CN107938725A - A kind of underground pipe gallery crusing robot hoistable platform and its control method - Google Patents
A kind of underground pipe gallery crusing robot hoistable platform and its control method Download PDFInfo
- Publication number
- CN107938725A CN107938725A CN201711393019.7A CN201711393019A CN107938725A CN 107938725 A CN107938725 A CN 107938725A CN 201711393019 A CN201711393019 A CN 201711393019A CN 107938725 A CN107938725 A CN 107938725A
- Authority
- CN
- China
- Prior art keywords
- crusing robot
- platform
- chain
- pipe gallery
- underground pipe
- 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
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D33/00—Testing foundations or foundation structures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/02—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms suspended from ropes, cables, or chains or screws and movable along pillars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/10—Tunnels or galleries specially adapted to house conduits, e.g. oil pipe-lines, sewer pipes ; Making conduits in situ, e.g. of concrete ; Casings, i.e. manhole shafts, access or inspection chambers or coverings of boreholes or narrow wells
Abstract
The present invention provides a kind of underground pipe gallery crusing robot hoistable platform and its control method, wherein, underground pipe gallery crusing robot hoistable platform is installed in vertical shaft piping lane, including driving device, carrier chain device and platform, carrier chain device is installed on the inside of vertical shaft piping lane with driving device in which can be removably mounted, and carrier chain device is connected with driving device, platform is connected with carrier chain device, and driving device can drive carrier chain device to pump with moving platform along the axial direction of vertical shaft piping lane.The present invention provides the underground pipe gallery crusing robot hoistable platform that underground pipe gallery crusing robot hoistable platform control method is used to control the present invention.Underground pipe gallery crusing robot hoistable platform provided by the invention and its control method can effectively realize that crusing robot is smooth, safe, accessible by vertical shaft piping lane.
Description
Technical field
The present invention relates to piping lane crusing robot lifting technology field, a kind of underground pipe gallery inspection machine is referred in particular to
People's hoistable platform and its control method.
Background technology
As underground pipe gallery puts into effect successively, the requirement to safety patrol inspection is also higher and higher.Because of underground integrated pipe
Space is long and narrow in corridor, and internal environment X factor is more, for piping lane especially big to subterranean depth, is become using robot inspection
Relatively reliable, safe means, meanwhile, also improve routing inspection efficiency.But for robot, generally can only be by not
Gradient road surface more than 30 °, it is smooth, safe, accessible by vertical shaft piping lane to energy, it is the practical problem faced.
The content of the invention
The object of the present invention is to provide a kind of underground pipe gallery crusing robot hoistable platform and its control method, can have
Effect realizes that crusing robot is smooth, safety is accessible by vertical shaft piping lane.
To reach above-mentioned purpose, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, wherein, institute
State underground pipe gallery crusing robot hoistable platform to be installed in vertical shaft piping lane, the underground pipe gallery crusing robot liter
Drop platform includes driving device, carrier chain device and platform, and the carrier chain device is pacified in which can be removably mounted with the driving device
Inside loaded on the vertical shaft piping lane, and the carrier chain device is connected with the driving device, the platform and the conveying
Chain apparatus connects, and the driving device can drive the carrier chain device to drive the platform along in the axial direction of the vertical shaft piping lane
Lower reciprocating motion, the platform, which is equipped with, can detect the detecting element that crusing robot enters or leave the platform.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the carrier chain device is included actively
Axis, driven shaft and at least one set of chain component, the driving shaft are connected with the driving device, and the driven shaft is installed on the master
The lower section of moving axis, and the driven shaft is arranged in parallel with the driving shaft, the chain component respectively with the driving shaft, it is described from
Moving axis connects, and the platform is connected with the chain component, and the driving device can drive the driving shaft to rotate and by described
Chain component drives the platform to pump along the axial direction of the vertical shaft piping lane.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the chain component include drive sprocket,
Driven sprocket and chain, the drive sprocket, which is arranged, to be installed on the driving shaft, and the drive sprocket and the driving shaft
Keep circumferential static, the driven sprocket can rotationally be arranged and be installed on the driven shaft, described in the chain winding actively
Sprocket wheel and the driven sprocket, the driving device can drive the driving shaft to drive the drive sprocket to rotate, the active
Sprocket wheel drives the chain ring to be moved back and forth around the drive sprocket and the driven sprocket.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the chain component is equipped with two groups, two institutes
State drive sprocket and be arranged and be installed on the driving shaft, the driving shaft drives two drive sprockets to rotate synchronously, two institutes
State driven sprocket and can rotationally be arranged and be installed on the driven shaft, the corresponding drive chain of the two chains difference windings
Wheel and the driven sprocket, and two chains are parallel to each other, the platform is connected with two chains respectively, the driving dress
Put by the driving shaft and two drive sprockets drive two chain syn-chro-steps move and drive the platform rising and under
Drop.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the chain component further includes chain shield
Plate, the chain-guard be located on the chain by the side for installing the platform, and longitudinal direction is offered on the chain-guard
The bar hole of extension, the platform are connected through the bar hole with the chain, and platform described in the chain-driving is along institute
Bar hole is stated to pump.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the chain component further includes elasticity
Tight component, the elastic tension component include pilum, two crossbeams, swing rod, the first connecting shaft and the second connecting shaft, and the pilum is indulged
To being arranged on the bottom surface of the vertical shaft piping lane, the lower end of the swing rod is rotationally connected with the vertical shaft piping lane by adapter
On bottom surface, first connecting shaft can rotationally run through the upper end of the pilum, and one end of two crossbeams is respectively with described the
The both ends of one connecting shaft are fixedly connected, the other end both ends rotation connection with second connecting shaft respectively of two crossbeams,
Through hole is offered in the middle part of second connecting shaft, the swing rod is slidably socketed through the through hole with second connecting shaft,
The top that the upper end of the swing rod is located at second connecting shaft is sequentially with spring, spacing collar and spacing spiral shell from the bottom to top
Mother, the both ends of the spring are born against on the upper surface of second connecting shaft and the lower face of the spacing collar, institute
The upper surface for stating spacing collar is resisted against on the lower surface of the stop nut, and the middle part of two crossbeams opens up pivoted hole,
The driven shaft extends through the pivoted hole on two crossbeams and is rotatablely connected with two crossbeams.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, platform includes the babinet of both ends open
Structure and connecting plate, the body structure are internally formed horizontal channel, and the one end open of the body structure is towards described defeated
Chain apparatus is sent, the connecting plate is fixedly connected on the top of one end end face of the direction carrier chain device of the body structure
Position, and the connecting plate is connected in which can be removably mounted with the carrier chain device.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, set on the bottom plate of the body structure
There is guide rail, the extending direction of the guide rail is identical with the communication direction of the passage.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, along the communication direction of the passage, institute
State and two parking shifts are interval with the bottom plate of body structure, both ends of two parking shifts respectively close to the body structure.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the detecting element is photoelectric sensing
Device and/or pressure sensor.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the driving device include motor and
Brake, the motor are connected with the brake respectively with the carrier chain device.
Underground pipe gallery crusing robot hoistable platform as described above, wherein, the underground pipe gallery survey monitor
Device people's hoistable platform further includes position detecting device, and the position detecting device includes first position sensor and passed with the second place
Sensor, the first position sensor are arranged in the first level piping lane connected with the upper end of the vertical shaft piping lane close to described perpendicular
At the position of well casing corridor, the second place sensor is arranged in the second horizontal piping lane connected with the lower end of the vertical shaft piping lane
At the position of the vertical shaft piping lane, the first position sensor and the second place sensor respectively with the driving
Device is electrically connected.
Present invention also offers a kind of underground pipe gallery crusing robot hoistable platform control method, wherein, describedly
Lower pipe gallery crusing robot hoistable platform control method includes：
Step 1：The position of crusing robot is detected, control platform is moved to corresponding with the position of the crusing robot
Height；
Step 2：Drive the crusing robot mobile and berth on the platform；
Step 3：Control the platform to be moved to the target location of the crusing robot and stop moving；
Step 4：Control the crusing robot mobile and leave the platform.
Compared with prior art, advantages of the present invention is as follows：
Underground pipe gallery crusing robot hoistable platform provided by the invention and its control method can effectively realize inspection
Robot is smooth, safe, accessible to pass through vertical shaft piping lane.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is that underground pipe gallery crusing robot hoistable platform provided by the invention is installed in underground pipe gallery
Main structure diagram；
Fig. 2 is that underground pipe gallery crusing robot hoistable platform provided by the invention is installed in underground pipe gallery
Side structure schematic view；
Fig. 3 is the partial structural diagram of underground pipe gallery crusing robot hoistable platform provided by the invention；
Fig. 4 is the structural representation of the driving device of underground pipe gallery crusing robot hoistable platform provided by the invention
Figure；
Fig. 5 is structure enlargement diagram at A in Fig. 1；
Fig. 6 is structure enlargement diagram at B in Fig. 2；
Fig. 7 is the diagrammatic cross-section of the line C-C along Fig. 6；
Fig. 8 is the step flow chart of underground pipe gallery crusing robot hoistable platform control method provided by the invention.
Drawing reference numeral explanation：
1st, driving device；
11st, motor；
12nd, brake；
2nd, carrier chain device；
21st, driving shaft；
22nd, driven shaft；
23rd, chain component；
231st, drive sprocket；
232nd, driven sprocket；
233rd, chain；
234th, chain-guard；
235th, elastic tension component；
2351st, pilum；
2352nd, crossbeam；
2353rd, swing rod；
2354th, the first connecting shaft；
2355th, the second connecting shaft；
2356th, spring；
2357th, spacing collar；
2358th, stop nut；
3rd, platform；
31st, body structure；
311st, guide rail
Embodiment
In order to have clearer understanding to technical scheme, purpose and effect, in conjunction with the brief description of the drawings present invention
Embodiment.
As shown in Fig. 1~Fig. 7, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, wherein, ground
Lower pipe gallery crusing robot hoistable platform is installed in vertical shaft piping lane, and vertical shaft piping lane is when setting, usually in vertical shaft piping lane
Top have a first level piping lane connected with vertical shaft piping lane, and there is in the bottom of vertical shaft piping lane one to be connected with vertical shaft piping lane
Second horizontal piping lane, underground pipe gallery crusing robot hoistable platform include driving device 1, carrier chain device 2 and platform 3,
Carrier chain device 2 is installed on the inside of vertical shaft piping lane with driving device 1 in which can be removably mounted, and is specially the upper end of carrier chain device 2
It is installed on can be removably mounted on the side wall of vertical shaft piping lane, and close to the top of vertical shaft piping lane, the lower end of carrier chain device 2 extends downwardly
And it is installed on the bottom of vertical shaft piping lane with can be removably mounted, and it can also regard as and be connected on the inner wall of the second horizontal piping lane, carrier chain
Device 2 is connected with driving device 1, and driving device 1 is also installed on the inner wall of vertical shaft piping lane, and platform 3 connects with carrier chain device 2
Connect, driving device 1 can drive carrier chain device 2 to pump with moving platform 3 along the axial direction of vertical shaft piping lane, thus by flat
Platform 3 can bring crusing robot to the second horizontal piping lane, or by crusing robot by the second horizontal tube by first level piping lane
Corridor realizes crusing robot lifting smooth, safe, accessible in vertical shaft piping lane to first level piping lane.Set on platform 3
There is detecting element, detecting element can detect crusing robot and ingress and egress out platform 3, to ensure the smooth safety of crusing robot
Into or sail out of platform.
Further, as shown in FIG. 1 to 3, the present invention provides a kind of lifting of underground pipe gallery crusing robot is flat
Platform, wherein, carrier chain device 2 includes driving shaft 21, driven shaft 22 and at least one set of chain component 23, driving shaft 21 and driving device
1 connection, driving shaft 21 by upper mounting bracket can rotate on the side wall of vertical shaft piping lane, driven shaft 22 is installed on master
The lower section of moving axis 21, and driven shaft 22 is arranged in parallel with driving shaft 21, driven shaft 22 passes through bottom mounting bracket or other structures
(such as hereafter described in elastic tension component 235) be installed on vertical shaft piping lane lower surface (the i.e. second horizontal piping lane it is interior
Wall) on, driven shaft 22 can be rotatably mounted in the mounting bracket of bottom or can also be the fixation that can not rotate
The mode of installation is installed on bottom mounting bracket, and the present invention is not limited thereto；Chain component 23 respectively with driving shaft 21, driven shaft
22 connections, driving shaft 21 are jointly supported chain component 23 with driven shaft 22, and platform 3 is connected with chain component 23, driving device 1
Driving shaft 21 can be driven to rotate and pump by chain component 23 with moving platform 3 along the axial direction of vertical shaft piping lane.
Further, as shown in FIG. 1 to 3, the present invention provides a kind of lifting of underground pipe gallery crusing robot
Platform, wherein, chain component 23 includes drive sprocket 231, driven sprocket 232 and chain 233, and drive sprocket 231, which is arranged, to be installed on
On driving shaft 21, and drive sprocket 231 keeps circumferential static with driving shaft 21, drives what driving shaft 21 rotated in driving device 1
During, drive sprocket 231 is rotated synchronously with driving shaft 21, wherein, can be with set key between drive sprocket 231 and driving shaft 21
It is circumferential static to ensure, it so just can guarantee that driving shaft 21 can smoothly drive drive sprocket 231 to rotate in rotation process, avoid
Occur relatively rotating between drive sprocket 231 and driving shaft 21 and can not the situation about lifting of driven platform 3 occur；From
Movable sprocket 232 can rotationally be arranged and be installed on driven shaft 22, and the rotation of driven sprocket 232 can be by driven shaft 22 and bottom
Rotating to realize or be realized by the rotation between driven sprocket 232 and driven shaft 22 between portion's mounting bracket,
Or realized at the same time by above two rotation, the present invention is not limited thereto；233 winding drive sprocket 231 of chain with from
Movable sprocket 232, driving device 1 can drive driving shaft 21 to drive drive sprocket 231 to rotate, and drive sprocket 231 drives 233 ring of chain
Moved back and forth around drive sprocket 231 and driven sprocket 232.
Preferably, as shown in Figure 1, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, its
In, chain component 23 is equipped with two groups, and two groups of chain components 23 are arranged in parallel, and two drive sprockets 231, which are arranged, to be installed on driving shaft 21,
Two drive sprockets 231 are arranged at intervals, and driving shaft 21 drives two drive sprockets 231 to rotate synchronously, and two driven sprockets 232 can rotate
Ground, which is arranged, to be installed on driven shaft 22, the corresponding drive sprocket 231 of two chains 233 difference winding and driven sprocket 232, and two chains
Bar 233 is parallel to each other, and platform 3 is connected with two chains 233 respectively, and driving device 1 is driven by 21 and two drive sprocket 231 of driving shaft
Dynamic two chains 233 are synchronized with the movement and rise and decline with moving platform 3, can be from platform 3 by the way that chain component 23 is arranged to two groups
Both sides support, make 3 held stationary of platform, prevent the feelings that platform 3 tilts and causes crusing robot to fall
Condition occurs, while reduces the stress of single chain 233, ensures the service life of chain 233.
Preferably, as shown in Fig. 2, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, its
In, chain component 23 further includes chain-guard 234, and chain-guard 234 is set on chain 233 by the side button of mounting platform 3,
The bar hole of Longitudinal extending is offered on chain-guard 234, bar hole can be understood as one and be led for what platform 3 moved up and down
Groove, platform 3 is connected through bar hole with chain 233, and chain 233 pumps with moving platform 3 along bar hole, to prevent
Because of suspension platform 3 warped occurs for chain 233, while crusing robot or other loadings that also can be on protecting platform 3 not be rolled up
Enter in chain 233.
Further, as shown in Figure 1, Figure 2 and shown in Fig. 5~Fig. 7, the present invention provides a kind of underground pipe gallery inspection machine
People's hoistable platform, wherein, chain component 23 further includes elastic tension component 235, and elastic tension component 235 includes pilum 2351, two
Crossbeam 2352, swing rod 2353, the first connecting shaft 2354 and the second connecting shaft 2355, pilum 2351 are longitudinally disposed at vertical shaft piping lane
On bottom surface, the lower end of swing rod 2353 is rotationally connected with by adapter on the bottom surface of vertical shaft piping lane, and the first connecting shaft 2354 can turn
Run through the upper end of pilum 2351 dynamicly, the both ends of one end of two crossbeams 2352 respectively with the first connecting shaft 2354 are fixedly connected, and two
The other end of crossbeam 2352 is rotatablely connected with the both ends of the second connecting shaft 2355 respectively, and the middle part of the second connecting shaft 2355 offers
Through hole, swing rod 2353 are slidably socketed that (the second connecting shaft 2355 can also regard one as through through hole and the second connecting shaft 2355
The sliding block being set on swing rod 2353), the top that the upper end of swing rod 2353 is located at the second connecting shaft 2355 is sequentially set from the bottom to top
There are spring 2356, spacing collar 2357 and stop nut 2358, spring 2356 is installed on spacing collar with the state compressed
2357 and second between connecting shaft 2355, the both ends of spring 2356 bear against the upper surface of the second connecting shaft 2355 with it is spacing
On the lower face of sleeve 2357, the upper surface of spacing collar 2357 is resisted against on the lower surface of stop nut 2358, two crossbeams
2352 middle part opens up pivoted hole, and driven shaft 22 extends through the pivoted hole on two crossbeams 2352 and rotated with two crossbeams 2352
Connection.After installation is complete, since spring 2356 is to be installed on 2357 and second connecting shaft of spacing collar with the state compressed
Between 2355, so, under the action of 2356 natural resiliency restoring force of spring, the both ends of spring 2356 push against the second connection all the time
Axis 2355 and spacing collar 2357, due to the effect of stop nut 2358, spring 2356 can not promote 2357 direction of spacing collar
Direction away from spring 2356 is moved, therefore under the pushing and pressing of spring 2356, can only the second connecting shaft 2355 be directed away from stop collar
The direction movement of cylinder 2357, so as to drive crossbeam 2352 to lower swing and pull chain 233, makes chain 233 keep tensioning state,
When chain 233 relaxes more, position of the stop nut 2358 on swing rod 2353 can be adjusted downwards, so as to ensure spring
2356 can remain the state of elasticity the second connecting shaft 2355 of pushing and pressing, so as to ensure that chain 233 is in tensioning state, ensure chain
The reliability that bar 233 conveys, simultaneously because elasticity pushing and pressing, provide cushion space for chain 233, be not in excessively to be tensioned
And the situation for causing chain 233 to break., wherein it is desired to explanation, the structure composition of above-mentioned elastic tension component 235 is only this
Invention preferred embodiment, those skilled in the art can also make chain 233 be in tensioning state using other structures component, this
Invention is not limited thereto.
Further, as shown in FIG. 1 to 3, the present invention provides a kind of lifting of underground pipe gallery crusing robot is flat
Platform, wherein, platform 3 includes the body structure 31 and connecting plate of both ends (i.e. the left and right ends of Fig. 2 middle cases structure 31) opening, case
Body structure 31 is internally formed horizontal channel, and towards carrier chain device 2, connecting plate is fixedly connected the one end open of body structure 31
Tip position in one end end face towards carrier chain device 2 of body structure 31, is specifically as follows, connecting plate is parallel to babinet
The end face of structure 31, and the lower edge of connecting plate and the end face of one end towards carrier chain device 2 of body structure 31 is upper
Edge connects, to ensure that the setting of connecting plate will not stop the opening of one end towards carrier chain device 2 of body structure 31,
Babinet knot is sailed out of to ensure crusing robot to pass through the opening of one end towards carrier chain device 2 of body structure 31
Structure 31；And connecting plate is connected in which can be removably mounted with carrier chain device 2.Body structure 31 can be regarded as by bottom plate, top plate and both sides
The rectangular box for the both ends open that plate is enclosed, rectangular box are internally formed horizontal channel, the extending direction of horizontal channel
It is identical with the extending direction of first level piping lane and the second horizontal piping lane, in order to which crusing robot is from first level piping lane and
Smoothly entered directly into body structure 31 in two horizontal piping lanes, and from body structure 31 smoothly enter first level piping lane and
In second horizontal piping lane, it is not necessary to turn round；Wherein when setting body structure 31, it should be noted that ensure body structure 31 bottom plate be in
Horizontality, to prevent from occurring due to the situation that bottom plate tilts and causes crusing robot to drop inside body structure 31.
Further, as shown in Figure 1, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform,
Wherein, bottom plate is equipped with guide rail 311, and the extending direction of guide rail 311 is identical with the communication direction of passage.The bottom of crusing robot
Equipped with 311 matched guide groove of guide rail, by set guide rail 311 can when crusing robot enters body structure 31 it is effectively right
The position of crusing robot guides, and to ensure that crusing robot is docked in the middle position of bottom plate, can effectively avoid babinet
The bottom slab stress of structure 31 is uneven and inclined situation occurs, at the same prevent crusing robot and body structure 31 biside plate it
Between occur friction and be worn.
Preferably, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, wherein, along passage
Communication direction, is interval with two parking shifts, both ends of two parking shifts respectively close to body structure 31 on the bottom plate of body structure 31
(i.e. the left and right ends of Fig. 2 middle cases structure 31).By set parking shift can crusing robot enter body structure 31 after,
Crusing robot is carried out at the both ends open of body structure 31 it is spacing, to prevent in lifting process crusing robot from babinet
The both ends open of structure 31 drops.Wherein, when platform 3 is not used, parking shift retraction platform 3 (bottom plate of body structure 31)
Inside, so that crusing robot enters the inside of body structure 31, after crusing robot is completely into body structure 31, parking
Gear is automatic to rise, and in platform 3 by after being elevated to and reaching designated position, the inside of parking shift retraction platform 3 again, for inspection
Robot sails out of platform 3.Wherein parking shift can be controlled by using automatically controlled mode, or parking shift can also be used
Vacuum line structure is realized, is risen automatically after crusing robot is completely into platform 3 as long as can guarantee that, and in inspection machine
People is automatic when needing to enter or leave platform 3 to retract, and the present invention is not limited thereto.
Further, as shown in figure 4, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, its
In, driving device 1 includes motor 11 and brake 12, and motor 11 is connected with brake 12 respectively with carrier chain device 2.Motor 11
Power is provided for carrier chain device 2,12 motor 11 of brake runs or stops, so as to control the operation of carrier chain device 2 with stopping
Only, specifically, controlling the stopping of carrier chain device 2 during crusing robot enters or sails out of platform 3, and in survey monitor
Device people is introduced into before platform 3 and realizes lifting completely into controlling carrier chain device 2 to run after platform 3.
Preferably, the present invention provides a kind of underground pipe gallery crusing robot hoistable platform, wherein, underground synthesis
Piping lane crusing robot hoistable platform further includes position detecting device, and position detecting device includes first position sensor and second
Position sensor, first position sensor are arranged in the first level piping lane connected with the upper end of vertical shaft piping lane close to vertical shaft piping lane
Position at, second place sensor is arranged on close vertical shaft piping lane in the second horizontal piping lane for connect with the lower end of vertical shaft piping lane
At position, first position sensor is electrically connected with driving device 1 respectively with second place sensor.First position sensor and
Two position sensors are used to detect position of the crusing robot in first level piping lane and the second horizontal piping lane.
Present invention additionally comprises control system, first position sensor, second place sensor and brake 12 with control
System is electrically connected, and first position sensor feeds back signal after the position of crusing robot is detected with second place sensor
To control system, control system is run according to the position control brake 12 of the crusing robot detected, is moved to platform 3
With the corresponding position of crusing robot, in order to which crusing robot enters platform 3.
Preferably, the top and bottom of vertical shaft piping lane is respectively provided with the tip position sensing of 3 position of detection platform
Device and bottom position sensor, tip position sensor are also electrically connected with control system respectively with bottom position sensor, top
Position sensor is used for the position of detection platform 3 with bottom position sensor, after tip position sensor detects platform 3,
Crusing robot is controlled to enter platform 3, and when tip position sensor can not detect platform 3, crusing robot is controlled to stop
Pool in first level piping lane, so can effectively prevent crusing robot when platform 3 does not rise in place enter vertical shaft piping lane and
There is a situation where fall damage；Similarly, the principle of bottom position sensor is roughly the same with tip position sensor, is to protect
Card crusing robot smoothly enters safely platform 3, and details are not described herein.
In addition, preferably, detecting element is equipped with two, the both ends that two detecting elements are respectively provided at body structure 31 are opened
At mouthful, it is specifically as follows photoelectric sensor, photoelectric sensor sends open-ended (i.e. along perpendicular to level across body structure 31
The direction of the axis of passage is arranged on the open-ended of body structure 31) light, when crusing robot or patrol officer are through opening
During mouth, the light that photoelectric sensor is sent is blocked, and detecting crusing robot or patrol officer thus by photoelectric sensor is
It is no to pass through the opening, to judge that patrol officer or crusing robot enter or leave platform 3；Alternatively, detecting element can also be set
On the plate upper surface of body structure 31, it is specifically as follows pressure sensor, passes through the pressure on the bottom plate of body structure 31
Change to judge that patrol officer or crusing robot enter or leave platform 3.
As shown in figure 8, present invention also offers a kind of underground pipe gallery crusing robot hoistable platform control method, its
In, underground pipe gallery crusing robot hoistable platform control method includes：
Step 1：The position of crusing robot is detected, control platform is moved to and the corresponding height in the position of crusing robot
Degree；
Step 2：Driving crusing robot is mobile and is docked on platform；
Step 3：Control platform is moved to the target location of crusing robot and stops moving；
Step 4：Control crusing robot is mobile and leaves platform.
Specific implementation process is：
When crusing robot will carry out patrol task from the eminence of vertical shaft piping lane to the lower of vertical shaft piping lane, inspection machine
People close to platform, the detection of first position sensor in first level piping lane by having the position signal that crusing robot passes through, explanation
Crusing robot or patrol officer will enter vertical shaft piping lane region, and brake control platform rises；
After platform is risen to up to a high position for vertical shaft piping lane, tip position sensor detects platform, brake safety system
Dynamic, platform remains stationary as, and waits crusing robot or patrol officer to enter platform；
After in first position, sensor detects the position signal that crusing robot passes through, in the given time, if top
Portion's position sensor is not detected by platform, then opens light warning prompting patrol officer, while brake crusing robot brake etc.
Treat；
After crusing robot or patrol officer enter platform, the pressure sensor set inside body structure detects pressure
When increasing to predetermined value, then crusing robot skidding is controlled, and parking shift erects, at the both ends open of body structure pair
Crusing robot carries out spacing stop, and platform prepares to decline；
Platform begins to decline operation, carries crusing robot or other loadings enter vertical shaft piping lane, the decrease speed of platform
Controlled by variable-frequency motor and encoder, to meet inspection requirement of the crusing robot to vertical shaft piping lane space environment and pipeline；
Crusing robot completes the patrol task to vertical shaft piping lane space environment and pipeline during platform decline；Its
His loading drops to the precalculated position in vertical shaft piping lane with platform, carries out safeguarding that replacement etc. operates；
When platform drops to the low level of vertical shaft piping lane, bottom position sensor detects signal, and the braking of brake safety, puts down
Platform remains stationary, parking shift are fallen after rise, wait crusing robot or patrol officer to leave platform；
After crusing robot or patrol officer leave platform, the pressure sensor inside body structure detects that pressure diminishes
Recover to initial value, illustrate that crusing robot or patrol officer leave platform, it is horizontal to the lower space of vertical shaft piping lane or second
Piping lane carries out inspection.
And when crusing robot will carry out patrol task from vertical shaft piping lane lower to vertical shaft piping lane eminence, with the above process
Conversely.
Compared with prior art, advantages of the present invention is as follows：
Underground pipe gallery crusing robot hoistable platform provided by the invention and its control method can effectively realize inspection
Robot is smoothly, safety is accessible passes through vertical shaft piping lane.
In the inspection stage, the present invention can assist wheeled crusing robot or other loadings are smooth, safety, are erecting without barrier
Lifting passes through underground pipe gallery vertical shaft piping lane space in well casing corridor, and a set of system is formed with crusing robot, overcomes existing
There is inspection blind area of the crusing robot on vertical space, complete vertical to underground pipe gallery vertical shaft piping lane space and complexity
The environment in body space and the patrol task of pipeline, breach actual motion of the crusing robot in vertical shaft piping lane space and are stranded
It is difficult；
In the maintenance stage, the present invention can assist manually, quickly, it is efficient, transport material in vertical shaft piping lane to accurate positioning,
Save manpower so that there is operability in the long and narrow underground space, work is more efficient.
The present invention can carry out adaptability size adjusting, tool according to the bulk of underground pipe gallery vertical shaft piping lane
There is extremely strong applicability.
The present invention can complete the rise and fall in underground pipe gallery vertical shaft piping lane space, have two-way
Property.
The present invention can be applied has inspection occasion of the robot in vertical space at other, applied widely.
The combined control system of underground pipe gallery crusing robot hoistable platform and crusing robot of the present invention so that ground
Lower pipe gallery crusing robot hoistable platform and crusing robot more can efficiently, the cooperation progress inspection work of safety.
The present invention has the safety assurances such as double brake, double control so that and the inspection device in underground pipe gallery is safer,
Control system more wisdom.
The foregoing is merely the schematical embodiment of the present invention, the scope of the present invention is not limited to.It is any
Those of ordinary skill in the art, made equivalent variations are with repairing on the premise of the design of the present invention and principle is not departed from
Change, the scope of protection of the invention should all be belonged to.
Claims (13)
- A kind of 1. underground pipe gallery crusing robot hoistable platform, it is characterised in that the underground pipe gallery inspection machine People's hoistable platform is installed in vertical shaft piping lane, and the underground pipe gallery crusing robot hoistable platform includes driving device, defeated Chain apparatus and platform are sent, the carrier chain device is installed on the interior of the vertical shaft piping lane in which can be removably mounted with the driving device Portion, and the carrier chain device is connected with the driving device, the platform is connected with the carrier chain device, the driving dress Putting can drive the carrier chain device to drive the platform to pump along the axial direction of the vertical shaft piping lane, on the platform Enter or leave the detecting element of the platform equipped with crusing robot can be detected.
- 2. underground pipe gallery crusing robot hoistable platform according to claim 1, it is characterised in that the carrier chain Device includes driving shaft, driven shaft and at least one set of chain component, the driving shaft and is connected with the driving device, the driven shaft Be installed on the lower section of the driving shaft, and the driven shaft is arranged in parallel with the driving shaft, the chain component respectively with it is described Driving shaft, the driven axis connection, the platform are connected with the chain component, and the driving device can drive the driving shaft to turn Move and drive the platform to pump along the axial direction of the vertical shaft piping lane by the chain component.
- 3. underground pipe gallery crusing robot hoistable platform according to claim 2, it is characterised in that the chain component Including drive sprocket, driven sprocket and chain, the drive sprocket, which is arranged, to be installed on the driving shaft, and the drive sprocket Keep circumferential static with the driving shaft, the driven sprocket can rotationally be arranged and be installed on the driven shaft, the chain Drive sprocket described in winding and the driven sprocket, the driving device can drive the driving shaft to drive the drive chain rotation Dynamic, the drive sprocket drives the chain ring to be moved back and forth around the drive sprocket and the driven sprocket.
- 4. underground pipe gallery crusing robot hoistable platform according to claim 3, it is characterised in that the chain component Equipped with two groups, two drive sprockets, which are arranged, to be installed on the driving shaft, and the driving shaft drives two drive sprockets Rotate synchronously, two driven sprockets can rotationally be arranged and be installed on the driven shaft, the two chain difference windings pair The drive sprocket answered and the driven sprocket, and two chains are parallel to each other, the platform respectively with two chains Connection, the driving device drive two chain syn-chro-steps to move and drive institute by the driving shaft and two drive sprockets Platform is stated to rise and decline.
- 5. the underground pipe gallery crusing robot hoistable platform according to claim 3 or 4, it is characterised in that the chain Component further includes chain-guard, and the chain-guard be located on the chain by the side for installing the platform, the chain The bar hole of Longitudinal extending is offered on backplate, the platform is connected through the bar hole with the chain, and the chain The platform is driven to pump along the bar hole.
- 6. according to claim 2~4 any one of them underground pipe gallery crusing robot hoistable platform, it is characterised in that The chain component further includes elastic tension component, and the elastic tension component includes pilum, two crossbeams, swing rod, the first connecting shaft And second connecting shaft, the pilum are longitudinally disposed on the bottom surface of the vertical shaft piping lane, the lower end of the swing rod passes through adapter It is rotationally connected with the bottom surface of the vertical shaft piping lane, first connecting shaft can rotationally run through the upper end of the pilum, two institutes State both ends of the one end of crossbeam respectively with first connecting shaft to be fixedly connected, the other ends of two crossbeams is respectively with described The both ends rotation connection of two connecting shafts, offers through hole in the middle part of second connecting shaft, the swing rod through the through hole with Second connecting shaft is slidably socketed, and the top that the upper end of the swing rod is located at second connecting shaft is sequentially with from the bottom to top Spring, spacing collar and stop nut, the both ends of the spring bear against the upper surface of second connecting shaft with it is described On the lower face of spacing collar, the upper surface of the spacing collar is resisted against on the lower surface of the stop nut, two horizontal strokes The middle part of beam opens up pivoted hole, the driven shaft extend through the pivoted hole on two crossbeams and with two crossbeams Rotation connection.
- 7. underground pipe gallery crusing robot hoistable platform according to claim 1, it is characterised in that platform includes two The body structure and connecting plate of end opening, the body structure are internally formed horizontal channel, and one end of the body structure is opened For mouth towards the carrier chain device, the connecting plate is fixedly connected on the one of the direction carrier chain device of the body structure The tip position of end face is held, and the connecting plate is connected in which can be removably mounted with the carrier chain device.
- 8. underground pipe gallery crusing robot hoistable platform according to claim 7, it is characterised in that the babinet knot The bottom plate of structure is equipped with guide rail, and the extending direction of the guide rail is identical with the communication direction of the passage.
- 9. the underground pipe gallery crusing robot hoistable platform according to claim 7 or 8, it is characterised in that along described The communication direction of passage, is interval with two parking shifts on the bottom plate of the body structure, two parking shifts are respectively close to described The both ends of body structure.
- 10. the underground pipe gallery crusing robot hoistable platform according to claim 1 or 7, it is characterised in that the inspection It is photoelectric sensor and/or pressure sensor to survey element.
- 11. underground pipe gallery crusing robot hoistable platform according to claim 1, it is characterised in that the driving Device includes motor and brake, and the motor is connected with the brake respectively with the carrier chain device.
- 12. the underground pipe gallery crusing robot hoistable platform according to claim 1 or 11, it is characterised in that described Underground pipe gallery crusing robot hoistable platform further includes position detecting device, and the position detecting device includes first position Sensor and second place sensor, the first position sensor are arranged on the first water connected with the upper end of the vertical shaft piping lane In flat piping lane at the position of the vertical shaft piping lane, the second place sensor is arranged on to be connected with the lower end of the vertical shaft piping lane In the second logical horizontal piping lane at the position of the vertical shaft piping lane, the first position sensor is passed with the second place Sensor is electrically connected with the driving device respectively.
- A kind of 13. underground pipe gallery crusing robot hoistable platform control method, it is characterised in that the underground pipe gallery Crusing robot hoistable platform control method includes：Step 1：The position of crusing robot is detected, control platform is moved to and the corresponding height in the position of the crusing robot Degree；Step 2：Drive the crusing robot mobile and berth on the platform；Step 3：Control the platform to be moved to the target location of the crusing robot and stop moving；Step 4：Control the crusing robot mobile and leave the platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711393019.7A CN107938725B (en) | 2017-12-21 | 2017-12-21 | Lifting platform of underground comprehensive pipe gallery inspection robot and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711393019.7A CN107938725B (en) | 2017-12-21 | 2017-12-21 | Lifting platform of underground comprehensive pipe gallery inspection robot and control method thereof |
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| CN107938725B CN107938725B (en) | 2023-01-31 |
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| CN114151089A (en) * | 2021-11-30 | 2022-03-08 | 徐工集团凯宫重工南京股份有限公司 | Pipeline conveying device for shaft boring machine |
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