CN111761594A - Robot driving system for urban comprehensive pipe gallery - Google Patents
Robot driving system for urban comprehensive pipe gallery Download PDFInfo
- Publication number
- CN111761594A CN111761594A CN202010908182.8A CN202010908182A CN111761594A CN 111761594 A CN111761594 A CN 111761594A CN 202010908182 A CN202010908182 A CN 202010908182A CN 111761594 A CN111761594 A CN 111761594A
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- steel wire
- wire rope
- walking frame
- wheel
- frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
Abstract
A robot driving system for an urban comprehensive pipe gallery comprises a steel wire rope, a traveling frame and a plurality of hanging frames, wherein the hanging frames are fixedly arranged on the inner wall of the comprehensive pipe gallery at intervals; the walking frame is hung on the steel wire rope, the upper part of one side of the walking frame is rotatably connected with the driving wheel, the middle part of the side walking frame is movably connected with an elastic jacking unit which upwards elastically jacks and clamps the steel wire rope by matching with the driving wheel, and the other side of the walking frame is fixedly provided with a motor which provides rotary power for the driving wheel. The robot driving system does not need complicated control programs and reading of the position sensor, has higher reliability, is simple in guide rail laying construction, and greatly reduces the manufacturing cost of the whole monitoring inspection system.
Description
Technical Field
The invention relates to the technical field of power inspection, in particular to a robot driving system for an urban comprehensive pipe gallery.
Background
City utility tunnel robot can be used to patrolling and examining of cable tunnel or city utility tunnel, discovers the potential safety hazard that the operating equipment exists, also can carry small-size fire extinguisher to put out a fire the operation to the initial stage. A visible light camera, a thermal infrared imager, and various sensors for detecting the environment are generally mounted, and data is transmitted to a control room through a network. The embedded system deployed at the front end of the robot can analyze data in real time, and is convenient for carrying out corresponding emergency treatment and real-time monitoring according to the line state.
The existing robot for cable tunnels or urban comprehensive pipe galleries is realized by adopting a rail hanging mode, the specific scheme is that a guide rail for robot walking is arranged at the top of the pipe gallery, the guide rail is generally I-shaped, and the material of the guide rail is generally steel or aluminum. The installation of the rails and the rail body require a large amount of manpower and material resources. The cost of the track is more than that of the robot body running on the track, and the application of the robot inspection is greatly limited.
Through published patent searches, the following comparison documents were found:
a walking mechanism (CN 210941768U) of an inspection robot for an urban underground comprehensive pipe gallery discloses a walking mechanism of an inspection robot for the urban underground comprehensive pipe gallery, which walks along an I-shaped suspension running track and comprises a rotating shaft, a bearing wheel, a base, an upper and lower double-row pneumatic telescopic crankshaft, an upper and lower double-row walking wheel, a wheel shaft, a pneumatic telescopic straight shaft and the like; the utility model discloses an innovative adoption is two-sided double to the design of driving wheel, and the connection between the walking wheel relies on flexible bent axle to connect. The double rows of traveling wheels can change the wheelbase of the center wheel. The walking wheel is connected because of using pneumatic crankshaft connecting rod, and the track is cliied according to the adjustment of pneumatic telescopic shaft to two rows of walking wheels from top to bottom, ensures that the condition of robot in the operation, the condition that tremble jolted does not appear, and the walking wheel adopts the polyurethane material, ensures to rust can not appear in the in-process of operation, the condition of fatal spark and static can not appear.
Through analysis, the technical scheme and the realization function of the patent are different from those of the application, so that the novelty of the application is not influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides the robot driving system for the urban comprehensive pipe gallery, the robot driving system does not need complicated control programs and reading of a position sensor, the reliability is higher, the laying construction of the guide rail is simple, and the manufacturing cost of the integral monitoring inspection system is greatly reduced.
A robot driving system for an urban comprehensive pipe gallery comprises a steel wire rope, a traveling frame and a plurality of hanging frames, wherein the hanging frames are fixedly arranged on the inner wall of the comprehensive pipe gallery at intervals; the walking frame is hung on the steel wire rope, the upper part of one side of the walking frame is rotatably connected with the driving wheel, the middle part of the side walking frame is movably connected with an elastic jacking unit which upwards elastically jacks and clamps the steel wire rope by matching with the driving wheel, and the other side of the walking frame is fixedly provided with a motor which provides rotary power for the driving wheel.
The hanging bracket comprises a square steel pipe and an L-shaped fixed rod, wherein the top of the square steel pipe is fixedly connected with the inside of the comprehensive pipe gallery, and the bottom of the square steel pipe is fixedly connected with the L-shaped fixed rod; a bottom cross beam of the L-shaped fixed rod is fixedly connected with a suspension plate and a shifting plate which are arranged in parallel along the extension direction of the steel wire rope, wherein the top of the suspension plate is provided with a semicircular groove for hanging the steel wire rope; the bottom of the shifting plate is provided with a trapezoidal slope surface which provides pressing guiding force for the walking frame.
The elastic top supporting unit comprises a fixed block, an optical axis guide rod, a pressing wheel frame, a bearing wheel and a plurality of pressing rollers which are arranged along the extension direction of the steel wire rope; the fixed block is fixedly connected to the side wall of the walking frame, and a plurality of optical axis guide rods penetrate through the fixed block in the vertical direction and are connected with the fixed block in a sliding and guiding manner; the periphery of the optical axis guide rod is sleeved with a return spring, and the top of the optical axis guide rod is fixedly connected with the bottom surface of the pressing wheel carrier; the two opposite inner walls of the pressing wheel carrier are matched with each other to support and are rotatably connected with the pressing roller, and the outer wall of the pressing wheel carrier is rotatably provided with a bearing wheel which is matched with and rotates on the trapezoidal slope surface on the bottom surface of the shifting plate.
Moreover, the wheel shaft of the driving wheel penetrates through the walking frame along the horizontal direction, and a plurality of rubber resistance rings which increase the friction resistance with the steel wire rope are compounded and bonded in the circumferential direction of the driving wheel; the tail end of the wheel shaft and the tail end of the output shaft of the motor are meshed and connected through a bevel gear.
And the bottom elastic support of reset spring is on the top surface of fixed block, and the top elastic support of reset spring is on the bottom surface that compresses tightly the wheel carrier.
The invention has the advantages and technical effects that:
according to the robot driving system for the urban comprehensive pipe gallery, the lifting frame and the steel wire rope are arranged inside the comprehensive pipe gallery to replace an I-shaped steel rail in the prior art, so that the installation and maintenance cost of the comprehensive pipe gallery inspection robot is greatly reduced, and the robot inspection driving system is convenient to popularize and apply; a motor on the walking frame provides rotating power for the driving wheel; in order to prevent the steel wire ropes from loosening, the steel wire ropes are hung and supported by semicircular grooves of the hanging plates at intervals, the upper parts of the steel wire ropes at the hanging part of the robot are hung and connected by matching of rubber resistance rings on the driving wheels, and the lower parts of the steel wire ropes are upwards extruded and stretched by the pressing rollers of the elastic supporting units, so that the running posture of the running frame is ensured, and the robot is prevented from shaking or even overturning in the running process; and finally, when the walking frame moves to the position of the hanging frame, the bearing wheels of the walking frame are extruded by the trapezoidal slope surface on the bottom surface of the hanging frame shifting plate, so that the pressing wheel frame and the pressing roller are enabled to descend to be separated from the bottom of the steel wire rope, the reset spring is in a compressed state in the descending process, and when the walking frame is separated from the range of the hanging frame, the reset spring resets, and the pressing roller is pressed against the bottom of the steel wire rope again, so that the position interference of the hanging frame on the walking frame is effectively avoided, and the inspection stability of the walking.
According to the robot driving system for the urban comprehensive pipe gallery, the steel wire rope and the hanging bracket are adopted to replace an I-shaped steel rail in the prior art, so that the installation and maintenance cost of the comprehensive pipe gallery inspection robot is greatly reduced, the inspection robot is convenient to popularize and apply, and the robot driving system is a robot driving system for the urban comprehensive pipe gallery with higher creativity.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a perspective view of the hanger of the present invention;
in the figure: 1-a hanger; 2-L-shaped fixing rods; 3-driving wheels; 4-a walking frame; 5-a bevel gear; 6, a motor; 7-a steel wire rope; 8-a press roller; 9-pressing wheel carrier; 10-optical axis guide bar; 11-fixing block; 12-a return spring; 13-a bearing wheel; 14-a pendant plate; 15-pulling the plate; 16-rubber resistance ring; 17-a semicircular groove; 18-trapezoidal slope.
Detailed Description
For a further understanding of the contents, features and effects of the present invention, reference will now be made to the following examples, which are to be considered in conjunction with the accompanying drawings. It should be noted that the present embodiment is illustrative, not restrictive, and the scope of the invention should not be limited thereby.
A robot driving system for an urban comprehensive pipe gallery comprises a steel wire rope 7, a traveling frame 4 and a plurality of hanging frames 1, wherein the hanging frames are fixedly arranged on the inner wall of the comprehensive pipe gallery at intervals; the walking frame is hung on the steel wire rope, the upper part of one side of the walking frame is rotatably connected with the driving wheel 3, the middle part of the side walking frame is movably connected with an elastic jacking unit which elastically jacks upwards and clamps the steel wire rope in a matching way with the driving wheel, and the other side of the walking frame is fixedly provided with a motor 6 which provides rotary power for the driving wheel.
The hanging bracket comprises a square steel pipe and an L-shaped fixed rod 2, wherein the top of the square steel pipe is fixedly connected with the inside of the comprehensive pipe gallery, and the bottom of the square steel pipe is fixedly connected with the L-shaped fixed rod; a bottom cross beam of the L-shaped fixed rod is fixedly connected with a suspension plate 14 and a shifting plate 15 which are arranged in parallel along the extension direction of the steel wire rope, wherein the top of the suspension plate is provided with a semicircular groove 17 for hanging the steel wire rope; the bottom of the shifting plate is provided with a trapezoidal slope 18 which provides pressing guiding force for the walking frame.
Moreover, the elastic top bracing unit comprises a fixed block 11, an optical axis guide rod 10, a pressing wheel frame 9, a bearing wheel 13 and a plurality of pressing rollers 8 which are arranged along the extension direction of the steel wire rope; the fixed block is fixedly connected to the side wall of the walking frame, and a plurality of optical axis guide rods penetrate through the fixed block in the vertical direction and are connected with the fixed block in a sliding and guiding manner; the periphery of the optical axis guide rod is sleeved with a return spring 12, and the top of the optical axis guide rod is fixedly connected with the bottom surface of the pressing wheel frame; the two opposite inner walls of the pressing wheel carrier are matched with each other to support and are rotatably connected with the pressing roller, and the outer wall of the pressing wheel carrier is rotatably provided with a bearing wheel which is matched with and rotates on the trapezoidal slope surface on the bottom surface of the shifting plate.
Moreover, the axle of the driving wheel penetrates through the walking frame along the horizontal direction, and a plurality of rubber resistance rings 16 which increase the frictional resistance with the steel wire rope are compounded and bonded in the circumferential direction of the interior of the driving wheel; the tail end of the wheel shaft and the tail end of the output shaft of the motor are meshed and connected through a bevel gear 5.
And the bottom elastic support of reset spring is on the top surface of fixed block, and the top elastic support of reset spring is on the bottom surface that compresses tightly the wheel carrier.
In addition, the motor is preferably a mature product in the prior art.
In addition, the invention is a driving system of the inspection robot for the urban comprehensive pipe gallery, and in practical use, the inspection robot in the prior art needs to be hung at the bottom of the walking frame, and the gravity center of the combination of the walking frame and the inspection robot and the gravity center of the section of the steel wire rope are ensured to be positioned on the same vertical straight line, so that the inspection robot is ensured to be vertically hung below the steel wire rope, and the walking frame and the inspection robot are further prevented from overturning.
To more clearly illustrate the embodiments of the present invention, an example is provided below with reference to the accompanying drawings:
the invention relates to a robot driving system for an urban comprehensive pipe gallery, wherein a steel wire rope or a steel strand is laid on a track, the steel wire rope is arranged at the top of the pipe gallery through a hanging bracket, the bottom of the hanging bracket is fixedly connected with a hanging plate and a shifting plate, the hanging plate is used for fixedly hanging the steel wire rope, and the shifting plate is used for pushing a bearing wheel downwards; the robot driving system consists of a walking frame, a driving wheel, a pressing wheel frame and a fixed block. The pinch roller is installed on the pinch roller frame, and the return spring and the dial plate that are used for compressing tightly are equipped with on the pinch roller frame, and when the robot walked on wire rope, the pinch roller frame relied on reset spring's strength to push up the pinch roller frame for the pinch roller is pressed on wire rope, increases frictional force for the drive wheel. When needs pass through the gallows, thereby install group board on the gallows and can touch earlier thereby make to compress tightly the wheel carrier and move down compressing tightly the bearing wheel of installing on the wheel carrier, the pinch roller dodges the board that hangs down for the robot normally passes through the gallows. The rear shifting plate is separated from the bearing wheel arranged on the pressing wheel frame, and the pressing wheel frame moves to press the steel wire rope under the action of the reset spring.
The driving wheel is made of aluminum alloy or other metal materials, the rubber resistance ring made of coated rubber or polyurethane materials is arranged inside the driving wheel to increase the friction force with the steel wire rope, the opening of the driving wheel is required to have a low friction coefficient, the coating of rubber and polyurethane is not required usually, and the steel wire rope is corrected to run to the bottom of the driving wheel groove when the driving wheel is used.
The robot driving system does not need complicated control programs and reading of the position sensor, and has higher reliability. The guide rail laid by the method is simple, and the manufacturing cost of the whole monitoring inspection system is greatly reduced.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (5)
1. The utility model provides a driving system of robot for city utility tunnel which characterized in that: the steel wire rope hoisting device comprises a steel wire rope, a traveling frame and a plurality of hanging frames, wherein the hanging frames are fixedly arranged on the inner wall of the comprehensive pipe gallery at intervals, the steel wire rope is hung at the lower parts of the hanging frames, and the traveling frame is supported downwards by the lower parts of the hanging frames; the steel wire rope is characterized in that the walking frame is hung on the steel wire rope, the upper part of one side of the walking frame is rotatably connected with the driving wheel, the middle part of the side walking frame is movably connected with an elastic jacking unit which upwards elastically jacks and clamps the steel wire rope by matching with the driving wheel, and the other side of the walking frame is fixedly provided with a motor which provides rotary power for the driving wheel.
2. A robotic drive system for an urban utility tunnel according to claim 1, characterized in that: the hanging bracket comprises a square steel pipe and an L-shaped fixed rod, wherein the top of the square steel pipe is fixedly connected with the inside of the comprehensive pipe gallery, and the bottom of the square steel pipe is fixedly connected with the L-shaped fixed rod; a bottom cross beam of the L-shaped fixed rod is fixedly connected with a suspension plate and a shifting plate which are arranged in parallel along the extension direction of the steel wire rope, wherein the top of the suspension plate is provided with a semicircular groove for hanging the steel wire rope; the bottom of the shifting plate is provided with a trapezoidal slope surface for providing pressing guiding force for the walking frame.
3. A robotic drive system for an urban utility tunnel according to claim 1, characterized in that: the elastic top support unit comprises a fixed block, an optical axis guide rod, a pressing wheel frame, a bearing wheel and a plurality of pressing rollers which are arranged along the extension direction of the steel wire rope; the fixed block is fixedly connected to the side wall of the walking frame, and a plurality of optical axis guide rods penetrate through the fixed block in the vertical direction and are connected with the fixed block in a sliding and guiding manner; the periphery of the optical axis guide rod is sleeved with a return spring, and the top of the optical axis guide rod is fixedly connected with the bottom surface of the pressing wheel carrier; the pressing roller is supported and rotatably connected on the two opposite inner walls of the pressing wheel carrier in a matched manner, and the outer wall of the pressing wheel carrier is rotatably provided with a bearing wheel which is rotatably matched on the trapezoidal slope surface on the bottom surface of the shifting plate.
4. A robotic drive system for an urban utility tunnel according to claim 1, characterized in that: the wheel shaft of the driving wheel penetrates through the walking frame along the horizontal direction, and a plurality of rubber resistance rings which increase the friction resistance with the steel wire rope are compounded and bonded in the circumferential direction of the driving wheel; the tail end of the wheel shaft and the tail end of the output shaft of the motor are in meshed connection through a bevel gear.
5. A robotic drive system for an urban utility tunnel according to claim 3, characterized in that: the bottom of the return spring is elastically supported on the top surface of the fixed block, and the top of the return spring is elastically supported on the bottom surface of the pressing wheel carrier.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010908182.8A CN111761594B (en) | 2020-09-02 | 2020-09-02 | Robot driving system for urban comprehensive pipe gallery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010908182.8A CN111761594B (en) | 2020-09-02 | 2020-09-02 | Robot driving system for urban comprehensive pipe gallery |
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| CN111761594A true CN111761594A (en) | 2020-10-13 |
| CN111761594B CN111761594B (en) | 2020-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010908182.8A Active CN111761594B (en) | 2020-09-02 | 2020-09-02 | Robot driving system for urban comprehensive pipe gallery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112720514A (en) * | 2020-12-18 | 2021-04-30 | 程秀珍 | Electric power intelligence patrols and examines robot with narrow space function of marcing |
| CN114700971A (en) * | 2022-04-21 | 2022-07-05 | 江苏省送变电有限公司 | Single-wheel drive wire hanging mobile robot and moving method thereof |
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| CN111761594B (en) | 2020-11-20 |
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Effective date of registration: 20230907 Address after: 300000 W6, West District, Airport Business Park, Dongli District, Tianjin Patentee after: TIANJIN RICHSOFT ELECTRIC POWER INFORMATION TECHNOLOGY Co.,Ltd. Patentee after: STATE GRID INFORMATION & TELECOMMUNICATION GROUP Co.,Ltd. Patentee after: State Grid Siji Location Service Co.,Ltd. Address before: Room 608, block J, Haitai green industrial base, No.6 Haitai development road, Huayuan Industrial Zone, Binhai New Area, Tianjin 300384 Patentee before: TIANJIN RICHSOFT ELECTRIC POWER INFORMATION TECHNOLOGY Co.,Ltd. Patentee before: STATE GRID INFORMATION & TELECOMMUNICATION GROUP Co.,Ltd. |