CN102354925A - Miniature crawler-type cable tunnel patrol robot - Google Patents
Miniature crawler-type cable tunnel patrol robot Download PDFInfo
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- CN102354925A CN102354925A CN2011102809337A CN201110280933A CN102354925A CN 102354925 A CN102354925 A CN 102354925A CN 2011102809337 A CN2011102809337 A CN 2011102809337A CN 201110280933 A CN201110280933 A CN 201110280933A CN 102354925 A CN102354925 A CN 102354925A
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Abstract
The invention discloses a miniature crawler-type cable tunnel patrol robot, which relates to a robot capable of realizing cable tunnel/pipeline patrolling. The robot consists of two independent crawlers, a substrate, a posture setting mechanism, a camera with a holder, and a sensor. The posture setting mechanism is arranged in the substrate. The camera with the holder is arranged on the substrate. The two crawlers are positioned on the left and right sides of the substrate respectively, and are in rotational connection with driving connecting rods on the substrate and the posture setting mechanism by two groups of shafts respectively. The sensor is arranged on the substrate. The left and right independently driven crawlers are adopted, and a posture included angle formed by the two groups of crawlers can be set, so the robot can be adapted to either the smooth-riding surfaces of cable tunnels or the arched surfaces of pipelines of different diameters by regulating the posture included angle, and realizes advancing, stepping-back and various turning motions by controlling the motions of the left and right crawlers. The robot realizes the automatic patrolling of underground transmission lines.
Description
Technical field
A kind of small-sized caterpillar belt formula cable tunnel crusing robot relates to the Robotics application, particularly a kind of robot that realizes that cable tunnel (pipe) road is patrolled and examined.
Background technology
For reducing the influence of natural calamity to electric power transmission network, improve appearance of city, avoid the interference of aerial cable and above ground structure, consider the convenience of cable dilatation, maintenance simultaneously, increasing cable adopts underground tunnel (pipe) road mode of movement.As time goes on, phenomenons such as cable is aging, corrosion take place unavoidably, if the cable long-time running in non-health status, can cause power transmission failure unavoidably.The manual inspection operating type is mainly taked in cable tunnel (pipe) road at present, because tunnel (pipe) road is in closed state for a long time, gathers some toxic and harmfuls unavoidably, and operation in high-tension environment, and there is very big potential safety hazard in the staff; And, also do not have a kind of suitable routine inspection mode at present for less cable tunnel (pipe) road that can't realize manual inspection, space.Therefore, be necessary to develop a kind of robot and realize patrolling and examining automatically of cable tunnel (pipe) road.
Summary of the invention
The object of the invention is carried patrolling and examining for cable provides a kind of small-sized caterpillar belt formula cable tunnel crusing robot.
Independently traveling crawler mechanism, matrix, attitude set mechanism, the camera that has The Cloud Terrace and transducer are formed by two in this robot; The attitude set mechanism is contained in the matrix; The camera that has a The Cloud Terrace be contained in matrix above; Two independently traveling crawler mechanism lay respectively at the left and right sides of matrix, be rotatably connected with the drive link that matrix and attitude set mechanism are loaded onto respectively through two groups of axles; Transducer is contained on the matrix.
This robot is walked by left lateral that pedrail mechanism, right lateral are walked pedrail mechanism, attitude set mechanism, infrared camera, matrix and multiple sensors by The Cloud Terrace formed.Adopt the crawler belt mode of left and right drive; And two groups of formed attitude angles of crawler belt can be set; Adjustment through attitude angle can the appropriate cable tunnel the smooth-riding surface also can adapt to the arc road surface of different-diameter pipeline, and realize advancing, retreating and various turning motions of robot through the control of left and right sides caterpillar drive.The camera The Cloud Terrace has two degrees of freedom of pitching and orientation, can realize the overall situation observation in robot the place ahead, and dispose the observation that lighting source can be realized dark surrounds, and driving, camera, the light source height in pitching, orientation become one.Crusing robot of the present invention has stronger motion and obstacle climbing ability, enters into cable tunnel (pipe) road through manhole, simultaneously image, humiture, smog and toxic and harmful concentration information in tunnel (pipe) road is transferred to ground through wireless communication mode.
Realize patrolling and examining automatically of underground transmission circuit through this robot, substituted the manual inspection operation, solved the problem that less transmission of electricity tunnel (pipe) road, space can't be patrolled and examined simultaneously; The smooth-riding surface in this crusing robot ability simultaneous adaptation tunnel and the pipeline arc road surface of different-diameter; Adopt the attitude set mechanism of toggle to realize that crawler belt relative matrix in both sides outwards or inwardly moves simultaneously, guaranteed the consistency of adjustment direction; Camera can be realized the overall situation observation in robot the place ahead through The Cloud Terrace; Adopt wireless communication mode, self-powered, avoided cable to twine problem, improved the kinematic dexterity of robot.
Description of drawings
Fig. 1 is the front side sketch map of this small-sized caterpillar belt formula cable tunnel crusing robot;
Fig. 2 is the rear side sketch map of this small-sized caterpillar belt formula cable tunnel crusing robot;
Fig. 3 is a crusing robot left side, this a small-sized caterpillar belt formula cable tunnel caterpillar belt structure sketch map;
Fig. 4 is a crusing robot left side, this a small-sized caterpillar belt formula cable tunnel track drive sketch map;
Fig. 5 is a crusing robot left side, this a small-sized caterpillar belt formula cable tunnel track tension device sketch map;
Fig. 6 is this small-sized caterpillar belt formula cable tunnel crusing robot attitude set mechanism and camera front side partial cutaway structural representation;
Fig. 7 is that this small-sized caterpillar belt formula cable tunnel crusing robot attitude set mechanism and camera side are cutd open structural representation;
Fig. 8 is this small-sized caterpillar belt formula cable tunnel crusing robot work sketch map.
Embodiment
Embodiment describes in further detail the present invention below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, this small-sized caterpillar belt formula cable tunnel crusing robot is walked by left lateral that pedrail mechanism 4, right lateral are walked pedrail mechanism 1, attitude set mechanism 3, the camera 2, transducer 5 and the matrix 3-1 that have a The Cloud Terrace forms.Sensor groups 5 is made up of carbon monoxide transducer, Temperature Humidity Sensor, carbon dioxide sensor, SO 2 sensor, Smoke Sensor and methane transducer etc.From seeing in appearance, left lateral is walked pedrail mechanism and is walked track drive cover 4-4 by left shell 4-1, left inner casing 4-5, left crawler belt 4-3, left battery cover 4-2 and left lateral and constitute; Right lateral is walked pedrail mechanism and is walked track drive cover 1-1 by right casing 1-4, right inner casing 1-2, right-hand track chiain 1-3 and right lateral and constitute.
Like Fig. 3, Fig. 4 and shown in Figure 5; Fig. 3 is that left lateral is walked the front view that pedrail mechanism is removed left shell 4-1 and left battery cover 4-2; Fig. 4 cuts left lateral open to walk the rearview that the left lateral of pedrail mechanism is walked track drive cover 4-4 end face, and Fig. 5 walks crawler tensioning belt wheel structural representation for left lateral; Right lateral walks caterpillar belt structure and left lateral is walked caterpillar belt structure mirror image each other; Left side shell 4-1 and left inner casing 4-5 are fixed on the left matrix 4-8; Left lateral is walked main driving pulley 4-13, main idle pulley 4-6,4-9 and is connected on left shell 4-1 and the left inner casing 4-5 through axle and bearing both sides; Tensioning pulley 4-17 is connected on tensioning support 4-31 and the 4-33 through axle 4-32 and bearing; Tensioning support 4-31 and 4-33 slide up and down at left shell 4-1 and left inner casing 4-5 under the driving of top shoe 4-30; Tensioning slide block 4-34 and 4-29 further under the effect of tensioning screw 4-34 and promote the top shoe 4-30 tensioning left side crawler belt 4-3 that moves up, and sliding block 4-28 is supported on left shell 4-1 and the left inner casing 4-5; Left side crawler belt 4-3 walks on main driving pulley 4-13, main idle pulley 4-6,4-9 and the tensioning pulley 4-17 at left lateral; Decelerator motor 4-20 is connected with left motor fixing seat 4-18 through axle, bearing; Left side motor fixing seat 4-18 is fixed on the left inner casing 4-5; Reducing motor drives bevel gear shaft 4-14 through bevel gear pair 4-15 and 4-16; Bevel gear shaft 4-14 is connected on left shell 4-1 and the left inner casing 4-5 through bearing; Belt wheel 4-21 is fixed on the bevel gear shaft 4-14, and belt wheel 4-24 is fixed in left lateral and walks on the main rotating band wheel shaft 4-23, and left lateral is walked main rotating band wheel shaft 4-23 and walked main driving pulley 4-13 with left lateral and be connected; A left side drives synchronously, and band 4-22 is connected on belt wheel 4-21 and the 4-24; And through idle pulley 4-25 tensioning; Idle pulley 4-25 is connected on the fixed head 4-26 through axle, bearing; Fixed head 2-26 rotates and is fixed on the left inner casing 4-5 around axle screw 4-27, and battery 4-19 is positioned in the cavity of left shell 4-1, left inner casing 4-5 and left matrix 4-8 formation.
Like Fig. 6 and shown in Figure 7, left crawler belt link 3-12 is fixed on left inner casing 4-5 and upward and through axle 3-13 is rotatably connected with matrix 3-1, and left drive link 3-11 drives crank 3-7 with left crawler belt link 3-12 and attitude respectively and is rotatably connected through axle 3-10, axle 3-9; Right-hand track chiain link 3-3 is fixed on right inner casing 1-2 and upward and through axle 3-2 is rotatably connected with matrix 3-1, and right drive link 3-5 drives crank 3-7 with right-hand track chiain link 3-3 and attitude respectively and is rotatably connected through axle 3-4, axle 3-6; Attitude drives crank 3-7 and is fixed on the driving shaft 3-8; Driving shaft 3-8 is connected matrix 3-1 through bearing and upward and with brake 3-19 rotor is connected; Brake 3-19 is fixed in matrix 3-1 and upward and with driving shaft 3-8 is connected; Motor 3-17 output shaft and driving shaft 3-8 are connected, and motor 3-17 is fixed on the matrix 3-1; Camera 2-13, light source 2-15 and eyeglass 2-16 are installed in the camera housing 2-14; Camera pedestal 2-17 is fixed on the matrix 3-1; Camera housing 2-14 is rotatably connected with support 2-1 through bearing through bolster 2-2 and driving shaft 2-6; Driving pulley 2-7 is fixed on the driving shaft 2-6; Belt wheel 2-9 is connected on the motor driving shaft 2-10; Motor driving shaft 2-10 is rotatably connected with motor cabinet 2-4 through bearing; Pitching motor 2-5 output shaft and driving shaft 2-10 are connected and are fixed on the motor cabinet 2-4, and pitching drives is with 2-8 to be connected on driving pulley 2-7 and the belt wheel 2-9 synchronously; Azimuth axis 2-18 is fixed in support 2-1 and upward and through bearing is rotatably connected with camera pedestal 2-17, and azimuth-drive motor 2-20 output shaft and azimuth axis 2-18 are connected and are fixed on the azimuth-drive motor seat 2-19, and azimuth-drive motor seat 2-19 is fixed on the camera pedestal 2-17; Pitching cover 2-3,2-11 and 2-12 all are fixed on the support 2-1; Orientation cover 2-21 is fixed on the azimuth-drive motor seat 2-19; Attitude set mechanism housing 3-15 is fixed on the matrix 3-1, and transducer 5, wireless antenna 3-16, control board 3-14 all are fixed on the attitude set mechanism housing 3-15.
As shown in Figure 7; Work sketch map for this small-sized caterpillar belt formula cable tunnel crusing robot; The operator adopts the wireless communication mode control robot in the tunnel, to carry out through wireless controller and patrols and examines operation, and robot offers operator through wireless communication transmission to the demonstration of terrestrial wireless controller with the information in the tunnel.
Claims (5)
1. small-sized caterpillar belt formula cable tunnel crusing robot, independently traveling crawler mechanism, matrix, attitude set mechanism, the camera that has The Cloud Terrace and transducer are formed by two; It is characterized in that the attitude set mechanism is contained in the matrix; The camera that has a The Cloud Terrace be contained in matrix above; Two independently traveling crawler mechanism lay respectively at the left and right sides of matrix, be rotatably connected with the drive link that matrix and attitude set mechanism are loaded onto respectively through two groups of axles; Transducer is contained on the matrix; Can adjust two angles between pedrail mechanism to adapt to tunnel or different-diameter pipeline through the attitude set mechanism.
2. small-sized caterpillar belt formula according to claim 1 cable tunnel crusing robot is characterized in that outside that left lateral is walked pedrail mechanism walks track drive cover (4-4) by left shell (4-1), left inner casing (4-5), left crawler belt (4-3), left battery cover (4-2) and left lateral and constitute; Right lateral is walked the outside of pedrail mechanism and is walked track drive cover (1-1) formation by right casing (1-4), right inner casing (1-2), right-hand track chiain (1-3) and right lateral.
3. small-sized caterpillar belt formula according to claim 1 cable tunnel crusing robot is characterized in that right lateral is walked caterpillar belt structure and left lateral is walked caterpillar belt structure mirror image each other; Left side shell (4-1) and left inner casing (4-5) are fixed on the left matrix (4-8); Left lateral is walked main driving pulley (4-13), main idle pulley (4-6), (4-9) and is connected on left shell (4-1) and the left inner casing (4-5) through axle and bearing both sides; Tensioning pulley (4-17) through axle (4-32) and bearing be connected tensioning support (4-31) and (4-33) on; Tensioning support (4-31) and (4-33) under the driving of top shoe (4-30), slide up and down at left shell (4-1) and left inner casing (4-5); Tensioning slide block (4-34) and (4-29) under the effect of tensioning screw (4-34), further and promote top shoe (4-30) the tensioning left side crawler belt (4-3) that moves up, sliding block (4-28) is supported on left shell (4-1) and the left inner casing (4-5); Left side crawler belt (4-3) is walked on main driving pulley (4-13), main idle pulley (4-6), (4-9) and the tensioning pulley (4-17) at left lateral; Decelerator motor (4-20) is connected with left motor fixing seat (4-18) through axle, bearing; Left side motor fixing seat (4-18) is fixed on the left inner casing (4-5); Reducing motor through bevel gear pair (4-15) with (4-16) driving bevel gear shaft (4-14); Bevel gear shaft (4-14) is connected on left shell (4-1) and the left inner casing (4-5) through bearing; Belt wheel (4-21) is fixed on the bevel gear shaft (4-14), and belt wheel (4-24) is fixed in left lateral to be walked on the main rotating band wheel shaft (4-23), and left lateral is walked main rotating band wheel shaft (4-23) and walked main driving pulley (4-13) with left lateral and be connected; A left side drive synchronously band (4-22) be connected in belt wheel (4-21) and (4-24) on; And through idle pulley (4-25) tensioning; Idle pulley (4-25) is connected on the fixed head (4-26) through axle, bearing; Fixed head (2-26) rotates and is fixed on the left inner casing (4-5) around axle screw (4-27), and battery (4-19) is positioned in the cavity of left shell (4-1), left inner casing (4-5) and left matrix (4-8) formation.
4. small-sized caterpillar belt formula according to claim 1 cable tunnel crusing robot; It is characterized in that left crawler belt link (3-12) is fixed on left inner casing (4-5) and upward and through axle (3-13) is rotatably connected with matrix (3-1), left drive link (3-11) drives crank (3-7) with left crawler belt link (3-12) and attitude respectively through axle (3-10), axle (3-9) and is rotatably connected; Right-hand track chiain link (3-3) is fixed on right inner casing (1-2) and upward and through axle (3-2) is rotatably connected with matrix (3-1), and right drive link (3-5) drives crank (3-7) with right-hand track chiain link (3-3) and attitude respectively through axle (3-4), axle (3-6) and is rotatably connected; Attitude drives crank (3-7) and is fixed on the driving shaft (3-8); Driving shaft (3-8) is connected matrix (3-1) through bearing and upward and with brake (3-19) rotor is connected; Brake (3-19) is fixed in matrix (3-1) and upward and with driving shaft (3-8) is connected; Motor (3-17) output shaft and driving shaft (3-8) are connected, and motor (3-17) is fixed on the matrix (3-1).
5. small-sized caterpillar belt formula according to claim 1 cable tunnel crusing robot is characterized in that camera (2-13), light source (2-15) and eyeglass (2-16) are installed in the camera housing (2-14); Camera pedestal (2-17) is fixed on the matrix (3-1); Camera housing (2-14) is rotatably connected with support (2-1) through bearing through bolster (2-2) and driving shaft (2-6); Driving pulley (2-7) is fixed on the driving shaft (2-6); Belt wheel (2-9) is connected on the motor driving shaft (2-10); Motor driving shaft (2-10) is rotatably connected with motor cabinet (2-4) through bearing; Pitching motor (2-5) output shaft and driving shaft (2-10) are connected and are fixed on the motor cabinet (2-4), and pitching drives is with (2-8) to be connected on driving pulley (2-7) and the belt wheel (2-9) synchronously; Azimuth axis (2-18) is fixed in support (2-1) and upward and through bearing is rotatably connected with camera pedestal (2-17); Azimuth-drive motor (2-20) output shaft and azimuth axis (2-18) are connected and are fixed on the azimuth-drive motor seat (2-19), and azimuth-drive motor seat (2-19) is fixed on the camera pedestal (2-17); Pitching cover (2-3), (2-11) and (2-12) all be fixed on the support (2-1); Orientation cover (2-21) is fixed on the azimuth-drive motor seat (2-19); Attitude set mechanism housing (3-15) is fixed on the matrix (3-1), and transducer (5), wireless antenna (3-16), control board (3-14) all are fixed on the attitude set mechanism housing (3-15).
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| CN2011102809337A CN102354925A (en) | 2011-09-09 | 2011-09-09 | Miniature crawler-type cable tunnel patrol robot |
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| CN2011102809337A CN102354925A (en) | 2011-09-09 | 2011-09-09 | Miniature crawler-type cable tunnel patrol robot |
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| CN102774442A (en) * | 2012-06-01 | 2012-11-14 | 上海大学 | Caterpillar track running device used in constrained space |
| CN102841604A (en) * | 2012-08-28 | 2012-12-26 | 华北电力大学 | Track system and test method for tunnel cable inspection tour robot |
| CN103066534A (en) * | 2013-02-06 | 2013-04-24 | 山东电力集团公司德州供电公司 | Automatic cable culvert penetrator |
| CN104192216A (en) * | 2014-07-03 | 2014-12-10 | 深圳市博铭维系统工程有限公司 | Pipeline ditch detecting robot and system thereof |
| CN105513157A (en) * | 2016-01-14 | 2016-04-20 | 国网山东省电力公司龙口市供电公司 | Automatic inspection device of electrical equipment |
| CN106194260A (en) * | 2016-09-30 | 2016-12-07 | 襄阳宏伟航空器有限责任公司 | A kind of tunnel routing inspection trolley |
| CN106382957A (en) * | 2016-09-09 | 2017-02-08 | 重庆鼎御天科技有限公司 | Intelligent tunnel robot intelligent inspection integrated monitoring and controlling system |
| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN106848927A (en) * | 2017-04-05 | 2017-06-13 | 深圳市安思科电子科技有限公司 | It is a kind of to observe device suitable for the intelligent electric power line walking that backlight is patrolled and examined |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | A kind of conduit line intelligent inspection robot |
| CN107453270A (en) * | 2017-08-29 | 2017-12-08 | 国网辽宁省电力有限公司葫芦岛供电公司 | Application of the underwater robot in city power distribution cable tunnel |
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| CN109291053A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Crusing robot control system |
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| CN102774442B (en) * | 2012-06-01 | 2014-10-01 | 上海大学 | Caterpillar track running device used in constrained space |
| CN102774442A (en) * | 2012-06-01 | 2012-11-14 | 上海大学 | Caterpillar track running device used in constrained space |
| CN102841604B (en) * | 2012-08-28 | 2016-05-18 | 华北电力大学 | Towards rail system and the method for testing of tunnel cable crusing robot |
| CN102841604A (en) * | 2012-08-28 | 2012-12-26 | 华北电力大学 | Track system and test method for tunnel cable inspection tour robot |
| CN103066534A (en) * | 2013-02-06 | 2013-04-24 | 山东电力集团公司德州供电公司 | Automatic cable culvert penetrator |
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| CN106542016A (en) * | 2015-09-22 | 2017-03-29 | 万书亭 | A kind of crawler type detects robot with the varistructured cable tunnel of sufficient formula |
| CN105513157A (en) * | 2016-01-14 | 2016-04-20 | 国网山东省电力公司龙口市供电公司 | Automatic inspection device of electrical equipment |
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| CN106382957A (en) * | 2016-09-09 | 2017-02-08 | 重庆鼎御天科技有限公司 | Intelligent tunnel robot intelligent inspection integrated monitoring and controlling system |
| CN106382957B (en) * | 2016-09-09 | 2019-11-05 | 重庆跃途科技有限公司 | A kind of wisdom piping lane intelligent robot inspection comprehensive monitoring system |
| CN106194260A (en) * | 2016-09-30 | 2016-12-07 | 襄阳宏伟航空器有限责任公司 | A kind of tunnel routing inspection trolley |
| CN106848927A (en) * | 2017-04-05 | 2017-06-13 | 深圳市安思科电子科技有限公司 | It is a kind of to observe device suitable for the intelligent electric power line walking that backlight is patrolled and examined |
| CN107046252A (en) * | 2017-04-14 | 2017-08-15 | 国网吉林省电力有限公司经济技术研究院 | A kind of conduit line intelligent inspection robot |
| CN107453270A (en) * | 2017-08-29 | 2017-12-08 | 国网辽宁省电力有限公司葫芦岛供电公司 | Application of the underwater robot in city power distribution cable tunnel |
| CN107654791A (en) * | 2017-09-22 | 2018-02-02 | 南京天创电子技术有限公司 | A kind of magnetic suck pipe robot |
| CN107589225A (en) * | 2017-10-25 | 2018-01-16 | 国网山东省电力公司龙口市供电公司 | Cable duct gas controlling device |
| CN107907159A (en) * | 2017-11-09 | 2018-04-13 | 北京许继电气有限公司 | A kind of power cable tunnel fortune inspection auxiliary device |
| CN109291053A (en) * | 2018-10-31 | 2019-02-01 | 深圳供电局有限公司 | Crusing robot control system |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
| CN112644596A (en) * | 2021-01-06 | 2021-04-13 | 西安电子科技大学 | Crawler-type mobile robot for complex-structure pipeline detection |
| CN113358658A (en) * | 2021-04-25 | 2021-09-07 | 上海工程技术大学 | Method for realizing automatic detection of defects of high-speed rail box girder |
| CN113176002A (en) * | 2021-06-11 | 2021-07-27 | 国网山东省电力公司德州供电公司 | Monitoring devices for fire control based on power cable |
| CN113570743A (en) * | 2021-06-25 | 2021-10-29 | 国网河北省电力有限公司平山县供电分公司 | Cable inspection device |
| CN113570743B (en) * | 2021-06-25 | 2023-01-17 | 国网河北省电力有限公司平山县供电分公司 | Cable inspection device |
| CN114227640A (en) * | 2022-03-01 | 2022-03-25 | 湖南工商大学 | Intelligent inspection robot for cable tunnel |
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Application publication date: 20120215 |