CN111915761A - Portable intelligent inspection robot and inspection system for distribution network cable trench - Google Patents

Abstract

The invention discloses a portable intelligent inspection robot for a distribution network cable trench and an inspection system, wherein the inspection robot comprises a main body bin, an environment detection assembly, a safety detection assembly and a holder mechanism, wherein a driving mechanism is mounted at the upper part of the main body bin, is hung on a cableway and rotates to drive the main body bin to walk on the cableway; the environment detection assembly is arranged at the lower part of the main body bin and is used for detecting environment information; the safety detection assembly is arranged at the front end or/and the rear end of the main body cabin and is used for detecting obstacles in the advancing direction of the main body cabin; the holder mechanism is arranged on the main body bin and used for carrying out multi-angle identification and monitoring on the advancing direction. The invention has the advantages of simple and compact structure, flexible operation, safety, reliability and the like.

Description

Portable intelligent inspection robot and inspection system for distribution network cable trench

Technical Field

The invention mainly relates to the technical field of power inspection, in particular to a portable intelligent inspection robot and an inspection system for a distribution network cable trench.

Background

With the development of economy and the progress of technology, intelligent inspection robots are increasingly introduced in the fields of inspection of underground cable tunnels, power lines, power distribution rooms, urban underground comprehensive pipe galleries and the like, which need to arrange manpower regularly to monitor the running condition and the field environment of field equipment and collect field data, and enterprises which are relevant inspection equipment in the market also appear like spring shoots after rain. However, from the current market products, the existing intelligent inspection robot is mainly applied to the environment which is spacious in space, moderate in temperature and humidity, low in environmental noise, and suitable for inspection equipment such as a power line, a power distribution room and a city underground comprehensive pipe gallery or is friendly in conditions of regular inspection pipeline layout, and cannot meet the use requirements of the environment which is similar to the environment which is narrow in space, large in temperature and humidity, severe in environment and disordered in field pipeline equipment layout, such as a city distribution cable tunnel. It mainly contains a number of reasons: firstly, the intelligent inspection robots in the market at present are large in size and cannot enter a relatively closed narrow space such as a city distribution cable tunnel for inspection; secondly, the cable tunnel in the city puts forward higher requirements on three prevention of water, dust and corrosion of equipment in severe environment with high temperature and humidity; and thirdly, the new and old pipelines in the urban distribution network cable trench are alternated, the layout is complicated, the space is narrow, the currently used inspection robot usually adopts a wireless communication technology, and risks such as robot runaway and data transmission failure caused by unsmooth communication exist in the narrow space. Therefore, higher requirements are provided for the appearance size and the communication capacity of the inspection robot; fourthly, the general inspection robot is not only large in size but also can inspect in four ways, namely a rail type robot, a wheel type robot, a crawling type robot and a flying type robot (unmanned aerial vehicle). The four inspection modes have the defects of difficult installation and construction, higher installation cost, larger arrangement difficulty and the like in a narrow space, and the pipelines in the tunnel are densely distributed in a mess manner, so that wheeled or crawling and flying (unmanned aerial vehicle) equipment cannot be used for detection.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the portable intelligent inspection robot for the distribution network cable trench and the inspection system, which have the advantages of simple and compact structure, rich functions and safe and reliable operation.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a portable intelligent inspection robot for a distribution network cable trench comprises a main body bin, an environment detection assembly, a safety detection assembly and a holder mechanism, wherein a driving mechanism is mounted at the upper part of the main body bin, is hung on a cableway and rotates, so that the main body bin travels on the cableway; the environment detection assembly is arranged at the lower part of the main body bin and is used for detecting environment information; the safety detection assembly is arranged at the front end or/and the rear end of the main body cabin and is used for detecting obstacles in the advancing direction of the main body cabin; the holder mechanism is arranged on the main body bin and used for carrying out multi-angle identification and monitoring on the advancing direction.

As a further improvement of the above technical solution:

the driving mechanism comprises a movable driving assembly and a fixed driving assembly, the movable driving assembly is mounted at the front end of the main body bin, and the fixed driving assembly is mounted at the rear end of the main body bin; movable drive assembly and fixed drive assembly all include driving motor, drive wheel, first bearing and connecting plate, the drive wheel passes through first bearing install in on driving motor's the fuselage, the connecting plate install in on driving motor's the output shaft and rotate along with the output shaft rotation, the circumference side of connecting plate with the drive wheel fastening links to each other.

The first bearing comprises a first sliding bearing, and the cross section of the first sliding bearing is L-shaped; the number of the first sliding bearings is two, and the two L-shaped first sliding bearings are oppositely arranged; the bottom surface of the driving wheel is in contact with the bottom edges of the two first sliding bearings, and the end surface of the driving wheel is in contact with the side edges of the two first sliding bearings.

The driving motor of the movable driving assembly is movably arranged on the movable base through the movable rotary table; a second mounting hole is formed in the movable base, a second mounting column is arranged at the bottom of the movable rotary table and inserted into the second mounting hole, and a second sliding bearing is arranged between the second mounting column and the second mounting hole; and a driving motor of the fixed driving assembly (21b) is fixedly arranged on the fixed base.

A fixed seat is installed on one side of a driving motor of the movable driving assembly, and an elastic piece is arranged between the fixed seat and the movable rotary table.

The holder mechanism comprises a holder base, a spherical core, a fixed support, a pitching driving assembly and a horizontal driving assembly; the horizontal driving assembly is connected with the fixed support and is used for driving the fixed support to rotate in the plane of the holder base; the pitching driving assembly is connected with the ball core and is used for driving the ball core to rotate on the fixed support to perform pitching motion; the ball core is integrated with a visible light high-definition camera, an infrared camera and a light supplementing assembly.

The horizontal driving assembly comprises a mounting seat, a horizontal driving motor, a gear transmission mechanism and a rotating mechanism, the fixed support is mounted on the mounting seat, and the mounting seat is mounted on the holder base through the rotating mechanism; the circumference of the mounting seat is provided with teeth, the horizontal driving motor is installed on the holder base, and the gear transmission mechanism is installed at the output end of the horizontal driving motor and meshed with the teeth of the mounting seat.

An anti-falling hook is arranged above the main body bin and is hung on the cableway.

And the main body bin is provided with a position sensor for identifying the mounting bracket of the cableway so as to position.

The invention also discloses an intelligent inspection system which comprises a cableway and the portable intelligent inspection robot for the distribution network cable trench, wherein a driving mechanism of the intelligent inspection robot is hung on the cableway.

Compared with the prior art, the invention has the advantages that:

(1) the portable intelligent inspection robot for the distribution network cable trench is used for inspection in a mode of being mounted on a cableway, the internal space of the cable trench is fully and reasonably utilized, in addition, the portable intelligent inspection robot is simple to install in a mode of being mounted on the cableway, can be directly mounted on the cableway in a hand-held mode, is quick to construct and low in cost, and greatly reduces the cost of manpower and material resources compared with similar track robots; the safety detection assembly is arranged on the main body bin, so that the walking safety of the main body bin can be guaranteed; the shooting or camera shooting detection of each component in the cable trench is realized through the holder mechanism; the detection of gas and the like in the cable trench is realized through the environment detection assembly; the whole structure is simple and compact, miniaturized, simple and convenient to track, stable in operation, safe and reliable, and suitable for being applied to narrow and complex occasions such as cable ducts.

(2) The driving wheel is directly arranged on the body of the driving motor through the bearing, so that the space of the driving motor in the axial direction can be saved, and the driving wheel is suitable for an inspection robot (such as a cableway inspection robot) for inspecting the relatively closed narrow space such as a cable tunnel and the like; and the driving assembly has simple and compact structure and reliable operation.

(3) The driving wheel is installed through the L-shaped first sliding bearing, the thickness of the driving wheel is thin, and compared with a rolling bearing, the space of a driving motor in the radial direction can be saved; meanwhile, the driving wheel is installed through the two L-shaped first sliding bearings, and the space between the two L-shaped first sliding bearings can be used for installing the driving wheel, so that the space in the radial direction of the driving motor is further saved.

(4) The driving mechanism can flexibly and reliably walk up and down on the cableway in a very limited space (such as in a tunnel and a cable trench), flexibly and leftwards and rightwards drives the cableway to walk, namely the flexible cableway is flexible to run, and has the advantages of compact structural arrangement, small volume, simple and convenient maintenance, safety and stability.

(5) According to the invention, the horizontal rotation and pitching movement of the whole ball core can be realized through the driving of the elevation driving component and the horizontal driving component; the visible light high-definition camera, the infrared camera and the light supplementing assembly are integrated on the ball core, so that the functions of high-definition monitoring, infrared detection, light supplementing under dark conditions and the like can be realized, and the functions are rich; the whole structure is simple and compact and the volume is small.

(6) The invention combines the mounting seat and the gear into a whole, thereby not only having simple structure, but also occupying small volume; the upper part of the cradle head (the fixed support, the ball core part and the like) is installed through the threaded hole and the positioning hole, so that the cradle head is simple in structure and convenient to fasten; the gear of different tooth counts can be changed as its part according to the demand to the mount pad, can freely arrange according to required rotational speed.

(7) According to the invention, the inner side of the flange bearing is directly locked by the supporting edge, the increased supporting edge is attached to the axial area of the flange bearing, and meanwhile, the supporting edge increases the area of the end surface of the flange bearing to a certain extent, so that the pressure of the upper part of the holder on the end surface of the flange bearing is reduced, and the failure risk caused by too small installation areas of the end surface and the axial attachment is avoided.

(8) According to the invention, the anti-falling hook hooked on the cableway is arranged above the main body cabin, so that the robot is prevented from falling off, and the walking safety of the robot is ensured; in addition, the main body bin is provided with a handle, so that the carrying is convenient.

Drawings

Fig. 1 is one of three-dimensional structural views of an intelligent inspection robot according to an embodiment of the present invention.

Fig. 2 is a second perspective view of the intelligent inspection robot according to the embodiment of the present invention.

Fig. 3 is a three-dimensional structure diagram of the intelligent inspection system of the invention in the embodiment.

Fig. 4 is a diagram of an embodiment of the intelligent inspection system in a specific application.

Fig. 5 is a diagram of an embodiment of the driving assembly of the present invention in a specific application.

Fig. 6 is a perspective view of the driving mechanism according to the embodiment of the present invention.

Fig. 7 is a front view structural view of the driving mechanism of the present invention in the embodiment.

Fig. 8 is a schematic perspective view of a pan/tilt head mechanism according to an embodiment of the present invention.

Fig. 9 is a schematic perspective view of a second embodiment of the pan/tilt head mechanism of the present invention.

Fig. 10 is a third schematic perspective view of the pan/tilt head mechanism according to the embodiment of the present invention.

Fig. 11 is a schematic front view of the pan/tilt head mechanism according to the embodiment of the present invention.

Fig. 12 is a schematic cross-sectional structure diagram of the pan/tilt head mechanism according to the embodiment of the present invention.

Illustration of the drawings: 1. a main body bin; 2. a drive mechanism; 21. a drive assembly; 211. a drive motor; 212. a drive wheel; 2121. a groove; 213. a first bearing; 2131. a first sliding bearing; 214. a connecting plate; 215. mounting the component; 2151. a first mounting block; 2152. a second mounting block; 22. a movable turntable; 221. a second mounting post; 23. a movable base; 231. a second mounting hole; 24. a second sliding bearing; 25. an elastic member; 26. a fixed base; 27. a fixed seat; 21a, a movable driving component; 21b, a stationary drive assembly; 3. an environment detection component; 4. a security detection assembly; 401. a front security detection radar; 402. post-security detection radar; 5. a pan-tilt mechanism; 51. a holder base; 52. a ball core; 53. fixing a bracket; 54. a pitch drive assembly; 541. a pitch drive motor; 542. a rotating shaft; 543. a second bearing; 544. a limiting column; 545. a limiting mechanism; 5451. a limiting groove; 5452. a limit switch; 55. a horizontal drive assembly; 551. a mounting seat; 5511. teeth; 552. a horizontal driving motor; 553. a transmission mechanism; 554. a rotating mechanism; 5541. a flange bearing; 5542. supporting edges; 5543. a lock sleeve; 56. a wiring groove; 57. a high definition camera; 58. an infrared camera; 59. a light supplement component; 6. the anti-falling hook is arranged on the hook; 7. a handle; 8. a position sensor; 9. a communication antenna; 10. a display screen; 11. a battery compartment; 12. a power switch; 13. a cableway; 14. and (7) mounting a bracket.

Detailed Description

The invention is further described below with reference to the figures and the specific embodiments of the description.

As shown in fig. 1 and fig. 2, the portable intelligent inspection robot for the distribution network cable trench of the embodiment includes a main body cabin 1, an environment detection component 3, a safety detection component 4 and a holder mechanism 5, wherein a driving mechanism 2 is installed at the upper part of the main body cabin 1 and used for being hung on a cableway 13 and rotating so as to drive the main body cabin 1 to walk on the cableway 13; the environment detection component 3 is arranged at the lower part of the main body bin 1 and is used for detecting environment information; the safety detection assembly 4 is arranged at the front end or/and the rear end of the main body cabin 1 and is used for detecting obstacles in the advancing direction of the main body cabin 1; the holder mechanism 5 is arranged on the main body bin 1 and used for carrying out multi-angle identification and monitoring on the advancing direction. The portable intelligent inspection robot for the distribution network cable trench is used for inspection in a mode of being mounted on the cableway 13, the internal space of the cable trench is fully and reasonably utilized, and the inspection robot is directly mounted on the cableway 13, so that the portable intelligent inspection robot for the distribution network cable trench is quick to install and construct and low in cost, and compared with the similar track robots, the cost of manpower and material resources is greatly reduced; the safety detection assembly 4 is arranged on the main body cabin 1, so that the walking safety of the main body cabin 1 can be guaranteed; the operation state of each component in the cable trench is shot or shot for detection through the holder mechanism 5; the detection of gas and the like in the cable trench is realized through the environment detection component 3; the whole structure is simple, compact and miniaturized, the carrying is convenient, the upper rail (directly mounting the robot on the cableway 13) is simple and convenient, the operation is stable, safe and reliable, and the robot-mounted.

As shown in fig. 5 to 7, in the present embodiment, the driving mechanism 2 includes a driving component 21, specifically, a movable driving component 21a and a fixed driving component 21b, the movable driving component 21a is movably installed at the front end of the main body bin 1, and the fixed driving component 21b is fixedly installed at the rear end of the main body bin 1. Specifically, each of the movable driving assembly 21a and the fixed driving assembly 21b includes a driving motor 211, a driving wheel 212, a first bearing 213, and a connecting plate 214, the driving wheel 212 is mounted on the body of the driving motor 211 through the first bearing 213, the connecting plate 214 is mounted on the output shaft of the driving motor 211 and rotates with the rotation of the output shaft, and the circumferential side of the connecting plate 214 is fastened to the driving wheel 212 by bolts or screws. Specifically, the driving motor 211 rotates to drive the connecting plate 214 on the output shaft to rotate, and further drive the driving wheel 212 to rotate. The driving wheel 212 is directly mounted on the body of the driving motor 211 through the first bearing 213, so that the space of the driving motor 211 in the axial direction can be saved, the size of the whole inspection robot is small, and the inspection robot is suitable for inspecting relatively closed and narrow spaces such as a cable tunnel and the like; and the driving assembly 21 has simple and compact structure and safe and reliable operation.

As shown in fig. 5, in this embodiment, the first bearing 213 is fastened to the body of the driving motor 211 through the mounting assembly 215, the mounting assembly 215 includes a first mounting block 2151 and a second mounting block 2152, the first mounting block 2151 is fastened to the body, the second mounting block 2152 is mounted on the end surface of the driving motor 211, and the first bearing 213 is mounted between the first mounting block 2151 and the second mounting block 2152, that is, the first mounting block 2151 and the second mounting block 2152 clamp the first bearing 213, so that the mounting structure is simple and reliable, and the mounting and dismounting are simple and convenient. The first bearing 213 is a first sliding bearing 2131, and the cross section of the first sliding bearing 2131 is L-shaped, and includes a bottom side and a side; the number of the first sliding bearings 2131 is two, and two L-shaped first sliding bearings 2131 are installed oppositely, as shown in fig. 1, wherein the bottom surface of the driving wheel 212 contacts with the bottom edges of the two first sliding bearings 2131, and the end surface of the driving wheel 212 contacts with the side edges of the two first sliding bearings 2131. The first sliding bearing 2131 is mounted in a thin shape, and thus a space in the radial direction of the drive motor 211 can be saved relative to the rolling bearing; while the driving wheel 212 is mounted by the two L-shaped first sliding bearings 2131, the space between the two L-shaped first sliding bearings 2131 can be used for mounting the driving wheel 212, further saving space in the radial direction of the driving motor 211.

In this embodiment, the driving motor 211 of the movable driving assembly 21a is movably mounted on the movable base 23 through the movable turntable 22. Specifically, the movable base 23 is provided with a second mounting hole 231, the bottom of the movable turntable 22 is provided with a second mounting column 221, the second mounting column 221 is inserted into the second mounting hole 231, and a second sliding bearing 24 is arranged between the second mounting column 221 and the second mounting hole 231. When the second mounting post 221 of the movable turntable 22 rotates in the second mounting hole 231, the driving wheel 212 of the driving motor 211 swings left and right, thereby facilitating turning, i.e., turning flexibility. In addition, a fixed seat 27 is installed on one side of the driving motor 211 of the movable driving assembly 21a, an elastic member 25 is arranged between the fixed seat 27 and the movable turntable 22, wherein the elastic member 25 comprises two compression springs, so that the whole movable turntable 22 (i.e. the driving motor 211 and the driving wheel 212) has automatic elastic restoring capability in the horizontal direction, and can automatically restore to the driving walking along a straight line after completing the left-right turning. The driving motor 211 in the fixed driving assembly 21b is directly fixed on the fixed base 26, the whole driving mechanism 2 is directly mounted on the cableway 13 through the two driving wheels 212, wherein the driving wheel 212 of the fixed driving assembly 21b positioned at the rear can limit the moving range of the cableway 13, and the whole inspection robot is ensured not to have unstable gravity center and unsmooth operation caused by too much moving range of the cableway 13 on the driving wheel 212.

In this embodiment, a groove 2121 is formed in the middle of each driving wheel 212, so that when the robot is mounted on the cableway 13 through the two driving wheels 212, the cableway 13 is located in the groove 2121 of the driving wheel 212, and the robot is prevented from being separated from the cableway 13. When the robot turns left and right, the curved cableway 13 can make the movable turntable 22 of the movable driving assembly 21a in front rotate by a certain angle, i.e. the driving wheel 212 in front swing left and right, so that the whole cableway 13 is always arranged in the groove 2121 in the middle of the driving wheel 212, and can not be separated from the driving wheel 212 due to an included angle caused by turning, thereby avoiding the possibility of derailing of the robot. The driving mechanism 2 can be applied to but not limited to a miniature cableway 13 type intelligent inspection robot, can flexibly and reliably walk up and down on the cableway 13 in a very limited space (such as in a tunnel and a cable trench), flexibly and horizontally drives to walk, namely, the robot is flexible to operate, and has the advantages of compact structural arrangement, small size, simple and convenient maintenance, safety and stability.

As shown in fig. 8 and 9, the pan/tilt head mechanism 5 includes a pan/tilt head base 51, a ball core 52, a fixed bracket 53, a pitch drive assembly 54, and a horizontal drive assembly 55; the fixed support 53 is rotatably mounted on the holder base 51, and the horizontal driving assembly 55 is connected with the fixed support 53 and used for driving the fixed support 53 to rotate in the plane of the holder base 51; the ball core 52 is rotatably mounted on the fixed bracket 53, and the pitching driving component 54 is connected with the ball core 52 and is used for driving the ball core 52 to rotate on the fixed bracket 53 to perform pitching motion; the core 52 is integrated with a visible light high-definition camera 57, an infrared camera 58 and a fill light assembly 59 (such as a condensing fill light). Wherein high definition camera 57 is used for patrolling and examining the region and carry out the video and shoot, and infrared camera 58 is used for patrolling and examining the region and carry out temperature detection, and the light filling lamp is then used for patrolling and examining the region (if under dark conditions such as cable pit) and carry out the light filling, guarantees high definition camera 57's normal shooting. Of course, a vision sensor or the like may be used instead of the visible light high-definition camera 57, wherein the vision sensor may also be provided with a light-gathering type fill-in light. The above-described horizontal rotation and pitching movement of the entire core 52 can be realized by the driving of the pitching driving unit 54 and the horizontal driving unit 55; the visible light high-definition camera 57, the infrared camera 58 and the light supplement assembly 59 are integrated on the ball core 52, so that various functions such as high-definition monitoring, infrared detection, light supplement under dark conditions and the like can be realized; the whole structure is simple and compact and the volume is small.

As shown in fig. 11 and 12, in the present embodiment, the horizontal driving assembly 55 includes a mounting base 551, a horizontal driving motor 552, a gear transmission mechanism 553, and a rotating mechanism 554, the fixed bracket 53 is mounted on the mounting base 551, and the mounting base 551 is mounted on the pan/tilt head base 51 through the rotating mechanism 554; teeth 5511 are arranged on the circumference of the mounting seat 551, the horizontal driving motor 552 is installed on the tripod head base 51, and the gear transmission mechanism 553 is installed at the output end of the horizontal driving motor 552 and is meshed with the teeth 5511 of the mounting seat 551. The horizontal driving motor 552 (integrated speed reducer) rotates to drive the gear transmission mechanism 553 (formed by one or more transmission gears engaged with each other) to rotate, so as to drive the mounting base 551 (including the fixing bracket 53 and the ball core 52 on the mounting base 551) to rotate horizontally. Because the teeth 5511 are arranged on the peripheral side of the mounting seat 551, the mounting seat 551 and the gear are combined into a whole, the structure is simple, and the occupied volume is small. The upper part of the cradle head (the fixed support 53, the ball core 52 and the like) is installed through the threaded hole and the positioning hole, so that the structure is simple, and the fastening is simple and convenient; the mounting seat 551 can be made of light metal materials, so that the mounting strength of the whole holder is guaranteed, the universal replaceability of parts is guaranteed, and the change of the structure of the upper part of the holder is not influenced. The mounting base 551 can replace gears with different numbers of teeth 5511 as parts according to requirements, and can be freely matched according to the required rotating speed.

As shown in fig. 12, in the present embodiment, the rotating mechanism 554 includes a flange bearing 5541 and a supporting edge 5542, a hollow first mounting column is disposed on the cradle head base 51, an inner ring of the flange bearing 5541 is sleeved on the first mounting column, and the supporting edge 5542 is sleeved on an outer ring of the flange bearing 5541 and is tightly connected to the mounting base 551; wherein, the supporting edge 5542 is provided with a step to be matched with the flange of the flange bearing 5541; the rim 5542 extends in the radial direction of the rim bearing 5541 to abut against the bottom surface of the mount 551. Wherein the middle part of first erection column is equipped with the through wires hole, is equipped with lock sleeve 5543 in the through wires hole, and the outer edge of lock sleeve 5543 is located between the terminal surface of mount pad 551 and first erection column, and extends to between the inner circle of mount pad 551 and flange bearing 5541 for push down flange bearing 5541, guarantee its reliability of rotation work. Above-mentioned flange inboard of directly pinning flange bearing 5541 through holding in the palm limit 5542, the axial area of the flange bearing 5541 of the laminating of support limit 5542 that increases, hold in the palm limit 5542 simultaneously and increased flange bearing 5541's terminal surface area to a certain extent to reduce the pressure of cloud platform upper portion to flange bearing 5541's terminal surface, avoid because of terminal surface and the too little invalid risk that causes of axial laminating installation area.

As shown in fig. 12, in the embodiment, the pitch driving assembly 54 includes a pitch driving motor 541, a rotating shaft 542 and a second bearing 543, the ball core 52 is mounted on the rotating shaft 542, two ends of the rotating shaft 542 are mounted on the fixed bracket 53 through the second bearing 543, and an output end of the pitch driving motor 541 is connected to one end of the rotating shaft 542. The pitch driving motor 541 (integrated with a speed reducer) rotates to drive the rotating shaft 542 to rotate, so that the ball core 52 on the rotating shaft 542 rotates to perform pitch motion. Wherein, the ball core 52 is provided with a limit post 544, the fixing support 53 is provided with a limit mechanism 545, and the limit mechanism 545 comprises a limit groove 5451 and a limit switch 5452. When the ball core 52 rotates to a certain angle, the limit post 544 moves into the limit groove 5451, the limit groove 5451 limits the limit post 544, and at this time, the limit switch 5452 (such as a magnetic induction proximity switch) senses the limit post 544, sends a signal to the control unit of the cradle head, controls the corresponding pitch driving motor 541 to stop rotating, and can also position and reset the pitch driving motor 541. The limit switch 5452 is fixed on the fixing support 53, so that the circuit of the ball core 52 cannot be pulled and bent due to pitching and other motions.

As shown in fig. 11, in this embodiment, the outer side of the fixing bracket 53 is provided with a wire routing groove 56, the wire routing groove 56 is arc-shaped, and can fix multiple groups of wires, and the arc-shaped wire routing groove 56 can ensure large-angle wire routing, so as to reduce the influence on signal transmission due to the arrangement of sharp-bent lines.

In this embodiment, the safety detection component 4 includes a front safety detection radar 401 and a rear safety detection radar 402 (such as an ultrasonic radar), and performs safety detection on the front and rear sides of the robot to ensure the safety of the robot in walking; meanwhile, in order to ensure the safety of the robot in walking, an anti-falling hook 6 hooked on the cableway 13 is arranged above the main body bin 1, so that the robot is prevented from falling. In addition, the main body bin 1 is provided with a handle 7, so that the carrying is convenient.

As shown in fig. 2, in this embodiment, the environment detection component 3 includes one or more of an illumination sensor, a temperature and humidity sensor, a smoke sensor, an ultrasonic sensor, and a gas detection module, and can be selected and collocated according to actual situations on site. In addition, as shown in fig. 8, a position sensor 8 (e.g., a proximity switch) is disposed on the main body cabin 1 for identifying the mounting bracket 14 of the cableway 13 for positioning (e.g., by radio frequency identification or magnetic induction).

As shown in fig. 2, in the present embodiment, a display screen 10 is provided at one side of the main body housing 1 for displaying environmental information and the like. Wherein, in order to ensure the stability of communication, a communication antenna 9 is arranged on the main body cabin 1. Wherein the power supply of each electrical element in main part storehouse 1 supplies power through the battery, and wherein the battery is located battery compartment 11 and is equipped with switch 12, and battery compartment 11 adopts jump ring formula structure and modular structure design, has both guaranteed its waterproof performance, and easy dismouting, maintenance are convenient.

In the embodiment, considering that the environment of a cable trench (trench) is severe in field and gas has certain corrosivity, the main body bin 1 is subjected to three-proofing design (waterproof, dustproof and anticorrosion), the protection level of the shell of the main body bin 1 integrally reaches the IP65 standard, the protection level of internal important elements reaches IP66, and meanwhile, streamline processing is performed on the shell shape, so that the probability that dust adheres to the surface of the shell is reduced while the appearance is beautified. Specifically, the shell and the mounting plate connected with the shell are matched in a concave-convex mode, sealing rubber strips are mounted, water and dust are effectively prevented from entering the equipment, elements with protection levels at least equal to IP66 are selected for other elements such as the driving motor 211 below the track and the proximity switch above the track, which cannot be completely protected, and metal protective covers are independently added to control elements such as a robot main control board and a motor driving unit, so that the protection levels can be improved, and the interference of other signals on site to the equipment can be prevented.

As shown in fig. 3 and 4, the invention also discloses an intelligent inspection system, which comprises a cableway 13 and the portable intelligent inspection robot for the cable trench of the distribution network, wherein the driving mechanism 2 of the intelligent inspection robot is mounted on the cableway 13, and the cableway 13 is mounted in the cable trench through the profiling mounting brackets 14 which are arranged at intervals. The intelligent inspection system comprises the intelligent inspection robot and has the advantages of being capable of achieving intelligent inspection.

The working process is as follows: the robot is hung on the cableway 13 through the lifting handle 7, and is driven to walk at a constant speed through the movable driving assembly 21a and the fixed driving assembly 21 b. In the walking process, front and back safety detection is carried out through the front safety detection radar 401 and the back safety detection radar 402, the running safety of the robot in the tunnel is guaranteed, and meanwhile, the position sensor 8 is used for identifying the mounting bracket 14 to carry out position detection and positioning. Cloud platform camera then carries out multi-angle identification and monitoring to the place ahead in main part storehouse 1, and the abdominal environment detecting component 3 of robot then carries out monitoring such as gas.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.

Claims (10)

1. A portable intelligent inspection robot for a distribution network cable trench is characterized by comprising a main body bin (1), an environment detection assembly (3), a safety detection assembly (4) and a holder mechanism (5), wherein a driving mechanism (2) is mounted at the upper part of the main body bin (1), is hung on a cableway (13) and rotates, so that the main body bin (1) can walk on the cableway (13); the environment detection assembly (3) is arranged at the lower part of the main body bin (1) and is used for detecting environment information; the safety detection assembly (4) is arranged at the front end or/and the rear end of the main body cabin (1) and is used for detecting obstacles in the advancing direction of the main body cabin (1); the holder mechanism (5) is installed on the main body bin (1) and used for carrying out multi-angle identification and monitoring on the advancing direction.

2. The portable intelligent inspection robot for the cable ducts of the distribution network according to claim 1, wherein the driving mechanism (2) comprises a movable driving assembly (21a) and a fixed driving assembly (21b), the movable driving assembly (21a) is installed at the front end of the main body cabin (1), and the fixed driving assembly (21b) is installed at the rear end of the main body cabin (1); movable drive assembly (21a) and fixed drive assembly (21b) all include driving motor (211), drive wheel (212), first bearing (213) and connecting plate (214), drive wheel (212) pass through first bearing (213) install in on the fuselage of driving motor (211), connecting plate (214) install in on the output shaft of driving motor (211) and rotate along with the output shaft rotation, the circumference side of connecting plate (214) with drive wheel (212) fastening links to each other.

3. The portable intelligent inspection robot for the cable ducts of the distribution network according to claim 2, wherein the first bearing (213) comprises a first sliding bearing (2131), and the section of the first sliding bearing (2131) is L-shaped; the number of the first sliding bearings (2131) is two, and the two L-shaped first sliding bearings (2131) are oppositely arranged; the bottom surface of the driving wheel (212) is contacted with the bottom edges of the two first sliding bearings (2131), and the end surface of the driving wheel (212) is contacted with the side edges of the two first sliding bearings (2131).

4. The portable intelligent inspection robot for the cable ducts of the distribution network according to claim 2 or 3, wherein the driving motor (211) of the movable driving assembly (21a) is movably mounted on the movable base (23) through a movable turntable (22); a second mounting hole (231) is formed in the movable base (23), a second mounting column (221) is arranged at the bottom of the movable rotary table (22), the second mounting column (221) is inserted into the second mounting hole (231), and a second sliding bearing (24) is arranged between the second mounting column (221) and the second mounting hole (231); and a driving motor (211) of the fixed driving assembly (21b) is fixedly arranged on the fixed base (26).

5. The portable intelligent inspection robot for the cable ducts of the distribution network according to claim 4, wherein a fixed seat (27) is installed on one side of a driving motor (211) of the movable driving assembly (21a), and an elastic piece (25) is arranged between the fixed seat (27) and the movable rotary table (22).

6. The intelligent inspection robot for the cable ducts of the portable distribution network according to any one of claims 1 to 3, wherein the holder mechanism (5) comprises a holder base (51), a ball core (52), a fixed bracket (53), a pitching driving component (54) and a horizontal driving component (55); the fixed support (53) is rotatably mounted on the holder base (51), and the horizontal driving assembly (55) is connected with the fixed support (53) and used for driving the fixed support (53) to rotate in the plane of the holder base (51); the ball core (52) is rotatably mounted on the fixed support (53), and the pitching driving component (54) is connected with the ball core (52) and is used for driving the ball core (52) to rotate on the fixed support (53) to perform pitching motion; the spherical core (52) is integrated with a visible light high-definition camera (57), an infrared camera (58) and a light supplement assembly (59).

7. The portable intelligent inspection robot for the cable ducts of the distribution network according to claim 6, wherein the horizontal driving assembly (55) comprises a mounting seat (551), a horizontal driving motor (552), a gear transmission mechanism (553) and a rotating mechanism (554), the fixed bracket (53) is mounted on the mounting seat (551), and the mounting seat (551) is mounted on the holder base (51) through the rotating mechanism (554); the circumference of the mounting seat (551) is provided with teeth (5511), the horizontal driving motor (552) is mounted on the tripod head base (51), and the gear transmission mechanism (553) is mounted at the output end of the horizontal driving motor (552) and meshed with the teeth (5511) of the mounting seat (551).

8. The intelligent inspection robot for the cable trench of the portable distribution network according to any one of claims 1-3, wherein an anti-falling hook (6) is arranged above the main body bin (1) and is hung on the cableway (13).

9. The portable intelligent inspection robot for the cable ducts of the distribution network according to any one of claims 1 to 3, wherein the main body cabin (1) is provided with a position sensor (8) for identifying a mounting bracket (14) of a cableway (13) for positioning.

10. An intelligent inspection system, which is characterized by comprising a cableway (13) and a portable intelligent inspection robot for a distribution network cable trench according to any one of claims 1 to 9, wherein a driving mechanism (2) of the intelligent inspection robot is mounted on the cableway (13).

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