CN117134245A - Pipeline line installation robot - Google Patents
Pipeline line installation robot Download PDFInfo
- Publication number
- CN117134245A CN117134245A CN202111196040.4A CN202111196040A CN117134245A CN 117134245 A CN117134245 A CN 117134245A CN 202111196040 A CN202111196040 A CN 202111196040A CN 117134245 A CN117134245 A CN 117134245A
- Authority
- CN
- China
- Prior art keywords
- spool
- robot
- pipeline
- wheel
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000009434 installation Methods 0.000 title claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims abstract description 11
- 230000033001 locomotion Effects 0.000 claims abstract description 7
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims 1
- 239000002184 metal Substances 0.000 claims 1
- 238000003384 imaging method Methods 0.000 abstract description 2
- 238000007689 inspection Methods 0.000 description 3
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 241000361919 Metaphire sieboldi Species 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000002572 peristaltic effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/06—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle
- H02G1/08—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling
- H02G1/088—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for laying cables, e.g. laying apparatus on vehicle through tubing or conduit, e.g. rod or draw wire for pushing or pulling using pulling devices movable inside conduits
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pipeline installation robot which comprises a robot main body, an imaging device, a motion device, a wiring device, a binding device and the like. The miniature camera is arranged on the upper portion of the robot shell and used for photographing under the condition of being in a pipeline, and the interior of the robot shell is provided with a spool, a driving motor, a transmission gear and a supporting piece for rotation of the spool and off-axis of a circuit. The robot is small in body, can be used for carrying out transportation and laying of lines along a power supply pipeline, and is convenient and intelligent.
Description
Technical Field
The invention discloses a pipeline line installation robot, relates to the technical field of robots, and particularly relates to a pipeline line laying/pipeline condition inspection robot.
Background
The pipeline robot is one integrated system with one or several sensors and operation machine capable of walking automatically inside or outside small pipeline and with remote control or automatic computer control. The pipeline robot classification can be roughly classified into eight types according to different driving modes of the pipeline robot. The first is a mobile robot, which has no driving means, is a passive robot that does not consume energy only as the fluid in the pipe flows, but has a relatively limited movement pattern, and the second is a wheeled robot, which is widely used for pipeline inspection work, and many commercial robots are of this type. The third is a tracked robot, i.e., a track is used instead of wheels. The fourth type is an abdominal wall type robot, and the robot is pushed to advance by a stretching mechanical arm which is clung to the inner wall of the pipeline. The fifth is a walking robot, which moves by mechanical foot, etc. The sixth is a peristaltic robot which advances like an earthworm through the body's extension and contraction. The seventh is screw drive, i.e. the drive mechanism is in rotational motion, advancing helically. The eighth is a snake-type robot, which has many joints, proceeding like a snake. In addition, some robots have multiple driving modes.
At present, most of the existing pipeline robots are used for pipeline overhaul, natural gas and ventilation pipeline inspection and the like, and few special robot equipment are used in the field of pipeline laying.
Disclosure of Invention
The invention provides an engineering robot special for laying a power supply pipeline, which fills the blank in the background technical field.
The invention provides the following technical scheme: a pipeline installation robot has a casing, a camera, a moving unit, a wiring unit, a fixing unit and a binding unit. The camera device is a high-definition camera probe at the top, and the movement mode is four-wheel drive movement; the wiring device comprises a spool, a transmission shaft, a spool motor, a speed reducer, a support frame, a wiring groove, a binding belt device and the like, and can perform the work of quick disconnection, gathering, fixing and binding of the line.
Compared with the prior success, the invention has the following advantages and gain effects:
1. the high-definition imaging camera at the top of the robot can operate in a manual background, so that the conditions in the pipeline can be fully fed back, remote monitoring is performed on wiring work, and the robot is intelligent and convenient.
2. The robot is provided with a line concentration spool, a spool motor and a speed reducer, and can remotely control the rotation speed of the spool, so that the line off-axis speed is determined, and the working speed of the robot is controlled.
3. The tail of the robot is provided with an automatic strapping device for strapping tapes, and paving lines in pipelines can be fixed along with each other according to engineering requirements.
Drawings
Fig. 1 is a schematic sectional view of a pipeline installation robot.
In the figure: the device comprises a shell (1), a camera (2), a memory (3), an information processor (4), a motor (5), a spool (6), a transmission shaft (7), a first supporting piece (8), a second supporting piece (9), a wire arranging groove (10), a wire outlet (11), a wire groove (12), a supporting rod (13), a banding device (14) and a moving wheel (15).
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a cross-sectional view of a robot for installing a pipeline, which includes a housing (1), a camera (2), a memory (3), an information processor (4), a motor (5), a spool (6), a transmission shaft (7), a first support member (8), a second support member (9), a wire arranging slot (10), a wire outlet (11), a wire arranging slot (12), a strut (13), a banding device (14), a moving wheel (15), and the like. The electric wire to be laid is wound on a spool (6), and the spool is connected with a driving motor (5) through a transmission shaft; the driving motor comprises a transmission gear, the transmission shaft (7) is communicated with the interior of a spool, and the spool is positioned in the first supporting piece (8) and the second supporting piece (9); wheels (15) are arranged at the bottom of the robot body; the motion driving system of the robot is a motor driver and comprises a chassis frame, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel and a wheel axle; and the left driving wheel and the right driving wheel are respectively provided with a driving motor for the robot to run forward.
Claims (5)
1. The pipeline line installation robot comprises a shell (1), a camera (2), a memory (3), an information processor (4), a motor (5), a spool (6), a transmission shaft (7), a first supporting piece (8), a second supporting piece (9), a line arranging groove (10), a line outlet (11), a line groove (12), a supporting rod (13), a banding device (14), a moving wheel (15) and the like; the electric wire to be laid is wound on a spool (6), and the spool is connected with a driving motor (5) through a transmission shaft; the driving motor comprises a transmission gear, the transmission shaft (7) is communicated with the inside of the spool, the spool is positioned in a first supporting piece (8) and a second supporting piece (9), and the supporting pieces comprise a spool base, a limiter and the like.
2. A pipeline installation robot according to claim 1, wherein: the wire arranging groove (12) is arranged at the wire releasing position at the tail end of the spool and is a parallel two-way longitudinal groove, and the wire arranging groove is used for the straightening work after the wire is off-axis and prevents the wires from being wound; the rear part of the wire arranging groove is provided with a wire outlet (11); the tail end of the robot body is provided with a banding device (14).
3. A pipeline installation robot according to claim 1, wherein: the spool inside the robot is reserved with a spool removing line, and when the spool motor is configured to enable the spool to rotate, other lines are naturally removed along the rotating direction; the spool motor is equipped with a speed reducer that can control the motor speed, thereby affecting the line laying speed.
4. A pipeline installation robot according to claim 1, wherein: the robot is a small four-wheel-drive type wheeled robot, and the bottom of the robot body is provided with wheels (15); the motion driving system of the robot is a motor driver and comprises a chassis frame, a left front wheel, a right front wheel, a left rear wheel, a right rear wheel and a wheel axle; and the left driving wheel and the right driving wheel are respectively provided with a driving motor.
5. A pipeline installation robot according to claim 1, wherein: the automatic bundling device (14) is arranged at the tail end of the robot and used for bundling lines according to pipeline laying requirements, the gun head is arranged at the top of the bundling device, bundling belts are stored in a storage groove preset by the bundling device, the gun heads are two arc-shaped metal bending heads, and the bundling device is similar to a clamp, and is used for bundling and fixing wire harnesses in pipelines automatically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111196040.4A CN117134245A (en) | 2021-10-14 | 2021-10-14 | Pipeline line installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111196040.4A CN117134245A (en) | 2021-10-14 | 2021-10-14 | Pipeline line installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117134245A true CN117134245A (en) | 2023-11-28 |
Family
ID=88858712
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111196040.4A Pending CN117134245A (en) | 2021-10-14 | 2021-10-14 | Pipeline line installation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117134245A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206947865U (en) * | 2017-06-26 | 2018-01-30 | 金华送变电工程有限公司三为电力分公司 | Multifunction power pipeline wears cable auxiliary car |
| CN207915479U (en) * | 2017-12-29 | 2018-09-28 | 贵州珞石三盛科技有限公司 | Robot for electric wiring |
| CN209071960U (en) * | 2018-11-30 | 2019-07-05 | 中衡卓创国际工程设计有限公司 | A kind of braiding machine people for architectural electricity construction |
| CN110416924A (en) * | 2019-07-09 | 2019-11-05 | 西南交通大学 | Facilitate the constructing metro tunnel railcar and tunnel cable threading method of threading |
| CN111525456A (en) * | 2020-05-25 | 2020-08-11 | 温州市搭德智能科技有限公司 | Robot for cable wiring in pipeline |
| CN111641158A (en) * | 2020-06-02 | 2020-09-08 | 辽宁鑫知界科技有限公司 | Automatic laying and wiring device and method for communication cable |
| CN212676780U (en) * | 2020-06-05 | 2021-03-09 | 国网电力科学研究院武汉南瑞有限责任公司 | Intelligent cable laying robot |
| CN213959573U (en) * | 2020-12-15 | 2021-08-13 | 国网山东省电力公司菏泽供电公司 | Intelligent remote control wiring vehicle |
-
2021
- 2021-10-14 CN CN202111196040.4A patent/CN117134245A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206947865U (en) * | 2017-06-26 | 2018-01-30 | 金华送变电工程有限公司三为电力分公司 | Multifunction power pipeline wears cable auxiliary car |
| CN207915479U (en) * | 2017-12-29 | 2018-09-28 | 贵州珞石三盛科技有限公司 | Robot for electric wiring |
| CN209071960U (en) * | 2018-11-30 | 2019-07-05 | 中衡卓创国际工程设计有限公司 | A kind of braiding machine people for architectural electricity construction |
| CN110416924A (en) * | 2019-07-09 | 2019-11-05 | 西南交通大学 | Facilitate the constructing metro tunnel railcar and tunnel cable threading method of threading |
| CN111525456A (en) * | 2020-05-25 | 2020-08-11 | 温州市搭德智能科技有限公司 | Robot for cable wiring in pipeline |
| CN111641158A (en) * | 2020-06-02 | 2020-09-08 | 辽宁鑫知界科技有限公司 | Automatic laying and wiring device and method for communication cable |
| CN212676780U (en) * | 2020-06-05 | 2021-03-09 | 国网电力科学研究院武汉南瑞有限责任公司 | Intelligent cable laying robot |
| CN213959573U (en) * | 2020-12-15 | 2021-08-13 | 国网山东省电力公司菏泽供电公司 | Intelligent remote control wiring vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20231128 |
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| RJ01 | Rejection of invention patent application after publication |