board 7. This allows the main control board 6 to be electrically connected to the ultrasonic partial thermal imaging module 2 for infrared ranging, and to the camera module 3 for capturing images of the cable trench. The main control board 6 controls the serpentine joint module via the motor control board 7, enabling the serpentine joint module to control the robot's movement within the cable trench. The ultrasonic partial thermal imaging module 2 and the camera module 3 work together to inspect the robot within the cable trench. The serpentine joint module consists of a displacement mechanism and a steering mechanism, allowing the serpentine joint module to drive the robot to perform three-dimensional movements such as meandering, climbing, and rolling within the cable trench.
[0025] Specifically, the displacement mechanism includes a head rubber tube 8, a first corrugated hose 9, a second rubber tube 10, a second corrugated hose 11, a third rubber tube 12, a third corrugated hose 13, and a fourth rubber tube 14, which are rotatably connected by bearings in sequence. A first drive motor 17 for driving is installed at the end of the head rubber tube 8, a third drive motor 19 for driving is installed at the end of the second rubber tube 10, a fifth drive motor 21 for driving is installed at the end of the third rubber tube 12, and a seventh drive motor 23 for driving is installed at the end of the fourth rubber tube 14. The outer surfaces of the head rubber tube 8, the second rubber tube 10, the third rubber tube 12, and the fourth rubber tube 14 are all integrally formed with spiral strips 15. The head rubber tube 8 is fixed to the outside of the bracket 5. The second rubber tube 10 and the third rubber tube 12 are each installed with a supporting inner tube 25 that is fixed to the outer ring of the bearings at both ends.
[0026] In this embodiment, a displacement mechanism consisting of a head rubber tube 8, a first corrugated hose 9, a second rubber tube 10, a second corrugated hose 11, a third rubber tube 12, a third corrugated hose 13, a fourth rubber tube 14, a spiral strip 15, a tail plate 16, a first drive motor 17, a third drive motor 19, a fifth drive motor 21, a seventh drive motor 23, and a supporting inner tube 25 is used. When the displacement mechanism is powered on via the motor control board 7, the first drive motor 17 rotates the head rubber tube 8, and the third drive motor 19 rotates the second rubber tube 10, a third corrugated hose 11, a third rubber tube 12, a third corrugated hose 13, a fourth rubber tube 14, a spiral strip 15, a tail plate 16, a first drive motor 17, a third drive motor 19, a fifth drive motor 21, a seventh drive motor 23, and a supporting inner tube 25. The fifth drive motor 21 is used for the rotation of the third rubber tube 12, and the seventh drive motor 23 is used for the rotation of the fourth rubber tube 14, thereby realizing the robot displacement when the head rubber tube 8, the second rubber tube 10, the third rubber tube 12 and the fourth rubber tube 14 rotate. The outer surfaces of the head rubber tube 8, the second rubber tube 10, the third rubber tube 12 and the fourth rubber tube 14 are all integrally formed with spiral strips 15, which facilitates the spiral strips 15 to increase the roughness of the outer surfaces of the head rubber tube 8, the second rubber tube 10, the third rubber tube 12 and the fourth rubber tube 14.
[0027] Specifically, the steering mechanism includes a second steering motor 18, a fourth steering motor 20, and a sixth steering motor 22. Support frames 27 are fixed to the outer surfaces of all three motors. Bogies 26 are fixed to the outer surfaces of the second steering motor 18, the third drive motor 19, and the fifth drive motor 22. The output shaft of the second steering motor 18 is fixed to the bogie 26 fixed to the outer surface of the first drive motor 17, and the output shaft of the second steering motor 18 is perpendicular to the output shaft of the first drive motor 17. The support frame 27 fixed to the outer surface of the second steering motor 18 is fixed to the inner ring of the bearing at the end of the second rubber tube 10. The output shaft of the fourth steering motor 20 is fixed to the bogie 26 fixed to the outer surface of the third drive motor 19, and the output shaft of the fourth steering motor 20 is perpendicular to the output shaft of the third drive motor 19. The support frame 27 fixed to the outer surface of the fourth steering motor 20 is fixed to the inner ring of the bearing at the end of the second rubber tube 10. The support frame 27 is fixed to the inner ring of the bearing at the end of the third rubber tube 12. The output shaft of the sixth steering motor 22 is fixed to the bogie 26 fixed to the outer surface of the fifth drive motor 21, and the output shaft of the sixth steering motor 22 is perpendicular to the output shaft of the fifth drive motor 21. The support frame 27 fixed to the outer surface of the sixth steering motor 22 is fixed to the inner ring of the bearing at the end of the fourth rubber tube 14. The bogie 26 fixed to the outer surface of the first drive motor 17 is fixed to the inner ring of the bearing at the end of the head rubber tube 8. The output shaft of the first drive motor 17 is fixed to the head rubber tube 8. The bogie 26 fixed to the outer surface of the third drive motor 19 is fixed to the inner ring of the bearing at the end of the second rubber tube 10. The output shaft of the third drive motor 19 is fixed to the second rubber tube 10. The bogie 26 fixed to the outer surface of the fifth drive motor 21 is fixed to the inner ring of the bearing at the end of the third rubber tube 12. The output shaft of the fifth drive motor 21 is fixed to the third rubber tube 12.
[0028] In this embodiment, a steering mechanism consisting of a second steering motor 18, a fourth steering motor 20, and a sixth steering motor 22 is used. The bogie 26, whose output shaft is fixed to the second steering motor 18, is fixed to the outer surface of the first drive motor 17. This facilitates the rotation of the bogie 26 on the outer surface of the first drive motor 17 by the output shaft of the second steering motor 18 after it is energized. This allows the head rubber tube 8 to rotate around the end of the second rubber tube 10 via the output shaft of the second steering motor 18. The bogie 26, whose output shaft is fixed to the fourth steering motor 20, is fixed to the outer surface of the third drive motor 19, facilitating the rotation of the head rubber tube 8 around the output shaft of the second steering motor 18. The output shaft of the electric motor drives the bogie 26 on the outer surface of the third drive motor 19 to rotate, thereby enabling the output shaft of the fourth steering motor 20 to drive the second rubber tube 10 to rotate. The second rubber tube 10 rotates around the output shaft of the fourth steering motor 20 at the end of the third rubber tube 12. The bogie 26 fixed to the output shaft of the sixth steering motor 22 is fixed to the outer surface of the fifth drive motor 21, thereby facilitating the output shaft of the sixth steering motor 22 to drive the bogie 26 on the outer surface of the fifth drive motor 21 to rotate. This enables the output shaft of the sixth steering motor 22 to drive the third rubber tube 12 to rotate, thereby enabling the third rubber tube 12 to rotate around the output shaft of the sixth steering motor 22 at the end of the fourth rubber tube 14.
[0029] Specifically, a tail plate 16 is installed at the tail end of the fourth rubber tube 14, and a power connector 24 is installed in the middle of the tail plate 16, and the power connector 24 is electrically connected to the main control board 6.
[0030] In this embodiment, a tail plate 16 is installed at the tail end of the fourth rubber tube 14, and a power connector 24 installed in the middle of the tail plate 16 is electrically connected to the main control board 6, so that an external power source can supply power to the main control board 6 through the power connector 24, thereby achieving the purpose of powering the robot.
[0031] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.
Claims
1. A simple intelligent inspection robot for 10kV cable trenches, characterized in that: The system includes an inspection module and a serpentine joint module. The inspection module includes an end cap (1), and an ultrasonic partial thermal imaging module (2) for measuring distances in cable trenches and a camera module (3) for taking pictures in cable trenches, which are fixed on the end cap (1). A bracket (5) is fixed on the inner surface of the end cap (1). A main control board (6) electrically connected to the ultrasonic partial thermal imaging module (2) and the camera module (3) is installed on the side surface of the bracket (5). A motor control board (7) electrically connected to the main control board (6) is installed on the side surface of the bracket (5) away from the main control board (6). The motor control board (7) is electrically connected to the serpentine joint module. The output end of the serpentine joint module is fixed to the bracket (5). A transparent protective plate (4) for protecting the ultrasonic partial thermal imaging module (2) and the camera module (3) is installed at the end of the end cap (1). The serpentine joint module includes a displacement mechanism and a steering mechanism.
2. The simplified 10kV cable trench intelligent inspection robot according to claim 1, characterized in that: The displacement mechanism includes a head rubber tube (8), a first corrugated hose (9), a second rubber tube (10), a second corrugated hose (11), a third rubber tube (12), a third corrugated hose (13), and a fourth rubber tube (14) connected in sequence by bearings. The head rubber tube (8) is equipped with a first drive motor (17) for driving, the second rubber tube (10) is equipped with a third drive motor (19) for driving, the third rubber tube (12) is equipped with a fifth drive motor (21) for driving, and the fourth rubber tube (14) is equipped with a seventh drive motor (23) for driving. The outer surfaces of the head rubber tube (8), the second rubber tube (10), the third rubber tube (12), and the fourth rubber tube (14) are all integrally formed with spiral strips (15). The head rubber tube (8) is fixed to the outside of the bracket (5). The second rubber tube (10) and the third rubber tube (12) are each equipped with a supporting inner tube (25) fixed to the outer ring of the bearings at both ends.
3. A simplified intelligent inspection robot for 10kV cable trenches according to claim 2, characterized in that: The steering mechanism includes a second steering motor (18), a fourth steering motor (20), and a sixth steering motor (22). Support frames (27) are fixed to the outer surfaces of the second steering motor (18), the fourth steering motor (20), and the sixth steering motor (22). Bogies (26) are fixed to the outer surfaces of the second steering motor (18), the third drive motor (19), and the fifth drive motor (21). The output shaft of the second steering motor (18) is fixed to the bogie (26) fixed to the outer surface of the first drive motor (17), and the output shaft of the second steering motor (18) is perpendicular to the output shaft of the first drive motor (17). The support frame (27) fixed to the outer surface of the second steering motor (18) is fixed to the inner ring of the bearing at the end of the second rubber tube (10). The output shaft of the fourth steering motor (20) is fixed to the bogie (26) fixed to the outer surface of the third drive motor (19), and the output shaft of the fourth steering motor (20) is perpendicular to the output shaft of the third drive motor (19). The support frame fixed to the outer surface of the fourth steering motor (20) is... (27) is fixed to the inner ring of the bearing at the end of the third rubber tube (12). The output shaft of the sixth steering motor (22) is fixed to the bogie (26) fixed to the outer surface of the fifth drive motor (21), and the output shaft of the sixth steering motor (22) is perpendicular to the output shaft of the fifth drive motor (21). The support frame (27) fixed to the outer surface of the sixth steering motor (22) is fixed to the inner ring of the bearing at the end of the fourth rubber tube (14). The bogie (26) fixed to the outer surface of the first drive motor (17) is fixed to the end of the head rubber tube (8). The inner ring of the bearing is fixed, the output shaft of the first drive motor (17) is fixed to the head rubber tube (8), the bogie (26) fixed to the outer surface of the third drive motor (19) is fixed to the inner ring of the end bearing of the second rubber tube (10), the output shaft of the third drive motor (19) is fixed to the second rubber tube (10), the bogie (26) fixed to the outer surface of the fifth drive motor (21) is fixed to the inner ring of the end bearing of the third rubber tube (12), and the output shaft of the fifth drive motor (21) is fixed to the third rubber tube (12).
4. A simplified intelligent inspection robot for 10kV cable trenches according to claim 3, characterized in that: The tail of the fourth rubber tube (14) is equipped with a tail plate (16), and a power connector (24) is installed in the middle of the tail plate (16), and the power connector (24) is electrically connected to the main control board (6).