CN106075772A - Electric power tunnel intelligent inspection robot - Google Patents

Electric power tunnel intelligent inspection robot Download PDF

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Publication number
CN106075772A
CN106075772A CN201610578468.8A CN201610578468A CN106075772A CN 106075772 A CN106075772 A CN 106075772A CN 201610578468 A CN201610578468 A CN 201610578468A CN 106075772 A CN106075772 A CN 106075772A
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CN
China
Prior art keywords
cabinet
translucent cover
parts
rocker
hole
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.)
Granted
Application number
CN201610578468.8A
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Chinese (zh)
Other versions
CN106075772B (en
Inventor
王辉
周刚
李国成
张晓庆
高盛
宋茂盛
张卫东
刘冰
张兴永
王润
高原
寇承升
韩永
刘刚
王毅
冯曰敏
翟蕾
徐金华
李亚洲
张学娟
李雪婷
于杰
刘广
孟庆刚
冯忠奎
昝浩
崔岩
周宝凤
张翰匀
徐冲
袁宏坤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
State Grid Corp of China SGCC
Zibo Power Supply Co of State Grid Shandong Electric Power Co Ltd
Original Assignee
State Grid Corp of China SGCC
Zibo Power Supply Co of State Grid Shandong Electric Power Co Ltd
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Publication date
Application filed by State Grid Corp of China SGCC, Zibo Power Supply Co of State Grid Shandong Electric Power Co Ltd filed Critical State Grid Corp of China SGCC
Priority to CN201610578468.8A priority Critical patent/CN106075772B/en
Publication of CN106075772A publication Critical patent/CN106075772A/en
Application granted granted Critical
Publication of CN106075772B publication Critical patent/CN106075772B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C3/00—Fire prevention, containment or extinguishing specially adapted for particular objects or places
    • A62C3/16—Fire prevention, containment or extinguishing specially adapted for particular objects or places in electrical installations, e.g. cableways
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C19/00—Hand fire-extinguishers in which the extinguishing substance is expelled by an explosion; Exploding containers thrown into the fire
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • A62C37/50—Testing or indicating devices for determining the state of readiness of the equipment
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08G—MACROMOLECULAR COMPOUNDS OBTAINED OTHERWISE THAN BY REACTIONS ONLY INVOLVING UNSATURATED CARBON-TO-CARBON BONDS
    • C08G12/00—Condensation polymers of aldehydes or ketones with only compounds containing hydrogen attached to nitrogen
    • C08G12/02—Condensation polymers of aldehydes or ketones with only compounds containing hydrogen attached to nitrogen of aldehydes
    • C08G12/40—Chemically modified polycondensates
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D161/00—Coating compositions based on condensation polymers of aldehydes or ketones; Coating compositions based on derivatives of such polymers
    • C09D161/20—Condensation polymers of aldehydes or ketones with only compounds containing hydrogen attached to nitrogen
    • C09D161/32—Modified amine-aldehyde condensates
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D5/00—Coating compositions, e.g. paints, varnishes or lacquers, characterised by their physical nature or the effects produced; Filling pastes
    • C09D5/18—Fireproof paints including high temperature resistant paints
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D7/00—Features of coating compositions, not provided for in group C09D5/00; Processes for incorporating ingredients in coating compositions
    • C09D7/40—Additives
    • C09D7/60—Additives non-macromolecular
    • C09D7/61—Additives non-macromolecular inorganic
    • C—CHEMISTRY; METALLURGY
    • C09—DYES; PAINTS; POLISHES; NATURAL RESINS; ADHESIVES; COMPOSITIONS NOT OTHERWISE PROVIDED FOR; APPLICATIONS OF MATERIALS NOT OTHERWISE PROVIDED FOR
    • C09D—COATING COMPOSITIONS, e.g. PAINTS, VARNISHES OR LACQUERS; FILLING PASTES; CHEMICAL PAINT OR INK REMOVERS; INKS; CORRECTING FLUIDS; WOODSTAINS; PASTES OR SOLIDS FOR COLOURING OR PRINTING; USE OF MATERIALS THEREFOR
    • C09D7/00—Features of coating compositions, not provided for in group C09D5/00; Processes for incorporating ingredients in coating compositions
    • C09D7/40—Additives
    • C09D7/60—Additives non-macromolecular
    • C09D7/63—Additives non-macromolecular organic
    • 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
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
    • C08L2201/00—Properties
    • C08L2201/02—Flame or fire retardant/resistant
    • C—CHEMISTRY; METALLURGY
    • C08—ORGANIC MACROMOLECULAR COMPOUNDS; THEIR PREPARATION OR CHEMICAL WORKING-UP; COMPOSITIONS BASED THEREON
    • C08L—COMPOSITIONS OF MACROMOLECULAR COMPOUNDS
    • C08L2205/00—Polymer mixtures characterised by other features
    • C08L2205/03—Polymer mixtures characterised by other features containing three or more polymers in a blend
    • C08L2205/035—Polymer mixtures characterised by other features containing three or more polymers in a blend containing four or more polymers in a blend

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  • Chemical & Material Sciences (AREA)
  • Organic Chemistry (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Public Health (AREA)
  • Emergency Management (AREA)
  • General Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Medicinal Chemistry (AREA)
  • Polymers & Plastics (AREA)
  • Inorganic Chemistry (AREA)
  • Manipulator (AREA)

Abstract

Electric power tunnel intelligent inspection robot, including track running mechanism, cabinet is installed in the bottom of track running mechanism, light filling LED is installed in the front end of cabinet, gas detecting, temperature measuring probe and ultrasonic sensor, phone system is installed in cabinet, Smoke Sensor, control system and wireless transceiver system, photographic head is installed in the bottom of cabinet, rocker is installed in the bottom of cabinet, rocker is positioned at photographic head rear, rocker is hinged with cabinet by rotating shaft, translucent cover fixed cover is installed in the rear end of rocker, translucent cover is installed on translucent cover fixed cover, translucent cover is positioned at cabinet rear end, translucent cover opening down.This cover system may replace conventional tunnel automatic fire alarm system, video and environmental monitoring and supporting communications facility thereof.Can also be rapidly completed whole piece tunnel is patrolled and examined monitoring comprehensively, it patrols and examines efficiency with disaster disposal efficiency compared with traditional approach, has significant advantage.

Description

Electric power tunnel intelligent inspection robot
Technical field
The present invention relates to a kind of power cable inspection device, specifically a kind of electric power tunnel intelligent inspection robot.
Background technology
China majority cable is concentrated and is laid in cable tunnel, be characterized in distance, with a varied topography, mutually hand in length and breadth Wrong, moist, cable type is many, and has been frequently present of all kinds of toxic gas and fuel gas, and cable tunnel special environment makes to pass System manual inspection inefficiency, and threaten with personal safety.And, once breaking out of fire in tunnel, currently without accomplishing The very first time is found to be feelings feedback information, and takes to control the equipment of intensity of a fire measure simultaneously, thus often can give because sending out in time Now and control as early as possible and cause huge economic loss.
Summary of the invention
It is an object of the invention to provide a kind of electric power tunnel intelligent inspection robot, it is specific to buried cable tunnel The intelligent integral developed patrols and examines solution.It uses it to solution cycle tour cable tunnel cable and the operation of affiliated facility Situation, effectively solve high voltage supply cable normal operating conditions uninterruptedly patrol and examine the cycle with staff patrol and examine deficiency Contradiction, has ensured the quantity of patrol task, q&r, improves power supply networking and power supply facilities and cable tunnel work Personnel safety.Periodically patrol and examine the Centralized Monitoring record of information, interaction analysis function, safeguard in time and fault for power equipment Analysis provides more structurally sound foundation.Described intelligent inspection robot runs in tunnel, and can realize 24 hours uninterruptedly Tunnel is patrolled and examined repeatedly, and realizes the data acquisition continuous, dynamic to tunnel state and system storage.Can be by artificial Remote control combines and entirely independently patrols and examines, and the overall situation is patrolled and examined and combined the combination that fixed point is maked an inspection tour, it is achieved system is to electric power tunnel equipment and ring Border is the most exhaustively patrolled and examined.Further, it can find the condition of a fire in time, and takes effective measures the control condition of a fire, thus can be by The loss that fire in tunnel causes is preferably minimized.
The present invention for achieving the above object, is achieved through the following technical solutions: electric power tunnel intelligent inspection robot, including Track running mechanism, the bottom installation cabinet of track running mechanism, light filling LED, gas detecting, temperature are installed in the front end of cabinet Detection probe and ultrasonic sensor, install phone system, Smoke Sensor, control system and wireless transceiver system in cabinet, Photographic head is installed in the bottom of cabinet, and rocker is installed in the bottom of cabinet, and rocker is positioned at photographic head rear, and rocker passes through rotating shaft and cabinet Hinged, translucent cover fixed cover is installed in the rear end of rocker, and translucent cover fixed cover is installed translucent cover, and translucent cover is positioned at cabinet rear end, Translucent cover opening down, in rocker, level offers inner chamber, and inner chamber is vertically offered shearing port, shears port and inner chamber phase Logical, the sidewall of translucent cover fixed cover is offered the first strip through-hole, the first strip through-hole communicates with inner chamber, and interior intracavity is arranged side by side Two clamping bars, the front end of two clamping bars is connected by elastic knee, rear end first strip through-hole of every elastic knee Stretching in translucent cover fixed cover, the rear end of every elastic knee is respectively provided with an arc pallet, the concave surface phase of two arc pallets Right, spring is installed between two clamping bars, spring provides outwardly power for two clamping bars, installs between two clamping bars Stay cord, stay cord is positioned at shearing passage port, installs electromagnetic switch in cabinet, the push rod of electromagnetic switch is installed cutting knife, under cutting knife End offers bar-shaped trough, is blade inside bar-shaped trough, and bar-shaped trough is corresponding with stay cord；Fire extinguisher bomb is laid, under fire extinguisher bomb in translucent cover End is cone, and fire extinguisher bomb lower end coordinates with two arc pallets, and two arc pallets provide support force for fire extinguisher bomb, fire extinguisher bomb Upper end tower spring is installed, tower spring provides downward elastic force for fire extinguisher bomb；Rocker drive mechanism is installed, to drive rocker to turn on cabinet Turn and make translucent cover cover in photographic head periphery.
In order to realize the purpose of the present invention further, it is also possible to by the following technical solutions: described translucent cover fixed cover Offering arcuate groove on rear wall, the rear end of each arc pallet is respectively provided with an elastic rod, and the rear end of elastic rod passes arcuate groove, Being respectively provided with an elastic rod inclined-plane outside the rear end of every elastic rod, the outside of every elastic rod is respectively provided with a latch bolt, transparent Retaining mechanism is installed at the rear portion of cover fixed cover, and retaining mechanism includes that sleeve pipe, sleeve pipe are connected with translucent cover fixed cover, the both sides of sleeve pipe Respectively offering a side opening, two side openings and two latch bolt one_to_one corresponding to coordinate, when two clamping bars open, elastic rod can drive tiltedly Tongue stretches out outside side opening；Tightening cover is installed in sleeve pipe rear end, offers key hole in the middle part of the rear end of tightening cover, installs button in tightening cover, The front end of button is positioned at sleeve pipe, and the periphery of button is provided with spacing ring, and spacing ring coordinates with tightening cover tip inside, outside button Week installs back-moving spring, and back-moving spring coordinates with spacing ring provides thrust backward for button, and the rear end of button is joined with key hole Closing, in button, tapered hole is offered in front portion, gathering hole is offered at rear portion, draws hole in and communicates with tapered hole, and tapered Kong Nengyu elastic rod is oblique Face coordinates, and two elastic rods can insert in gathering hole after closing up, a latch bolt chute is respectively offered in the both sides of button front portion, and latch bolt is sliding Groove communicates with tapered hole and gathering hole respectively, and two latch bolt chutes can coordinate with two latch bolt one_to_one corresponding；Cabinet is provided with U-shaped Snap close, the U-lag of snap close can coordinate with retaining mechanism, two risers of snap close are respectively offered one location hole, translucent cover cover When photographic head periphery, hole, two location coordinates locking with two latch bolt one_to_one corresponding.Described rocker drive mechanism is motor, electricity The output shaft of machine is connected with rotating shaft.Described rocker drive mechanism is the first torsion spring, and the first torsion spring provides the elastic force rotated for rocker； Installing locking mechanism on described cabinet, locking mechanism includes that turnover panel, turnover panel are positioned at translucent cover rear and its upper end and cabinet rear portion Hinged, it is provided with clamping block on front side of the lower end of turnover panel, clamping block locks translucent cover fixed cover, machine with coordinating on rear side of translucent cover fixed cover On case, level is provided with two locating racks, and two locating racks are located side by side at rocker both sides, are horizontally mounted one in every locating rack Rotating bar, a piece fork of each installation outside locating rack is stretched out in the rear end of every rotation bar, and fork is vertical, on every fork with rotation bar One baffle plate of each installation, baffle plate coordinates with the rear side of turnover panel, and the sidewall of locating rack is offered the second bar hole, every rotation bar Side is respectively provided with one piece of push pedal, and push pedal is parallel with fork, and two pieces of push pedals are positioned at below translucent cover opening, and two pieces of push pedals lay respectively at In corresponding second bar hole, push pedal can rotate down 90 degree along the second bar hole, installs the second torsion spring, the second torsion spring in locating rack The moment of torsion resetted for rotating bar to provide.Installing the 3rd torsion spring on described turnover panel and the hinge axis of cabinet, the 3rd torsion spring is that turnover panel carries The power Gong turning over.A sleeve it is respectively provided with inside described every clamping bar, installation the second connection post in a sleeve, second The outer end connecting post is provided with limited block, installs the first connection post in another sleeve, and first connects post outer end with nut thread even Connecing, a through hole is respectively offered in second the inner connecting post and the first connection post, and stay cord is installed between two through holes.Described clamping Being provided with spring positioning sleeve inside bar, one end of spring is positioned at spring positioning sleeve.Set at described translucent cover fixed cover lower ending opening Having fire-resistant film, described fire-resistant film is made up of binder layer and fireproof coating layer, the fireproof coating of fireproof coating layer, in parts by weight, It is made up of following raw material: polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, melamine cyanurate 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, Magnesium stearate 3 ~ 8 parts, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and modified furan resin 30 ~ 40 parts；Described defoamer is polyoxy Ethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether；
Described modified furan resin prepares according to following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
The preparation method of fireproof coating, comprises the following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
4. by polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, melamine cyanurate 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, Organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, stearic acid Stir in 3 ~ 8 parts of magnesium, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and step 3. 30 ~ 40 parts of addition blenders of gained modified furan resin Mix uniformly, obtain slurry, then gained slurry is ground 3 times on three-roller, each 10 minutes, obtain fireproof coating；Described Defoamer is polyoxyethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether.
It is an advantage of the current invention that: tunnel intelligent crusing robot combine Surveillance center management platform, communication system and Related accessories, can realize processing uninterrupted monitoring and the fire of power tunnel environment with equipment.It is equipped with machine simultaneously People's control station and hand-held remote controller, to realize carrying out robot according to different application environment the Remote of multi-form. It also has the advantage that
One, integration advantage
1) what system was intelligent inspection system with real-time monitoring system is integrated；
2) system is the big system integration based on multi-sensor fusion technology；
3) system is tunnel fire hazard automatic alarm system, video and environmental monitoring and communications facility thereof
Integrated；Can be fully integrated with on-line monitoring of cable system simultaneously, share linkage；
Two, cost advantage
This cover system can replace conventional tunnel automatic fire alarm system comprehensively, video sets with environmental monitoring and supporting communication thereof Execute, evaded the cost consumption that the intensive laying of fixed data acquisition equipment is brought.
Three, odds for effectiveness
This device can be rapidly completed patrols and examines monitoring to whole piece tunnel comprehensively, and during fire disaster emergency is disposed, robot will be with 1.4m/ The maximum speed of s arrives scene of fire in several minutes and carries out disaster disposal.It patrols and examines efficiency and disaster disposal efficiency and tradition Mode is compared, and has significant advantage.
Accompanying drawing explanation
Fig. 1 is the structural representation of electric power tunnel intelligent inspection robot of the present invention, and in figure, rocker is driven by motor； Fig. 2 is that the A of Fig. 1 is to structural representation；Fig. 3 is that the C of Fig. 1 is to structural representation；Fig. 4 is the B-B section view structure for amplifying signal of Fig. 1 Figure；Fig. 5 is the structural representation of another program of described electric power tunnel intelligent inspection robot, and in figure, rocker is driven by the second torsion spring Dynamic；Fig. 6 is that the D of Fig. 5 is to structure for amplifying schematic diagram；Fig. 7 is the F-F portion TV structure schematic diagram of Fig. 6；Fig. 8 is that the E of Fig. 5 is to amplification Structural representation.
Reference: 1 track running mechanism 2 cabinet 3 gas detecting, temperature measuring probe 4 Smoke Sensor 5 snap close 6 photographic head 7 motor 8 rotating shaft 9 cutting knife 10 bar-shaped trough 11 electromagnetic switch 12 rocker 13 fire-resistant film 14 retaining mechanisms 15 are saturating Bright cover fixed cover 16 fire extinguisher bomb 17 translucent cover 18 track 19 phone system 20 light filling LED 21 ultrasonic sensor 22 Riser 23 positions hole 24 tightening cover 25 and draws key hole 27 button 28 spacing ring 29 sleeve pipe 30 elastic rod inclined-plane, hole 26 in 31 elastic rod 32 arcuate groove 33 spring positioning sleeve 34 spring 35 stay cord 36 sleeves 37 first connect post 38 nut 39 and cut Cut through mouth 40 clamping bar 41 inner chamber 42 limited block 43 second and connect elastic knee 45 first strip through-hole 46 arc of post 44 Supporting plate 47 side opening 48 latch bolt 49 tapered hole 50 latch bolt chute 51 back-moving spring 52 turnover panel 53 clamping block 54 locating rack 55 Fork 56 baffle plate 57 rotates bar 58 second bar hole 59 push pedal 60 tower spring 61 second torsion spring 62 first torsion spring 63 the 3rd torsion Spring.
Detailed description of the invention
Electric power tunnel intelligent inspection robot of the present invention, as it is shown in figure 1, include track running mechanism 1, track row Walking mechanism 1 can be that roller-coaster etc. can hang upside down the existing walking mechanism of walking on track.Track running mechanism 1 can hang on rail On road 18 and quickly can move along track 18.Cabinet 2 is installed in the bottom of track running mechanism 1.Light filling is installed in the front end of cabinet 2 LED 20, gas detecting, temperature measuring probe 3 and ultrasonic sensor 21.Described ultrasonic sensor can also be existing Ultrasonic radar sensor, with ultrasonic listening objects in front.Described gas detecting, temperature measuring probe 3 can be existing Gas detection sensor and temperature detection sensor.Phone system 19, Smoke Sensor 4, control system and nothing are installed in cabinet 2 Line receive-transmit system.Described phone system 19 is existing long-distance radio communication system.Described wireless transceiver system is described to realize The data remote transmission of robot, thus realize the reception and registration of Remote and data acquisition and command information.The bottom peace of cabinet 2 Dress photographic head 6, photographic head 6 can be Radix Rumicis double vision The Cloud Terrace, in order to the more clearly concrete situation in shooting tunnel.The bottom of cabinet 2 Installing rocker 12, rocker 12 is positioned at photographic head 6 rear.Rocker 12 is hinged with cabinet 2 by rotating shaft 8, and rotating shaft 8 can drive rocker 12 Cabinet 2 relatively revolves turnback.Translucent cover fixed cover 15 is installed in the rear end of rocker 12, and translucent cover fixed cover 15 is installed translucent cover 17, translucent cover 17 is positioned at cabinet 2 rear end, translucent cover 17 opening down, in order to the quick input of fire extinguisher bomb in the inner.Such as figure Shown in 4, in rocker 12, level offers inner chamber 41, inner chamber 41 is vertically offered shearing port 39, shears port 39 and inner chamber 41 phase Logical, in order to cutting knife 9 inserts.Offering the first strip through-hole 45 on the sidewall of translucent cover fixed cover 15, the first strip through-hole 45 is with interior Chamber 41 communicates, and is arranged side by side two clamping bars 40 in inner chamber 41, and the front end of two clamping bars 40 is connected by elastic knee 44, with Realize two clamping bars 40 open or close.Rear end first strip through-hole 45 of every elastic knee 44 stretches into translucent cover and fixes In set 15, the rear end of every elastic knee 44 is respectively provided with an arc pallet 46, and the concave surface of two arc pallets 46 is relative, in order to Fire extinguisher bomb 16 is held in constituting annular.Between two clamping bars 40 install spring 34, spring 34 for two clamping bars 40 provide to The power opened outward, provides outwardly elastic force for two arc pallets 46 when i.e. throwing in fire extinguisher bomb 16.Two clamping bars 40 it Between stay cord 35 is installed, stay cord 35 retrains the spacing between two arc pallets 46 by two clamping bars 40, it is ensured that two arc torr Plate 46 provides effectively support to fire extinguisher bomb 16.Stay cord 35 is positioned at shearing port 39.Open as it is shown in figure 1, install electromagnetism in cabinet 2 Closing 11, the push rod of electromagnetic switch 11 is installed cutting knife 9, bar-shaped trough 10 is offered in the lower end of cutting knife 9, is blade inside bar-shaped trough 10, Bar-shaped trough 10 is corresponding with stay cord 35.When installing and using, usual stay cord 35 is positioned at bar-shaped trough 10, when starting electromagnetic switch 11, Electromagnetic switch 11 can drive cutting knife 9 quickly lower mobile, the bootable stay cord of bar-shaped trough 10 35 relative movement in bar-shaped trough 10, thus Guarantee the most accurately to cut off stay cord 35.Laying fire extinguisher bomb 16 in translucent cover 17, the lower end of fire extinguisher bomb 16 is cone, fire extinguisher bomb 16 Lower end coordinates with two arc pallets 46, and two arc pallets 46 provide support force to stop fire extinguisher bomb 16 to fall for fire extinguisher bomb 16, Tower spring 60 is installed in the upper end of fire extinguisher bomb 16, and tower spring 60 provides the elastic force of input downwards for fire extinguisher bomb 16；Rocker is installed on cabinet 2 drive Motivation structure, to drive rocker 12 to overturn and make translucent cover 17 to cover in photographic head 6 periphery, carries out flameproof protection to photographic head 6.Described Control system is the control device of existing control each electric control unit work, by existing circuit board, processor and various merit Can module composition, it can control photographic head 6 mentioned above, track running mechanism 1, electromagnetic switch 11, light filling LED 20, gas The various electric-controlled parts such as health check-up survey, temperature measuring probe 3 and ultrasonic sensor 21.
When line in tunnel can be carried out by described robot according to the program of inside setting or the artificial order remotely controlled Time patrol and examine.Can shoot the concrete condition in tunnel by photographic head 6 during patrolling and examining, phone system 19 facilitates the personnel in tunnel Remote dialogue is realized with the staff of control centre.Smoke Sensor 4 can realize smog alarm, to find the condition of a fire as early as possible.Super Sonic sensor 21 detects preceding object thing in time, in order to the preparation of pre-decelerating or parking is made by robot.Gas detecting, Temperature measuring probe 3 can detect the temperature in tunnel, fuel gas and harmful gas, and by wireless transceiver system by information and Time pass to control centre.
When the condition of a fire found in tunnel, the fire extinguisher bomb 16 carried can first be thrown in by described robot, to slow down and to control fire Feelings, and carry out the information gathering such as image, gas componant and temperature transmission near burning things which may cause a fire disaster, in order to control centre can for making accurately and Time have judgement, and take effective fire suppression measures.Concrete operations are as follows: when Smoke Sensor 4, photographic head 6 or gas detecting, temperature After degree detection probe 3 finds the condition of a fire, the information that the personnel of control centre can pass back according to robot, teleoperator is quickly moved to Above fire's point of origin position, and starting electromagnetic switch 11, electromagnetic switch 11 promotes the quick incision of cutting knife 9 to be cut by stay cord 35 at once Disconnected, now, spring 34 will be opened instantaneous for two arc pallets 46 by clamping bar 40, and fire extinguisher bomb 16 is losing arc pallet 46 Support after under the elastic force effect of self gravitation and tower spring 60 drive tower spring 60 hurtle down throwing to fire's point of origin put out a fire, now Translucent cover 17 empties；Hereafter, rocker driving mechanisms control rocker 12 overturns, so that the translucent cover 17 after emptying of dropping a bomb covers in shooting Photographic head 6 is effectively protected by 6 peripheries, makes photographic head 6 can stop at burning things which may cause a fire disaster adnexa and shoot, meanwhile, does not the most affect and take the photograph The shooting visual field of picture 6.
For guaranteeing that translucent cover 17 will not be opened after covering in photographic head 6 periphery by mistake, as shown in Figure 4, described translucent cover fixed cover Offering arcuate groove 32 on the rear wall of 15, the rear end of each arc pallet 46 is respectively provided with an elastic rod 31, after elastic rod 31 End, through arcuate groove 32, is respectively provided with an elastic rod inclined-plane 30, outside every elastic rod 31 outside the rear end of every elastic rod 31 Side is respectively provided with a latch bolt 48.As it is shown in figure 1, retaining mechanism 14 is installed at the rear portion of translucent cover fixed cover 15.As shown in Figure 4, lock Tight mechanism 14 includes that sleeve pipe 29, sleeve pipe 29 are connected with translucent cover fixed cover 15, and a side opening 47 is respectively offered in the both sides of sleeve pipe 29, two Individual side opening 47 coordinates with two latch bolt 48 one_to_one corresponding, and when two clamping bars 40 open, elastic rod 31 can drive latch bolt 48 to stretch out Outside side opening 47.Tightening cover 24 is installed in sleeve pipe 29 rear end, offers key hole 26, install in tightening cover 24 in the middle part of the rear end of tightening cover 24 Button 27, the front end of button 27 is positioned at sleeve pipe 29, and the periphery of button 27 is provided with spacing ring 28, spacing ring 28 and tightening cover 24 end Portion's fit inside, with spacing to button 27, back-moving spring 51 is installed in the periphery of button 27, and back-moving spring 51 coordinates with spacing ring 28 Thrust backward is provided for button 27.The rear end of button 27 coordinates with key hole 26, in button 27 front portion offer tapered hole 49, after Portion offers gathering hole 25, draws hole 25 in and communicates with tapered hole 49, and tapered hole 49 can coordinate with elastic rod inclined-plane 30.Two elastic rods 31 close up after can insert gathering hole 25 in.A latch bolt chute 50 is respectively offered in the both sides of button 27 front portion, and latch bolt chute 50 is respectively Communicate with tapered hole 49 and gathering hole 25.Article two, latch bolt chute 50 can coordinate with two latch bolt 48 one_to_one corresponding.Cabinet 2 is provided with The snap close 5 of U-shaped, the U-lag of snap close 5 can coordinate with retaining mechanism 14.As it is shown on figure 3, respectively offer on the two of snap close 5 risers 22 Hole 23, one location, when translucent cover 17 covers in photographic head 6 periphery, hole 23, two location coordinates lock with two latch bolt 48 one_to_one corresponding Fixed.After fire extinguisher bomb 16 is thrown in, elastic rod 31 drives latch bolt 48 to stretch out outside side opening 47, when translucent cover 17 covers in photographic head 6 periphery, Retaining mechanism 14 coordinates with snap close 5, and during this, latch bolt 48 first can overcome the elastic force of elastic rod 31 to receive because of the stop of riser 22 Enter in sleeve pipe 29, when latch bolt time corresponding 48 can be inserted hole 23, location with side opening 47 under the elastic force effect of elastic rod 31 by latch bolt 48 In, thus retaining mechanism 14 is locked with snap close 5.When unlocking, depresses button 27, button 27 overcomes the bullet of back-moving spring 51 Power moves to elastic rod 31, and at the beginning of moving, two elastic rods 31 are imported in it by tapered hole 49, and guides both gradually to merge, In income draws hole 25 in eventually, now, two latch bolts 48 are taken in sleeve pipe 29, complete unlocking motion.In above process, latch bolt 48 Can enter in latch bolt chute 50, and move along latch bolt chute 50, so that it is guaranteed that two elastic rods 31 can be taken in gathering hole 25, i.e. Ensure that two latch bolts 48 are taken in sleeve pipe 29.
Overturn to realize translucent cover 17 cover in outside photographic head 6 for realizing rocker 12, as it is shown in figure 1, described rocker drives machine Structure is motor, and the output shaft of motor is connected with rotating shaft 8.
Covering in the purpose outside photographic head 6 for realizing translucent cover 17, after fire extinguisher bomb 16 to be guaranteed input, translucent cover 17 is Actionable, stop translucent cover 17 and smash the accident generation of photographic head 6 with fire extinguisher bomb 16, therefore design below scheme: such as Fig. 5 institute Showing, described rocker drive mechanism is the first torsion spring 62, and the first torsion spring 62 provides the elastic force rotated for rocker 12.On described cabinet 2 Installing locking mechanism, locking mechanism includes that turnover panel 52, turnover panel 52 are positioned at translucent cover 17 rear and its upper end and cut with scissors with cabinet 2 rear portion Connect.Clamping block 53 it is provided with, on rear side of clamping block 53 and translucent cover fixed cover 15 or translucent cover fixed cover 15 on front side of the lower end of turnover panel 52 The parts of rear side coordinate locking translucent cover fixed cover 15.On cabinet 2, level is provided with two locating racks 54, and two locating racks 54 are side by side It is positioned at rocker 12 both sides.As shown in Figure 6, in every locating rack 54, it is horizontally mounted a rotation bar 57, as it is shown in figure 5, every A locating rack 54 piece fork 55 of outer each installation is stretched out in the rear end rotating bar 57, and as shown in Figure 8, fork 55 is vertical with rotating bar 57, One baffle plate 56 of each installation on every fork 55, baffle plate 56 coordinates with the rear side of turnover panel 52.As it is shown in fig. 7, the side of locating rack 54 Offering the second bar hole 58 on wall, the side of every rotation bar 57 is respectively provided with one piece of push pedal 59, and push pedal 59 is parallel with fork 55, and two Block push pedal 59 is positioned at below translucent cover 17 opening, and two pieces of push pedals 59 lay respectively in corresponding second bar hole 58, and push pedal 59 can edge Second bar hole 58 rotates down 90 degree, installs the second torsion spring 61 in locating rack 54, and the second torsion spring 61 provides multiple for rotating bar 57 The moment of torsion of position.After fire extinguisher bomb 16 is launched by translucent cover 17, and when fire extinguisher bomb 16 pushes down on push pedal 59, push pedal 59 can drive and turn Lever 57 overcomes the moment of torsion of the second torsion spring 61 to be rotated down, and rotates bar 57 and drives fork 55 and baffle plate 56 to rotate down, so that Turnover panel 52 loses constraint, and now, under the effect of the first torsion spring 62, rocker 12 drives translucent cover fixed cover 15 to break away from turnover panel 52 Turnback is turned in constraint, and translucent cover 17 covers in photographic head 6 periphery the most at last.
Can rout up smoothly for translucent cover fixed cover 15 after further ensuring that unblock, as it is shown in figure 5, described turnover panel 52 and cabinet Installing the 3rd torsion spring 63 on the hinge axis of 2, the 3rd torsion spring 63 provides the power turned over for turnover panel 52.When turnover panel 52 loses baffle plate After the constraint of 56, turnover panel 52 can flick smoothly, discharges translucent cover fixed cover 15.
For convenience of changing stay cord 35, as shown in Figure 4, inside described every clamping bar 40, it is respectively provided with a sleeve 36, one Installing the second connection post 43 in sleeve 36, the second outer end connecting post 43 is provided with limited block 42, installs the in another sleeve 36 One connects post 37, and first connects post 37 outer end threadeds with nut 38, and second connects post 43 and the inner of the first connection post 37 Respectively offering a through hole, stay cord 35 is installed between two through holes.Limited block 42 and nut 38 coordinate spacing with sleeve 36 respectively. First nut 38 is connected by first during replacing and screw off on post 37, connect post 37 by first and the second connection post 43 is transferred to, then will draw The two ends of rope 35 are tightened and are fixed in two through holes, then connect post 37 and second by first and connect post 43 as shown in Figure 4, insert In two sleeves 36, finally nut 38 is connected post 37 with first the most threaded.
Being provided with spring positioning sleeve 33 inside described clamping bar 40, one end of spring 34 is positioned at spring positioning sleeve 33, with really Protecting spring 34 effectively promotes clamping bar 40 to open.
It is provided with fire-resistant film 13, to prevent fire extinguisher bomb 16 fiery in input cause at described translucent cover fixed cover 15 lower ending opening Flame burns and explodes by mistake.Described fire-resistant film 13 is made up of binder layer and fireproof coating layer, and binder layer can be by paper, cloth or existing The thin film easily puncturing and tearing made of high temperature polymeric materials.The fireproof coating of fireproof coating layer, in parts by weight, by Following raw material forms: polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, melamine cyanurate 2 ~ 5 parts, and aluminium hydroxide 2 ~ 4 parts, organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, firmly Fatty acid magnesium 3 ~ 8 parts, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and modified furan resin 30 ~ 40 parts；Described defoamer is polyoxy second Alkene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether；
Described modified furan resin prepares according to following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
The preparation method of fireproof coating, comprises the following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
4. by polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, melamine cyanurate 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, Organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, stearic acid Stir in 3 ~ 8 parts of magnesium, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and step 3. 30 ~ 40 parts of addition blenders of gained modified furan resin Mix uniformly, obtain slurry, then gained slurry is ground 3 times on three-roller, each 10 minutes, obtain fireproof coating；Described Defoamer is polyoxyethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether.
Described fireproof coating has good wearability and heat resistance, and adhesion property is applicable to well xoncrete structure gold Multiple fields such as genus, glass, plastics, leather, fiber and timber decorations layer, and adhesion property is good, not fugitive color and peeling；This After bright fireproof coating solidification, there is good chemical resistance and electrical insulation capability；The fireproof coating fire protecting performance of the present invention Good, heat expands, and forms the expansion carbon-coating of heat insulation oxygen barrier, closed substrate, thus can be effective by inflammable constituent when fire spread Isolation, stops the burning of base material.
Specifically: fireproof coating, in parts by weight, it is made up of following raw material: polyvinyl alcohol 1 ~ 5 part, carboxymethyl cellulose 1 ~ 3 part of ether of element, melamine cyanurate 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, magnesium stearate 3 ~ 8 parts, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water With modified furan resin 30 ~ 40 parts；Described defoamer is polyoxyethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene season penta Four alcohol ethers；
Described modified furan resin prepares according to following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins.
Preferably fire proofing material, defoamer is polyoxyethylene polyoxy propanol amidogen ether.
Preferably fire proofing material, in parts by weight, is made up of following raw material: polyvinyl alcohol 3 parts, TYLOSE 30000 2 Part, melamine cyanurate 4 parts, aluminium hydroxide 3 parts, organic silicone oil 12 parts, propylene glycol methyl ether acetate 24 parts, Lauryl Alcohol ester 18 parts, Firebrake ZB 2 parts, magnesium stearate 6 parts, defoamer 0.3 part, 10 parts of water and modified furan resin 36 parts.
Present invention additionally comprises the preparation method of fireproof coating, comprise the following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
4. by polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, melamine cyanurate 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, Organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, stearic acid Stir in 3 ~ 8 parts of magnesium, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and step 3. 30 ~ 40 parts of addition blenders of gained modified furan resin Mix uniformly, obtain slurry, then gained slurry is ground 3 times on three-roller, each 10 minutes, obtain fireproof coating；Described Defoamer is polyoxyethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether.
The preferably preparation method of fireproof coating, defoamer is polyoxyethylene polyoxy propanol amidogen ether.
The preferably preparation method of fireproof coating, comprises the following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 8.0, is warming up to 55 DEG C React 1.5 hours, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 95:30:12；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 6.5 with aqueous hydrochloric acid solution regulation pH value, be warming up to 52 DEG C reaction 2.5 hours, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1:1.5: 0.2；
3. with the pH to 7.0 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat；
4. by polyvinyl alcohol 3 parts, TYLOSE 30000 2 parts, melamine cyanurate 4 parts, aluminium hydroxide 3 parts, organic silicone oil 12 parts, propylene glycol methyl ether acetate 24 parts, Lauryl Alcohol ester 18 parts, Firebrake ZB 2 parts, magnesium stearate 6 parts, defoamer 0.3 part, water 10 parts stir in step 3. 36 parts of addition blenders of gained modified furan resin, obtain slurry, then by gained slurry Three-roller grinds 3 times, each 10 minutes, obtains fireproof coating；Described defoamer is polyoxyethylene polyoxy propanol amidogen ether.
Below in conjunction with specific embodiment, the invention will be further described.
Embodiment 1
A kind of fireproof coating, is made up of following raw material: polyvinyl alcohol 1kg, TYLOSE 30000 1kg, melamine cyanurate 2kg, aluminium hydroxide 2kg, organic silicone oil 10kg, propylene glycol methyl ether acetate 20kg, Lauryl Alcohol ester 15kg, Firebrake ZB 1kg, firmly Fatty acid magnesium 3kg, defoamer 0.5kg, water 15kg and modified furan resin 30kg；Described defoamer is polyoxyethylene polyoxy Propanolamine Ether；
Described modified furan resin prepares according to following steps:
1. joining in reactor by 45kg formaldehyde, 12.5kg carbamide and 5kg benzaldehyde, add sodium hydroxide, regulation pH value is 7.5, it is warming up to 50 DEG C and reacts 1 hour, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 62.5kg furfuryl alcohol and 6.25kg ethylene glycol, with aqueous hydrochloric acid solution regulation pH value be 5.5, it is warming up to 50 DEG C and reacts 2 hours, obtain reactant liquor；
3. with the pH to 7.0 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
Embodiment 2
A kind of fireproof coating, is made up of following raw material: polyvinyl alcohol 5kg, TYLOSE 30000 3kg, melamine cyanurate 5kg, aluminium hydroxide 4kg, organic silicone oil 15kg, propylene glycol methyl ether acetate 30kg, Lauryl Alcohol ester 20kg, Firebrake ZB 3kg, firmly Fatty acid magnesium 8kg, defoamer 0.5kg, water 15kg and modified furan resin 40kg；Described defoamer is polyoxyethylene polyoxypropylene season Penta 4 alcohol ethers；
Described modified furan resin prepares according to following steps:
1. 50kg formaldehyde, 17.5kg carbamide and 7.5kg benzaldehyde are joined in reactor, add sodium hydroxide, regulate pH value It is 8.0, is warming up to 60 DEG C and reacts 2 hours, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 150kg furfuryl alcohol and 22.5kg ethylene glycol, regulate pH value with aqueous hydrochloric acid solution 6.5, it is warming up to 60 DEG C and reacts 3 hours, obtain reactant liquor；
3. with the pH to 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
Embodiment 3
A kind of fireproof coating, is made up of following raw material: polyvinyl alcohol 2kg, TYLOSE 30000 2kg, melamine cyanurate 4kg, aluminium hydroxide 2.5kg, organic silicone oil 12kg, propylene glycol methyl ether acetate 24kg, Lauryl Alcohol ester 16kg, Firebrake ZB 1.5kg, magnesium stearate 6kg, defoamer 0.2kg, water 8kg and modified furan resin 32kg；Described defoamer is that polyoxyethylene gathers Oxygen propanol amidogen ether；
Described modified furan resin prepares according to following steps:
1. joining in reactor by 46kg formaldehyde, 14kg carbamide and 6kg benzaldehyde, add sodium hydroxide, regulation pH value is 7.8, it is warming up to 52 DEG C and reacts 1.2 hours, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 79.2kg furfuryl alcohol and 13.2kg ethylene glycol, regulate pH value with aqueous hydrochloric acid solution 5.8, it is warming up to 52 DEG C and reacts 2.5 hours, obtain reactant liquor；
3. with the pH to 7.2 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
Embodiment 4
A kind of fireproof coating, is made up of following raw material: polyvinyl alcohol 3kg, TYLOSE 30000 2kg, melamine cyanurate 4kg, aluminium hydroxide 3kg, organic silicone oil 12kg, propylene glycol methyl ether acetate 24kg, Lauryl Alcohol ester 18kg, Firebrake ZB 2kg, firmly Fatty acid magnesium 6kg, defoamer 0.3kg, water 10kg and modified furan resin 36kg；Described defoamer is polyoxyethylene polyoxy Propanolamine Ether；
Described modified furan resin prepares according to following steps:
1. joining in reactor by 47.5kg formaldehyde, 15kg carbamide and 6kg benzaldehyde, add sodium hydroxide, regulation pH value is 8.0, it is warming up to 55 DEG C and reacts 1.5 hours, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 102.75kg furfuryl alcohol and 13.7kg ethylene glycol, regulate pH value with aqueous hydrochloric acid solution It is 6.5, is warming up to 52 DEG C and reacts 2.5 hours, obtain reactant liquor；
3. with the pH to 7.0 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
Embodiment 5
The preparation method of the fireproof coating described in embodiment 1, comprises the following steps:
1. joining in reactor by 45kg formaldehyde, 12.5kg carbamide and 5kg benzaldehyde, add sodium hydroxide, regulation pH value is 7.5, it is warming up to 50 DEG C and reacts 1 hour, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 62.5kg furfuryl alcohol and 6.25kg ethylene glycol, with aqueous hydrochloric acid solution regulation pH value be 5.5, it is warming up to 50 DEG C and reacts 2 hours, obtain reactant liquor；
3. with the pH to 7.0 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
4. by polyvinyl alcohol 1kg, TYLOSE 30000 1kg, melamine cyanurate 2kg, aluminium hydroxide 2kg, organic Silicone oil 10kg, propylene glycol methyl ether acetate 20kg, Lauryl Alcohol ester 15kg, Firebrake ZB 1kg, magnesium stearate 3kg, defoamer 0.5kg, water 15kg and step 3. gained modified furan resin 30kg stir in adding blender, obtain slurry, then will Gained slurry grinds 3 times on three-roller, each 10 minutes, obtains fireproof coating；Described defoamer is polyoxyethylene polyoxy third Alcohol amidogen ether.
Embodiment 6
The preparation method of the fireproof coating described in embodiment 2, comprises the following steps:
1. 50kg formaldehyde, 17.5kg carbamide and 7.5kg benzaldehyde are joined in reactor, add sodium hydroxide, regulate pH value It is 8.0, is warming up to 60 DEG C and reacts 2 hours, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 150kg furfuryl alcohol and 22.5kg ethylene glycol, regulate pH value with aqueous hydrochloric acid solution 6.5, it is warming up to 60 DEG C and reacts 3 hours, obtain reactant liquor；
3. with the pH to 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
4. by polyvinyl alcohol 5kg, TYLOSE 30000 3kg, melamine cyanurate 5kg, aluminium hydroxide 4kg, organic Silicone oil 15kg, propylene glycol methyl ether acetate 30kg, Lauryl Alcohol ester 20kg, Firebrake ZB 3kg, magnesium stearate 8kg, defoamer 0.5kg, water 15kg and step 3. gained modified furan resin 40kg stir in adding blender, obtain slurry, then will Gained slurry grinds 3 times on three-roller, each 10 minutes, obtains fireproof coating；Described defoamer is polyoxyethylene polyoxy third Alkene tetramethylolmethane ether.
Embodiment 7
The preparation method of the fireproof coating described in embodiment 3, comprises the following steps:
1. joining in reactor by 46kg formaldehyde, 14kg carbamide and 6kg benzaldehyde, add sodium hydroxide, regulation pH value is 7.8, it is warming up to 52 DEG C and reacts 1.2 hours, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 79.2kg furfuryl alcohol and 13.2kg ethylene glycol, regulate pH value with aqueous hydrochloric acid solution 5.8, it is warming up to 52 DEG C and reacts 2.5 hours, obtain reactant liquor；
3. with the pH to 7.2 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
4. by polyvinyl alcohol 2kg, TYLOSE 30000 2kg, melamine cyanurate 4kg, aluminium hydroxide 2.5kg, have Machine silicone oil 12kg, propylene glycol methyl ether acetate 24kg, Lauryl Alcohol ester 16kg, Firebrake ZB 1.5kg, magnesium stearate 6kg, defoamer 0.2kg, water 8kg and step 3. gained modified furan resin 32kg stir in adding blender, obtain slurry, then by institute Obtain slurry to grind on three-roller 3 times, each 10 minutes, obtain fireproof coating；Described defoamer is polyoxyethylene polyoxy propanol Amidogen ether.
Embodiment 8
The preparation method of the fireproof coating described in embodiment 4, comprises the following steps:
1. joining in reactor by 47.5kg formaldehyde, 15kg carbamide and 6kg benzaldehyde, add sodium hydroxide, regulation pH value is 8.0, it is warming up to 55 DEG C and reacts 1.5 hours, obtain mixed liquor；
2. in step 1. gained mixed liquor, add 102.75kg furfuryl alcohol and 13.7kg ethylene glycol, regulate pH value with aqueous hydrochloric acid solution It is 6.5, is warming up to 52 DEG C and reacts 2.5 hours, obtain reactant liquor；
3. with the pH to 7.0 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan tree Fat.
4. by polyvinyl alcohol 3kg, TYLOSE 30000 2kg, melamine cyanurate 4kg, aluminium hydroxide 3kg, organic Silicone oil 12kg, propylene glycol methyl ether acetate 24kg, Lauryl Alcohol ester 18kg, Firebrake ZB 2kg, magnesium stearate 6kg, defoamer 0.3kg, water 10kg and step 3. gained modified furan resin 36kg stir in adding blender, obtain slurry, then will Gained slurry grinds 3 times on three-roller, each 10 minutes, obtains fireproof coating；Described defoamer is polyoxyethylene polyoxy third Alcohol amidogen ether.
The fireproof coating of embodiment 1 ~ 4 is characterized according to the method for GB14907-2002 and tests, result such as table 1 institute Show.
The test result of the fireproof coating of table 1 embodiment 1 ~ 4
Illustrate that by the result of table 1 fireproof coating of embodiment of the present invention gained has good wearability and heat resistance, and Adhesion property is good, not fugitive color and peeling；After the fireproof coating solidification of the present invention, there is good chemical resistance and electricity is exhausted Edge performance；The fireproof coating fire protecting performance of the present invention is good, and heat expands, and forms the expansion carbon-coating of heat insulation oxygen barrier, closed substrate, because of And inflammable constituent can be effectively isolated when fire spread, stop the burning of base material.
Technical scheme is not restricted in the range of embodiment of the present invention.The most detailed description of the present invention Technology contents be known technology.

Claims (8)

1. electric power tunnel intelligent inspection robot, including track running mechanism (1), the bottom fitting machine of track running mechanism (1) Case (2), light filling LED (20), gas detecting, temperature measuring probe (3) and ultrasonic sensor are installed in the front end of cabinet (2) (21), phone system (19), Smoke Sensor (4), control system and wireless transceiver system are installed in cabinet (2), cabinet (2) Photographic head (6) is installed in bottom, it is characterised in that: rocker (12) is installed in the bottom of cabinet (2), and rocker (12) is positioned at photographic head (6) Rear, rocker (12) is hinged with cabinet (2) by rotating shaft (8), and translucent cover fixed cover (15) is installed in the rear end of rocker (12), transparent Installing translucent cover (17) on cover fixed cover (15), translucent cover (17) is positioned at cabinet (2) rear end, translucent cover (17) opening down, Rocker (12) interior level offers inner chamber (41), inner chamber (41) is vertically offered shearing port (39), shears port (39) and inner chamber (41) communicate, the sidewall of translucent cover fixed cover (15) is offered the first strip through-hole (45), the first strip through-hole (45) and inner chamber (41) communicating, be arranged side by side two clamping bars (40) in inner chamber (41), the front end of two clamping bars (40) is by elastic knee (44) connecting, the rear end the first strip through-hole (45) of every elastic knee (44) is stretched in translucent cover fixed cover (15), every The rear end of elastic knee (44) is respectively provided with an arc pallet (46), and the concave surface of two arc pallets (46) is relative, two clampings Installing spring (34) between bar (40), spring (34) is that two clamping bars (40) provide outwardly power, two clamping bars (40) installing stay cord (35) between, stay cord (35) is positioned at shearing port (39) place, installs electromagnetic switch (11), electricity in cabinet (2) Installing cutting knife (9) on the push rod of magnetic switch (11), bar-shaped trough (10) is offered in the lower end of cutting knife (9), and bar-shaped trough (10) inner side is cutter Sword, bar-shaped trough (10) is corresponding with stay cord (35)；Laying fire extinguisher bomb (16) in translucent cover (17), the lower end of fire extinguisher bomb (16) is circular cone Shape, fire extinguisher bomb (16) lower end coordinates with two arc pallets (46), and two arc pallets (46) are that fire extinguisher bomb (16) provides support Power, upper end installation tower spring (60) of fire extinguisher bomb (16), tower spring (60) is that fire extinguisher bomb (16) provides downward elastic force；On cabinet (2) Rocker drive mechanism is installed, to drive rocker (12) to overturn and make translucent cover (17) to cover in photographic head (6) periphery.
Electric power tunnel intelligent inspection robot the most according to claim 1, it is characterised in that: described translucent cover fixed cover (15) offering arcuate groove (32) on rear wall, the rear end of each arc pallet (46) is respectively provided with an elastic rod (31), elastic The rear end of bar (31) passes arcuate groove (32), is respectively provided with an elastic rod inclined-plane (30) outside the rear end of every elastic rod (31), The outside of every elastic rod (31) is respectively provided with a latch bolt (48), and retaining mechanism is installed at the rear portion of translucent cover fixed cover (15) (14), retaining mechanism (14) includes that sleeve pipe (29), sleeve pipe (29) are connected with translucent cover fixed cover (15), and the both sides of sleeve pipe (29) are each Offering a side opening (47), two side openings (47) coordinate with two latch bolt (48) one_to_one corresponding, when two clamping bars (40) are opened, Elastic rod (31) can drive latch bolt (48) to stretch out side opening (47) outward；Tightening cover (24), tightening cover (24) are installed in sleeve pipe (29) rear end Rear end in the middle part of offer key hole (26), button (27) is installed in tightening cover (24), the front end of button (27) is positioned at sleeve pipe (29) In, the periphery of button (27) is provided with spacing ring (28), and spacing ring (28) coordinates with tightening cover (24) tip inside, button (27) Back-moving spring (51) is installed in periphery, and back-moving spring (51) coordinates with spacing ring (28) provides thrust backward for button (27), presses The rear end of key (27) coordinates with key hole (26), and tapered hole (49) is offered in button (27) interior front portion, gathering hole (25) is offered at rear portion, Draw in hole (25) communicate with tapered hole (49), tapered hole (49) can coordinate with elastic rod inclined-plane (30), two elastic rods (31) and Can insert in gathering hole (25) after holding together, a latch bolt chute (50), latch bolt chute (50) are respectively offered in the both sides of button (27) front portion Communicating with tapered hole (49) and gathering hole (25) respectively, two latch bolt chutes (50) can be joined with two latch bolt (48) one_to_one corresponding Close；Cabinet (2) is provided with the snap close (5) of U-shaped, and the U-lag of snap close (5) can coordinate with retaining mechanism (14), two of snap close (5) Respectively offer on riser (22) one location hole (23), when translucent cover (17) covers in photographic head (6) periphery two location hole (23) with Two latch bolt (48) one_to_one corresponding coordinate locking.
Electric power tunnel intelligent inspection robot the most according to claim 1, it is characterised in that: described rocker drive mechanism is Motor (7), the output shaft of motor (7) is connected with rotating shaft (8).
Electric power tunnel intelligent inspection robot the most according to claim 1, it is characterised in that: described rocker drive mechanism is First torsion spring (62), the first torsion spring (62) is that rocker (12) provides the elastic force rotated；Described cabinet installs locking mechanism on (2), It is hinged with cabinet (2) rear portion that locking mechanism includes that turnover panel (52), turnover panel (52) are positioned at translucent cover (17) rear and its upper end, turnover panel (52) being provided with clamping block (53) on front side of lower end, clamping block (53) coordinates locking translucent cover solid with translucent cover fixed cover (15) rear side Fixed set (15), the upper level of cabinet (2) is provided with two locating racks (54), and two locating racks (54) are located side by side at rocker (12) both sides, Being horizontally mounted a rotation bar (57) in every locating rack (54), locating rack (54) is stretched out outward in the rear end of every rotation bar (57) A piece fork (55) of each installation, fork (55) is vertical with rotating bar (57), every upper one baffle plate (56) of each installation of fork (55), Baffle plate (56) coordinates with the rear side of turnover panel (52), and the sidewall of locating rack (54) is offered the second bar hole (58), every rotation bar (57) side is respectively provided with one piece of push pedal (59), and push pedal (59) is parallel with fork (55), and two pieces of push pedals (59) are positioned at translucent cover (17), below opening, two pieces of push pedals (59) lay respectively in corresponding second bar hole (58), and push pedal (59) can be along the second bar hole (58) rotating down 90 degree, install the second torsion spring (61) in locating rack (54), the second torsion spring (61) provides multiple for rotating bar (57) The moment of torsion of position.
Electric power tunnel intelligent inspection robot the most according to claim 4, it is characterised in that: described turnover panel (52) and cabinet (2) installing the 3rd torsion spring (63) on hinge axis, the 3rd torsion spring (63) is that turnover panel (52) provides the power turned over.
Electric power tunnel intelligent inspection robot the most according to claim 1, it is characterised in that: described every clamping bar (40) Inner side is respectively provided with a sleeve (36), installs the second connection post (43) in a sleeve (36), and second connects the outer end of post (43) Being provided with limited block (42), install the first connection post (37) in another sleeve (36), first connects post (37) outer end and nut (38) threaded, a through hole is respectively offered in second the inner connecting post (43) and the first connection post (37), and stay cord (35) is installed Between two through holes.
Electric power tunnel intelligent inspection robot the most according to claim 1, it is characterised in that: described clamping bar (40) inner side Being provided with spring positioning sleeve (33), one end of spring (34) is positioned at spring positioning sleeve (33).
Electric power tunnel intelligent inspection robot the most according to claim 1, it is characterised in that: described translucent cover fixed cover (15) being provided with fire-resistant film (13) at lower ending opening, described fire-resistant film (13) is made up of binder layer and fireproof coating layer, fireproof coating The fireproof coating of layer, in parts by weight, is made up of following raw material: polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, and cyanogen is urinated Acid tripolycyanamide 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, 12 carbon Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, magnesium stearate 3 ~ 8 parts, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and modified furan resin 30 ~ 40 parts；Described defoamer is polyoxyethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether；
Described modified furan resin prepares according to following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
The preparation method of fireproof coating, comprises the following steps:
1. joining in reactor by formaldehyde, carbamide and benzaldehyde, add sodium hydroxide, regulation pH value is 7.5 ~ 8.0, is warming up to 50 ~ 60 DEG C are reacted 1 ~ 2 hour, obtain mixed liquor；The mass ratio of formaldehyde, carbamide and benzaldehyde is 90 ~ 100:25 ~ 35:10 ~ 15；
2. in step 1. gained mixed liquor, add furfuryl alcohol and ethylene glycol, be 5.5 ~ 6.5 with aqueous hydrochloric acid solution regulation pH value, heat up React 2 ~ 3 hours to 50 ~ 60 DEG C, obtain reactant liquor；The mass ratio of described step 1. gained mixed liquor, furfural and ethylene glycol is 1: 1~2:0.1~0.3；
3. with the pH to 7.0 ~ 7.5 of sodium hydroxide regulating step 2. gained reactant liquor, decompression is distilled off moisture, obtains modified furan Furane resins；
4. by polyvinyl alcohol 1 ~ 5 part, TYLOSE 30000 1 ~ 3 part, melamine cyanurate 2 ~ 5 parts, aluminium hydroxide 2 ~ 4 parts, Organic silicone oil 10 ~ 15 parts, propylene glycol methyl ether acetate 20 ~ 30 parts, Lauryl Alcohol ester 15 ~ 20 parts, Firebrake ZB 1 ~ 3 part, stearic acid Stir in 3 ~ 8 parts of magnesium, defoamer 0.1 ~ 0.5 part, 5 ~ 15 parts of water and step 3. 30 ~ 40 parts of addition blenders of gained modified furan resin Mix uniformly, obtain slurry, then gained slurry is ground 3 times on three-roller, each 10 minutes, obtain fireproof coating；Described Defoamer is polyoxyethylene polyoxy propanol amidogen ether or polyoxyethylene polyoxypropylene tetramethylolmethane ether.
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Cited By (15)

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CN107497075A (en) * 2017-09-07 2017-12-22 王义高 The fire fighting extinguisher of intelligent multi-ensuring
CN108092409A (en) * 2017-11-20 2018-05-29 安徽泰格电气科技股份有限公司 A kind of track Intelligent robot inspection system
CN108198371A (en) * 2018-02-28 2018-06-22 王婧瑶 A kind of fire hazard monitoring robot
CN108508901A (en) * 2018-06-04 2018-09-07 西南石油大学 A kind of petrochemical plant intelligent inspection robot
CN109377709A (en) * 2018-12-05 2019-02-22 厦门泰消防科技开发有限公司 Intelligent domestic Yan Gan robot
CN110314315A (en) * 2019-07-08 2019-10-11 黑龙江科技大学 A kind of mobile fire extinguishing explosion-protection equipment of suspended rail formula
CN110466771A (en) * 2019-08-12 2019-11-19 辽宁力德航空科技有限公司 A kind of fire extinguisher bomb delivery device of unmanned plane carry
CN110567955A (en) * 2018-06-05 2019-12-13 北京瑞途科技有限公司 imaging system for rail transit tunnel detection
CN110752582A (en) * 2019-02-13 2020-02-04 王庆召 Intelligent power-off device for electric wire
CN111076050A (en) * 2019-11-21 2020-04-28 贵州电网有限责任公司 Route inspection device
CN111330789A (en) * 2020-03-26 2020-06-26 安徽质星信息科技有限公司 Prevent deposiing and energy-conserving security protection and patrol inspection robot and use and spray structure
CN111702781A (en) * 2020-06-28 2020-09-25 国网湖北省电力有限公司黄石供电公司 High-voltage switch room fault danger elimination and fire-fighting intelligent robot and application thereof
CN111927465A (en) * 2020-06-30 2020-11-13 中铁工程服务有限公司 Shield tunnel inspection robot track and mounting device
CN111988565A (en) * 2020-08-13 2020-11-24 杭州巨骐信息科技股份有限公司 Backflow cable area early warning device based on 5G network
CN112330930A (en) * 2020-09-09 2021-02-05 北京潞电电气设备有限公司 Urban tunnel traffic monitoring method, system and platform

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Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107497075A (en) * 2017-09-07 2017-12-22 王义高 The fire fighting extinguisher of intelligent multi-ensuring
CN108092409A (en) * 2017-11-20 2018-05-29 安徽泰格电气科技股份有限公司 A kind of track Intelligent robot inspection system
CN108198371A (en) * 2018-02-28 2018-06-22 王婧瑶 A kind of fire hazard monitoring robot
CN108508901A (en) * 2018-06-04 2018-09-07 西南石油大学 A kind of petrochemical plant intelligent inspection robot
CN110567955A (en) * 2018-06-05 2019-12-13 北京瑞途科技有限公司 imaging system for rail transit tunnel detection
CN109377709A (en) * 2018-12-05 2019-02-22 厦门泰消防科技开发有限公司 Intelligent domestic Yan Gan robot
CN110752582A (en) * 2019-02-13 2020-02-04 王庆召 Intelligent power-off device for electric wire
CN110314315A (en) * 2019-07-08 2019-10-11 黑龙江科技大学 A kind of mobile fire extinguishing explosion-protection equipment of suspended rail formula
CN110466771A (en) * 2019-08-12 2019-11-19 辽宁力德航空科技有限公司 A kind of fire extinguisher bomb delivery device of unmanned plane carry
CN111076050A (en) * 2019-11-21 2020-04-28 贵州电网有限责任公司 Route inspection device
CN111076050B (en) * 2019-11-21 2021-05-14 贵州电网有限责任公司 Route inspection device
CN111330789A (en) * 2020-03-26 2020-06-26 安徽质星信息科技有限公司 Prevent deposiing and energy-conserving security protection and patrol inspection robot and use and spray structure
CN111702781A (en) * 2020-06-28 2020-09-25 国网湖北省电力有限公司黄石供电公司 High-voltage switch room fault danger elimination and fire-fighting intelligent robot and application thereof
CN111927465A (en) * 2020-06-30 2020-11-13 中铁工程服务有限公司 Shield tunnel inspection robot track and mounting device
CN111988565A (en) * 2020-08-13 2020-11-24 杭州巨骐信息科技股份有限公司 Backflow cable area early warning device based on 5G network
CN111988565B (en) * 2020-08-13 2022-04-08 杭州巨骐信息科技股份有限公司 Backflow cable area early warning device based on 5G network
CN112330930A (en) * 2020-09-09 2021-02-05 北京潞电电气设备有限公司 Urban tunnel traffic monitoring method, system and platform

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